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Three-phase Inverters
M.B.R. Correa, C.B. Jacobina, A.M.N. Lima, E.R.C. da Silva
Departamento de Engenharia ElCtrica, Universidade Federal da Paraiba
58109-970 Campina Grande, PB, Brasil, Caixa Postal 10105
Fax: +55-83-3 101015 Email: j acobina@dee.ufpb. br
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A
I. INTRODUCTION
The conventional structure of a three-phase voltage inverter comprises three legs, six power switches (SSTPI),
a pair of complementary switches for each phase. The
four-switch three-phase inverter (FSTPI) employs only
two legs, that is four switches as shown in Fig. la. Several
papers have investigated this structure [l-91. The FSTPI
structure allows one to generate four active vectors in the
CY@ plane instead of six as usual in the SSTPI structure.
This paper presents a new method to generate pulse
width modulated signals to control four-switch threephase inverters. The method is based on the so called
space vector modulation but the paper also presents its
scalar version. The proposed method provides a simple
way to select three or four vectors to synthesize the desired output voltage during the switching period. In the
proposed approach the choice between the use of three
or four vectors is parameterized by a single variable and
this permits to simulate and implement 'all the alternatives making possible a fair comparison of the different
techniques. The influence of different switching patterns
on the output voltage symmetry, current waveform and
switching frequency are examined. The paper also discusses how the use of the wye and delta connections of
the machine windings affects the implementation of pulse
width modulator. The utilization of an induction machine with its windings connected in delta is studied here
94 1
41
42
v1
v42
v = vup + jv,
= [E/&)e-j2"I3
vco = 0.
(3)
The space vector modulation and the problem of selecting the appropriate switching sequence are better understood if the three-phase quantities are transformed into
(YPquantities. The transformed (YOvariables are given by
vupp
= AV123
A . Wye connection
(4)
vplT and the
(7)
The combinations of the states of the switches originate
four different vectors in the (YPplane as given in Table 1.
These vectors are 7r/2 away from each other. Using the
above vector definitions one may split the (YP plane into
four sectors, i.e. I , I I , I I I , and I V , as showed in Fig. 2a.
The vectors v2 and v 4 are opposite in directior? ( v 2 =
-vq) and their amplitude is 4 times bigger than the
amplitude of the pair v 1 and v 3 . Also, the vectors v1 and
v 3 are opposite in direction (VI = - v 3 ) .
B. Delta connection
Fig. IC also shows a three-phase induction machine but
in this case the windings are connected in delta. In this
case vi = V A O - V B O ,212 = OBO - vco and vg = vco- V A O
and consequently the (YP voltage components are given
by:
vup
- 42)E
(*)
"P
1
= -(41
fi
+ 42 - 1)E.
(9)
111. SPACEVECTORPWM
Let v* represent the reference voltage to be synthesized by the FSTPI within a switching period of length T.
942
v*T = vltl
T = ti
Sector 11:
+ ~ 2 t +2 ~ 3 t +3 ~ 4 t 4
t4
(19)
restricted to
+t2 + t3 + t4.
(11)
v*T
t13
(10)
= ~ , t 1 3+ v e t 2 4
t13
(20)
Sector IV:
t13
(21)
(12)
+ Wed24
(13)
v ~=
Tv o p t l 3
(14)
vept24.
Sector 111:
Note that equation (11) is always satisfied and the apportioning factor p indicates how many vectors with its
respective weights are employed. If U
, = 0 only three vectors are employed v 2 , v 4 and v 1 or v3 (see Table 3). If
0 < p < 1 all the four vectors are employed. If p = 1
only three vectors, V I , v 3 and v 2 or v 4 are employed (see
Table 4).
Vectors
As it can be seen from the above equations, the computation of the time weights is an under-determined problem
i.e., there are four unknowns but only three different equations. By considering that the switching frequency must
be constant there are two possibilities to solve this problem. The first alternative is to use all of the four vectors
while the second one is to select only three among the four
available vectors. The present paper proposes an elegant
way to pass from one alternative to another as it is shown
in the following.
From (12) the resultant odd vectors are applied during
t 1 3 and the resultant even vector are applied during t 2 4 .
