546

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 8, NO. 4 , OCTOBER 1993

On Continuous Control of PWM Inverters in the Overmodulation Range Including the Six-Step Mode
Joachim Holtz, Fellow,, IEEE, Wolfgang Lotzkat, and Ashwin M. Khambadkone
Abstract-The power output and the dynamic performance of PWM controlled ac drives can be improved by increasing the inverter output voltage through overmodulation. Two different solutions are proposed to increase the output voltage in a continuously controllable fashion up to the maximum possible value, which is reached in the six-step mode. The solutions differ in their respective approach. A space vector strategy is used for highdynamic performance high-switching frequency drives, while a field-oriented PWM method applies for low switching frequency high-power inverters. The methods are described and analyzed and the experimental results are presented.

I. INTRODUCTION
OLTAGE-SOURCE inverters have evolved as the most preferred power conversion method for ac drive applications. Hard switching techniques continue to dominate the market, ranging from applications at low power using MOSFET semiconductor switches, through the medium power range, which is the domain of bipolar Darlington transistor and the IGBT, up to GTO inverters which are applied at megawatt power level. Typical applications are motion control systems, industrial drives, and high-power ac traction equipment. Although very different in nature, these schemes rely on a common basic technology: pulsewidth modulation. Research in this field has been very progressive during the past decade. Apparently, this process has not yet come to a state of saturation, as novel PWM methods continue to emerge {1]-[3]. It appears, though, that one important aspect of pulsewidth modulation techniques has been given little attention so far: pulsewidth control in the range of overmodulation. Although this important aspect has been recently identified [4], [ 5 ] , viable solutions to this problem are not yet known.

Feed-forward schemes generate switched three-phase voltages such that the resulting fundamental space vector u l ( t ) equals a given reference vector U*( t ) . feed-forward schemes are the most widely used methods of pulsewidth modulation. Feedback schemes, on the other hand, generate the switching sequence inherently in a closed loop, which can be devised either for the stator currents or for the stator flux. The maximum fundamental voltage 'U,,,,, that can be generated in either method is limited by the dc-bus voltage. According , are to the state of the art, the respective values of U always below a theoretically achievable maximum which is the fundamental voltage at square-wave, or six-step operation. 111. MAXIMUM MODULATION INDEX The performance of pulsewidth modulation methods is characterized by the modulation index and, at given switching frequency, by the harmonic distortion. The modulation index is the normalized fundamental voltage, defined as m , 'U 1

(1)

'lllzix-step

11. PWM TECHNIQUES Pulsewidth modulation (PWM) techniques for three-phase loads can be broadly classified into two categories: 1) Feed-forward schemes, and 2) feedback schemes.
Manuscript received August 7, 1902: revised April 22, 1993. This project was supported in part by the Deutsche Forschungsgemeinschaft (DFG). The authors are with the University of Wuppertal, P.O. Box 100 127, 5600 Wuppertal, Germany. IEEE Log Number 92 1 1693.

where u1 is the fundamental voltage generated by the mod1 = 2/7r ~ Va the ~ fundamental ~ voltage at ~ ulator and ~ six-step operation. We have 0 5 vi 5 1, and hence the maximum modulation index can be achieved only in the six-step mode and is then unity by definition. The ramp comparison method has an upper limit of the fundamental voltage equal to Ud/2 and hence (1) yields the maximum modulation index mmaxl = 0.785, where the reference is a sinusoidal voltage between phase and neutral. The modulation index can be increased when this voltage is modified by addition of zero sequence components, e.g., triplen harmonics. Inclusion of triplen harmonics modifies the sinusoidal phase to neutral to have a flat-top with its peak value less than that of the fundamental. Hence, the fundamental amplitude of the reference voltage used for ramp comparison can be increased without incurring undesired pulse-dropping. This produces a higher fundamental component. A maximum value of U d / J3 can be obtained, and the corresponding maximum modulation index as given by ( I ) is m,,, 2 = 0.907. The current harmonics can be computed as

0885-8993/93$03.00 0 1993 IEEE

HOLTZ et al.: PWM CONVERTERS I N THE OVERMODULATION RANGE

541

iIJl

, six-step mode

Fig. 1. Inverter switching state vectors.

