Sylvain LECHATSANJUANMSc

Voltage Oriented Control of ThreePhase
BoostPWMConverters
Design, simulation and implementation of a 3phase boost battery
charger
MasterofScienceThesisinElectricPowerEngineering
SylvainLECHATSANJUAN
DepartmentofEnergyandEnvironment
DivisionofElectricPowerEngineering
CHALMERSUNIVERSITYOFTECHNOLOGY
Gteborg,Sweden,2010
VoltageOrientedControlofThreePhase
BoostPWMConverters
Design,simulationandimplementationofa3phaseboostbattery
charger
By
Supervisor
SaeidHaghbin,PhDStudent
Examiner
OlaCarlson,AssociateProfessor
Gteborg,Sweden,2010
VOLTAGEORIENTEDCONTROLOFTHREEPHASEBOOSTPWMCONVERTERS
DESIGN,SIMULATIONANDIMPLEMENTATIONOFA3PHASEBOOSTBATTERYCHARGER
SYLVAINLECHATSANJUAN
SYLVAINLECHATSANJUAN,2010
SE41296Gteborg
Sweden
Telephone:+46(0)317721000
Gteborg,2010
iv
ABSTRACT
VoltageOrientedControlofThreePhaseBoostPWMConverters
Design,simulationandimplementationofa3phaseboostbatterycharger
ChalmersUniversityofTechnology
Inapluginhybridelectricvehicle,theutilitygridwillchargethevehiclebatterythroughthe
batterycharger.Forathreephasegridsupplyvoltage,threephaseboostrectifiersareacommonly
used scheme for chargers. Bidirectional power transfer capability and unit power factor operation
are interesting features that can be achieved by the method proposed in this thesis. Different
controlstrategieshavebeenproposedtocontroltheconverter.TheVoltageOrientedControlisone
ofthesemethodsbasedonhighperformancedqcoordinatecontrollers.
The Voltage Oriented Control method for a threephase boost rectifier have been designed
andsimulated.Moreover,animplementationofthesystemhasbeenstarted.Thesystemsimulation
hasbeendoneusingMatlab/Simulinksoftware.Feedforwarddecoupledcurrentcontrollerhasbeen
designedalongwithPulseWidthModulationschemetocontrolthebatterycharging.Thecontroller,
that is, a current controller and a DClink voltage controller, have been designed using a method
called Internal Model Control. The simulation results have been presented and the control system
performanceevaluatedinresponsetotheloadanddcbusvoltagestepchanges.
dSpace system have been used for practical implementation. The system is directly running a
Simulink model as a controller. The Simulink files have been developed for this purpose. A brief
explanationofthesystemconfigurationhasbeenprovidedfortheexperimentalsystem.
Key words : battery charger, decoupled controller, dSpace, Internal Model Control (IMC), Pulse
WidthModulation(PWM),threephaseboostPWMrectifier,VoltageOrientedControl(VOC).
v
ACKNOWLEDGEMENTS
Firstofall,IwouldliketoexpressmysinceregratitudetoSaeidHaghbin,mysupervisor,for
histotalavailabilityduringthethesis,forhisunderstanding,technicalguidanceandfriendliness.
MygratitudealsogoestoOlaCarlson,forgivingmetheopportunitytodothisMastersThesiswork
intheElectricPowerdivisionofChalmersUniversityofTechnology.
A very special thanks to Stefan Lundberg and Massimo Bongiorno, for all help, their availability,
technicalguidanceandnicediscussions.
Thankstoalltheemployeesandstaffinthedivisionwhomademythesisworksuchapleasantstay.
Furthermore,IwouldliketothankMagnusEllsenforhisavailabilityandhelpforlaboratorysetup.
Finally, many thanks to my fellow Masters Thesis students with Saman Babaei, Thinley Gyeltshen,
Francisco Montes Venero, Peng Hou, Sergio Garcia Collino and Johan Andersson. Thanks for their
support, guidance and nice discussions. They also made my stay in Sweden an unforgettable
experience.
SylvainLechatSanjuan
Gteborg,Sweden
Wednesday,June16,2010
vi
LISTOFSYMBOLS,SUPERSCRIPTS,SUBSCRIPTSANDABBREVIATIONS
ABBREVIATIONS
DPC DirectPowerControl
IC InitialCondition
IGBT InsulatedGateBipolarTransistor
IM InductionMachine
IMC InternalModelControl
PWM PulseWidthModulation
PLL PhaseLockedLoop
PMSM PermanentMagnetSynchronousMachine
SVM SpaceVectorModulation
VFDPC VirtualFluxDirectPowerControl
VFOC VirtualFluxOrientedControl
VOC VoltageOrientedControl

SYMBOL
U Linevoltage
E Linevoltage
F
g
Gridphasetogroundvoltageamplitude
F
d
andF
q
dqcoordinatesoflineorgridvoltage(amplitudeinvarianttransformation)
Vpcc Voltageatthepointofcommonconnection
Us Convertervoltage
V Convertervoltage
V* Convertervoltagereferencefromcurrentcontroller
F
LL
LinetoLinevoltage
F
LN
LinetoNeutralvoltage
F
LN(peak)
AmplitudeofLinetoNeutralvoltage
F
m
AmplitudeofLinetoNeutralvoltage
u
dc
, F
DC
DClinkvoltage
u
c
VoltageacrossACsidecapacitor
i
L
Linecurrent
i Linecurrent
i
CONV
Linecurrent,currentflowingintotheconverter
i
DC
DClinkcurrent
i
LOAD
Loadcurrent
R Lineresistance
L Lineinductance
C DClinkcapacitor
R
g
Gridresistance
L
g
Gridinductance
R
h
BreakerSW1resistance
C
ac
ACcapacitor
C
dc
DCcapacitor
R
LOAD
Loadresistance
R
LOAD_TFMP
Temporaryloadresistance
0 Voltageangle
F
S
Samplingfrequency
Tx Samplingtime
vii
F
SW
Switchingfrequency
F
C
Triangularwavefrequency(PWM)
F
Tr|ang|e
Triangularwavefrequency(PWM)
u
|
Currentcontrollerbandwidth(rad/s)
u
u
Voltagecontrollerbandwidth(rad/s)
6a Activedampingconductance
K|
u
Voltagecontrollerintegratorcoefficient
Kp
u
Voltagecontrollerproportionalcoefficient
K|
|
Currentcontrollerintegratorcoefficient
Kp
|
Currentcontrollerproportionalcoefficient
y
1
PLLIntegratorcoefficient
y
2
PLLproportionalcoefficient
p PLLbandwidth
F(x) Controllertransferfunction(PI)
6(x) Processtransferfunction
L(x) Openlooptransferfunction
S(x) Closedlooptransferfunction
W :
dc
2

P
g
Gridpower
P
|uad
Loadpower

SUPERSCRIPT,ACCENTS
F
g
,C
,L
`
,R
Estimatedvalues
x
x
Spacevector
x
dq
dqcoordinatesystem
x
-
Referencevalueofx

SUBSCRIPT,UNDERLINE
x
dq
dqcoordinatesystem
x dqcoordinatesystem,complexvalue

viii
TABLEOFCONTENTS
ABSTRACT IV
ACKNOWLEDGEMENTS V
LISTOFSYMBOLS,SUPERSCRIPTS,SUBSCRIPTSANDABBREVIATIONS VI
1 INTRODUCTIONANDSCOPE 1
2 THREEPHASECONTROLLEDRECTIFIERS 3
2.1 Introduction 3
2.2 Universalbridgetopology 5
2.2.1 Steadystateoperation 5
2.2.2 Mathematicalmodel 5
2.2.3 Limitations 9
2.3 Controlstrategies 11
2.3.1 Introduction 11
2.3.2 DirectPowerControlandVirtualFluxDirectPowerControl 12
2.3.3 VoltageandVirtualFluxOrientedControl 13
2.3.4 Comparisonanddiscussion 14
2.4 PulseWidthModulation 15
2.4.1 SinusoidalPWM 15
2.4.2 Digitalimplementation 16
2.4.3 Deadtimeeffect 16
3 VOLTAGEORIENTEDCONTROLSIMULATION 18
3.1 IntroductionReferenceschosen 18
3.2 Systemblockdiagram 19
3.3 PWMSimulation 20
3.3.1 SimulinkimplementationofPWM 20
3.4 Currentcontroller 22
3.4.1 InternalModelControl 22
3.4.2 SynchronousPIcontrol 22
3.4.3 DesignofthesynchronousPIcontroller 23
3.4.4 Activedamping,voltagesaturation,antiwindup 25
3.4.5 Currentcontrollersimulation 27
3.5 DClinkvoltagecontroller 30
3.5.1 DClinkmodelandlinearization 30
3.5.2 Designofvoltagecontroller 30
3.5.3 Voltagesaturation,antiwindup,activedamping 31
3.5.4 Voltagecontrollersimulation 33
3.5.5 Simulationwithcurrentcontroller 36
3.5.6 Controllerimprovements 39
3.6 Stabilityanalysis 41
ix
3.6.1 Currentcontroller 41
3.6.2 Voltagecontroller 41
3.6.3 Completecontroller 42
3.6.4 NyquistandBodediagram 43
3.6.5 Conclusion 46
3.7 PhaseLockedLoop(PLL) 48
3.7.1 Design 48
3.7.2 Simulations 48
3.7.3 Improvementsandconclusion 52
3.8 Gridmodeling 53
3.9 Gridconnectedconvertersimulation 55
3.9.1 Simulationsteps,Simulinkblockdiagram 55
3.9.2 Verification 56
3.9.3 Simulationresults 58
4 VOLTAGEORIENTEDCONTROLIMPLEMENTATION 63
4.1 Blockdiagram 63
4.2 Principle 63
4.3 Simulinkmodelmodification 64
4.4 Runninganexperiment 67
5 CONCLUSIONSANDFUTUREWORK 70
REFERENCES 71
APPENDICES 74
A.ThreephasesystemCoordinatetransformations 74
A.1Voltageandcurrentdefinition 74
A.2Equivalenttwophasesystem,o[transformation(Clarke) 74
A.3Synchronouscoordinate,dqtransformation(Park) 75
A.4Simulation 76
A.5Impedanceinsynchronouscoordinates 77
B.Voltageandcurrentcontrol,continuoussimulation 79
B.1SimulinkcurrentcontroltestsBlockdiagram 79
B.2Continuousvoltagecontroller,simulationwithsaturation,antiwindup,active
damping 80
C.Digitalsimulation 81
D.Voltageandcurrentcontrol,discretetimesimulation 82
E.Stabilityanalysiscont. 83
E.1Simulations 83
F.Gridconnectedconvertersimulationcont. 91
F.1Dataandsimulations 91
F.2MatlabScript(VdcStep) 102
G.Implementation 104
INTRODUCTIONANDSCOPE

