This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 1

Improved Low Frequency Operation of Hybrid

Inverter for Medium Voltage Induction Motor
Drive under V/f and Vector Control Mode of
Operation
Archisman Datta and Gautam Poddar

 rs Stator resistance of the motor

Abstract— In this paper, an improved control method has been  Ls Total leakage inductance of the motor
proposed for hybrid inverter to drive medium voltage induction
motor. This hybrid inverter consists of high voltage 3-level s* Stator supply frequency command
inverter that is operated in quasi-square-wave mode. Low voltage V s
*
Stator voltage magnitude command
high frequency H-bridge cells are connected in series with the 3- 
level inverter. They eliminate harmonic voltages generated by the I sn rms value of the nth order harmonic current
high voltage quasi-square-wave inverter. This paper proposes I srated Rated value of stator rms current
systemic choice of harmonic voltages that the series cells need to * * *
generate. The choice of these harmonic voltages is dynamically V se1a ,V se1b ,V
se1c 3 phase voltage reference for series cell 1
modified based on operating frequency of the drive. This method Vse* 2a ,Vse* 2b ,Vse* 2c 3 phase voltage reference for series cell 2
ensures that the quality of motor current remains same at all
operating frequency of the drive. The naturally regulated dc bus vs* , vs* Two phase stator voltage reference
voltage of the series cells are kept low for the PWM operation of  rs Estimated rotor flux vector with respect to stator
the series cells. Several issues of adopting vector control strategy
for hybrid drive have been addressed in this paper. Based on this r Rotor flux magnitude
analysis, suitable motor current control strategy has been  *
r Rotor flux command
proposed without speed sensor. Experimental results are
 mr Rotor flux angle
produced for open loop and closed loop operations of this drive.
The results show the satisfactory operation of this hybrid mrF Filtered value of estimated rotor flux angle
inverter based induction motor drive operating from 5 Hz to 50 mr Rotor flux speed
Hz.
e Rotor speed
Index Terms— Medium-voltage drive; hybrid inverter; vector  *
e Rotor speed command
control; induction motor. is , is 2-phase stator currents in the stationary frame

Nomenclature isd , isq flux and torque currents in rotating reference frame
* *
i ,i
sd sq
flux and torque current commands in rotating reference frame
2Vdc Dc bus voltage of 3-level NPC inverter * *
v ,v
sd sq
stator voltage command in rotating reference frame
Vdcs Dc bus voltage of series cell a b c
i ,i ,i 3 phase stator currents
s
s s s
Stator supply frequency
isha , ishb , ishc Estimated 3 phase stator harmonic currents
Vs (t ) Quasi-square-wave pole voltage generated by NPC inverter
Vsh (t ) Estimated harmonic voltage at motor terminal
  2 Pulse width of quasi-square-wave voltage
ish (t ) Estimated stator harmonic current
Vsn Peak value of nth order harmonic voltage present in Vs (t )
Vsh (t ) Net harmonic voltage produced by the NPC inverter
Vse* (t ) Voltage command for series cell I. INTRODUCTION
Cse Dc bus capacitance of series cell
T wo-level inverters for medium-voltage drives require
power devices of high-voltage ratings. These high-voltage
power devices have limited switching frequency. A simple 2.2
Manuscript received August 13, 2018; first revision submitted November
kV drive, when realized by 2-level inverter, requires 4.5 kV
25, 2018; second revision submitted January 12, 2019; accepted February 20,
2019. This work was supported in part by the Department of Electrical IGBT. This IGBT can be switched at a frequency not more
Engineering of IIT Kharagpur. than 750 Hz [1]. The low switching frequency inverters are
Archisman Datta and Gautam Poddar are with the Electrical Engineering operated in synchronous PWM mode [1] to reduce the sub-
Department, Indian Institute of Technology Kharagpur, West Bengal, India (e-
mail: archismandatta@gmail.com; gpoddar@ee.iitkgp.ernet.in). harmonic currents of the motor. However, the low switching