From these, the distortion factor is defined as

d=

Ih rms Ih rms six-step

unaccessable gap
(3)
Fig. 2. Reference voltage trajectories.

with the distortion current Ih rms of a given switching sequence being referred to the distortion current Ih rms six-stPp of the same machine operated in the six-step mode. Hence, by definition, we always have d = 1 at six-step operation [6].

?I] = t ,

+t h + to

(5b)

IV.

FEED-FORWARD

SCHEMES

where t n . t b . and to are the respective on-durations of the switching state vectors U,,?&. and UO.The above equations can be solved for the on-durations, yielding

Feed-forward schemes are conventionally carrier based. There are a large variety of techniques that differ in their respective concepts of signal processing and related hardware [6]. The advantages of carrierless methods have been recently discovered [ 11. Whatever particular switching sequence is generated by anyone of these schemes, it can be conveniently analyzed and described on the basis of voltage space vectors. Assuming operation in the steady-state for this purpose satisfies the objective of this paper. The maximum modulation index in all the above cases is mmax < 1. A modified reference of the phase to neutral voltage containing triplen harmonics extends the maximum modulation index from 0.785 to 0.907. By definition, the addition of triplen harmonics does not affect the space vector components and hence the reference space vector remains on a circular trajectory.

t , = -upTO
7r

2J5

. sin

(3

to = To - t ,

tb

(6c)

A. Sinusoidal Reference Voltage

A three-phase two-level inverter provides eight possible switching states, made up of six active and two zero switching states. The six active switching state vectors are evenly distributed at 7r/3 intervals in the complex plane. Fig. 1 shows these vectors along with the voltage reference vector. One way of defining a carrier based switching sequence is to consider the time average of the three switching state vectors located adjacent to the reference vector U* = U * exp(;ja) over the subcycle interval

Fig. 2 shows the trajectory of the reference voltage vector, which is circular in the steady-state, being located within an hexagon formed by joining the extremities of the six active switching state vectors. As the modulation index increases, the circular trajectory at sinusoidal modulation grows outward until, at m m a x 2 = 0.907, it becomes the inscribed circle of the hexagon. At this particular value of the modulation index, the on-duration of the zero vector, (6c), reduces to zero whenever the reference trajectory touches the hexagon at a = (2k 1)7~/6,where k = D . . ' 5 . When the modulation index is further increased, the on-duration of the zero vector, as calculated from (6c), becomes negative and hence meaningless. Thus the modulation index cannot be increased beyond mmax 2 while maintaining a sinusoidal reference voltage.

B . Distorted Reference Voltage

Having reached the limit of sinusoidal pulsewidth modulation while moving on the largest circle inscribed in the hexagon in Fig. 2 , the possibility of programming a higher modulation index can still be availed during periodic time intervals of limited duration. These materialize in the neighborhood of an active switching state vector, when the argument 0 = k7r/3. k = 0 . . . 6 . Here, the circular reference vector trajectory resides within the hexagonal area. Pulsewidth modulation in this range can be achieved by modification of the angle and the magnitude of the reference

To = 1/2fs

(4)

and to equate it to the time average of the voltage reference vector. This yields
U* ' T O = U,

.t,

+ Ub

'

tb

+U g

to

(5a)

548

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 8, NO. 4 , OCTOBER 1993

Fig. 3 . Pulsewidth modulator and preprocessor.

vector, passing it through a preprocessor, Fig. 3. The reference voltage vector U * = *U* . e x p ( j a ) , given by the overlaying control system, is changed by the preprocessor in angle and magnitude. A modified reference vector U; = U ; . exp(jmp) is obtained, which is then fed to the modulator. The preprocessor contains a set of nonlinear functions which effect a distortion of the originally circular track of the reference vector. The distortion results in additional odd harmonics other than triplen, which increase the fundamental content of the reference voltage. Based upon the degree of distortion of the preprocessed voltage, three different operating regions can be defined: conventional modulation overmodulation mode I overmodulation mode I1
+
i

Fig. 4. Overmodulation mode range I.

