Mutrix converters

Matrix converters
Recently there has been considerable interest in the use o f matrix converter technology for motor drive applications, with particular interest being shown by Siemens, Rockwell and Yaskawa. An introduction to matrix converter technology is given and the suitability and design o f matrix convertersfor industrial applications is reviewed. The potential advantages o f matrix converter technology are examined and the factors that have sofar prevented commercial exploitation of the circuit are discussed. The remaining technical challenges are defined and the work in progress to meet these challenges are highlighted.

by Patrick Wheeler, Jon Clare, Lee Empringham, Maurice Apap and Michael Bland

he matrix converter offers an all-silicon solution for AC-AC power conversion. The circuit consists of an array of bidirectional switches arranged so that any of the output lines of the converter can he connected to any of the input lines. Fig. 1 shows a typical three-phase to three-phase matrix converter, with nine bi-directional switches. The switches allow any input phase to be connected to any output phase. The output waveform is then created using a suitable PWM modulation pattern similar to a normal inverter, except that the input is a three-phase supply instead of a fixed DC voltage. This approach removes the need for the large reactive energy storage components used in conventional inverter based converters. An input line filter is included to circulate the high-frequency switching harmonics. The matrix converter has many advantages over traditional topologies. I t is inhercntly bidirectional so can regenerate energy back to the supply It draws sinusoidal input currents and, depending on the modulation technique, it can be arranged that unity displacement factor is seen at the supply side irrespective of the type of load. The size of the power circuit has the potential to be greatly reduced in coniparison to conventional technologies since there are no large capacitors or inductors to store energy In terms of device count a comparison can be made between the matrix converter and a

standard inverter with a diode bridge rectifier and with a back-to-back inverter, which has the same functional characteristics of bidirectional power flow and sinusoidal input currents. This comparison is iummarised in Table 1. It can be seen that the DC link capacitor and input inductors associated with the hack-to-back inverter circuit are replaced with an extra six switching devices in the matrix converter solution. The matrix converter concept was first published in 1976.' The circuit was considered to be a cycloconverter where the devices were fully controllable, hence the matrix converter is sometimes called a forced commutated

Three-phase to threephase matrix

circuit

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Table 1 Device count fully controlled devices large electrolytic capacitors

topology

fast diodes

rectifier diodes

large inductors

matrix converter back-to-back inverter inverter with diode bridge

18 12

18
12

0 0
6

0 1

0
3 Oorl

cycloconverter. A lot of research interest followed the publication of Venturini's first matrix converter paper of 19802 and the following landmark paper? which put the matrix converter control algorithms on a strong mathematical foundation. At this time industrial interest in the converter was very limited due to the device count, the problems of current commutation between switches and the perceived complexity of the control algorithms. These problems have now been resolved and current research on matrix converters is focusing on potential applications and circnit protection issues. The industrial acceptance of the matrix converter has also been held back because it is not suitable for use with standard induction motors on standard supplies due to the maximum voltage transfer ratio between the input and output voltages of 86%.as discussed later in this article. Potential practical implementations of the converter have therefore focused on applications where there is control over the design of the motor and where space and weight are at a premium, such as in integrated motor drives, and aerospace and naval applications. For example, a matrix converter motor drive has been demonstrated at Aalborg University, Denmark, utilising the enlarged terminal box inverter housing of a 4 kW Danfoss FCM304 variable speed motor product, and work is in progress on a truly

integrated 30 kW matrix converter induction motor drive at Nottingham University where the power electronics for the converter will be housed within the motor frame. During the last couple of years there has been considerable commercial interest shown and the intent to launch matrix converter products has been publicly announced by motor drive companies such as Rockwell, Siemens and Yaskawa.

Bi-directionalswitch The matrix converter requires a bi-directional switch capable of blocking voltage and conducting current in both directions. Unfortunately there is no discrete semiconductor device currently available that fulfils the needs; so discrete devices need to he used to construct suitable hi-directional switch cells. There arc two arrangements commonly used to create this bi-directional switch both involve a pair of switching devices and diodes in a back-to-back arrangement. In the discussion below it has been assumed that the switching device would he an IGBT (insulated gate bipolar transistor), but other devices such 8s M05FETs (metal oxide semiconductor field-effect transistors), MCTs (MOS control thyristors) and IGCTs (integrated gate commutated thyristors) can he used in the same way
Common emitter anti-parallel IGBT, diode pair This bi-directional switch arrangement con-