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 2

frequency inverters inject considerable amount of switching
current into the motor line current. Neutral point clamped
(NPC) 3-level converter topology [2]-[5] with high voltage
IGBT or IGCT is used for industrial medium voltage drives
for 3.3 kV and above [23], [24]. However, the switching
frequency of this PWM inverter is again limited to 750 Hz due
to high switching loss of high voltage (4.5 kV or 6.5 kV)
IGBTs or IGCTs. Significant switching currents are still
present in the motor.
Switching currents can be reduced considerably by using
cascaded H-bridge (CHB) topology [5]-[10]. However, CHB
topology requires many H-bridge cells with separate isolated
power supplies. Therefore, complex power frequency
transformer is essential to meet this requirement.
In medium-voltage drives application, hybrid inverter
topology [11]-[22] is competitive alternative to standard
medium voltage topologies. Paper [11] proposes a hybrid
inverter topology for induction motor drive. Each module per
phase consists of high voltage square-wave cell and low
voltage PWM bidirectional cell connected in series. This low
voltage PWM cell produces fundamental as well as harmonic
voltages. Therefore, both the cells require two isolated power
supplies. However, the number of cells per phase and isolated
power supplies are less as compared to standard CHB. Thus,
input power transformer has less number of windings for same
motor voltage. In [12]-[14], [18] also, authors propose hybrid
inverter, where separate dc sources are required for the high
and low voltage cells.
Papers [19]-[23] propose hybrid inverter with single energy
source. The hybrid inverter proposed in [19] consists of one
voltage source inverter which is connected to the dc power
source. Another voltage source inverter is connected to a
floating capacitor. However, the voltage of the floating
capacitor needs to be monitored and controlled. A hybrid
multilevel inverter with only three clamping diodes is
proposed in the paper [20]. However, it suffers from the
voltage balancing issue of the capacitors. A hybrid topology
associating T-type converter is proposed in paper [21].
However, the floating capacitor voltages need to be monitored
and controlled. A combination of NPC and CHB is proposed
in paper [22]. However, the NPC is SHE modulated.
Therefore, it has its intrinsic problems of computing the
switching angles off-line at all frequencies if it is used as
variable speed drive. Moreover, each CHB is connected to a
floating capacitor, and its voltage is sensed and controlled
separately.
Papers [15]-[17] propose hybrid inverter that has high
voltage quasi-square-wave cell in series with low voltage
PWM cells. These PWM cells compensate only harmonic
voltages and do not need any energy source. The dc bus
voltages of the PWM cells are naturally regulated and their
values can be considerably smaller than the configuration
given in [15].
Main advantage of the hybrid configuration [17] shown in
figure 1 is the quasi-square-wave mode of operation of the
high-voltage cell. This drastically reduces the switching losses
of high voltage IGBT. Barring few lower order voltage
harmonics, no high order switching harmonics are generated
by the high voltage cell. Since the lower order voltage
harmonics are eliminated by the low voltage PWM series
cells, motor ripple current is very less compared to 2-level or
3-level PWM inverter with switching frequency of 750 Hz [1].
Moreover, the dc bus voltages of the series cells build up and
are regulated naturally by active power balancing [17]. This
natural build up of series cell dc bus voltage is reviewed
briefly in section III. However, the paper [17] fails to achieve
good quality current waveforms when the drive operates at
low frequency.
For high performance application of the drive, it is essential
to have direct or indirect torque control of induction motor
using current controllers. However, it is extremely difficult to
achieve fundamental current control of an induction motor

SR1 SY1 SB1

+
- Vdc SR2 SY2 SB2
D3 D5
Vdcs
D1 Cse
D2 D4 D6 To next
SR3 SY3 SB3 To series
+
NPC cell
Transformers - Vdc
SR4 SY4 SB4

Rectifiers R-Phase
1st Series nth Series
Cell Cell

1st Series nth Series Y-Phase

Cell Cell
Three-phase
1st Series nth Series squirrel cage
Cell Cell B-Phase
induction motor

Figure 1. Basic block diagram of the investigated hybrid inverter

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 <
using vector control algorithm if the main high voltage module
of a hybrid inverter is operated in quasi-square wave mode
[15]-[17]. Moreover, the voltage reference of the hybrid
inverter, presented in [17], needs to be sinusoidal for natural
building of dc bus voltage of the series cells. Else the
harmonic voltage elimination by the series cell is not
guaranteed. However, closed loop current controllers, based
on standard vector control strategy, do not guarantee the
sinusoidal voltage reference signal.
Therefore, to the best of authors‟ knowledge, extremely few
research works have been reported on vector control operation
of induction motor using hybrid inverter [18], [19]. Paper [18]
addresses only the space vector PWM strategy using hybrid
inverter. No vector control operation of induction motor is
presented in this paper. Paper [19] deals with PMSM drive
using hybrid inverter with high switching frequency. Indirect
estimation of flux is not essential here since position encoder
is used for the PMSM. All the results presented in these papers
are at base frequency or above. Issues of high voltage cell,
switching at fundamental frequency of the drive, do not arise
in these papers. Therefore the motivation of this paper can be
summarized as below.
 To propose modified control strategy of this
hybrid inverter to improve motor current
waveform at low frequency.
 To analyze the issues of this hybrid inverter with
closed loop current controller that generates the
voltage references using vector control strategy.
 To propose a solution to the above issues and
introduce vector control strategy for induction
motor drive using this hybrid inverter.
The paper has been organized as follows. In section II, the
problem of motor current harmonics at low frequency has
been analyzed. Suitable solution has been proposed by
modifying the operation of series cell. Section III analyzes the
operation of a series cell at different frequencies and the effect
on its dc bus voltage. Design guideline of a medium voltage
drive based on proposed modification is given in section IV.
Design, operation and control of a 3.3 kV induction motor
drive using this hybrid inverter are explained in detail for the
ease of understanding. Section V explains the challenges to
design the current controller for this drive using vector control
algorithm. Finally, experimental results are presented in
section VI, for both open loop and closed loop operation of
this drive.
II. GUIDELINES FOR MANUSCRIPT PREPARATION
Figure 2 shows the output pole voltage waveform of high
voltage NPC inverter. The equation of the net harmonic
voltage produced by this inverter is as given below.