1 INTRODUCTIONANDSCOPE
PHDPROJECT
The master thesis is part of a PHD project titled Integrated charger for plugin Hybrid
ElectricVehicles.
The PHD project is funded by the Swedish Hybrid Vehicle Centre (SHC
1
) and is doing by the PHD
student Saeid Haghbin under supervision of Associate Professor Ola Carlson. Moreover, Assistant
ProfessorSonjaLundmarkistheprojectcosupervisor.
ThescopeofthePhDprojectis:
Investigating and evaluating existing plugin HEVs in general and especially the charging
systems. This collection of available information also includes listing all as well as the most
interestingparametersofthecharger,i.e.speedofcharging,powerrating,cost,volumeand
weight,numberofphases,voltagelevels,easeofchargingandavailabilityofchargingplaces,
limitationsonpowerelectroniccomponents,powerfactor,harmonicdistortion,monitoring
equipment,standards,andpersonssafety.Thestudyshouldinvolvebatteryknowledge,so
thatthechargercouldbefullyadaptedtothebattery,givingalongbatterylifelength.
Suggest and evaluate possible integrated chargers, meaning integration of the charger and
theavailabledrivesystemusedforpropulsionofthevehicle.
Prototypebuildingincooperationwiththewholegroup(includingindustry).Oneprototype
coordinatorfromindustryadministratesthetask.Thetaskalsoincorporatespreparationsfor
labtesting.
MASTERTHESISSCOPE
The thesis is part on the sub project On Board Integrated Charging. The main goal is to
design,simulateandimplementa3phaseboostbatterychargerwithpowerfactorcorrection.
The Figure 1.1 represent our system. The first idea was to use an AC motor on the ACside. Some
dataaregivenisTable1.1.
1
SHC is composed with three different partners : three universities with Lund Institute of Technology (LTH),
RoyalInstituteofTechnology(KTH)andChalmersUniversityofTechnology(CTH),TheSwedishEnergyAgency
(Energimyndigheten)andautomotiveindustrywithABVolvo,VolvoCarCorporation,SaabAutomobileAB,GM
PowertrainSwedenAB,ScaniaCVAB,BAESystemsHgglundsAB.
Figure1.1:RectifierschematicwithACmachine
INTRODUCTIONANDSCOPE

POWERSOURCE
3phase
50Hz
PMSM115V20%phasevoltage
POWERLEVEL 15kW
BATTERYVOLTAGE 320400VDC(nominalvalue350VDC)
MATERIAL
Motor(KTHdevelopment)
IGBTRectifier
Battery
dSpacesystem
Hardware(indevelopment)
Pieceofsoftwaretodevelopforimplementation(probablyC)
Sensors(fullaccessI/V/Speed)
Table1.1:Scopedata
Atthebeginningofthesis,afirstplanhadbeenestablished.
1) Literaturereview(howthesystemwork/findliteratureresources)
2) Topologyselection(VFOCispreferredmethodregardingtothisspecificapplication)
3) Systemdesign(inductancevalue,switchingfrequency,controldesign)
4) SimulationwithMatlab/Simulink
5) AdditionofPMSMtothemodelandusingtheleakageinductanceofthemachineasenergy
storagedevice(Redesign/Resimulation)
6) Implementation
a. dSpacesystem
b. Softwaredevelopment
c. Hardwaretest(indevelopment)
7) Testinganddebugging/Report
Nevertheless,afteracoupleofweekswedecidedtosimplifythesystemtokeepagridconnected
rectifierandtrytoimplementitinthelaboratorytotestthecontroller.
Themaingoalofthethesisistodevelopandtestthecontrolalgorithmoftheconverter.
**
*
Wewillstartthisthesiswithanoverviewofthreephasecontrolledrectifiers(chapter2),with
steadystateoperation,modeling,limitations.Then,theoverviewwillfocusoncontrolstrategies,and
finally,aPulseWidthModulation(PWM)willbedescribe.
Chapter 3 will be the main part of the report with Voltage Oriented Control design and simulation.
Wewillseethecurrentandvoltagecontroller,stabilityanalysis,PhaseLockedLoop(PLL),andfinally
asimulationofgridconnectedconverter.
The last part chapter 4 will give the main guidelines for implementation of the controller using
dSpacesystem.
THREEPHASECONTROLLEDRECTIFIERS

2 THREEPHASECONTROLLEDRECTIFIERS
2.1 Introduction
Inthefollowingpart,wewillseesometopologiesfor3phaserectifiers.Butwecanstartto
explain why those topologies appeared. The high harmonic content and a low power factor cause
someproblemsinpowerdistributionsystem.Newstandardshavebeenintroducedbygovernments
or organizations to limit the harmonic content of the current drawn from the power line by
rectifiers.Consequently,newtopologieshavebeendeployedforrectificationapplications[9].
Wecanintroducedfivetopologies(Figure2.1).
The figure a) present a simple solution of Boost converter. The main drawback of this solution is
stressonthecomponentsandlowfrequencydistortionoftheinputcurrent.
Thetopologiesb)andc)usePWMrectifiermoduleswithaverylowcurrentrating(2025%levelof
RMS current comparable with e) topology). Hence they have a low cost potential and provide only
thepossibilityofregenerativebrakingmodeb)oractivefilteringc).
Figure d) presents a converter called a Vienna rectifier. The main advantage is low switch voltage,
butnontypicalswitchesarerequired.
Figuree)presentsthe mostpopulartopology.This universaltopologyhastheadvantageofusinga
lowcost threephase module with a bidirectional energy flow capability, and it can also provide a
unity power factor (UPF). However, its disadvantages are a high perunit current rating, poor
immunitytoshootthroughfaults,andhighswitchinglosses[9].
Topologiesarecomparedinatable(seeTable2.1).Adioderectifierisalsoincludedtothetablefor
comparison.
FEATURE
TOPOLOGY
REGULATIONOF
DCOUTPUT
VOLTAGE
LOWHARMONIC
DISTORSIONOF
LINECURRENT
NEARSINUSOIDAL
CURRENT
WAVEFORMS
POWERFACTOR
CORRECTION
BIDIRECTIONAL
POWERFLOW
REMARKS
Dioderec. - - - - -
Rec.(a) + - - + -
Rec.(b) - - - - +
Rec.(c) - + + + - UPF
Rec.(d) + + + + - UPF
Rec.(e) + + + + + UPF
Table2.1:Threephaserectifiertopologies,performancecomparison[9][13]

Figure2.1:Threephaserectifiertopologies[9][13]

2.2 Universalbridgetopology
2.2.1 Steadystateoperation
Figure2.2showsbasicdiagramofthethreephaseboostconverter.u
L
isthelinevoltageandu
S
isthe
bridge converter voltage controllable from de the dcside. We can draw a general phasor diagram
anddiagramsforbothrectificationandregenerationoperationatunitypowerfactor(UPF).
Thelinecurrenti
L
iscontrolledbythevoltagedropacrosstheinductanceLinterconnectingthetwo
voltagesources(lineandconverter).
Whenwecontrolthephaseangleandtheamplitudeofconvertervoltageu
S
,wecontrolindirectly
thephaseandamplitudeofthelinecurrent.Inthisway,theaveragevalueandsignofthedccurrent
issubjecttocontrolthatisproportionaltotheactivepowerconductedthroughtheconverter.The
reactivepowercanbecontrolledindependentlywithashiftofthefundamentalharmoniccurrentI
L
withrespecttovoltageU
L
[9].
Remark : Inductors connected between the line and the rectifier input bring a current source
characteroftheinputcircuitandprovidetheboostfeatureoftheconverter[9].
2.2.2 Mathematicalmodel
DESCRIPTIONOFINPUTVOLTAGEANDCURRENT
Thethreephaselinevoltageandcurrentare
a)Generalphasordiagram b)Rectification (atUPF) c)Regeneration(atUPF)

Figure2.3:Phasordiagrams[9]
Figure2.2:Rectifierschematics[9]
u
u
= E
m
cos(t)
u
b
= E
m
cos _t -
2n
S
]
u
c
= E
m
cos _t -
4n
S
]
(2.1)
i
u
= I
m
cos(t + )
i
b
= I
m
cos _t + -
2n
S
]
i
c
= I
m
cos _t + -
4n
S
]
(2.2)
andsincethereisnoneutralconnection,weobtain
i
u
+i
b
+ i
c
= u. (2.3)
A threephase system can be described with only two components and (real and
imaginaryrespectively).Furthermore,wecallaspacevectorthequantity([4][12])
:
s
(t) = :
u
(t) + ]:
[
(t) =
2
S
K_:
u
(t) + :
b
(t)c
]
2n
3
+ :
c
(t)c
]
4n
3
].
(2.4)
whereKisascalingconstant(amplitudeinvariantK = 1,RMSinvariantK = 12,powerinvariant

K = (S2)RefertoAPPENDIXAfordetails).
RECTIFIERABCMODEL[9]
u
Sub
= (So - Sb) u
dc
u
Sbc
= (Sb - Sc) u
dc
u
Scu
= (Sc -So) u
dc
(2.5)
withSitheswitchingfunctiondefinedby:Si = ]
1 uppei switch 0N
u bottom switch 0N
withphasei = o , b , c.
u
Su
=
u
. u
dc
u
Sb
=
b
. u
dc
u
Sc
=
c
. u
dc
(2.6)
u
= S
u
- S
-
= S
u
-
1
S
(S
u
+ S
b
+S
c
) =
2S
u
-(S
b
+ S
c
)
S

b
=
2S
b
-(S
u
+ S
c
)
S

c
=
2S
c
- (S
u
+ S
b
)
S

(2.7)
(
ubc
are0,1/3or2/3).
Therectifierindefinedbyfourequations,oneforeachphase(voltage)andoneforthecurrents(dc
link).
_
u
u
u
b
u
c
_ = R _
i
u
i
b
i
c
_ + I
J
Jt
_
i
u
i
b
i
c
_ +_
u
Su
u
Sb
u
Sc
_ (2.8)
C
Ju
dc
Jt
= S
u
i
u
+ S
b
i
b
+S
c
i
c
- i
Ioud
(2.9)
Thecombinationofthepreviousequationscanberepresentedasablockdiagram.
RECTIFIERuEQUATIONS
WedefinetheamplitudeinvariantClarketransformation(seeAPPENDIXA)with([4][12])
j
o
[
[ = _
2
3
-
1
3
-
1
3
u
1
3
-
1
3
_ _
o
b
c
_ (2.10)
_
o
b
c
_ =
l
l
l
l
l
1 u
-
1
2
S
2
-
1
2
-
S
2
1
1
1
1
1
j
o
[
[ (2.11)
Then,applyingthistransformationwecanfindthevoltageequationsincoordinates
_
u
u
u
[
_ = R _
i
u
i
[
_ + I
J
Jt
_
i
u
i
[
_ + _
u
Su
u
S[
_ (2.12)
C
Ju
dc
Jt
=
S
2
(S
u
i
u
+ S
[
i
[
) - i
Ioud
.
(2.13)
i
LOAD
Figure2.4:Rectifiermodel[9]

RECTIFIERdqEQUATIONS
Now,weneedtoapplytheParktransformation(seeAPPENDIXAand[4][12])whichis
:
dq
= :
s
c
-]0
(2.14)
where:
s
isaspacevector(:
s
= :
u
+]:
[
).Weget
u
s
= Ri
s
+I
Ji
s
Jt
+ u
S
s
(2.15)
= u
dq
c
]0
= Ri
dq
c
]0
+ I _c
]0
_]i
dq
+
Ji
dq
Jt
__ + c
]0
u
Sdq
= u
dq
= Ri
dq
+ I
Ji
dq
Jt
+]Ii
dq
+ u
Sdq
(2.16)
Andfinally,withseparationofRealandImaginarypartweobtain
u
d
= Ri
d
+I
Ji
d
Jt
- Ii
q
+ u
Sd
(2.17)
u
q
= Ri
q
+ I
Ji
q
Jt
+ Ii
d
+u
Sq
(2.18)
C
Ju
dc
Jt
=
S
2
(S
d
i
d
+ S
q
i
q
) - i
Ioud
(2.19)
INSTANTANEOUSPOWER[4]
FromthewellknownrelationP = Rc|I I
-
|forsinglephasermsvaluescaledphasorsIand
I(*indicatescomplexconjugate),weknowthatinstantaneouspowerforthreephasesystemwill
beproportionalto
Rc{:
s
(i
s
)
-
] = Rc|:
dq
(i
dq
)
-
| (2.20)
Notethattheformulaisindependentofthecoordinatesystem.
Fromthespacevectordefinitionweget(thetimeargument(t)isremovedforsimplicity)
:
s
(i
s
)
-
= _
2
S
K]
2
_:
u
+ :
b
c
]
2n
3
+:
c
c
]
4n
3
] _i
u
+ i
b
c
]
2n
3
+ i
c
c
]
4n
3
]
-
= _
2
S
K]
2
_:
u
i
u
+ :
b
i
b
+ :
c
i
c
+ ]
1
S
(:
u
(i
c
- i
b
) + :
b
(i
u
- i
c
) +:
c
(i
b
- i
u
))_
Andfinally,theRealpartgivesustheactivepower
P =
S
2K
2
Rc{:
s
(i
s
)
-
] =
S
2K
2
Rc|:
dq
(i
dq
)
-
| = :
u
i
u
+ :
b
i
b
+ :
c
i
c
.
(2.21)
AndwithImaginarypartweobtainthereactivepower
=
S
2K
2
Im(:
s
(i
s
)
-
) =
S
2K
2
Im|:
dq
(i
dq
)
-
|
=
1
S
|:
u
(i
c
-i
b
) + :
b
(i
u
- i
c
) + :
c
(i
b
-i
u
)].
(2.22)