2 Bi-directional switches: ( a ) Common emitter; (6) Common colleclor

a
~

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sists of two diodes and two IGBTs connected in anti-parallel, as shown in Fig. 2(a). The diodes are included to provide the reverse blocking capability I t should he noted that it is possible to independently control the direction of the current in the hi-directional switch. Each bidirectional switch requires an isolated power supply for the gate drives, but both devices can be driven with respect to the same voltagethe common emitter point. Common collector anti-parallel IGBX diode pair This arrangement is similar to the previous one but the IGBTs are arranged in a common collector configuration, as shown in Fig. 2(b). The conduction losses are the same as the common emitter configuration. The advantage of this method is that only six isolated power supplies are needed to supply the gate drive signals. However, this arrangement is often not feasible in a large practical system since inductance between commutation cells causes problems. Therefore the common emitter configuration is often preferred for creating the matrix converter hi-directional switch cells. If the switching devices used for the hidireclional switch have a reverse voltage blocking capability then it is possible to build the bi-directional switches by simply placing two devices in anti-parallel. This arrangement leads to a very compact converter with the potential for substantial improvements in cfficiency Bi-directional switch construction There are three possible ways to package the hidirectional switches required for a matrix converter. For higher power converters the bidirectional switches can each be packaged separately in a module similar to those used lor individual inverter legs. An example is the 400 A hi-directional switch module from Dynex shown in Fig. 3 . It is also possible to huild a complete output leg of a matrix converter by rearranging the interconneclion of the devices in a slandard six-pack IGBT module, giving the converler a greater power density and lower stray inductance. For low power levels it is possible to huild a complete matrix converter in a single package, for example the 7.5 kW module from EUPEC, shown in Fig. 4.
Current commutation

3 Dynex 400A bidimclional switch module

4 EUPEC 7.5 kW matrix

to achieve than in conventional voltage source inverters since there are no natural freewheel paths. The commutation has to he actively controlled at all times with respect to two basic rules. This can be visualised by considering just twoswitchesononeoutputlineofamatrix converter. It is important that no twn bidirectional switches are switched on at any one time, as shown pictorially in Fig. 5(a). This would result in line-to-line short circuits and the destruction of the converter due to the large resulting currents. Also, the hi-directional switches for each output phase should not all be turned off at any point in time, as shown in Fig. 5(b). This would result in the absence of a path for the inductivr load current, causing large over-voltages. These two considerations cause a conflict since semiconductor devices cannot be switched instantaneously due to propagation delays and finite switching times. This problem has heen cited as holding back the commercial development of matrix Converters. Current dirrctim based commutatiori A reliable method of current commutation, which obeys the rules, uses a four-step commutation stracegy in which the direction of

Reliable current commutation between switches in matrix converters is more difficult

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5(a) Avoid short circuits on the matrix converter input lines; 5(b) Avoid open circuits on the matrix converter OUIDU~ lines

load
a
b

load

current flow through the commutation cells can he controlled. To implement this strategy the bi-directional switch must be designed in such a way as to allow the direction of the current flow in each switch to be controlled. Fig. 6 shows a schematic of a two-phase to single-phase matrix converter. In steady state, both of the devices in the active hi-directional switch are gated to allow both directions of current flow. The following explanation assumes that the load current is in the direction shown and that the upper hi-directional switch (S1) is closed. When a commutation to S2 is required, the current direction is used to determine which device in the active switch is not conducting. This device is then turned off. In this case device Slb is turned off. The device that will conduct the current in the incoming switch is then gated, S2a in this example. The

load current transfers to the incoming device either at this point or when the outgoing device (Sla) is turned off. The remaining device in the incoming switch (S2b) is turned on to allow current reversals. This process is shown as a timing diagram in Fig. 7, the delay between each switching event is determined by the device characteristics. One popular variation on the four-step current commutation concept is only to gate the conducting device, which creates a twostep current commutation strategy A l l the current commutation techniques in this category rely on knowledge of the output line current direction. This can be difficult to reliably determine in a switching power converter, especially at low current levels in high power drives. To avoid this problem a technique for using the voltage across the hi-