/ / /

'"ax

sinusoidal reference signal distorted continuous reference signal distorted discontinuous reference signal
Fig. 5.

n "

w2

ut-

Real component of reference voltage in overmodulation mode I

C. Overmodulation Mode I
In this range, the preprocessor changes the magnitude of the reference while the angle is transmitted without any change ( a , = a ) . To illustrate this, Fig. 4 shows one of the 60-sectors of complex plane. The dashed circle is the required reference trajectory U*. The solid line U; is the trajectory generated by the preprocessor, observing the physical constraints inherent to the inverter. Whenever the reference track is within the hexagon, near the outer comers of a sector on curve-length A-B in Fig. 4, the inverter control selects the adjacent active switching state vectors or the zero state. This corresponds to sinusoidal modulation, and the on-durations are calculated using (6). However, when the original reference trajectory passes outside the hexagon, the time average equation (6) gives an unrealistic on-duration for the zero vector. Hence, only the two adjacent active switching state vectors are switched alternately. During this process the average voltage trajectory moves along B-C which coincides with the hexagon. Finally, the trajectory of U; reaches the point C near the other vertex. The reduced fundamental component in this region is compensated by a higher fundamental on the A-B path. The on-durations for the B - C path are calculated by
fa =
tb

For implementation on a less powerful hardware, the first equation can be simplified with some tradeoffs:

t , = TI-

7r 13

while the other on-durations are calculated as per (7b) and (7c). Pulsewidth control in overmodulation range I can be carried out as long as a portion of the reference track exists within the hexagon. As the modulation index is gradually increased, the circular portion of the up trajectory wanes out. The modified trajectory then fully coincides with the hexagon, Fig. 2, which 3 = 0.952. defines the limit of overmodulation mode I at mmax Fig. 5 shows the real component of the reference trajectory versus time in overmodulation mode I. It is seen that the reference trajectory starts deviating from its sinuosoidal form at the beginning of the overmodulation range, reaching the piecewise linear trajectory at 7 r ~ , ,3, ~ which ~ corresponds to the hexagonal track at the end of mode 1. A practical implementation of pulsewidth control in overmodulation mode I was already described in [7].

D . Overmodulation Mode I1 In this range, the modulation index further increases from its initial value rri,,,,,~ to unity. While the trajectory of the reference signal ti* always remains a circle, the trajectory of U; changes gradually from a continuous hexagon to the discrete six-step switching sequence. The demonstration of how this is achieved is easier understood if operation in the six-step mode

TI

&cos

(Y -

sin N

J3 cos CY + sin (1

(7a) (7b) (7c)

= TI -

tb

= TI - t a

where TI = To/3. (4).

HOLTZ et al.: PWM CONVERTERS IN THE OVERMODULATION RANGE

ah

t: 9
x

A q // y ) P y L p * \
U*
'k,

549

18 0

0.96
nl!

0.98 1.00 mversus modulation index

Fig. 7.

Fig. 6. Hold angle

is considered first, working then backwards to the continuous hexagonal trajectory of mode I. The six-step mode is characterized by holding that particular switching state vector which is closest to the reference vector for one-sixth of the fundamental period. While the reference vector U* moves along a circle with fundamental angular frequency, U; remains fixed at the vertex. As the angle of the reference U* reaches a value (r = k.ir/6.k = 0 . . - 5 . u ; is switched to the next active switching state. This way, the modulator generates the six-step waveform and the maximum = 1. possible voltage of the inverter is available at rn,,,,4 If the reference voltage u* reduces below unity, U ; is held at a vertex for a particular time, and then moves along the side of the hexagon for the rest of the switching period. Such switching method is characterized by a hold angle, which controls the time interval the active switching state remains at the vertices, and the respective switching times of two active switching states controlling the motion along the hexagon. Retracting from the six-step operation, the hold angle gradually decreases from 7 r / 6 . reaching zero at the lower limit of overmodulation range 11. To achieve control in overmodulation mode 11, the preprocessor changes both the reference magnitude from %I* to U ; , and the reference angle from N to ( k P . The trajectory of 21,: is maintained on the hexagon which defines the magnitude U;. The angle a p is calculated by

i::::m; Fjm!;i
a) t = d t a < a,,

- U;

U L p *

b) r=2&

a>ah

e) t=3dt d) t = 4 A f a=" a<+*,

e) t = 5 h

a> : a , ,

Modification of the reference voltage in overmodulation mode 11.