 4V 
Vsh  t     dc cos  n  sin  ns t  ,
n 3  n  (1)
where 'n' is odd number
2Vdc is the net dc bus voltage of the NPC inverter. The
series cells need to compensate these harmonic voltages
without external energy sources. This way, the series cells
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Vdc 3
π+θ 2π-θ
0
θ π-θ ωst
-Vdc
Figure 2. Quasi-square-wave voltage Vs (t ) , generated by the NPC
inverter
keep the motor terminal voltage free from these harmonic
voltages. In this process [15], the dc bus voltages of series
cells naturally build up to the expected values, depending on
the combination of harmonics that the cells compensate. From
equation (1), the maximum dc bus voltage of a series cell can
vary from Vdc , when it compensates all the harmonics, to
0.2Vdc , when it compensates 5th harmonic voltage alone [15],
[17]. For motor voltage of 2.2 kV or above, Vdc is quite high
for the series cells to operate in PWM mode. Therefore, only
few harmonic voltages can be corrected by a series cell.
When the drive operates near the rated frequency (here, 50
Hz), the 5th and the 7th harmonic voltages can cause significant
motor current harmonics. The higher order voltage harmonics
like 11th, 13th and above do not cause distortion in the motor
currents around the rated frequency due to the large
impedance offered by the leakage inductance of the motor.
Therefore, it is sufficient to remove the 5th and the 7th
harmonic voltages of NPC inverter to generate the motor
current with low THDF, near the rated frequency. However, as
the fundamental frequency of the drive decreases from
medium to low frequency, few higher order voltage harmonics
like 11th and 13th, produced by the NPC inverter, are no longer
high frequency voltage signals. Therefore, the leakage
impedance offered by the motor at these harmonic
frequencies, becomes small. Hence, the distortion of motor
current increases as the frequency of the drive decreases,
unless few additional harmonic voltages are eliminated by the
series cells. In section IV, control strategy for an induction
motor drive is devised based on this principle.
Switching frequency of PWM series cell limits the
generation of high frequency harmonic voltages. This, in turn,
restricts the generation of higher order voltage harmonics by
the series cell near the rated frequency of the drive. However,
around the lower operating frequency of the drive, the series
cell can produce higher order harmonic voltages as the
frequencies of those higher order voltage harmonics are less.
This is also essential for improved current waveform at low
speed as discussed earlier. Therefore, this paper proposes
dynamically selected harmonic voltage elimination by the
series cells of this hybrid inverter as discussed in section IV.
III. CHOICES OF HARMONICS FOR A SERIES CELL AND ITS
INFLUENCE ON DC BUS VOLTAGE
The amplitude of nth order harmonic voltage, present in
the quasi-square-wave voltage generated by the NPC inverter,
is given by
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 4

4Vdc
cos  n  (2)
Vsn 
n 4Vdc cos(n ) 0
When a series cell compensates any particular nth harmonic, 0 jns Ls rs
n
the cell can be operated either in quasi-square-wave mode or (From NPC inverter)
in PWM mode. If it is operated in quasi-square-wave mode 
kmVdcs  t  cos(n ) I sn
then the dc link voltage of the cell, Vdcs is as given below [17]. 00
Vdc n
Vdcs 
(3) (From series cell)
n
The value of Vdcs is smallest in this method compared to the Figure 3. Harmonic model of the squirrel cage induction motor

Vdcs found in the following methods. However, a series cell

can compensate only one voltage harmonic when operated in voltage reference Vse*  for the series cell and corresponding
quasi-square-wave mode. value of Vdcs can be written as below.
When a series cell operates in PWM mode, the Vdcs can be
Vse*  t   cos  n  sin  n1s t 
forced by selecting suitable modulation depth for the series (4)
Vdcs  4Vdc n
cell. For PWM operation, the triangular carrier wave is
assumed to vary from 1 to 1 . Then, from equation (1), the th th
In case, a series cell is used to compensate n1 and n2

ωs* sin(ωst) cos(ωst)

(Obtained from v/f (Obtained from v/f

control or vector control) Selection of harmonic m Unit vector
control or vector control)
voltages to be generation for the
Vs * eliminated ith harmonics
sin(ωst) cos(ωst)

sin(iωst) cos(iωst)
Quasi-square-wave modulator [17]
Unit vectors for Quasi-square-
3-phase stator 1 wave inverter
Vs*
voltage 0 pulses
Vs*
1

Factor for optimum

Generation of cos(iθ) for ith order * m Vdcs using equation
cos(ωst) Vs km
harmonic voltage [17]
(9)

cos(iωst) Sampled for

cos(iθ)
cos(iθ)
cos(iθ) km i
cos st 
Vs* 3-Φ
sin(iωst) 2-Φ
cos  i  to
ith harmonic
voltage
3-Φ
cos  ist 
cos(iωst)
references

3-Φ 3-Φ
harmonic Carrier Signal harmonic Carrier Signal
voltage voltage
references Vse*1a references Vse* 2a
5th harmonic 7th harmonic
13th harmonic Vse*1b Pulse
First Series Vse* 2b Pulse
Second
Cell Gate 11th harmonic Series Cell
Adder Width Adder Width
Vse*1c Modulator
pulses
Vse* 2c Modulator
Gate pulses