6 Two-phase to singlephase matrix converter

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Matrix converters
directional switch to determine the current direction has been d e ~ e l o p e dThese .~ methods can all be implemented in a relatively inexpensive digital gate array such as an FPGA (field programmable gate array Voltage magnitude based cominutarion An alternative approach to the current commutation problem relies on knowledge of the relative magnitudes of the input voltages instead of considering the direction of the output Switches are then opened to block the reverse voltages. From this information a two-step or four-step commutation strategy can he formed in a similar way to the two-step and four-step current direction based commutation techniques. Modulation The output waveforms of the matrix converter are formed by selecting each of the input phases in sequence for defined periods of time. Generally the sequence for each output phase is the same. Typical waveforms for a relatively low switching frequency are shown in Fig. 8. The output voltage consists of segments made

up from the three input voltages. The input current consists of segments of the three output currents plus blank periods during which the output current freewheels through the switch matrix. To determine the hehaviour of the converter at output frequencies well below the switching frequency a modulation duty cycle can be defined for each switch (e.g. mn,,(t) = fnnlT,,,,where ta, refers to the switch on input line 'A' and output line 'a' (see Fig. 21, and T,,, is the sequence time of the PWM pattern).

7 Timing diagram for four step semi-soft current commutation between two bidirectional switches

8 Example of typical matrix converter waveforms and spectra

output line to neutral voltage 50 H r in, 25 Hz out, fsw=500 HZ 360 240 120 0 -120 -240 20
0

Sidebands around multiples of the switching

-360
0 10 20 time, ms
30 40

2 kHr

1.2 r
0.8

100 input current (unfiltered) 50 Hz. 100 Hz Out. fsw=1 kHz 80

04
0 -0.4

*
L
0

60
40 20

sidebands around multiples of the Switching ,frequency~

4-8
-1.2

,
5

,
io
lime, ms

15

20

3
kHz

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These continuous time functions can then he used to define and compare the modulation strategies, as set out in eqn. 1: where q is the voltage transfer ratio, w, and w,, are the input and output frequencies and and $ . are the input and output phase displacement angles. There are two basic solutions to this problem as derived by Venturini ( S ~eqns. K 5 and 6 in the panel).' The solution in eqn. 5 yields $, = $. giving the same phase displacement at the input and output of the converter, whereas the solution in eqn. 6 yields $, = -4" giving reversed phase displacement at the input. Combining the two solutions provides the means for input displacement factor control

[]:l [
Vh(t)
=

m d t ) mua(t) m c ~ t ) ] v " t ) ] mdt) m d t ) mdt) vdt) mnC(t) inn&) m d t ) vdt)

m d t ) inAh(t) m d t ) m d t ) in& mdt) m d t ) mdt) m d t )

(1)

Eqn. 1 can he presented in a more compact notation, where M ( t ) is known as the modulation matrix:

Iv&)l

= IM(t)llv,(t)l

and
(2)

IMWl = a l [ M l ( t ) l + a l [ M 2 ( t ) l where al+ui=l

(7)

[i,(t)l = [M(t)l'[i,(t)I

Modulation problem and basic solution The modulation problem is usually posed assuming that a sinusoidal output voltage and a sinusoidal input current is required as follows. Given a set of input voltages and an assumed set of output currents:

cos(o,l+4W3)

Setting al =aigives unity input displacement factor regardless of the load displacement factor. Other possibilities exist, through choice of a, and ai, to have a leading displacement factor (capacitive) at the input with a lagging (inductive) load at the output and vice versa. Using this solution the maximum value of input to output voltage ratio (4) that the converter can achieve is SO%, as shown in Fig. 9. For a,= a2the modulation functions can he expressed in the compact formula:
mK,=

cos(o,t + $" + 4W3)

4=

1 + 2vKv~

Lev 3

for K = A , B , C and j = a, b, c find a modulation matrix M(t) such that:

(8)

Enhanced voltage trans& mtio The maximum output voltage can be improved to 86% of the input voltage by modifying the larget output voltage matrix to include third harmonics of the input and output frequencies! The output voltage target waveforms now make full use of the input voltage envelope, as shown in Fig. 10. These third harmonics will cancel in a three-phase load in the same way as they do with third harmonic

1+ 2qcos(w,t) 1 + 2 q c o d w J - 2W3) 1+ 2qcos(o,t - 411/3) 1+2qcos(w,t-4W3) 1+2qcos(w,t) 1+2qcos(o,,,t-2W3) withw.,=(w,-m,) I + ~qcos(w,t) 1 + ~qcos(w.,t- 2 ~ 3 ) I + 2qcos(wmt-+n/3) 1 + 2qcos(w,t) 1 +2qcos(w.,t-2W3) 1+ 2qcos(w,t - 4 d 3 ) 1 + 2qcos(o,f - 21113) 1 + Zqcos(o,,t - 41113) 1 + 2qcos(wn,t-4W3) I +2qcos(w,t) witho,=-(w,-o,) 1 + Zqcos(w,t - 2 ~ 3 ) 1 + 2qcos(w,,t)