Forideal,positivesequencespacevectors(voltageisreference)
:
s
= KE
m
c
]ot
andi
s
= KI
m
c
]ot+q
whereE
m
andI
m
areamplitude,theactivepowerisgivenby
P =
S
2K
2
Rc{:
s
(i
s
)
-
] =
S
2K
2
Rc|:
dq
(i
dq
)
-
| =
S
2
E
m
I
m
cos = SIIcos
(2.23)
Where I and I are rmsvalues. This previous relation will be use in the DClink voltage controller
design.
2.2.3 Limitations
MINIMUMDCLINKVOLTAGE
For proper operation of the rectifier, a minimum dclink voltage is needed to obtain
undistortedcurrentwaveforms.Tohaveafullcontroloftherectifier,itssixdiodesmustbepolarized
negativelyatallvalueofacvoltagesupply.Tokeepthediodesblocked,weneedtoensureadclink
voltagehigherthanthepeakdcvoltagegeneratedbythediodesalone.
Theoreticallyfordioderectifier,themaximumdcoutputvoltageisthepeakvalueoflinetolineRMS
voltage[9].
I
Cmn
> 2I
LL(ms)
= 2. S. I
LN(ms)
(2.24)
ItwillbebettertoselectaDClinkvoltageabout1520%morethan2I
LL
.
IMPORTANT : The previous voltage I

LL(ms)
correspond to the converter voltage (Us). There is no
lineimpedancetakinginaccounthere.
Nevertheless, if there is no line impedance (R = 0 , L=0H) we can continue to write the equation
(2.24)accordingtotheamplitudeofsupplyvoltageEm:
I
Cmn
> 2. S. I
LN(ms)
= S E
m
. (2.25)
ATTENTION : This is a true definition but doesnt apply in all situation [9] . The DClink voltage
dependsonthePWMmethod.Inourcase,wewilluseasinusoidalPWM.Inthiscasethemaximum
referencevoltageisVdc/2(Figure2.6[23]).
V
DIODERECTIFIER
V
DCLINK
Figure2.5:DClinkvoltagecondition
1520%
2F
LL

10
Finally,ourminimumDClinkvoltagewillbe
I
LN(pcuk)
=
I
C
2

(2.26)
I
LL(ms)
S
2 =
I
C
2

I
Cmn
> 2 I
LN(pcuk)
=
22
S
I
LL(ms)
= 1.66S I
LL(ms)
(2.27)
MINIMUMDCLINKVOLTAGEANDINDUCTANCE
Thebook[9](chapter11p434)definesaminimumDClinkvoltagetakinginaccounttheline
inductance value. The demonstration seems to be valid in our case for amplitude invariant (they
assume a maximum converter voltage equal to
2
3
IJc (i.e. radius of switching hexagon). It will be
_
3
2
IJcforpowerinvariant).TheydefineaDClinkvoltageas
IJc > _S|E

m
2
+(IiJ)
2
].
(2.28)
WecanobservethatRisneglectedandifL=0(ifthereisnoinductancevoltage),wefindagainthe
equation(2.25)whereI
Cmn
> SE
m
.
Fromthisequationwecangetthemaximuminductancevalueas
I <
_
I
C
2
S
- E
m
2
iJ
.
(2.29)
Alowinductancewillgiveahighcurrentrippleandwillmakethedesignmoredependentontheline
impedance (refer to 3.8 Grid modeling and 3.9.3 Simulation results). According to [9] , a high
valueofinductancewillgivealowcurrentripple,butsimultaneouslyreducetheoperationrangeof
the rectifier. The voltage drop across the inductance controls the current. This voltage drop is
controlled by the voltage of the rectifier but its maximal value is limited by the dclink voltage.
Consequently, a high current (high power) through the inductance requires either a high dclink
voltageoralowinductance(lowimpedance).
Figure2.6:Maximumsinusoidalreferencevoltage(convertervoltageUs)forsinusoidalPWM[23]
11

2.3 Controlstrategies
2.3.1 Introduction
ThecontrolofPWMconvertercanbeconsideredasadualproblemwithvectorcontrolofan
inductionmotorIM(seefigureandtablebelow).
ControlofPWMrectifier IMcontrol
Speedcontrolloopofvectordrive dclinkvoltage
Referenceanglebetweenstatorcurrentandrotorflux Referenceangleoflinevoltage
Table2.2:PWMrectifierandIMcontrolduality[9]
WecanclassifythePWMrectifiermethodintwocategories:voltagebasedandvirtualflux
basedcontrol(SeefollowingFigure2.8).
All these control strategies can achieve the same main goals, such as high power factor and near
sinusoidalinputcurrentwaveforms.
TheVoltageOrientedControl(VOC)guaranteeshighdynamicandstaticperformanceviaaninternal
currentcontrolloop.Butthequalitydependsmainlyonthecurrentcontrolstrategy.
The Direct Power Control (DPC) is based on the instantaneous active and reactive power control
loop. There are no internal current control loop and no PWM modulator block. The switching state
aredeterminedwithaswitchingtablebasedontheinstantaneouserrorsbetweenthecommanded
andestimatedvaluesofactiveandreactivepower.
TheVirtualFluxBasedControl(VF)correspondtoadirectanalogyofIMcontrol.
Figure2.8:Controlstrategies[9]
DPC
DirectPowerControl
VOC
VoltageOrientedControl
DTC
DirectTorqueControl
FOC
FieldOrientedControl
ControlofPWMrectifier IMcontrol
Figure2.7:PWMrectifierandIMcontrolduality
12

2.3.2 DirectPowerControlandVirtualFluxDirectPowerControl
The DPC method is similar to Direct Torque Control (DTC) for induction motor. Instead of
torqueandstatorfluxtheinstantaneousactiveandreactivepowersarecontrolled.
ThefollowingfigureshowstheschemeoftheDPCmethod.
The power estimation of DPC is based on the line voltage. An important disadvantages of the
method id the need of current differentiation to estimate this power. Other relevant points can be
found([9]):
Needhighsamplefrequencybecausetheestimatedvaluearechangingallthetime.
Needhighinductancevaluebecausetheswitchingfrequencyisnotconstant.
Anonconstantswitchingfrequencymeanstroubletodesignaninputfilter.
Calculationofpowerandvoltageshouldbeavoidduringswitching(errors).
ThevirtualfluxmethodisanimprovementofVoltageOrientedControl(VOC).Thevirtualfluxisan
integrationoflinevoltageu
L
.
FortheVFDPC,wecansummariesthefollowingcharacteristics.
Nolinevoltagesensorsrequired.Furthermore,avoltagesensorlesslinepowerestimationis
muchlessnoisyduetonaturallowpassbehavioroftheintegrator.
Simpleandnoiserobustpowerestimationalgorithm,easytoimplementinaDSP.
Lowersamplingfrequency(asconventionalDPC).
Sinusoidallinecurrents(lowTHD).
NoseparatePWMvoltagemodulationblock.
Nocurrentregulationloops.
CoordinatetransformationandPIcontrollersnotrequired.
Highdynamic,decoupledactiveandreactivepowercontrol.
Powerandvoltageestimationgivesthepossibilitytoobtaininstantaneousvariableswithall
harmoniccomponents,whichhasaninfluenceforimprovementoftotalpowerfactorand
efficiency.
Easiercalculationsforpandqthanvoltagebasedmethod,nodifferentiationoflinecurrent.
ThetypicaldisadvantagesofVFDPCare:
Variableswitchingfrequency.
Figure2.9:Blockscheme(DPC,VFDPC)[9]
13

SolutionrequiresafastmicroprocessorandA/Dconverters.
2.3.3 VoltageandVirtualFluxOrientedControl
The Voltage Oriented Control (VOC) and Virtual Flux Oriented Control (VFOC) are close to Field
Oriented Control for induction motor. The method is based on the transformation between
stationarycoordinatesuandsynchronousrotatingcoordinatesdq.Thisstrategyguarantees:
Fasttransientresponse
Highstaticperformanceviainternalcurrentcontrolloop.
Consequently,theperformancedependsonthequalityofthecurrentcontrolloop.
Wecanfindseveralstrategiesthatcanbeappliedforcurrentcontrol.Awidelyusedschemeforhigh
performance current control is the dq synchronous controller, where the regulated current are DC
quantities.Thiseliminatessteadystateerrors.
VOCandVFOCprovidesomeadvantagescomparedtoDPC.
Low sampling frequency for good performance (cheaper A/D converters and
microcontroller)
Fixedswitchingfrequency(easierdesignofinputfilter)
Furthermore, VFOC provides improved rectifier control under nonideal line voltage condition
(becauseacvoltagesensorlessoperationismuchlessnoisythankstothenaturallowpassbehavior
oftheintegratorusedinthefluxestimator).
Bothmethodsalsohavesomedisadvantages:
Coupling occurs between active and reactive components and some decoupling solution is
required.
CoordinatetransformationandPIcontrollersarerequired.
Figure2.10:VOCblockscheme[9]
14

2.3.4 Comparisonanddiscussion
Thefollowingtablesummarizesthemaincharacteristicsofthedifferentcontrolstrategies.
TECHNIQUE ADVANTAGES DISADVANTAGES

VOC
FixedswitchingFreq.(easierdesigninputfilter)
AdvancedPWMstrategiescanbeused
CheapA/Dconverters
Coordinate transformation and decoupling between
activeandreactivecomponentsisrequired
Complexalgorithm
InputpowerfactorlowerthanforDPC
DPC
NoseparatePWMblock
Nocurrentregulationloop
Nocoordinatetransformation
Gooddynamics
Simplealgorithm
Decoupledactiveandreactivepowercontrol
Instantaneous variables with all harmonics
components estimated (improve power factor
andefficiency)
Highinductanceandsamplefrequencyneeded
Powerandvoltageestimationshouldbeavoidatthe
momentofswitching
Variableswitchingfrequency
FastmicroprocessorandA/Dconvertersrequired
VFOC
FixedswitchingFreq.(easierdesigninputfilter)
AdvancedPWMstrategiescanbeused
CheapA/Dconverters
Coordinate transformation and decoupling between
activeandreactivecomponentsisrequired
Complexalgorithm
InputpowerfactorlowerthanforVFDPC
VFDPC
Simple and noise resistant power estimation
algorithm,easytoimplementinaDSP
LowersamplingfrequencythanforDPC
Low THD of line currents with distorted or
unbalancedsupply
NoseparatePWMblock
Nocurrentregulationloop
Nocoordinatetransformation
Gooddynamics
Simplealgorithm
Decoupledactiveandreactivepowercontrol
Variableswitchingfrequency
FastmicroprocessorandA/Dconvertersrequired
Table2.3:Controlstrategiescomparison[9]
VOCvs.VFOC
OneoftheonlyadvantagesofVFOCagainstVOCisthatVFOC provides improved rectifier control
under nonideal line voltage condition (because ac voltage sensorless operation is much less noisy
thankstothenaturallowpassbehavioroftheintegratorusedinthefluxestimator).
SwitchingFrequency
AFIXEDswitchingfrequencyisrequiredinourprojectmainlybecauseitmeans:easierdesign(input
filterforeg.)andthesamplefrequencycanbelower.OnlyVOCorVFOCcanprovidethisfeature.
Powerfactor
DPC has better power factor than VOC but has variable switching frequency. DPC also means
complicatedcalculationsforpandq(needdifferentiationoflinecurrent,riskofinstability).
AgoodpowerfactorcanbeachievedwithVFDPCandthemethodhaslotsofadvantagesbutaswe
wantafixedswitchingfrequency,VOCorVFOCshouldbechosen.
Iftheswitchingfrequencycanbevariable,theVFDPCstrategyisobviouslythebestsolution(butthe
costcanbecomeaproblem.ThemethodneedfastmicroprocessorsandA/Dconverters).