"ax2

0.10

0.4

0.00

0.0 0.2 0.4 0.6 0.8

0.9

m-

1.o

0.0

Fig. 8. Distortion factor versus modulation index

The on-durations are calculated by substituting aP for CY in (7). To conclude, we observe that in the sinusoidal modulation mode, the preprocessor transmits the reference magnitude and the angle without any change, thus retaining its sinusoidal nature. In the overmodulation mode, the reference trajectory is distorted by changing the magnitude in range I and then both the angle and the magnitude in mode 11. Operating through overmodulation ranges I and 11, the modulation index can be continuously increased over the previous limit mmax2 = 0.907. reaching its absolute maximum value of unity at sixstep operation.

E. Switching Frequency and Harmonic Distortion

In general, the current distortion can be reduced by increasing the switching frequency. The choice of the maximum switching frequency is dictated by the switching devices used and cannot be arbitrarily increased. For a given switching frequency, the current distortion increases with the modulation index, Fig. 8. In the sinusoidal modulation range, three commutations per switching subcycle are required to generate the desired voltage. When operating in the overmodulation range, the trajectory of U; coincides partly or completely with the hexagon. On the hexagonal trajectory, only two commutations per subcycle are required as compared to three at sinusoidal modulation. Since the effective switching frequency is maintained at the permitted maximum value, the distortion factor tends to reduce when entering the overmodulation range, Fig. 8. After passing through a minimum, almost the same value of distortion factor as at r n m a x 2 is reestablished at m , , , 3 . The distortion factor increases when the reference waveform becomes discontinuous in mode 11, finally reaching unity value at unity modulation index, which satisfies the original definition (1).

where N h is the hold-angle. This angle uniquely controls the fundamental voltage. It is a nonlinear function of the modulation index, Fig. 6. The process of generating the reference trajectory U ; is explained in Fig. 7, in which only the first sector is considered. In Fig. 7(a), N is less than the respective value of f?h. and the preprocessor holds the vector U ; at the vertex. As (Y exceeds a h in Fig. 7(b), U; moves along the hexagon, lagging U * . It is approximated by alternately switching the two adjacent active . vector U; switching states. At exactly (2 equal to ~ / 6 the catches up with U * . and then speeds past it till ( Y = x / 3 - ( e h . At this instant, U; has just arrived at the other vertex and remains there until U* has caught up with U;. This terminates the considered time period.

550

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 8, NO. 4 , OCTOBER 1993

t:
lS

20

0.907
q-velady ai

t t

Xi

4-

e -.
in field coordinates

d-

0.952

in stator coordinates

Fig. 10. Field oriented PWM

0.976

L
0
lo

m=l

t -

20 ms

maximum excursion of current error and promotes a higher bus utilization. A different class of feedback PWM schemes was first proposed by Holtz and Stadtfeld [8], [ 131. Here, the switching sequence is not solely dictated by the magnitude of the current error. An optimization criterium is used, instead, to determine the next switching state. The criterium aims to reduce the switching frequency while restricting the magnitude of the current error to the interior of a circular error boundary.
A. Field-Oriented Pulsewidth Modulation

Fig. 9. feed-forward scheme: motor currents at increased modulation index in the overmodulation mode.

F. Implementation
The proposed modulator can be easily implemented on any standard microcontroller without any additional hardware. A dedicated hardware implementation consisting of an EPROM and a logic array is also feasible, which relaxes computing time requirements of the microcontroller. Switching frequencies to the order of 20 kHz are possible in this case. For our investigations, the above scheme was implemented on an Intel 80 C 196 microcontroller. Fig. 9 shows oscillograms of the currents at different operating points within the overmodulation range. The increasing content of nonzero sequence harmonics in the reference voltage waveforms are clearly reflected in the distortion of the current waveforms. Towards the absolute limit mmax 4: the typical current waveshape of six-step operation evolves. The proposed scheme allows the full utilization of the dc-bus voltage with no extra hardware.

