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Switching Function
Osman Kkrer
Hasan Kmrcgil
Alper Doganalp
Abstract A new approach to the sliding mode control of singlephase UPS inverters is introduced in continuous-time. A threelevel hysteresis switching function is used to directly control the
inverter switches. The theoretical and predicted switching
frequency expressions are given. The performance of the
proposed control method has been tested through computer
simulations using different loads (a load which draws a squarewave current, diode bridge rectifier load, and triac-controlled
resistive load). Simulation results verify the correct operation of
the proposed control approach. Also, the switching frequency
prediction is seen to be quite accurate.
I. INTRODUCTION
An uninterruptible power supply (UPS) is always adopted
to deliver power to critical loads such as communication
systems, medical equipment, data processing systems, and
computers in case of an utility power failure. The output
voltage waveform of a high performance UPS must be
sinusoidal, with specified frequency and amplitude, with low
total harmonic distortion (THD) for linear and nonlinear
loads. In addition to this requirement, an UPS system must
also have a good disturbance rejection, a good voltage
regulation, and a fast dynamic and transient response for
sudden changes at load.
In order to achieve these requirements, many control
methods [1-11] have been proposed in the literature. The
widespread availability of low cost microprocessors has led
researchers to investigate discrete-time control methods, such
as repetitive-based control [1-3], sliding-mode control [4, 5],
and deadbeat control [6-8] to improve the performance of
UPS systems. However, response times of such control
methods are limited by microcontroller speed and give rise to
considerable distortion with nonlinear loads.
It is well known that continuous-time control methods are
much faster and lead to much less distortion. The control
methods presented in [9, 10] employ two feedback control
loops. The inner loop is used for current control and the outer
loop is used for voltage control. Although these methods
exhibit good performance, the design of the feedback control
loops is complicated. However, it is shown in [11] that the
integral controller employed in the outer loop is redundant,
and its elimination leads to zero output impedance of the
inverter, with the result that the output voltage is unaffected
by the load, provided that the inverter PWM output is not
saturated. Each of these methods has its particular advantages
1-4244-0136-4/06/$20.00 '2006 IEEE
where
(2)
x,
x1 = v o v o* ,
D=
331
+
T1
T3
i0
Vs
uVs
T2
T4
v0
T1
+1
+1
-h
h
-h
T2
T3
+1
-1
T4
Fig. 2 (a) The three-level hysteresis switching function. (b) Implementation as two-level hysteresis functions.
di o
dv& *
+ v o* + LC o < V s
dt
dt
(7)
di o V s V m
(8)
<
dt
L
In order to prevent chattering during the sliding mode and in
the steady state, which gives rise to a very high switching
frequency, the switching law u = sign( ) should be
replaced by a three-level hysteresis function such as in Fig.
2(a). This hysteresis function can be implemented as two
separate functions from which the switching control signals
for the inverter transistors are directly derived (Fig. 2 (b)).
The hysteresis band is represented by 2h .
332
Fig. 3 Simulink model of the UPS inverter with the proposed control method.
f s , max = 4h 2
(11)
0 Vs
0. 5 < m < 1
4h
The average switching frequency can be determined as
2V 2
1
f s , av = 0 s m m 2
(12)
h
2
250
100
200
80
150
60
100
40
50
20
0
0.060
-50
0.065
0.070
0.075
0
0.080
-20
-100
-40
-150
-60
-200
-80
-250
-100
Time, s
333
80
250
25000
f s (Hz)
200
60
150
20000
40
Output voltage vo, V
15000
10000
5000
20
50
0
0.060
-50
0.065
0.070
0
0.080
0.075
-20
100
-100
0.060
-40
t (s)
0
0.065
0.070
0.075
-150
0.080
-60
-200
-250
-80
Time, s
400000
200000
0
0.060
200
0.070
-600000
Time, s
15
500000
10
400000
0
0.060
-50
0.065
0.070
0.075
0
0.080
-5
200000
100000
x1
0
-20
-100
-15
-10
-5
10
-100000
-10
-150
-200000
-15
-200
x2
300000
Load current io, A
100
5
-300000
-250
0.080
-400000
150
50
0.075
-200000
20
250
0.065
-20
-400000
Time, s
-500000
334
15
20