Figure 4. Generation of gate pulses of the hybrid inverter

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 5

harmonics together, the nominal voltage reference Vse  t  for signal. Based on this method, the dc bus voltages of a series
*

cell for different combination of voltage harmonics are given

the series cell is
in TABLE 1. Figure 4 shows the control block diagram of the
 cos  n1  cos  n2  
Vse*  t   k2  sin  n1s t   sin  n2s t  (5) proposed drive.
 n1 n2 
The amplitude of Vse  t  should be 1 for minimum Vdcs . k 2 is a
* IV. DIFFERENT MODE OF OPERATIONS OF MEDIUM VOLTAGE
DRIVES USING HYBRID INERTER
constant and is estimated based on n1 and n2 . In general, if a Medium voltage industrial drives are available ranging from
cell compensates m number of harmonics, the reference to the 2 kV to 13.8 kV using high voltage IGBTs and IGCTs [23],
series cell is as follows. [24]. IGBTs of 4.5 kV or above are normally used for these
 m cos  ni   medium voltage applications. For best thermal performances,
Vse*  t   km  sin  nis t   (6) the switching frequency of these devices is limited to 750 Hz
 i 1 ni  [25]. Low voltage IGBT of voltage rating up to 1700 V can be
The constant km is estimated for minimum Vdcs as discussed operated in PWM mode with switching frequency above few
later in this section. kHz. Using TABLE 1, minimum number of series cell is
Figure 3 shows the harmonic model of a squirrel cage chosen for desirable quality of motor current waveform. The
induction motor, driven by a hybrid inverter. The dynamical upper limit of Vdcs is bounded by the IGBTs of 1700 V for
equation of the dc bus voltage of a series cell, that PWM operation of the series cells. The high voltage NPC cell,
compensates nth order harmonic, is given below. as shown in figure 1, is operated in quasi-square-wave mode
 4Vdc kmVdcs (t )  with Vdc limited by the high voltage IGBTs. In this section,
  cos (n )
2

dVdcs (t ) rs  n n  different mode of operations of the series cells is presented for

 (7) different operating frequency of the drive. Sample design and
rs2   ns Ls 
2
dt Cse
operation of a 3.3 kV induction motor drive have been
Therefore, in steady state, without any external dc source, the presented next to explain the design and control principle of
dc bus voltage of the series cell naturally becomes as follows. the proposed drive. Similar approach can be adopted for
4V induction motor drives of different voltage ratings.
Vdcs  dc (8)
k m For 3.3 kV induction motor drives, the required dc bus
Therefore, Vdcs converges to 4Vdc km naturally, when the voltage of high voltage NPC cell  2Vdc  is 4.32 kV. Therefore,
series cell produces m number of voltage harmonics as given the high voltage NPC cell needs 4.5 kV IGBTs. The series
in (6). This value of Vdcs is independent of the operating cells compensate up to 25th order harmonic voltages generated
by this quasi-square-wave NPC cell. This ensures that the
frequency s of the drive. For minimum value of Vdcs , the THDF of motor current remains below 8% for the operation
value of km should be maximum. However, the amplitude of ranging from 0.1p.u to 1p.u. frequency of the drive. This is
Vse*  t  in equation (6) should always be less than or equal to 1. established later. If only one series cell per phase is used to
eliminate all eight voltage harmonics (5th to 25th), the required
Therefore, km can be obtained by solving a simple inequality, dc bus voltage is 0.9Vdc . Then, it is not possible to use 1.7 kV
as given below. IGBT for the series cell. Therefore, two series cells per phase
 m 1 are required for 3.3 kV drive. Different modes of operations of
km     1 (9)
 i 1 ni  these cells are discussed below.
Using figure 3, a conservative estimation of current
The value of km , obtained from (9), is not optimum for all
harmonic x , produced by the uncompensated nth harmonic
values of  or s . However, it guarantees that the amplitude voltage (1), is given by the following equation.
of Vse  t  is always less than 1, which is the peak of the carrier
*
2 2Vdc
I sn n
x   100 (10)
TABLE 1 I srated I srated rs2  (ns Ls )2
DC BUS VOLTAGE OF A SERIES-CELL FOR VARIOUS
COMBINATIONS OF HARMONIC VOLTAGES I srated is the root mean square (rms) value of the rated motor
Combination of voltage Dc bus voltage of series cell (Vdcs) current. The term cos(n ) in the numerator is removed in (10)
harmonics, eliminated by a in terms of dc link voltage (2Vdc) of
series cell NPC inverter
to make the estimation simple. Therefore, the equation (10)
5th 0.26Vdc gives a conservative estimation of x as cos(n ) is always less
7th 0.18Vdc than 1. For uncompensated harmonics, an upper limit of x ,
5th and 7th 0.44Vdc
5th and 13th 0.35Vdc termed as xlimit , is chosen to regulate the motor current THDF
7th and 11th 0.30Vdc at all operating frequencies. In this paper, the chosen upper
5th,13th,23rd and 25th 0.46Vdc limit of x is 5%. This ensures that the motor current THDF is
7th,11th,17th and 19th 0.44Vdc less than 8% at all operating frequencies as suggested by the
equation (11).