V. FEEDBACK SCHEMES Feedback PWM schemes generate the switching instants in a closed loop and hence they are fast enough to inherently compensate all nonlinear effects of pulse dropping and load current dependent switching time delay. In recent years, several methods of feedback PWM have been published [8]-[ 111, [14], [15]. None of these 5chemes highlight the problem of dc bus utilization. Xu and Novotny [ 121 have discussed the problem and conclude the following: 1) Any regulator operating in terms of instantaneous current feedback will have less than the optimal bus utilization of a feed-forward VSI system. 2) A higher switching frequency reduces the

The aforementioned class of on-line optimized feedback PWM schemes was extended to current regulation in a synchronous reference frame aligned to the rotor flux vector [ 2 ] , [ 161. This method of field-oriented pulsewidth modulation uses a rectangular error boundary in field coordinates. Doing so, a larger part of the current harmonics is transferred to the in-phase component i,d of the stator current. The rotor flux which depends on i s d r however filtered by a first order delay associated with the large rotor time constant, is free of these harmonics. As a consequence, the torque ripple of the machine depends on the ripple of the quadrature current component zsy, notwithstanding the higher ripple contained in z s d . The location of a rectangular error boundary in a fieldoriented reference frame is shown in Fig. 10. As soon as the current trajectory hits any of the q-error boundaries, an inverter switching state is selected which changes the quadrature current component i s , at the lowest possible rate while directing the current trajectory to the interior of the rectangle. Not all of the eight switching states of the inverter provide the required minimum rate of change of current. A reduced set of active switching states consisting of the two active switching states adjacent to the back-emf vector and the zero switching states are considered for optimization without loss of quality. When the current error hits a q-error boundary, the instantaneous value of the in-phase error component is registered. Then, the time taken by the current trajectory to travel between two error boundaries is calculated for the prospective switching states. The next switching state is determined by the sign of error and the type of error: q- or d -error. For example, in case of a negative q-error, i.e., current trajectory hitting the upper boundary, the choice of a suitable switching state is limited to those switching states which provide a negative rate of change of current in the quadrature direction. Thus the time

HOLTZ ef ul.: PWM CONVERTERS I N THE OVERMODULATION RANGE

55 I

durations inside the error boundary have to be calculated only for two switching states at a time. A simple algorithm for optimization is described thoroughly in [ 2 ] . The philosophy for selecting the kth switching state can be given as

.t
lSq

0.4
0.2
0

&(k)

niin(9)

0.2

for smaller error magnitude, which corresponds to steady-state and quasi-steadystate operation, and a large-signal algorithm

0.4 0.6 isd

which govems the case of larger transients.

B . Current Trajectories in Field Coordinates

The stator voltage of an induction machine can be expressed in field coordinates in terms of the stator current and the rotor flux

.t
Is9

0.4
0.2
0
0.2

By definition, the rotor flux vector has only a real component in field coordinates and its magnitude is constant in the base speed range. The components of the linearized stator current trajectory are given by
i s q ( t )= asq(t")

0.4 isd

0.6

+" dy t .(t -

di

.t
ls9

o.2

The rate of change of the stator current can be calculated using the following equations:

-0.2
0
Fig. 1 1 ,

0.2

0.4 0.6 lsd

Measured current trajectory in field coordinates.

At lower speed, the back-emf and the cross-coupling dynamic voltages are small compared to the switched inverter voltage. Hence the trajectory of the stator current is linear and has a dominating q-component, Fig. ll(a). As the speed increases, the back-emf and the cross-coupling terms become more prominent, and therefore the rate of change of current has an increasing d-component, which is demonstrated by (1 la) and (1 lb). Due to the rotation of the actual switching state vector in the synchronous reference frame, the components of the current derivative in this coordinate system vary with time. Especially at higher speed, the actual switching state vector rotates appreciably during the time interval between two inverter commutations. Thus, the direction of the current trajectory changes continuously, and hence the path of the current vector is basically composed of sections having high curvature, being pieced together as the switching state changes, Fig. ll(b).

C. Overmoduation
Since the switching states are selected based on (9), the vectors selected at low speed are an active switching state vector or the zero state. As the back-emf increases with speed, the rate of change of current for the zero switching state increases. Hence at higher speeds the zero switching state is no more the optimal by definition (9). Consequently, the zero switching state is not selected and the inverter state commutates between two active switching state vectors only. This describes the overmodulation mode. As the speed is further increased, the trajectory, being curved with an increasingly dominant d-component, moves towards the d-error boundaries, avoiding the q-error boundaries. Owing to the clockwise rotation of the switching state vectors in the field oriented reference frame, the current trajectory

552

IEEE TRANSACTIONS ON POWER ELECTRONICS,

VOL. 8, NO.

4 , OCTOBER 1993

50 ms

100

tFig. 13. Transition from PWM to six-step mode.