1 1

(5)

(6)

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Matrix converters
addition in a conventional inverter. In this case eqn. 8 becomes:
i n w t voltaqe envelope

fix = 0, 2W3, 4x13 for K

for K = A , B, C and j = a . b, c (9) = A , B , C respectively

Despite a number of publications claiming that the implementation of the matrix converter control algorithm is complex and difficult, eqn. 9 can readily be implemented from direct measurements of the input voltage using an inexpensive 16 bit integer microcontroller such as the lnfineon 80C167CR. Fig. 11shows the output voltage and current waveforms for such a matrix converter operating with a switching frequency of 2kHz using this modulation control strategy

-1.2 0

90

180 deg

270

360

Other modulation sti.atcgies There has been much published work in the area of modulation slrategies for matrix converters. Apart from the basic Venturini solution given above there are essentially three other forms of matrix converter modulation algorithms. These are the scalar method,' the fictitious DC link methodsand the space vector modulation!JO The fictitious DC link method has implementations that claim 10 increase the voltage transfer ratio of over loo%, hut this is done at the expense of low-frequency harmonics in the input and output waveforms and is therefore suh-optimal for many applications. The voltage transfer ratio limitation of 86% has often been cited as a major disadvantage of the matrix converter, but this is only really a problem if there is need to use a standard machine from a standard supply If the application allows the specification of the machine voltage (or the supply voltage) then the voltage ratio limitation is not a problem. The only situation where this can he seen as a major hurdle to the use of matrix converters is when the converter is retrofitted to an existing motor. Matrix converters have been built and demonstrated to show that motor control methods such as closed-loop vector control for induction motors can he implemented in a similar way to inverter implementations." The benefit of the hi-directionality of the matrix converter power circuit removes the nced for any form of any braking resistors during rapid changes in motor speed, as shown by the results in Fig. 12.
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9 Voltage ratio limitation at q=50%

l-*
0.8

,input

voltage envelope
target output voltages

.-

.
G
a c

04

o
4.4

-0.8
-1-2 0
I I I

90

180 deQ

270

I 360

Practical implementation

Circuit protection The area of protection is the last remaining obstacle to the commercial exploitation of the matrix converter circuit. There are a number of unique circuit protection issues associated

10 Voltage ratio limitation at q = 8 6 1

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Matrix converters

m
.-

a[
4 1 0

,
10

I
40

20
time, ms

30

s
2

-3uo 300
0

-300 I
0

,
80

I
100

20

40
time, ms

60

30
0

I
10

I
20
time, ms

I
30

I
40

I
50

11 Input current, output voltage and output current waveforms for the matrix convefler with a 12 hp induction motor load. Switching frequency=4 kHz, input frequency=60 Hz. output frequency = 4 0 Hz [with thanks to the US Army Research Laboratories]

with the matrix converter. In a conventional rectifiedinverter motor drive the input rectifier diodes, the DC link capacitor and the freewheeling paths provided by the diodes in the output bridge all contribute to ver). straightforward circuit protection strategies, particularly when the supply is lost. Since none of these components exist in the matrix converter circuit, innovative strategies are required to cope with the various possible fault modes. It is not possible simply to turn off all the switches as this will open circuit the inductive motor load causing a very high voltage transient. One hardware solution that is often used is to provide a clamp in the form of a diode bridge across the input and output lines of the

converter, as shown in Fig. 13. The small capacitor used for this clamp is rated to take the energy stored in the inductance of the load without exceeding the maximum voltage rating of the devices. There is also no encrgy storage within the matrix converter, so any ride through capability will have to be provided by taking energy from the inertia of the motor load. Semiconductor losses and efficiency Once the device packaging technology used for inverter circuits has been applied to the requirements of matrix converter bi-directional switches, the cooling will be the greatest issue in the size of the converter. It can be shown that the device losses from a matrix converter are similar to those in the equivalent diode bridge/
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12 Speed and dqaxis currents for a matrix convener under closedloop vector control for a speed reversal of 500rpm lo -5OOrpm

u
3.5

forward motoring

_ , _ regenerating ,
I

forward

reverse motoring

leYerSe regenerating
U

1 550

2.3

-I -183

,
I,
0
250

I
1000

- 467

I ,
500

I
750

I
1250

-550
1500

ms

back-to-back inverter circuit. An example of this comparison is given in Fig. 14 for a 20 kW converter using 7 5 A , l 2 0 0 V Toshiba IGBTs. The matrix converter shows slightly better comparative efficiencies at higher switching frequencies due to slightly lower switching losses.