15

2.4 PulseWidthModulation
ThePulseWidthModulationusedinoursystem,asinusoidalPWMwillbeused.
2.4.1 SinusoidalPWM
Sinusoidal modulation is
based on a triangular carrier signal.
The idea is to compare three
sinusoidal reference voltages Ua*,
Ub* and Uc* to this triangular wave.
By comparison, the logical signals Sa,
Sb and Sc, which define switching
instants of power transistor, are
generated. Operation with constant
carrier signal concentrate voltage
harmonics around switching
frequency and multiple of switching
frequency.
Maximumsinusoidalreferencevoltage
UsingasinusoidalPWM,themaximumreferencevalueisVdc/2.
Maximumslope
Theslopeofthetriangularwaveshouldbehigherthantheslopeofthereferencevoltage.Wecan
write
Figure2.13:Maximumsinusoidalreferencevoltage(sinusoidalPWM)[23]
Figure2.12:SinusoidalPWMbasicwaveforms
Vdc/2
Vdc/2
Figure2.11:SinusoidalPWM
U
-
> U
tr|ang|e
= S = 1
U
-
< U
tr|ang|e
= S =
16
Ju
tungIc
Jt
>
Ju
c]ccncc
Jt

(2.30)
2.4.2 Digitalimplementation
Synchronoussampling[4]
In a digital current control system, the current is sample with interval Ts. To avoid
electromagnetic interference (EMI) due to ON/OFF switchings of the valves, it is useful to
synchronize the sampling with converter switching. Current sampling are taken in between
switchings.Thiscoincidewiththepositiveandnegativepeakvaluesofthetriangularwaveform.
Usingsynchronoussampling,approximatelythemeanvalueofthecurrentisobtained.Thus,
notonlyEMIisavoided,butalsothecurrentrippleisreduced.Thismethodcanbeeffectiveenough
toavoidlowpassfilteringbeforesampling.
Wewillselectthesamplefrequencyas:
F
S
= 2 F
tr|ang|e waue
= 2 F
SW
(2.31)
(F
Sw
istheswitchingfrequency,F
tungIc wuc
= F
Sw
)
Two samples can be acquired over each switching period. According to [4] a fast sampling enables
higher bandwidth of the current controller, then its possible to reduce the sampling rate for
exampletotheswitchingrate:F
S
= F
Sw
(orless).
2.4.3 Deadtimeeffect
When we speak about implementation of converter, we need to inject deadtime (delay) in
PWM signals to avoid short circuit in DClink (i.e. both transistor of one leg are conducting). The
systembecomessaferbut,theperformanceareaffected.
Thisistemporaryalossofcontrol.Forexampleinaninverter,theoutputvoltagewaveformdeviates
fromthatforwhichitisoriginallyintended.Sincethisisrepeatedoverandoverforeveryswitching
operation, its detrimental effect may become significant in PWM inverters that operate in high
switchingfrequency.Thisisknownasthedeadtimeeffect.Duringthedelaytime,bothtransistorsof
the leg cease to conduct. Another consequence of the deadtime effect is the appearance of
undesirableharmonics([31][32]).
Wecanfindseveralstrategiesfordeadtimeinjection.Anexampleisgivenbelow.
Samplingtime
Figure2.14:AsymmetricPWMSynchronoussamplingillustration[23]
17
Figure2.15:Onelegwithtransistors B1andB2 On/Offstates,deadtimeTd[32]

VOLTAGEORIENTEDCONTROLSIMULATION
18

3 VOLTAGEORIENTEDCONTROLSIMULATION
3.1 IntroductionReferenceschosen
As we explain in the previous section, Voltage Oriented Control (VOC) or Virtual Flux
OrientedControl(VFOC)shouldbechosen.WedecidedtostartwithaVOC.
Beforegoingfurtherinthedesignandsimulationofthecontroller,weneedtoprecisesome
importantreferenceschoseninthisreport.
3PHASESYSTEMDEFINITION
u
u
= E
m
cos(t)
u
b
= E
m
cos _t -
2n
S
]
u
c
= E
m
cos _t -
4n
S
]
COORDINATETRANSFORMATION
j
o
[
[ = _
2
3
-
1
3
-
1
3
u
1
3
-
1
3
_ _
o
b
c
_and_
o
b
c
_ =
l
l
l
l
1 u
-
1
2
3
2
-
1
2
-
3
2
1
1
1
1
j
o
[
[ (2.10)(2.11)
_
J
q
_ = j
cos0 sin0
-sin0 cos0
[ j
o
[
[andj
o
[
[ = j
cos0 -sin0
sin0 cos0
[ _
J
q
_. (3.1)(3.2)
YoucanrefertoAPPENDIXAfordetails.WeonlyuseAMPLITUDEINVARIANTinthisthesis.
Indeed,aftertransformationfromABCtodqcoordinates,thedcomponentsisequaltoE
m
,andthe
qcomponentequaltozero.
POWER,CURRENTDIRECTION
We chose a reference as shown in the following schematic, the current is flowing from the
gridtotherectifier.

Figure3.1ReferenceforI,P,Q
19

3.2 Systemblockdiagram
ThevoltageorientedcontrolschemeisshownFigure3.2.
First of all, the line voltage Uabc need to feed the PLL (Phase Locked Loop, see 3.7 Phase
Locked Loop (PLL)) and the voltage angle calculated is used for threephase to dqcoordinate
transformationoflinecurrentandvoltage.
Secondly,thedqcoordinatevaluesandtheDClinkvoltagevalueareusedinadecoupledcontroller
whichwillbedescribedinthesection3.4Currentcontrollerand3.5DClinkvoltagecontroller.
Finally, the reference voltages created by the controller are sent to the PWM block (Pulse Width
Modulation)tocreatetheswitchingpatternsSabc(S=1meansupperswitchON,lowerswitchOFF;
S=0meansupperswitchOFF,lowerswitchON).
Remark : The reference voltage from the controller correspond to the converter voltage Us (see
designofthecurrentcontrollerinsection3.4Currentcontroller).
The system will be simulated in Matlab/Simulink. According to the previous figure, we will have
fourmainpartsinthemodel:thePLL,adecoupledcontrollercomposedbyacurrentandvoltage
controller,aPWMblock,andarectifiermodel(withgridimpedanceRandLincluded).

Figure3.2:Systemblockdiagram
20

3.3 PWMSimulation
A description of the sinusoidal PWM implemented here is available in section 2.4 Pulse
WidthModulation.
3.3.1 SimulinkimplementationofPWM
PWMblockusingswitch
The amplitude of triangular wave should be Vdc/2. But Vdc is not constant in our case. We
shouldfirstnormalizedthereferencevaluebyVdc/2andcomparethisvaluewithatriangularwave
withanamplitudeof1.ThefollowingfigureshowtheSimulinkblockdiagram.
PWMblockwithoutswitch
We can also use a PWM block without switching to create the switching pattern. The
referencevoltageisnormalizedbyVdc/2toobtainasignalwithinarange[1;+1],thendivideby2
and translate to get signal in the range [0 ; +1] like the switching function Sabc. This simple model
can be useful in Simulink to reduce the simulation time if needed. In a complete simulation with
controller,thebehaviorofthesystemissimilarusingFigure3.3orFigure3.4.
Figure3.4:SimulinkPWMblockwithouttriangularwave
Figure3.3:SimulinkPWMblock
21

Synchronizationverification
Wehavetocheckwhichcarrierwaveweshouldhave(att=0,triangleamplitudeis1or0?).
Weneedtobesurethatwesampleeverytriangularwavepeak(weneedtocheckifatt=0,Matlab
takeasampleornot).
Wecanverifyitbysamplingthetriangularwave,usingasampleandholdblock.Thesignalsbefore
andaftersamplingareplottedbelow.Aswecansee,wesampleoneachtrianglepeak(bluepoint).

Figure3.5:Synchronizationverification
F
S
= 2 F
t
Is = I
t
2
22

3.4 Currentcontroller
This section is mainly based on the reference [4] and [14] . We are giving a summary for
controller design based on Internal Model Control (IMC) with synchronous PI control (decoupled
controller).
To make the following more understandable, a first schematic for decoupled controller is given
Figure3.6withthecurrentcontrollerandthedclinkvoltagecontroller(describeinsection3.5DC
linkvoltagecontroller).
3.4.1 InternalModelControl
Internal Model Control (IMC) is a method for controller design, for which the resulting
controller becomesdirectlyparameterizedin terms ofthe plant modelparametersandthedesired
closedloopbandwidth.
Forexample,thecontrollertransferfunctionwillbe
F(s) =
o
n
(s +o)
n
- o
n
0
`
-1
(s) (3.3)
thatis,alowpassfilterwithbandwidth,0
`
isanestimationoftheplant(process),andntheorder
orG.
A brief tutorial is available in [14] , Chapter 6, page 83. This method is used for the following
controllerdesign.
3.4.2 SynchronousPIcontrol
PI controllers are inherently incapable of giving zero steady state control error for a
sinusoidalreference.Theintegralactionremovestheerroronlyifthereferencevalueisconstantin
steadystate.
Using Clarke and Park transformations, the current measurements are transformed to DC
quantities,then,asimplePIcontrollercangivegoodresults(butnotalwaysoptimalperformances).
Mainqualitiesfordqframecurrentcontrollerarethen:
fastdynamicresponse,
Figure3.6:Decoupledcontroller(currentanddclinkvoltagecontroller)
23

goodaccuracycurrenttracking,
lesssensitivetoparametervariations.
(Sources:[4][9]).
3.4.3 DesignofthesynchronousPIcontroller
Synchronouscoordinatesequation(notation,x = x
dq
= x
d
+ jx
q
)
I
Ji
Jt
= E - (R + ]I)i -:
(3.4)
(R + sI + ]I)i = E - : = i =
E - :
R + sI +]I
Andthesystemtransferfunction0(s)is
0(s) =
i
:
= -
1
R + sI + ]I
. (3.5)
Crosscouplingcancellation
The first step in the controller design is to cancel the cross coupling initiated by the term
]Ii(sincemultiplicationby ] mapsthe J axison q axisandviceversa).Thiseasilypossibleifwe
haveanaccurateestimationofIwhichisI
`
.
According to [9] , a PI current controller has no satisfactory tracing performance for the coupled
systemdescribedbyequations(2.17)(2.18).Forhighperformanceandaccuracycurrenttrackingwe
needtocancelthiscrosscoupling.Weselect:as
: = -:
i
+ E
`
- ]I
`
i (3.6)
withE
`
theestimatedvalueofE.Then,ifI
`
= IandE
`
= Eweget
Figure3.8:Currentcontrolwithinnerdecouplingloop
Figure3.7:Synchronouscoordinatesschematic(seeAPPENDIXAA.5)
24
i =
:'
R + sI
= 0
i
(s) =
i
:'
=
1
R +sI
(3.7)
with0
i
(s)thedecoupledsystemtransferfunctionfrom:'to i.
ControllertransferfunctionF(s)
Asthecomplextransferfunctionisafirstorder(representingtwononinteractingfirstorder
systeminthe J and q directions),aPIcontrollerisenough:
F(s) = k
p
+
k
(3.8)
BasedonIMCmethodof[14],wecanwrite
F(s) =
o
s
0
`
i
-1
(s) =
o
s
(R
`
+ sI
`
) = o
I
`
+
o
R
`
s