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 n2  
current THD  x 1    21 
limit
(11)
i 1  ni 1 
Here, n1 is the lowest order uncompensated harmonic and
n2 , n3 ,..., etc. are the higher order uncompensated harmonics.
Here, rs drop is assumed to be very small compared to
ns Ls drop in (10).
TABLE 2
PARAMETERS OF INDUCTION MOTOR UNDER TEST
Machine Attributes Value
Rated rms current (Israted)
rs
σLs 17.23mH
Around the rated frequency of 50 Hz, the value of x is more
than 5% for both 5th and 7th order current harmonics. The value
of x is below 5% for 11th order harmonics and above. This
operating condition is valid approximately from 50 Hz to 30
Hz, as obtained from (10). This frequency range is obtained
using the motor parameters, given in TABLE 2. Therefore,
only 5th and 7th harmonic voltages are compensated by the
series cells for this frequency range. This frequency range is
termed as zone-1. In this zone, the first cell eliminates only 5th
harmonic voltage and the second cell eliminates only 7 th
harmonic voltage. The dc bus voltages of these series cells for
this frequency range are given in TABLE 1.
From 30 Hz to 10 Hz, the values of x for 5th, 7th, 11th, and
13th order current harmonics are above 5%. Therefore, they are
compensated by two series cells as before. The values of x ,
for current harmonics of order 17th and above, are below 5%.
Therefore, they remain uncompensated. This frequency range
is termed as zone-2. This frequency range of zone-2 is again
obtained using (10). In zone-2, the first cell eliminates 5th and
13th order voltage harmonics and the second cell eliminates 7 th
and 11th order voltage harmonics. The dc bus voltages of these
series cells for zone-2 are as given in TABLE 1. It may be
noted that each series cell can compensate any combination of
voltage harmonics without compromising the performances.
However, the proposed combination ensures that higher dc bus
voltage among the two series cells has minimum value as seen
from TABLE 1.
Similarly, below 10 Hz, the first cell eliminates 5 th, 13th,
23rd and 25th order voltage harmonics and the second cell
eliminates 7th, 11th, 17th and 19th order voltage harmonics. This
frequency range is termed as zone-3. This proposed
combination ensures that higher dc bus voltage among the two
series cells has minimum value as discussed before. The
values of x , for current harmonics of order 29th and above, are
below 5%. Therefore, corresponding voltage harmonics are
not compensated.
For 3.3 kV induction motor drives, the dc bus voltage
 2Vdc  required by the quasi-square-wave NPC cell is 4.32 kV.
Therefore, from TABLE 1, the dc bus voltage required by the
series cell is less than 1 kV for all the three zones of operation
of the drive. Hence, the standard 1.7 kV IGBT can be used for
the PWM operation of the series cells.
It is important to note that the dc bus voltages of the series
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of Emerging and Selected Topics in Power Electronics
6
2 cells are maximum at zone-3 and minimum at zone-1. If the dc
bus voltages of the series cells are always kept at the same
value as in zone-3, all the eight voltage harmonics can be
corrected at all operating frequencies. However, in zone-1, the
operating frequency of the drive is around the base frequency
of 50 Hz. To produce the 11th harmonic voltage of 50 Hz,
PWM frequency of the series cell must be very high.
However, the series cell with nearly 1 kV dc bus voltage and
1.7 kV IGBT, the PWM frequency must be lower than 5 kHz.
Hence, the correction of voltage harmonics of order 11 th and
above by the series cell in zone-1 is extremely difficult.
Therefore, the operation of the proposed hybrid drive is
divided into three zones as discussed above.
10.9A
1.1
V. VECTOR CONTROL OPERATION OF THE DRIVE
Closed loop vector control operation of induction motor
using this hybrid inverter poses few challenges to overcome.
Quasi-square-wave operation of main cell does not permit to
change the voltage reference within the fundamental cycle.
Therefore, the motor current controller for vector control
operation must have limited bandwidth. Moreover, the voltage
reference for the main cell needs to be sinusoidal for natural
build up of dc bus voltages of the series cells. Therefore, the
motor model, used by the vector control algorithm, should be
free from uncompensated voltage and current harmonics as
proposed below.
For rotor flux oriented control, the fundamental component

of rotor flux  rs needs to be estimated from stator voltage
and current signals. Few uncompensated harmonics, present in
stator current signals, cause distortion to the estimated rotor
flux position  mr . Thus, the fundamental components of stator
currents are essential to estimate the torque current isq and the
flux current isd for the feedback signals of motor current
controllers. This paper proposes to improve these estimations
as discussed below.
Sum of the uncompensated harmonic voltages, present
across the motor terminals, is as follows.
 m
4V
Vsh (t )  Vs (t )  V3k (t )   dc cos(i )sin(is t ) (12)
k 1 i 1 i
Here, Vs(t) is the quasi-square-wave pole voltage produced by
main NPC inverter as shown in figure 2. V3k(t) is the triplen
harmonic voltage obtained from common mode voltage
produced by main NPC inverter. The remaining term in
equation (12), accounts for the fundamental component and
the harmonic voltages produced by series cells. Using
equation (12) and figure 3, the harmonic current ish  t  of any
phase, drawn by the motor, is estimated in real time from the
following equation.
dish (t )
Vsh (t )  rs ish (t )   Ls (13)
dt
Using equation (13), harmonic currents isha , ishb , ishc are
estimated for the three phases a, b, and c. These estimated
harmonic currents are subtracted from the measured three
phase currents isa , isb , isc to generate the fundamental
components of motor phase currents, as shown in figure 5.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 7