Under these conditions the remaining time is given by:
- It131 - lt241.
t13
vqv1vz
0
0
0
Vectors
Sector
1
1
1
1
~ 1 V 2 ~ 3
VlVZV.?
VQV4V1
(17)
(18)
v2v3v4
I
11
111
IV
v9vnv4
v3v4v1
6~ =
Sector
v4v1vZ
II
111
IV
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TABLE 5.
Vectors
Condition
Sector
41L
*+
1.1
I;,-
I
I
I
41A
I
I
IC,
<
A I;,-.
,
<
..
.
.
.
..
.
,
,
.
.
.
-I3
IC2
,,
,
,
.
0
;4
71
f;
I2-1,*14*1~*1;-1~-
1-
*
I
in the a@ plane.
944
AV;.
vfo =
(23)
Fig. 4 shows the typical waveforms of the command
signals for the switches q1 and 42 when t24 < 0 (Fig. 3a)
and t24 2 0 (Fig. 4b) both for 0 < p < 1. From (22),
the time intervals 7 1 and 7 2 , during which the switches
q1 and q2 must be switched on in order to obtain the
desired reference voltage at the output of the FSTPI, are
determined by
72
T
T
= -+ fi-v;.
2
E
It can be noted that for both cases represented in Fig. 4,
71 = t 2
t 3 and 7 2 = t 3
t 4 . These relationships demonstrate that both the space vector and the scalar techniques
give equivalent results.
The generation of the command of the switches of q1
and q2 is done by using programmable timers. Fig. 4
shows that for the geaeral case in which all the four vector
are employed, the pulse widths 7 1 and 7 2 can be split in
two parts: 71 and 7: (71 = 71+ 7:)and 75 and 72
+ p=l
30
al
V. IMPLEMENTING
THE PWM/FSTPI
Based on the equations presented in the previous section it is possible to derive an algorithm that can be included in the ac drive software. This algorithm is described by the following steps:
i) compute 213 and t24 using (15) and (16)
ii) compute ST using (17)
iii) compute t l , t 2 , t3 and t4 based on equations (18) to
(21)
iv) If t24 < 0 program the timers to count as follows:
q 1 timer is first loaded with t,l = t3 and after with tLl =
tl +t4; q 2 timer is first loaded with tc2 = t3 +t4 and after
with tb2 = tl f t z .
v) If t24 >_ 0 program the timers to counts as follows:
q 1 timer is first loaded with t,l = tz + t3 and after with
tLl = t l t4; 42 timer is first loaded with tc2 = t3 and
after with tL2 = t 2 + tl.
The time intervals t e l l tLl, tc2 and tL2 are indicated in
Fig. 4. Observing Fig. 4a and Fig. 4b it can be noted that
the number of commutations of the FSTPI switches is not
equally distributed. The tests included in steps iv) and
v) have been added in order to obtain in the average the
same number of commutation for all the FSTPI switches.
Also, steps iv) and v) may be defined in terms of t13.
0'
p=o
p=O-l
0.2
i
I
rn
p=o.5
o j~=O.6
+ p=0.8
sections I11 and IV. Note that Tyaap can also be used
when the delta connection is considered for the case of a
SSTPI.
VII. SIMULATIONS
RESULTS
(27)
Given (26) and (27) it is possible to use same procedure
presented in section V. However, it is also possible to
obtain v: and v; for the wye connection (named from
) terms of v z A and v i 4 (crp
now on as v:y and v ; ~ in
voltages for the delta connection). Using matrix A it can
be shown that v : ~and v i A are given by: *
T H D = Tldu+ T& .
Then the pulse widths for the delta connection can be
determined by using the same expressions presented in
(29)
945
-1.5 I
0.01
0.02
0.03
four vectors to synthesize the desired output voltage during the switching period. The scalar version of the proposed modulation technique can be implemented by software and may easily included in drive software with a
negligible increase in the computational load. This study
have shown that is preferable to use three vectors, where
two are the small vectors. The paper also presented PWM
strategies suitable to applied with delta connections of
the machine windings. That type of connection permit to
supply the machine with the same phase voltage of the
standard FSTPI drive.
t (s)
REFERENCES
1.5 7
[l] H. W. Van der Broeck and J . D. Van Wyk. A compar-
-1.5
'
0.01
0.02
0.03
t (s)
946