(3.9)
with o
(rad/s) the current controller bandwidth where the pole of 0'(s) is placed, and 0
`
i
(s) the
estimationof0'(s).Finally,weobtainthePIcoefficients:
For this inner current control loop, the bandwidth o
should be selected smaller than a decade

belowthesamplingfrequency(Fs[Hz])[14]).
Decoupledcurrentcontroldesign
In order to establish the decoupled current control diagram, we have to continue with
equation(3.6).WedefineI ,complexintegratorstatevariableas:
JI
Jt
= e
(3.13)
: = -:
i
+E
`
- ]I
`
i
= : = E
`
-k
p
e -k
I - ]I
`
i
= : = (E
`
J + ]E
`
q) -k
p
(eJ + ]eq) - k
(IJ + ]Iq) -]I

`
(iJ + ]iq)
Then, we can write the real and imaginary part to get our reference voltage and draw our current
controllerblockdiagram:
< 2n
F
S
1u
(3.12)
k
p
= o
I
`
andk
= o
R
`
. (3.10)(3.11)
25
Comments:Inoursystem,thelinecurrenti
L
issplitintoaqcomponenti
Lq
andadcomponenti
Ld
.
i
Ld
determinestheactivepowerflowwhereasi
Lq
thereactivepower.Theunitpowerfactor(UPF)
conditionismetwhenthelinecurrentvectori
L
isalignedwithlinevoltageu
L
.Inthiscase,wehave
toseti
Lq
tozeroinourcontroller(i
q
-
= u).
Furthermore, we can write down the equation for power and see that the reactive power is set to
zero.Fromthepowerequationsestablishedinsection2.2.2Mathematicalmodelwecanwrite
P =
S
2
Rc|:
dq
(i
dq
)
-
| =
S
2
(:
d
i
d
+:
q
i
q
) =
S
2
(E
d
i
d
+E
q
i
q
)
(3.16)
=
S
2
Im|:
dq
(i
dq
)
-
| =
S
2
(:
q
i
d
- :
d
i
q
) =
S
2
(E
q
i
d
-E
d
i
q
)
(3.17)
Nowifwesetthereferencei
q
tozeroandweknowthatthelinevoltagevectorisalignedwiththed
axis,soEq = u I.Finally,weget
P =
S
2
E
d
i
d
(3.18)
= u
3.4.4 Activedamping,voltagesaturation,antiwindup
ACTIVEDAMPING
Asitsfullyexplainedin[4](section1.4p24),thecurrentcontrolerrorecouldbedecrease
beincreasingR.Therefore,wecanaddainnerfeedbackloopwhichaddRa(justusingsignal,thereis
no energy transfer or more losses). This method improve disturbance rejection capability because
Figure3.10:VectordiagramofVOCLinecurrentandvoltage[9]
Figure3.9:Currentcontrollerblockdiagram
:
d
-
= E
`
J - k
p
eJ -k
IJ +I
`
iq (3.14)
:
q
-
= E
`
q - k
p
eq -k
Iq -I
`
iJ (3.15)
Referencevoltages
26

thedynamicsarespeededupfromL/RtoL/(R+Ra).ActivedampingisalsousedwhenRandLvalue
arenotestimatedprecisely.
Thisactivedampingisnotimplementedinthisthesis.
REFERENCEVOLTAGESATURATION
We have treated the current control loop as an ideal and linear system. In practice, this is
not correct because the reference voltage is limited to an upper and lower value. For large step of
the dcurrent, the controller might demand a large voltage vector (outside the switching hexagon
that defines the switching possibilities). This exceeds the realizable voltage modulus of a PWM
converter([4][14]).
The saturation is applied on the modulus of the complex value of the reference voltage
: = :J + ]:q,thatis,|:| = :J
2
+ :q
2
.
The saturation value depends on the DClink voltage. The maximum value of reference voltage is
Vmax=Vdc/2.
The simplest method to create the saturation [Vdc/2 ; Vdc/2] in Simulink is to normalized the
modulusofreferencevoltagebyVdc/2beforethesaturationblock.Then,thesaturationblockisthe
setto[1;1](itmeansasaturationbetweenVdc/2andVdc/2).Finally,wemultiplybacktheoutput
ofthesaturationblockbyVdc/2.
INTEGRATORANTIWINDUP
Principle
As we said in the previous section, for large step of the dcurrent, the controller might
demand a too large voltage vector (outside the switching hexagon). This exceeds the realizable
voltagemodulusofaPWMconverter([14]).
Wecall:thereferencevoltage.ThePIcontrolleris:
JI(t)
Jt
= e
:(t) = k
p
e(t) + k
I(t)
Once : become limited (: ), the integrator part of the PI controller can introduce a phenomenon
calledintegratorwindup.Anintegratorwindupgenerallymanifestitselfbyanovershoot(tothestep
response).Inordertoavoidwindup,theintegratorpartIshouldnotbeupdatedwithtoolargeerror
e.Weshouldfeedtheintegratorwithanothererrore ,sothat: = : .
: (t) = k
p
e (t) + k
I(t)
Figure3.11:ReferencevoltagesaturationSimulinkimplementation
27

Then,writingthedifference: - :wecanobtain
e = e +
: - :
k
p
.
Thefollowingcontrollerresults:
JI(t)
Jt
= e
:(t) = k
p
e(t) + k
I(t)
: = |:]
mn
mux
(source:[4][14])
Inourcase
Forthedecoupledcontroller,thefollowingequationhavebeenfound:
:
dq
-
=
dq
- k
p
e
dq
- k
I
dq
-]I
`
i
d
+I
`
i
q
.
Nowwecall: thevalueof:
dq
-
aftersaturation,wecanwrite:
: =
dq
- k
p
e
dq
- k
I
dq
-]I
`
i
d
+I
`
i
q
Bywritingthedifference:
dq
-
-: ,wecanfinde
dq
:
e
dq
= e
dq
+
:
dq
-
- :
k
p
(3.19)
ThePIcurrentcontrollerwillbecreatedasfollow.
3.4.5 Currentcontrollersimulation
BLOCKDIAGRAM
Thesimulationhavebeendonefollowingthefollowingequations(equation(2.8)ofsection
2.2.2Mathematicalmodel):
_
u
u
u
b
u
c
_ = R _
i
u
i
b
i
c
_ + I
J
Jt
_
i
u
i
b
i
c
_ +_
u
Su
u
Sb
u
Sc
_
Foreachphaseweknowthatthecurrentisequalto
i =
u - u
S
R + sI
Also,wecandrawthefollowingdiagramblock(Figure3.13).
Id*willbechosen;
Figure3.12:PIcontrollerwithantiwindup
28

UaUbUcarelinevoltage;
EdEqarethedqtransformationofUaUbUc.
Remark:ThetestscanalsobesimulatedindqbutwevedecidedtostayinABCframetomodelthe
rectifierandthegridimpedancetobeascloseaspossibletotherealsystem.
SIMULATION
Thesystemhavebeensimulatedincontinuousanddiscrete(onlythecontinuoussimulation
isshownhere).Nosaturationorantiwinduparepresentinthissimulation.Theywillbeaddedlater.
Parameters Value
R() 0.1
L(H) 5e3
(rad/s) 250
Em(V),phtogndamplitude(=Ed)
1152
Id*(A) 3
Id*step(A)at0.025s 3
Iq*(A) 0
Fsw(kHz),switchingfrequency 20
u
|
= 2a F
SW
1(rad/s) 1.26e4
PIcontroller,Kpi 62.8
PIcontroller,Kii 1.26e3
Table3.1:Currentcontrollersimulationparameters
The bandwidth of the current controller have been selected at :
Psw
10
= 2 kEz (we chose to
takeadecadesmallerthantheswitchingfrequency).
I
`
isselectedequaltoI.
TheSimulinkblockdiagramisavailableinAPPENDIXBB.1,Figure0.7.Wealsoadvicetoread
thesimulationofcoordinatetransformationinAPPENDIXAA.4before.
Figure3.13:Blockdiagramforcurrentcontroltests
29
Remark : The value of iq is zero when a zoom is done (even if a qcurrent is visible in the previous
figure).

Figure3.14:Currentcontrolsimulation
30

3.5 DClinkvoltagecontroller
3.5.1 DClinkmodelandlinearization
DCLINKMODEL
TheDClinkvoltageismodeledasapurecapacitor.Thiscapacitorisanenergystoragewhere
thestoredelectricalenergyinJouleis
Ec =
1
2
C. :
dc
2
.
(3.20)
The time derivative of this stored energy should be equal to the sum of instantaneous grid power
andloadpower[14].
1
2
C
J:
dc
2
Jt
= P
g
- P
Ioud
(3.21)
As we can see, the previous equation is not linear with

respecttoVdc.
LINEARIZATION
The design of the voltage controller is facilitated thanks a feedback linearization. The
feedback linearization transforms the nonlinear dcvoltage dynamics to a equivalent linear system,
onwhichtraditionallinearcontrollerdesigncanbeapplied.
Wenowchooseanewstatevariablew.
w = :
dc
2
(3.22)
Then,equation(3.21)becomes
1
2
C
Jw
Jt
= P
g
- P
Ioud
.
(3.23)
which is linear with respect to w. The physical interpretation is that the energy is chosen to
represent the dclink voltage dynamics instead of the voltage itself. Other type of linearization can
befound[14].
3.5.2 Designofvoltagecontroller
Systemtransferfunction
Following[14]andtheInternalModelControlmethod,wecanwrite
1
2
C
Jw
Jt
= P
g
- P
Ioud
P
g
=
S
2
E
g
iJ
(3.18)
P
Ioud
=
:
dc
2
R
Ioud
=
w
R
Ioud
(3.24)
whereiJisthedcurrent,andthegridvoltageE
g
= E
d
.Thecoefficient
3
2
comesfromtheamplitude
invarianttransformation(seesection2.2.2Mathematicalmodelaboutpowercalculation).
1
2
C
Jw
Jt
=
S
2
E
g
iJ -P
Ioud
(3.25)
Figure3.15:Energytransfer
31

L
=
1
2
Csw =
S
2
E
g
iJ - P
Ioud
= Csw = SE
g
iJ -2P
Ioud
= w =
SE
g
sC
iJ -
2
sC
P
Ioud
Then,thesystemtransferfunction0(s)is
0(s) =
w
iJ
=
SE
g
sC