mr
r
vs* , vs* Estimation of cos  mr cos  mrF
rotor flux
SOGI
 rs sin  mrF
is , is sin  mr
mr
(a)

cos  mrF r mr

isha isa +-
Vdc is
Equations isha isd
ishb α-β Rotor speed
cos
(12) and (13) isb +-
abc to e
c α-β is to d-q estimation
i sh
ishb isq
cos(5θ)
cos(7θ)

cos(nθ)

isc +- sin  mrF

c
i sh
(b)

cos  mrF
isd*
 *
r + + +
- vs*
- -
*
vsd vs2  vs2 Vs*
r Decoupling terms *
v vs*
isd d-q to s
α-β *
v
*
s
vs* sin st 
vsq
 Vs*
*
isq
e* +- +- ++ vs* cos st 
sin  mrF V *
e isq Decoupling terms s

(c)

Figure 5. Block diagram of speed sensorless vector control induction motor. (a) Block diagram of rotor flux model, (b) estimation of isd , isq , mrF , and e , (c)
block diagram of motor current controller

Using these fundamental currents, two phase motor currents therefore, isd and isq controllers are designed with limited
is and is  are generated. Finally, is and is  are used to bandwidth. This limit can be decided based on the lowest
estimate isq , isd , and  mr as shown in figure 5.
* *
frequency of operation. vsd and vsq are generated by adding the
Practically, due to inaccurate estimation of Vsh  t  , the feed forward terms with the outputs of current controller as
shown in figure 5. cos mrF and sin mrF are used again to obtain
estimated rotor flux position  mr , is not free from distortion *
vs* and vs* from vsd
*
and vsq . The stator voltage magnitude
completely. This distortion is further removed by introducing
*
second order generalized integrator (SOGI) based filter for the reference Vs is generated from vs* and vs* as shown in figure 5.
rotor flux angle  mr as shown in figure 5. The transfer *
Next, Vs is applied to the quasi-square-wave voltage
function of the SOGI filter is as given below. modulator to generate the gate pulses for the NPC inverter as

k s
D( s )  2   (14) shown in figure 4. An additional hysteresis band is introduced
s  k s   2 to the comparator of the quasi-square-wave modulator to

In this work, mr is used as  . These filtered unit vectors avoid any jittering. The experimental results for this mode of
cos mrF and sin mrF are along the rotor flux vector. They are operation are shown in next section.

used to estimate flux current isd and torque current isq from is VI. EXPERIMENTAL RESULTS
and is as shown in figure 5. Experimental investigation has been carried out on 420 V
These isd and isq are used as feedback signals for the current prototype drive. It has two series cells per phase. This
* *
configuration is suitable for 3.3 kV applications. The
controllers to generate voltage references vsd and vsq . Since specification of squirrel cage induction motor, used for this
these feedback signals are passed through SOGI filter, drive, is given in TABLE 3. Algorithms for harmonic
elimination and motor control have been implemented in DSP

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
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> JESTPE-2018-08-0658.R2 < 8

TABLE 3
Transformers
Transformersand
and rectifiers
rectifiers Hybrid
Hybrid inverter
inverter SPECIFICATIONS OF THE INDUCTION MOTOR UNDER TEST
Specifications Value
Rated voltage 420 V
Rated current 10.9 A
Rated frequency 50 Hz
Rated speed 1430 RPM
Power rating 7.5 HP

square-wave inverter. DSP generates the gate pulses for the

series cells. Unit vector generations and other control
DCDCgenerator
generator
used
usedtotoload
load the
the
algorithms are implemented in DSP. The experimental setup
induction
inductionmotor
motor with digital control board and induction motor under test is
shown in figure 6.
Digital control
Induction motor Digital control
board
Induction motor
under test board A. Experimental Results for V/f Mode Operation
under test
Motor line current waveform at 50 Hz with 1p.u. load
Figure 6. Experimental set-up along with the digital control board torque is shown in figure 7(a) when quasi-square-wave high
and the induction motor under test voltage inverter drives the motor alone. As seen from the
harmonic spectrum given in figure 7(a), the dominant
(TMS320F2407A) and FPGA (EP2C8T144) based digital harmonics present here are 5th and 7th. The motor current
control board. FPGA generates the gate pulses for the quasi-

THDF: 29% THDF: 4%

50 Hz X axis: 4ms/div 50 Hz X axis: 4ms/div

(a) (b)
20 Hz THDF: 15% 20 Hz THDF: 6% 7 Hz THDF: 18% 7 Hz THDF: 5%

zone-1 operation zone-2 operation zone-2 operation zone-3 operation

continued X axis: 10ms/div implemented X axis: 10ms/div continued X axis: 20ms/div implemented X axis: 20ms/div
(c) (d) (e) (f)

THDF: 42% THDF: 8%

5 Hz X axis: 40ms/div 5 Hz X axis: 40ms/div

(g) (h)