10 ms

t-

20

Fig. 12. Feedback scheme: motor currents at increasing modulation index in the overmodulation mode.

in this mode predominantly hits the right-hand side d-error boundary. The appropriate switching algorithm selects the switching state providing a negative rate of change of current in the d-direction: This is the active switching state to the left of the back-emf vector. At positive speed, this switching state, though providing the required rate of change of current in the d-direction, causes the current trajectory to move towards the lower q-error boundary. If a y-error is registered at some instant, a switching state is searched which corrects the qerror. Since no such state is available, the actual switching state must continue. The current trajectory thereafter changes to an upward direction, later turning back to the right to meet the starting point again. Finally, it describes an eye-like figure, as demonstrated by the measured trajectory Fig. 1 I(c).

D . Experimental Results
The scheme was implemented on a TMS 320 C25 dual signal processor system [ 2 ] .The algorithm works satisfactorily in PWM, overmodulation range and at six-step operation without any additional structural changes. Fig. 12 shows the currents in all three ranges of operation. The fundamental distortion at overmodulation, although not directly programmed, tums out to have the same nature as in the feed-forward approach. Note that the second curve is characterized by higher switching frequency. Work is currently being continued to improve on this. A transition from overmodulation mode to six-step mode is shown in Fig. 13.

Continuous control in the new range of overmodulation is achieved by adding non-zero sequence distortions to the controlling fundamental signal. Two distinct overmodulation techniques are discussed which are tailored to different areas of application: 1) PWM for general purpose industrial drives and highfrequency servo-systems, and 2) PWM for low switching frequency applications, preferrably at higher power level such as railway traction and mill drives. For the first category, an extended space vector modulation technique is proposed, which can be used either in a feed-forward configuration or in combination with a closed loop current controller. The required non-zero sequence distortions are generated in a preprocessor which modifies the input signal to the modulator. Two different modes of overmodulation exist. Operation in mode I, which govems the lower overmodulation range, provides reduced total harmonic distortion, although being based on a distorted reference signal. Implementation in software avoids additional production cost. The second class of applications calls for optimal modulation techniques to reach a better compromise between switching losses and harmonic distortion. Overmodulation is achieved here as an inherent feature of the existing field oriented pulsewidth modulation method, which is of the feedback type. Although not directly programmed, the same nonzero sequence distortions appear as in the feed-forward method. The field oriented modulation method can be also used for IGBT inverters in the 100-300 kW power range at switching frequencies up to 5 kHz without loss of six-step operation. Continuously controllable transition in quasi-steadystate from basic pulsewidth modulation to six-step operation is experimentally demonstrated for either method.

REFERENCES
[ I ] J. Holtz and B. Beyer, Optimal pulsewidth modulation for AC servos
121
and low-cost industrial drives, presented at IEEE Industry Applicat. Soc. Ann. Meet., Houston, TX 1992. A. Khambadkone and J. Holtz, Low switching frequency high-power inverter drive based on field-oriented pulsewidth control, in E f E Euro. Conf. Powler Electron. and Appl., Florence, Italy, 1991, pp. 4l612477. J. Holtz and B. Beyer, The optimal trajectory tracking approach-A new method for minimum distortion PWM in dynamic high-power drives, presented at IEEE Ind. Appl. Soc. Meet., Houston, TX 1992. J. Fetz, Parameter adaptation for a field-oriented induction machine fed by a PWM-inverter and determination of the fundamental currents in the range of overmodulation, in E f E Euro. Conf. Power Electron. and Applicat., Florence, Italy, 1991, pp. 2/138-144. E. Ch. Andresen, S. Dediga, and H. J. Schwartz, A Continuous PWMsquare wave transition method for voltage vector control of induction

VI. CONCLUSION
It was an accepted fact until now that the controllable range of modulation index has an upper limit at rn,,,, 2 = 0.907. The six-step mode having unity modulation index was considered an additional discrete and isolated operating point. We have shown that the gap between the aforementioned limit values can be bridged, which provides a gain of 10% in fundamental output voltage, and hence inverter power.