(3.26)
Controllertransferfunction
F(s) =
o
s
0
`
-1
(s) =
o
C
`
SE
`
g
(3.27)
where0
`
(s)istheestimationof0(s)ando
(rad/s)isthebandwidthofthevoltagecontroller.Then,
F(s)giveusaproportionalcoefficientKp
with E
`
g
= E
`
d
= E
`
m
(Em is the amplitude of the threephase input voltage in the model section
2.2.2Mathematicalmodel)
Wewillchooseo
atleastadecadesmallerthanthecurrentcontrolbandwidth.
As we can see there is no integrator part in the controller. In our controller, we will add a small
integratorpartwithgainKi
(forexampleKi
= u.u1).
3.5.3 Voltagesaturation,antiwindup,activedamping
SATURATION,ANTIWINDUP
Exactly as the current controller, we have to add a saturation (on current id*) and an anti
windupishighlyrecommended(usefulisthesaturationlimitisreached).
Inthiscasewecanwrite:
iJ
-
= k
p
e + k
<
o
1u
(3.29)
Kp
=
o
C
`
SE
`
g
=
o
C
`
SE
`
m
(3.28)
Figure3.16:Voltagecontrolloop
32

withI =
s
p
.Ifwedothesamecalculationthanthecurrentcontrollercase,wecanfind:
e = e +
tJ
-iJ
-
k
p
(3.30)
Then,thePIvoltagecontrollerschemewillbeasbelow.
ACTIVEDAMPING
Previously,wefoundasystemtransferfunction0(s)(equation(3.26))as
0(s) =
w
iJ
=
SE
g
sC

whichhasapoleattheorigin.[14]advicetoaddanactivedampinginthiscase,toplacethepoleat
-o
,witho
thebandwidthofthevoltagecontroller.
Systemtransferfunction
Basedon[14],wecanfindthefollowingequationsandblockdiagram(Figure3.18).Wecan
startagainwithequation(3.25):
1
2
C
Jw
Jt
=
S
2
E
g
iJ -P
Ioud
(3.25)
WechosetodefineiJwith
iJ = iJ
i
- 0ow (3.31)
where 0o is the active conductance that provides active damping. Then, by substituting equation
(3.31)into(3.25),thesystemmodelbecomes
1
2
C
Jw
Jt
=
S
2
E
g
iJ
i
-
S
2
E
g
0ow - P
Ioud
(3.32)
Thesystemtransferfunctionbecomes
0'(s) =
w
iJ'
=
SE
g
sC + SE
g
0o
(3.33)
Aswecansee,westillhaveafirstordersystembutthepolecanbechosenwith0o.Placingthepole
at-o
wecanfind0oas
sC +SE
g
0o = u = (-o
)C + SE
g
0o = u
0o =
o
C
SE
g
(3.34)
Figure3.17:PIcontrollerwithantiwindup
33

Controllertransferfunction
FollowingthepreviousIMCmethod,weobtain
F(s) =
o
s
0'
-1
(s) =
o
C
`
SE
`
g
+
o
0o
s
(3.35)
withE
`
g
= E
`
d
= E
`
m
.
3.5.4 Voltagecontrollersimulation
The system represented in Figure 3.19 is first simulated without saturation, then with
saturation,andfinally,anantiwindupisadded.ThesimulationparametersandSimulinkschemeare
presentedbelow.
Parameters Value
C(F) 2200
(rad/s) 250
1152
u
u
= 2a F
SW
1(rad/s) 1.26e3
PIcontroller,Kpv 0.0057
PIcontroller,Kiv 0.01
Vdcreference(V) 400
Rload() 500
Table3.2:Voltagecontrollersimulation
Figure3.18:Voltagecontrolloopwithactivedamping
Kp
=
o
C
`
SE
`
g
=
o
C
`
SE
`
m
Ki
= o
0o =
o
2
C
SE
`
m

(3.28) (3.36)
34
Figure3.20:VoltagecontrolWithoutsaturation
Figure3.19:VoltagecontrollerSimulinkblockscheme
35
Withoutsaturation(Figure3.20)
Wecanseeafastresponse,asmallerrorclosetozero(0.0001Vat3second).But,weobserveavery
highcurrentabout800A.Weneedtoaddthesaturationhere.
Withsaturation(Figure3.21)
The error has been increased lightly (Error 0.06V with Rload = 500, Error 0.1V with Rload = 50).
We observe that the error depends on the saturation upper and lower value and depends also on
theload.
As the current is now limited the response is much slower. Finally, we also observe the so called
integratorwindupduetothesaturation.
Figure3.22:VoltagecontrolWithsaturation15Aandantiwindup
Figure3.21:VoltagecontrolWithsaturation15A
36
Withsaturationandantiwindup(Figure3.22)
Wenowincludethebackcalculationantiwindupandaswecansee,theovershootdisappeared.The
errorisalsoreduce.
Withsaturation,antiwindupandactivedamping(APPENDIXBB.2,Figure0.8,Table0.1)
Inthissimulation,theactivedampingdoesntinfluencethesystem.
3.5.5 Simulationwithcurrentcontroller
Thewholesystemcannowbesimulated.Therectifierismodeledaccordingtothefollowing
Simulinkscheme(Figure3.23andFigure3.24)anddata(Table3.3)
PARAMETERS VALUE
R() 0.1
L(H) 5e3
C(F) 2200
(rad/s) 250
1152
Rload() 500
Vdcreference(V) 400
u
|
= 2a F
SW
1(rad/s) 1.26e4
u
u
= 2a F
SW
1(rad/s) 1.26e3
Vcontroller,Kpv 0.0057
Vcontroller,Kiv 0.01
Icontroller,Kpi 62.8
Icontroller,Kii 1.26e3
Isaturation(A) 15
Vdcstepat0.03(V) 50
Table3.3:Currentandvoltagecontrollersimulationparameters
37
In the previous figure, the signals uabc_ref come from the controller (after dqtoabc
transformation).
Figure3.24:SimulinkblockschemeController
Figure3.23:SimulinkblockschemeGridimpedanceanddclinkmodel
38
In the Figure 3.25, we observe a very high current when the system start (id reaches 70A),
andwecanseealsoasmallovershootonVdc.Thisisduetothecapacitorcharging.
Now we apply a small step on Vdc reference (50V), and we can see that the dcurrent reaches the
saturationlimit(15A)whenVdcisincreasingtowardsthereferencevalue(450V).Finally,whenVdc
reaches the reference value (without overshoot), the current is stabilize around 1.3A (steady state
value).
DISCRETESIMULATION
All the previous design and simulation have also been implemented in discrete time since
the controller will be discrete in reality. You can find a discrete simulation of the controller (same
schemeasFigure3.24)inAPPENDIXD.
Figure3.25:Controllersimulationresults
39

3.5.6 Controllerimprovements
FILTERS
dqrepresentthelinevoltage(grid,orI
PCC
)andVdqtheconvertervoltage.Wereceiveda
pieceofadviceregardingthefeedforwardtermdqinthecontrollerFigure3.26.Thisfeedforward
couldturnthesystemunstableifsomehighfrequencyoscillationsappearondq.
To remove any high frequency oscillations, we decided to add a filter for each feedforward. We
chose a first order discrete filter with a bandwidth a decade lower than the current control
bandwidth:
o
]Itc
=
o
1u
(3.37)
If the grid is stiff enough, the bandwidth of the filter can be equal to the current controller
bandwidth.
INTEGRATORS
We can see in the previous scheme that two integrator are in cascade, an integrator in the
voltage controller and one in the current controller. The current controller integrator can probably
beremoved(then,theantiwindupalso).
LOADCOMPENSATION
In the papers [11] , a load compensation has been proposed to minimized the influence of
rapid changes of the converter load. The feedforward information (see schematic on Figure 3.27)
about the actual converter load has also contributed to improve the transient response of the DC
linkvoltage.Thiscompensationisnotimplementedinthisreport.
Figure3.26:Decoupledcontrollerwithfilter
40

Figure3.27:Improvementproposedin[11]
41

3.6 Stabilityanalysis
We decided to do a small stability analysis with the current controller only, voltage
controller, then both voltage and current controller together. Furthermore, the analysis isdone for
threedifferentvoltagecontroller.First,onlyaproportionalcontrolleristakinginaccount(Kp
).Ina
second time, the integration part is added (Ki
= u.u1). And finally, the active damping coefficient

0oisadded.
3.6.1 Currentcontroller
If the cross coupling cancellation is ideal, that is, I
`
= I, we saw in section 3.4.3 Design of
thesynchronousPIcontroller(andseeFigure3.8)thatthesystemtransferfunctionbecomes
0
i
(s) =
1
R +sI
(3.7)
IfweseeE
`
asadisturbancethatweneglect,weobtainthefollowingdiagram
Now,followingtheIMC,wesawthatthecontrolleriscalculatedwith
F(s) =
o
s
0
`
i
-1
(s) =
o
s
(R
`
+ sI
`
)
TheopenandclosedlooptransferfunctionarenotedrespectivelyI
(s)andS
(s)
(s) = F(s)0'(s) (3.38)

S
(s) =
I
(s)
1 +I
(s)
(3.39)
Furthermore,ifI
`
= IandR
`
= R,wecanobtaintheopenandclosedlooptransferfunction
(s) =
o
s
(3.40)
(s) =
o
s + o
(3.41)
(s)isafirstordersystem,lowpassfilter,withacutofffrequencyo
rad/s.
ThereisonlyonepoleforS
(s)anditslocatedat-o
(negativeRealpartoftheImaginarydomain
meansstability).
3.6.2 Voltagecontroller
PROPORTIONALCONTROLONLY
We consider again the Figure 3.16 without load disturbance P
Ioud
and we obtain the
followingdiagram.Thesystemtransferfunctionis(equation(3.26))
Figure3.28:stabilityanalysisofcurrentcontrol
42

0(s) =
w
iJ
=
SE
g
sC

(s)andS
(s).
I
(s) =
o
s
(3.42)
(s) =
o
s + o
(3.43)
Asthepreviouscase,ifC
`
= CandE
`
g = Eg,S
(s)isafirstordersystem,lowpassfilter,withacut
offfrequencyo
rad/s.
ThereisonlyonepoleforS
(s)anditslocatedat-o
(negativeRealpartoftheImaginarydomain
meansstability).
PROPORTIONALANDINTEGRALCONTROL
As we explain during the voltage controller design, we decided to add a small integration
constant.
(s)andS
(s).
(s) = F(s)0(s) = _Kp
+
Ki
s
] _
SE
g
sC
] = _
o
C
`
SE
`
g
+
Ki
s
__
SE
g
sC
] =
o
Cs + SE
g
Ki
Cs
2
(3.44)
S
(s) =
I
(s)
1 +I
(s)
=
o
Cs +SE
g
Ki
Cs
2
+ o
Cs +SE
g
Ki
(3.45)
WITHACTIVEDAMPINGGA
Inthiscase,weconsiderthefollowingdiagram.
(s) = F(s)0(s) = _Kp
+
Ki
s
] _
SE
g
sC +SE
g
0o
_ =
o
Cs +o
2
C
Cs
2
+ SE
g
0o s
(3.46)
S
(s) =
I
(s)
1 +I
(s)
=
o
Cs + o
2
C
Cs
2
+ (SE
g
0o + o
C )s +o
2
C
(3.47)
3.6.3 Completecontroller
Tostudythecompletecontroller,weconsiderthefollowingdiagram.
Figure3.30:stabilityanalysisofvoltagecontrollerwithactivedamping
Figure3.29:stabilityanalysisofvoltagecontroller
43
WecannowwritetheopenandclosedlooptransferfunctionI
(s)andS
(s):
(s) = F(s)S
(s)0(s) = I
(s)S
(s) (3.48)
S
(s) =
I
(s)
1 +I
(s)
(3.49)
Thefollowingtablesumupthedifferenttransferfunctionsofthecontroller.
PCONTROL PICONTROL PIANDACTIVEDAMPINGGA