Conclusions This article has described the basic operation

and control of the matrix converter power circuit. The unique technical .challenges and the state of the art solutions have been highlighted. Once the circuit protection issues have been resolved nothing stands in the way of the commercialisation of the circuit in applications where power density carries a premium, such as integrated motor drives, aerospace applications and marine propulsion. It is in these high value industries, where the

to matrix convener outputs

I
13 Convener pmtection clam

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14 Comparison of AC to AC convener losses

r
s

600
500

r
back-la-back converter full load

_---__---

400

matrix Converter full load

backto~back converter half load

0 0

I
2

I
4

I 6

I 6

I
10

I
12

i
14

I 16

I
18

I
20

switching frequency, kHZ

advantages become very significant, that the matrix converter will probably find its first commercial applications. As the price of semiconductors continues to fall the matrix converter is also becoming a more attractive future alternative to the back-to-back inverter in applications where sinusoidal input currents or true bi-directional power flow are required. The matrix converter could be an ideal converter topology to utilise future technologies such as high temperature silicon carbide devices. These devices will operate a t temperatures u p to 300C so the lack of large electrolytic capacitors, as normally used in an inverter, would again be a significant advantage.
c .

R&W"CeS

1 G W G I . L.. and PELLY, B.: 'StaLic power Irequency changers: theory, performance and applications' (John Wile) and Sans, 1976) 2 VENTURlNl, M.: 'A new sine wave in sine wave out conversion technique which eliminates reactive elemenls', Proceedings of POWERCON 7. 1980, pp. E3_1-E3_15 3 ALESINA, A,, and VENTURlNl, M.; 'Solid-state power conversion: B Fourier analysis approach to generalised transformer synthesis'. IEEE Transactimx on Circuits and Systems. April 1981. 28. (4). pp. 319-330 4 EMPRINGHAM, L., WHEELER, P W . and CLARE, J . C.: .A matrix converter induction motor drive using intelligent gate drive l e v d current c o m m u ~ tation techniques'. IEEE IAS Conference, Rome, October 2000 5 ZIEGLER. M., and HOFMANN, W.: -Performance of a two stem commutated matnn converter far AC-

variable~speeddrives'. Proceeding o l the European Power Electronics Conference, September 1999 6 ALESINA, A,, and VENTURINI, M.: 'Analysis and design o i opiimum-amplitude nine-swirch direct AC-AC converters', IEEE Transactions on Power Electronics,January 1989, 4, (I), pp. 101-112 7 RODRIGUEZ, J.: 'A new control technique for ACAC c~nverters', IFAC Control in Power ElCctronics and Electrical Drives. Lausanne, Switzerland, 1983, pp. 203-208 8 LIOGAS, P D., KHAN, 5. I.. and RASHID, M. H.: 'Analysis and design of forced commutated ~ycloconvcrterstructures with improved transfer characteristics', iEEE Transactions on Industrial Electronics, August 1986, 33, (31, pp. 271-280 9 HUBER, L., BOROJEVIC. D., and BURANY, N.: 'Analysis design and implementation of the spacevector modulator for forced-commulared rycloconvertors', IEE Proceedings-B. March 1992. 139 ( 2 ) . pp. 103.113 10 CASADEI, D., SERRA, G., TANI. A,, and ZARRI, L.: 'Matrix converter modulation strategies: a ncw approach based on space-vec~orrepresencarion of swiwh sums'. IEEE Transactions 011 IsduitCal Elrctmnics, 2002, 49, (2). pp. 370-381 11 SUNTER. 5.. and CLARE,J. C.: 'A true fourquadrant induction ~ motor drive with servo matrix C O ~ V ~ I I E performance', IEEE Power Electronics Specialists Conference, 1996, pp. 146-151 12 WHEELER, P W., RODRIGUEZ, J., CLARE, J . C.. EMPRINGHAM, L., and WEINSTEIN. A,: 'Matrix convener^: a rechnology review'. lEEE Traiisu~ltonr on Industrial Elertronicr, 2002, 49. (21, pp. 370-381
0 LEE: 2002

The authors are wirh rhe School of Electrical and Electronic Engineering, University of Nouingham, Notringham, UK, Tel. +44 (0) 115 951 5591. Fan. +44 (0) 115 951 5616, e-mail: Par.Wheele&! Nottingham.ac.uk

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