56 V 20

X axis: 20ms/div 15
50 Hz Y axis: 20V/div Zone- Zone- Zone-
THDF (%)

3 2 1
X axis: 400us/div 10
56 V
5

50 Hz Y axis: 50V/div
5 10 15 20 25 30 35 40 45 50
(i)
Operating Frequency (Hz)
(j)

Figure 7. Experimental results in V/f mode. (a) Motor line current and its harmonic spectrum with no harmonic correction at 50Hz. Y axis:
10A/div. X axis: 4ms/div. (b) Motor line current and its harmonic spectrum with only 5 th and 7th harmonic correction at 50Hz. Y axis: 10A/div.
X axis: 4ms/div. (c) Motor line current at 20 Hz if zone-1 operation is continued. Y axis: 10A/div. X axis: 10ms/div. (d) Motor line current at
20 Hz with zone-2 operation. Y axis: 10A/div. X axis: 10ms/div. (e) Motor line current at 7Hz if zone-2 operation is continued. Y axis:
10A/div. X axis: 20ms/div. (f) Motor line current at 7Hz with zone-3 operation. Y axis: 10A/div. X axis: 20ms/div. (g) Motor line current and
its harmonic spectrum with only 5th and 7th harmonic correction, as proposed in [17], at 5Hz. Y axis: 10A/div. X axis: 40ms/div. (h) Motor line
current and its harmonic spectrum with proposed dynamic harmonic correction at 5Hz. Y axis: 10A/div. X axis: 40ms/div. (i) DC bus voltage
(X axis: 20ms/div, Y axis: 20 V/div) and the output voltage (X axis: 400us/div, Y axis: 50 V/div) of the series cell at 50 Hz.(j) Variation of
THDF with fundamental frequency.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 9

THDF is 29%, which is quite significant. When the series cells
are activated, the distortion of motor line current reduces as
seen in figure 7(b). The two series cells compensate 5 th and 7th
harmonic voltages only. Figure 7(b) shows that the THD F
reduces to 4%. This conforms to high frequency operation in
zone-1 as discussed in section IV.
Figures 7(c) and 7(d) show the motor line current
waveforms with 1p.u load torque when the frequency is
reduced to 20 Hz. In figure 7(c) the harmonic voltage
correction strategy is same as in zone-1. As seen from this
figure, the current THDF rises to 15% as explained in section
II. Figure 7(d) shows the motor current waveform when 5 th,
7th, 11th, and 13th order harmonic voltages are compensated.
This is defined as zone-2 operation in section IV. The motor
current THDF then improves to 6%.
Figures 7(e) and 7(f) show the motor line current
waveforms with 1p.u load torque when the frequency is
further reduced to 7 Hz. In Figure 7(e) the harmonic voltage
correction strategy is same as in zone-2. As seen in this figure,
the motor current THDF again rises to 18% as explained in
section II. Figure 7(f) shows the motor current waveform
when 5th, 7th, 11th, 13th, 17th, 19th, 23rd and 25th order harmonic
voltages are compensated. This is defined as zone-3 operation
in section IV. This improves the motor current THD F to 5%.
Therefore, figures 7(c), 7(d), 7(e) and 7(f) validate the need
for dynamically selected voltage harmonics that the series
cells compensate. Hence, this paper proposes to divide the
operation of the drive in different zones based on frequency as
discussed in section IV. Figure 7(j) shows the experimentally
generated plot of motor current THDF versus operating
frequency of the drive using this proposed method. Here,
motor current THDF never rises beyond 10%. Thus the
effectiveness of proposed strategy is established. Figure 7(j)
also shows that the motor current THDF increases gradually
within each zone as the motor frequency decreases. The
reason is that the series cells compensate fixed number of
voltage harmonics in each zone. Leakage impedance of the
motor for harmonic voltage decreases as the fundamental
frequency decreases in a zone. Therefore, harmonic current
increases. However, the frequency range of each zone is
selected to limit the peak THDF within 10%.
Figure 7(g) shows the motor line current waveform with
1p.u load torque at 5 Hz, based on the strategy proposed in
[17]. The motor current THDF is 42%. Figure 7(h) shows
improved current waveform for same operating condition
using proposed harmonic compensation strategy. The motor
current THDF decreases to 8%.
Figure 7(i) shows the dc bus voltage and the PWM output
voltage of a series cell that eliminates only 7th harmonic at 50
Hz. In this laboratory setup, Vdc is 270 V. From table-1, the dc
bus voltage of this series cell should ideally be 49 V (
0.18Vdc). Figure 7(i) shows that the dc bus voltage of this cell
naturally builds to 56 V which is very close to the theoretical
value. This confirms the natural building of dc bus voltage of
a series cell as discussed in section III.
B. Experimental Results for Vector Control Mode
Unlike high frequency PWM inverter, this inverter
generates small amount of lower order current harmonics due
to the uncompensated voltage harmonics as shown in figure
8(a), CH-A. For vector control operation, estimation of
fundamental motor current is essential from this distorted
motor current signal. Based on the harmonic current
elimination technique, presented in section V, near