S
|
(x)
o
s +o
L
u
(x)
o
s

o
Cs +SE
g
Ki
Cs
2

o
Cs +o
2
C
Cs
2
+SE
g
0o s
S
u
(x)
o
s +o
Cs +SE
g
Ki
Cs
2
+o
Cs +SE
g
Ki
Cs +o
2
C
Cs
2
+(SE
g
0o +o
C )s + o
2
C
L
u|
(x)
o
s
2
+o
C s +SE
g
Ki
Cs
3
+o
Cs
2

o
C s +o
2
o
C
Cs
3
+(SE
g
0o +o
C )s
2
+o
SE
g
0o s
S
u|
(x)
o
s
2
+o
s +o
C s +SE
g
Ki
Cs
3
+o
Cs
2
+ o
C s +SE
g
Ki
C s +o
2
o
C
Cs
3
+(SE
g
0o +o
C )s
2
+(o
SE
g
0o +o
C) s +o
2
o
C
Table3.4:Transferfunctions
3.6.4 NyquistandBodediagram
We can now plot the Nyquist and bode diagram for the complete controller. The Nyquist
diagram should be plot for the openloop transfer function I
(s). Bode plot are given for the

closedlooptransferfunctionS
(s).
ThefollowingtableshowsthedatausedforMatlabscript.
PARAMETERS VALUE
R() 0.05
L(H) 3e3
C(F) 2200
(rad/s) 250
1152
Rload() 500
u
|
= 2a F
SW
1(rad/s) 6.283e+003
Figure3.31:stabilityanalysisofcontroller
44

u
u
= 2a F
SW
1(rad/s) 628.3
Vcontroller,Kiv Givenlater
Icontroller,Kii 314.1593
Ga Givenlater
Table3.5:Calculationdata
Figure3.33:PcontrolBodeplotofclosedloopS
u|
(x)
PARAM. VALUE
Kpv 0.0028
Kiv 0
Kpi 18.8496
Kii 314.1593
Ga 0
Pole1 5575.1
Pole2 708.1
Figure3.32:PcontrolNyquistplotofopenloopL
u|
(x)
45

Figure3.35:PIcontrolBodeplotofclosedloopS
u|
(x)
PARAM. VALUE
Kpv 0.0028
Kiv 0.01
Kpi 18.8496
Kii 314.1593
Ga 0
Pole1 5575.6
Pole2 704.1
Pole3 3.5
Figure3.34:PIcontrolNyquistplotofopenloopL
u|
(x)
46

WITHACTIVEDAMPINGGA
3.6.5 Conclusion
AllthepreviousNyquistplotshowstability,thebluecurveisfarenoughfromthepoint1.
The phase margins are about 84deg (a good phase margin is higher than 60deg). The Gain margin
Figure3.37:PIGacontrolBodeplotofclosedloopS
u|
(x)
PARAM. VALUE
Kpv 0.0028
Kiv 1.7801
Kpi 18.8496
Kii 314.1593
Ga 0.0028
Pole1 5575.1
Pole2 708.1
Pole3 628.3
Figure3.36:PIGacontrolNyquistplotofopenloopL
u|
(x)
47

are also good in our cases (infinite). Nevertheless, we feel that the delay margin is really too small
comparedtothesystemtimeconstant.
ATTENTION,thisanalysisisprobablytoosimplistic.Weassumedthattheconverterandgrid
parametersareperfectlyknownanditsnotcorrectinreality.Thecrosscouplingcannotbeperfectly
cancelled and the estimated values are not exactly equal to the real values, that is : C
`
= C, E
`
g =
Eg,I
`
= I,R
`
= R.
Anotherimportantpointisthattheanalysishavebeendoneincontinuoustimeandshould
bealsodoneindiscretetimeinordertobeclosetotherealsystem(discretecontroller).
MoreNyquistandBodegraphareplottedinAPPENDIXE.

48

3.7 PhaseLockedLoop(PLL)
ThePLLisanimportantandcriticalpartofthesystem.Itsaimistogivethevoltageangleof
thethreephasesystem(UaUbUcFigure2.4).Thisangleisthenusedforallthedqtransformations
inthemodel.
3.7.1 Design
ThePLLwasdesignaccording([4][14]).
= y
1
e (3.50)
0
= + y
2
e (3.51)
where y
1
and y
2
are gain parameters and e the error signal (y
1
is the Ki, and y
2
is the Kp of a PI
controller). The main difference is that in our case, with doriented control, the error signal is
selectedas:
e = E
`
qinsteadofe = -E
`
J(chosenforfluxorientedcontrol).
Following the analysis of the thesis (or compendium), we can find the following PI parameters and
thefollowingscheme.
y
1
=
p
2
E
`
g
, y
2
=
2p
E
`
g
, E
`
g
=
_
E
`
d
2
+ E
`
q
2
(3.52)(3.53)(3.54)
where p can be seen as the bandwidth of the PLL (rad/s), and E

`
g
is the estimated grid voltage
modulus.
Comments:
ThePIcoefficientscanbefixedorcalculatedinSimulinkaccordingtotheestimatedvalue(or
measuredvalue)E
`
g
=
_
E
`
d
2
+ E
`
q
2
.
Thereferencevalue(
c]
= 2. pi. Su roJs)canbealsoincludedasainitialconditioninthe
PIcontrollerintegrator.
ThefirstselectionofthePLLbandwidthisabout20Hz.Itwillbeadjustlater.
3.7.2 Simulations
Themodelwasimplementedincontinuousfirst,thenindiscreteusingthefollowingscheme
foradiscreteintegrator:
Figure3.38:PLLscheme
49
The sample frequency is chosen as : F

S
= 2. F
Sw
= 2. F
tunguIu wuc
(Fsw is the switching
frequency,20kHz).
Simulation1:Balanced3phasesystem
The results show that the original angle and the angle from the pll are equal (angular frequency is
alsothesame,314.1593rad/s).
Figure3.40:SimulationBlockScheme
Figure3.39:Discreteintegrator(APPENDIXC.Digitalsimulation)
50

Figure3.41:SimulationBalanced3phasesystem
51

Simulation2:Unbalanced3phasesystem
NowwecreateavoltagediponphaseCat0.025s(30%dip,70%ofthevoltageleft).
Nowanoscillationisproducedandwecanseeasmalloscillationontheta_plltoo.
Simulation3:Balanced3phasesystem,noise
We comeback to a balanced grid and we add noise to the 3phase voltages (random noise
for A, square wave for B, sawtooth wave for C, at different frequencies). We can see on the
simulationbelowthattheanglesaresimilar(asmallerrorabout0.03degcanbeseenwithazoom).
NoisephaseA NoisephaseB NoisephaseC

Randomwaveform squarewave sawtoothwave
Atdifferentfrequencies:100,150,200,250,1000,5000,10000Hz
Table3.6:Noiseparameters
Figure3.42:SimulationUnbalanced3phasesystem
52
Remarkandconclusion
We saw that the coefficients y
1
and y
2
can be calculated in Simulink according to E
`
g
.
Nevertheless,thiscancreateasimulationissueatbeginningofthesimulation.Weassumethatfora
firstimplementationandastiffgrid,fixedcoefficientscanbeeasilyused.Anothersolutioncouldbe
tostartwithfixedcoefficientsthenswitchtovariablevalues.
Toremovetheoscillationsontheta,weadvicetoreducethePLLbandwidthto5Hz.
3.7.3 Improvementsandconclusion
As indicated in some papers (for example, see [30] in the case of amplitude distortion,
frequency distortion, phase distortion, harmonics, phase loss, random noise, the conventional PLL
presented here is not enough. For example, they use a controlled moving average algorithm to
extractandaphaselocker.

Figure3.44:PLLproposedby[30]
Figure3.43:SimulationBalanced3phasesystem,noise
53

3.8 Gridmodeling
The aim of this part is to modify the model introduced in section 2.2.2 Mathematical
model(Figure2.4)tosimulateagridconnectedconverter.Wearegoingtoaddthegridvoltageand
impedanceEg,RgandLg.AswitchwillbemodeledwitharesistorRb(highvalueforanopenswitch,
verysmallvalueforaswitchclosed).Wecanwritefourequationsasbelow.
Firstequation:ig
c
g
-:
c
= (R
g
+ R
b
)i
g
+ I
g
Ji
g
Jt

= i
g
=
1
sI
g
|c
g
- :
c
- (R
g
+ R
b
)i
g
] (3.55)
Secondequation:i
:
c
- u
s
= Ri + I
Ji
Jt
= i =
1
sI
|:
c
- u
s
- Ri]
(3.56)
Thirdequation:Vc
i
g
= i
c
+ i = C
uc
J:
c
Jt
+ i
= :
c
= (i
g
- i)
1
sC
uc
(3.57)
Fourthequation:F
PCC
:
pcc
= i
g
R
b
+ :
c
(3.58)
Withthesefourequations,wecanestablishtheschemeFigure3.47toreplacethesimplegridmodel
ofFigure3.46(establishinsection2.2.2MathematicalmodelFigure2.4).
Figure3.46:Simplegridmodel(phaseA)
Figure3.45:Gridconnectedconverter
54
WecanalsowritemoresimpleequationsforamodelwithoutCac.
c
g
- u
s
= (R
g
+ R
b
+R)i + (I + I
g
)
Ji
Jt
= R
tot
i + I
tot
Ji
Jt
:
pcc
= c
g
- R
g
i - I
g
Ji
Jt
(3.59)
Thenifweinjectdi/dtofthefirstequationinthesecond:
WecanremarkthatifL
g
istoobigcomparetoL
tut
,thevoltageVppcwillbehighlydependenton
thecurrentIandwillvary.Intheotherhand,ifL
g
isverysmallcomparetoL
tut
,thelasttermof
theequationcanberemovedandF
PCC
ismorestable.

:
pcc
= c
g
-R
g
i -
I
g
I
tot
(c
g
- u
s
- R
tot
i) I
I
g
I
tot
< 1 = :
pcc
= c
g
- R
g
i
(3.60) (3.61)
Figure3.47:SimulinkNewgridmodel(phaseA)
55

3.9 Gridconnectedconvertersimulation
Thissectionshowsthesimulationsresultsofthecompletesystembuiltwith(Figure3.49):
ADISCRETEblock
Samplingsystem(sampleandholdblock)
PLL
Decoupledcontroller
PWMblock(sinusoidalPWM)
AnasymmetricPWMisusedhere,aswesawinthesection2.4.1SinusoidalPWM,wehave
F
SumpIng
= 2 F
tungIc wuc
= 2 F
Swtchng
.
Gridandrectifiermodel
Wearenowusingthemodelpresentedinthepreviouspart3.8Gridmodelingwithsmall
unknowngridimpedanceR
g
I
g
andaswitch(beaker)Sw
1
.Wealsoaddasecondswitchin
theoutputaswecanseeinFigure3.48.
3.9.1 Simulationsteps,Simulinkblockdiagram
SIMULATIONSTEPS
Thesimulationiscomposedby threesteps.Inthestep I:SW1andSW2areopen,step II :
SW1closedandSW2open,stepIII:SW1andSW2closed.
StepI:Synchronization
SW1andSW2areopen.
ThevoltageI
PCC
issenttothePLLandthevoltageangle0iscalculated.
AllIGBTsare OFF(therectifierbecomesasimplethreephasedioderectifier). Nocurrentis
flowingintotherectifier.
Thecontrollerisinstandbymode.Alldiscreteintegratorsaredisabled.Allintegratorsshould
be disabled when all IGBTs are OFF. Otherwise, the integrator part of the controller will try
tosettheerrortozerobutsincetherearenoswitchesactivated,theerrorcannotbesetto
zero.Theintegratorvaluewillincrease.
DClinklinkcapacitorischargedtothereferencevalueI
Cc]
(inthesimulation,thisaction
is done by setting the Initial Condition to I
Cc]
into the integrator of the DClink model).
ATTENTION,thevalueI
Cc]
shouldrespecttheconditionexplainin2.2.3Limitations:
I
Cmn
> 2 I
PCC(LN,pcuk)
whereI
PCC(LN,pcuk)
istheLinetoNeutralamplitudeofI
PCC
.
Figure3.48:Singlephaseschematic
56