131
[4]

[5]

HOLTZ et al.: PWM CONVERTERS IN THE OVERMODULATION RANGE

553

[6] [7]

[8]
[9] [lo]

[I 11

[12] 1131

motors, in EPE Euro. Conf. Power Electron. and Applicat., Florence, Italy, 1991, pp. 2.1562.160. J. Holtz, PWM-A Survey, IEEE Trans. Ind. Electron., 1992. J. Holtz, P. Lammert, and W. Lotzkat, High-speed drive system with ultrasonic MOSFET-PWM-inverter and single-chip microprocessor control, IEEE Trans. Ind. Applicat., vol. IA-23, pp. 1010-1015, 1987 J. Holtz and S. Stadtfeld, A predictive controller for the stator current vector of AC machines fed from a switched voltage source, in I n t . Power Electron. Conf. IPEC, Tokyo, 1983, pp. 1665-1675. A. Nabae, S. Ogasawara, and H. Akagi, A novel control scheme for PWM controlled inverters, in IEEEiIAS Ann. Meet., Toronto, 1985, pp. 473478. I. Takahashi and N. Toshihiko, A new quick-response and highefficiency control strategy of an induction motor, in IEEEiIAS Ann. Meet., Toronto, 1985, pp. 820-827. J. Holtz and E. Bube, Field oriented asynchronous pulsewidth modulation for high performance AC machine drives operating at low switching frequency, IEEE Trans. Industry Applicat.. vol. 27, pp. 574-581, May/June 1991. X. Xu and D. W. Novotny, Bus utilization of discrete CRPWM inverters for field-oriented drives, IEEE Trans. Ind. Appl.. vol. 27, pp. 1128-1135, Nov./Dec. 1991. J. Holtz and S. Stadtfeld, A PWM Inverter Drive System with OnLine Optimized Pulse Pattems, in EPE Euro. Conf. Power E l e m o . and Appl., Brussels, 1985, pp. 3.21-3.25. S. Salama and S. Lennon, Overshoot and limit cycle free current control method for PWM inverter, in EPE Euro. Con5 Power Electron. and Applicat., Florence, Italy, 1991, pp. 3/247-25 I . T. G. Habetler and D. M. Divan, Performance characterization of a new discrete pulse modulated current regulator, in Conf. Re(,.IEEE/IAS AM. Meet., Pittsburgh, Oct. 1988, pp. 395405. J. Holtz and S. Stadtfeld, Field-oriented control by forced motor currents in a voltage fed inverter drive, in Third IFAC Symp. Contr. Powmer Electron. and Electron Div.. Lausanne, France, Sept. 1983, pp. 103-1 IO.

Joachim Holtz (M87-SM88-F93) graduated in

1967 and received the Ph.D. degree in 1969, both from the Technical University Braunschweig, Germany. Jtl 1969 he became Associate Professor, and in 1971 Full Professor and Head of the Control Engineenng Laboratory, Indian Institute of Technology, Madras, India. He joined the Siemens Research Laboratones, Erlangen, Germany, in 1972. Since 1976 he has been Professor and Head of the Electncal Machines and Dnves Laboratory at the University of Wuppertal, Germany. His preferred working areas are electronic energy conversion, optimal PWM control, control of ac machines, and uninterruptable power supplies. He is the author of more than 80 technical papers and 26 patents. Dr Holtz is an Associate Editor, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, a member of the Administration Committee, IEEE INDUSTRIAL ELECTRONICS SOCIETY, a member of the IEEE IAS Static Power Converter Committee, and a member of the IEEE IAS Industnal Dnves Committee.

Wolfgang Lotzkat was born in 1957 in Dortmund. He received the DipLIng. and Dr.-Ing. degrees from the University of Wuppertal, Germany, in 1984 and 1991, respectively. From 1984 to 1992 he was with the Electrical Machines and Drives Laboratory, University of Wuppertal, Germany, as a Research Assistant. His activities are related to inverter circuits using power transistors and MOSFETs and microprocessor control of ac drives. Since 1992 he has been a Design Engineer with Vectron Electronics, Krefeld, Germany.

Ashwin M. Khambadkone received the B.E.

(Hons.) and M.Tech. degrees in electrical engineering from Bombay University, in 1985 and Indian Institute of Technology, Kanpur, in 1987, respectively. Since 1987, he has been with Electrical Machines and Drives Laboratory, University of Wuppertal, Germany, as a Research Assistant. His research work i s related to microprocessor controlled s: drives, PWM methods, field oriented control. parameter identification, and speed sensorless vector control.