+1 CH A
CH A 0
CH A +1
-1
0
CH B
CH B -1
X axis: 4ms/div X axis: 4ms/div CH B X axis: 4ms/div
(a) (b) (c)

10 Hz 20 Hz 30 Hz 50 Hz
X axis: 20ms/div X axis: 10ms/div X axis: 10ms/div X axis: 4ms/div
(d)

X axis: 1s/div X axis: 1s/div

25 Hz X axis: 10ms/div 50 Hz X axis: 4ms/div

(e) (f)

Figure 8. Experimental results with vector control mode. (a) is with and without harmonic current estimation. CH A: Without harmonic current
estimation, CH B: After harmonic current estimation. Y axis: 5 A/div. (b) isq with and without harmonic current estimation. CH A: Without harmonic
current estimation, CH B: After harmonic current estimation. Y axis: 0.2 p.u/div. (c) Input and output to the second order notch filter. CH A: Estimated
rotor flux angle, CH B: Filtered rotor flux angle. (d) No load motor currents with dynamic harmonic correction. Y axis: 5A/div. (e) Motor currents with
0.7 p.u load with dynamic harmonic correction. Y axis: 10A/div. (f)  r and isq response to load transients. CH A:  r . CH B: isq . Y axis: 0.2 p.u/div.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JESTPE.2019.2903746, IEEE Journal
of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 <
fundamental component of motor current is estimated as
shown in figure 8(a), CH-B.
CH-A of Figure 8(b) shows the torque current estimated
using actual motor currents. CH-B of Figure 8(b) shows the
torque current estimated using estimated fundamental motor
currents. In this paper, the later is preferred over former for the
use of torque current controller. Current controllers introduce
noise if torque current  isq  and flux current  isd  are
estimated using actual motor current, as discussed in section
V.
CH-A of Figure 8(c) shows cos mr , one of the unit vectors
of rotor flux position. It is estimated using 2-phase stator
*
voltages vs* and vs and modified 2-phase stator currents is
and is . However, estimated cos mr shows small distortion
due to the presence of uncompensated harmonic currents. This
adversely affects the estimation of rotor flux orientated stator
currents isd and isq . Therefore, as proposed in section-V,
second-order adaptive notch filter is introduced to eliminate
this distortion. Output of this filter is cos mrF and is shown in
CH-B of Figure 8(c).
Using the estimators, given above, vector control operation
of this drive is tested in the laboratory. Figure 8(d) shows
motor current waveforms at no-load for different operating
frequencies. At no-load, the current THDF does not go beyond
20% at any frequency from 10 Hz to 50 Hz. Figure 8(e) shows
the motor current waveforms at 75% load for frequencies near
25 Hz and 50 Hz. Current THDF is below 8% for both the
operating conditions. This THDF further improves as the load
is increased. These waveforms show the satisfactory
performance of vector controlled induction motor drive in
steady-state using hybrid inverter.
Figure 8(f) shows the dynamic operation of the drive when
the motor load is suddenly applied to the motor and
withdrawn. CH-B shows the corresponding change in torque
current isq . CH-A shows that the rotor flux  r remains almost
constant during these transients. These waveforms establish
the decoupled control of rotor flux and motor torque during
vector control operation of the drive.
VII. CONCLUSION
This paper presents V f and vector controlled induction
motor drive using hybrid inverter and achieves almost uniform
motor current THDF at all operating frequency of the drive.
This hybrid inverter consists of high voltage 3-level module
operated in quasi-square-wave mode. High voltage dc source
powers this 3-level module. Several floating low voltage H-
bridge modules are connected in series with this 3-level
module. These series modules eliminate harmonic voltages
from quasi-square-wave output voltage of 3-level module. The
dc bus voltages of these H-bridge modules are naturally
regulated.
This hybrid inverter based induction motor drive is tested in
open loop V f mode for a frequency range from 5 Hz to 50
Hz. Experimental results in section VI-A confirm the
performances as designed in section-III and section-IV. In
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10
section-V, the paper proposes a method for indirect estimation
of rotor flux vector and torque current, in presence of
uncompensated current harmonics. The hybrid drive is then
tested in sensorless vector control mode with torque and flux
current controllers. In section VI-B, the experimental results
show decoupled control of torque and flux of the motor from
10 Hz to 50 Hz. Steady-state performances of vector control
operation match the performance of V f mode of operation.
However, the gain of the current controller needs to be very
low for very low frequency operation of the drive in vector
control mode. Adaptive filters used for the motor model
influence the bandwidth of this current controller. Therefore,
this hybrid drive can be competitive candidate for very high
power medium voltage drive with limited speed variations.
In summary, the contributions of this work can be written as
below.
 This paper proposes a method to compensate dynamically
selected harmonic voltages to achieve low motor current
THDF at all operating frequency of the drive.
 Issues of the hybrid inverter, when operated in vector
control mode, have been investigated. A method has been
proposed to estimate the fundamental component of rotor

flux vector  rs and d-q axis stator currents isd and isq in
presence of uncompensated harmonics.
 In view of above estimator, design guidelines are
proposed for motor current controller to achieve suitable
bandwidth of the drive.
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of Emerging and Selected Topics in Power Electronics
> JESTPE-2018-08-0658.R2 < 11

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converters, and active power filters.

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