TheloadisnowR
L0A_1LMP
.ThisresistorissettoahighvaluetoavoidthedischargeofC
C
.
StepII:ClosingSW1
TheACsidecapacitor(filter)ischarged(smalltransient).
AllIGBTsareOFFandthecontrollerisinstandbymode(nointegration).
AsI
C
> 2 I
PCC(LN,pcuk)
,thereisnocurrentflowingintotherectifier.
StepIII:ClosingSW2andSTART
SW2isclosed.R
L0A_1LMP
cannowbeneglectedsinceR
L0A_1LMP
> R
L0A
.
ThecontrollerisfullyactivatedandtheIGBTscanbeturnedON.
SIMULINKBLOCKDIAGRAM
The Figure 3.49 shows the top level block diagram of Simulink. You can find the details of
differentblockinAPPENDIXF.
Beforepresentingthesimulationresults,wehavetoprecisetwoimportantpoints,thatare,howthe
IGBTOFFstateandhowthedisabledintegratorsaremodeledinSimulink.
IGBTOFFstate
WhentheIGBTsareOFFinoursimulation,nocurrentisflowingintotherectifier(DClinkvoltageis
high enough and the body diode of the IGBTs are blocked). Consequently, we decided to force the
currenttozerowiththeFigure0.39inAPPENDIXF.
Disabledintegrators
Theintegratorsaredisabledbyforcingthevaluetozero(anothersolutioncouldbetosetKitozero).
YoucanseetheSimulinkblockinAPPENDIXF,Figure0.35.
3.9.2 Verification
In this subsection, we verify that the equation presented in the second Chapter (2.2.3
Limitations).
Figure3.49:ToplevelSimulinkmodel
57

Gridvoltage
u
RMS
= 4uu I(LinetoLine)
= I
RMS
=
400
3
= 2Su.9 I(PhasetoGround)
= E
g
= 2 2Su.9 = S26.6 I(PhasetoGroundamplitude)
MinimumDClinkvoltage
The minimum DClink voltage is found with the equation (2.27) of section 2.2.3
Limitations.
I
Cmn
> 2 I
LN(pcuk)
= 2 E
g
= I
Cmn
> 2 S26.6
= I
Cmn
> 6SS.2 I.
Thisminimumvaluehavebeenverifyinoursimulation.IntheSimulinksimulation,wefound
aminimumDClinkvoltagearound660V.
Finally,foroursimulationwewillselect
I
Cc]
= 7uu I.
Thisvalueisprobablyabitlowforanexperiment.Inreality,itwillbebettertoselect15%
or20%more(about750Vor790V.Referto2.2.3Limitations).
Inductancevalue
Theequation(2.29)ofsection2.2.3Limitationsappliedinoursystembecomes:
I <
_
I
C
2
S
- E
g
2
iJ
.
As we saw during the voltage controller design, section 3.5.2 Design of voltage controller
equation(3.18),thedcurrentiscalculatedby
iJ =
2
SE
g
P
g
Then,insteadystatewecanwritetheequalityofpower
P
g
= P
Ioud
=
:
dc
2
R
Ioud
(3.62)
Finally,thecurrentbecomes
iJ =
2
SE
g
:
dc
2
R
Ioud
(3.63)
= iJ =
2
S

7uu
2
S26.6 1Su
= 6.668 = 6.7 A
This value is totally verified in the following simulation. We can now calculate the
inductance.
I <
_
I
C
2
S
- E
g
2
iJ

= I <
_
7uu
2
S
- S26.6
2
2nSu 6.7

= I < u.11S1 E
Wethinkthatthisvaluetoohighaccordingtoresultsreadinsomepapers.Wedecidedto
selecttheinductancearound3mH(itcouldbe5mHor10mH).
58

3.9.3 Simulationresults
SIMULATION1AND2
ThefollowingTable3.7presentasummaryofthesimulationparameters.Alltheparameters
forthisSimulation1arepresentedinAPPENDIXF,Table0.3.
Thesimulationisperformedwithapproximation:
We assume that the I
PCC
voltage is equal to the grid voltage E
g
(Figure 3.48). That is only
trueifthegridimpedanceissmallenoughcomparedtoimpedanceRL.
Weassumethatweknowexactlytheconverterparameters,thatis:
R
`
= R ; I
`
= I ; C
`
= C
Table3.7:Summaryofsimulation1parameters
The basic waveforms are plotted in Figure 3.50. All voltages are phasetoground voltages.
For this simulation1, we selected a small grid impedance and we observe a voltage I
PCC
without
distortions, and we can say that I
PCC
and the grid voltage c
g
are equal (stiff grid). We will see the
influenceofthegridimpedanceinthesimulation3.
On the current plot (i

abc
), when the breaker SW1 is closing at time 0.005s, no current is
flowingintotherectifier.Then,attime0.01s,weactivatetheIGBTs,wecloseSW2andthesystemis
starting. We observe a small ripple on the current due to the switching. This ripple increases if the
switchingfrequencydecreasesorifthelineinductancedecreases.
Finally,attime0.025s,thesteponI
Cc]
isstarting.Thecurrentisreachingthesaturationlimitof
15A and the DClink voltage is increasing linearly from 700V (initial condition) to 730V. Another
Simulationhavebeendonewithabiggerstepof100VonI
Cc]
withsaturationlimitinthecurrent
controllerabout50A(seeAPPENDIXF,Figure0.27).
Furthermore,weobserveasmallovershootontheDClinkvoltageI
C
.Thisovershootmay
increase if the switching frequency decrease. On Simulation2 Figure 3.51a., we plot the DClink
voltageforaswitchingfrequencyselectedat3kHz.Weobserveoscillations.Theseoscillationscanbe
removebyadjustingthePIcontrollercoefficients.ThecalculationforthePIcoefficientsdependson
thebandwidtho
ando
selectedasfollwow:
o
= 2n F
S
1uando
= 2n F
S
1uu.
GRIDANDCONVERTER VALUE
Gridu
RMS
(V),linetolineRMS 400
R
g
(),gridresistance 1e3
I
g
(H),gridinductance 1e5
R() 0.05
I(H) 3e3
C(F) 2200e6
I
Cc]
(V) 700
I
Cc]
STEP(V) 30
R
L0A
() 150
PWM VALUE
Triangularfreq.Fc(kHz) 10
Mode Asymmetric
TIME VALUE
STEPII:SW1closingat(s) 0.005
STEPIII:IGBTsONat(s) 0.01
I
Cc]
stepat(s) 0.025
CONTROLLER VALUE
Kp
,currentcontroller 37.6991
Ki
Kp
,voltagecontroller 0.0028
Ki
Samplefreq.F
S
= 2Fc(kHz) 20
59

Nevertheless, when we select a switching frequency 3kHz, we modify the bandwidth (F
S
= 2F
Sw
)
and we modify the PI controllers. For example, if we select the bandwidth with o
= S 2n F
S
1u
ando
= S 2n F
S
1uu,theoscillationsarehighlyreduced(Figure3.51b.).
Figure3.51:Simulation2withswitchingfrequency3kHz
a.F
DC
voltage
b.F
DC
withbandwidth3 2a F
S
xxx
a. b.
Figure3.50:Simulation1results
60

SIMULATION3INFLUENCEOFTHEGRIDIMPEDANCE
Thesimulation3havebeendonetoshowtheinfluenceofthegridimpedanceonthesystem.
Wemultipliedby10bothR
g
andI
g
.
GRIDMODIFICATION VALUE
R
g
L
g
Table3.8:Simulation3Newgridimpedanceparameters
Asweexplaininsection3.8Gridmodeling,if I
g
istoobigcomparetothetotalinductancevalue
I
tot
,thevoltageI
PCC
willbehighlydependentonthecurrentandwillvary.TheFigure3.52a.shows
the effect of the grid impedance, the voltage is distorted. Despite that, the system is still working
well even if this voltage is used by the PLL to calculate the voltage angle. Figure 3.52b. shows the
voltageangleundersimulation3condition,thereisnovisibledistortion.
SIMULATION4TESTWITHACTIVEDAMPINGGA
Theresultsofsimulation4isplottedinAPPENDIXF,Figure0.28.Thesimulationparameters
are the same as simulation1 with the following modification on controller parameter. We also re
writetheequationtofindthem(equationXXXsection3.5.3Voltagesaturation,antiwindup,active
damping).
We can see on Figure 0.28 that the controller doesnt work properly anymore, some oscillation
appearonDClinkvoltageandthecurrentiscompletelydistorted.
We observed that the simulation becomes stable again by reducing the controller parameters
values.TheFigure0.29showsasimulationwiththefollowingmodifiedparameters:
PARAMETERMODIFICATION VALUE
Kp
u
6
a
activeconductance 0.0028
K|
u
Table3.9:Simulation4
0o =
o
C
SE
g
Kp
=
o
C
`
SE
`
g
Ki
= o
0o
Figure3.52:Simulation3withnewgridparameters
a.F
PCC
voltage
b.VoltageangleTheta
a. b.
61
TheSimulinkdiagramisgiveninAPPENDIXF,Figure0.41.
SIMULATION5ESTIMATEDPARAMETERSR
, L
`
, C
For simulation5, we now assume that R

`
= R ; I
`
= I ; C
`
= C . One by one, we modify
(increaseanddecrease)theestimatedvalueandverifytheeffectonthewaveforms.
ResistanceinfluenceR
= R
Acoupleoftestshavebeendoneandwedidntseeanyproblemduetoabadestimationof
thelineresistance.
TestswithR
equalto Comments
R + 3R Novisibleinfluence
R - 3R R < u,instability
R - . 9R Novisibleinfluence
Table3.11:Resistanceinfluence
InductanceinfluenceL
`
= L
TestswithL
`
equalto Comments
L + 3L
SeeFigure0.30inAPPENDIXF.
Distortedreferencevoltage
Vdcoscillations
L - . 9L
Distortedreferencevoltage
Vdcoscillations
Distortedlinecurrent
Table3.12:Inductanceinfluence
CapacitorinfluenceC
= C
TestswithC
equalto Comments
C - . 9C
Linecurrentoscillation
Vdcoscillation
C + 3C Novisibleinfluence
Table3.13:Capacitorinfluence
Conclusion
As we can see in the previous tables, inductance and capacitor estimation are more critical
thanresistanceestimation.Nevertheless,wesawinsimulationthatabadestimationwithan
errorabout2040%isnotproblematic.Thewaveformsareprettysimilar.
PARAMETERMODIFICATION VALUE
Kp
u
6
a
activeconductance 2.8216e005
K|
u
Table3.10:Simulation4modifiedparameters
0o =
1
1
o
C
SE
g
Kp
=
o
C
`
SE
`
g
Ki
= o
0o
62

SIMULATION6LOADSTEP
Simulation6 isdonebymodifyingtheloadresistancefrom150to30,thatcorresponds,
toaloadaskingsuddenlyfor16kW(30)insteadof3kW(150).
Theinputpower(blue)iscalculatedwiththefollowingequation(3.18):
P
g
=
S
2
E
g
iJ
Theoutputpower(black)asbelow(equation(3.62)):
P
Ioud
=
:
dc
2
R
Ioud
Aswecanseeinthepreviousfigure(Figure3.53),anovershootappearsinthedcomponentsofthe
current(6Aovershoot).Nevertheless,thisovershootisnotsovisibleonthe3phasecurrent.
Regarding the DClink voltage, we observe a small drop (5.5V, 0.7%). The controller is acting and
after a couple of millisecond, the error is set to zero again. The controller performance seems to
goodfordisturbancerejection.
Figure3.53:Simulation6results
VOLTAGEORIENTEDCONTROLIMPLEMENTATION
63

4 VOLTAGEORIENTEDCONTROLIMPLEMENTATION
4.1 Blockdiagram
Thesetuppresentinthelabcanrepresentedwiththefollowingblockdiagram.Itshowsone
powerstage,electronicstage,andsoftwarestage.
MATERIAL COMMENTS
dSpacesystem DS1103
Computer PC
Matlab/Simulink RealTimeWorkshop
libraryanddSpacelibrary
ControlDesksoftware Usedforrealtimecontrol
Measurementbox Voltageandcurrent
Emittercard Opticalemitters
ReceivercardandIGBTdrivers Opticalreceivers
Table4.1:Labmaterial
Thissetupisnotrunningyet.Noexperimentshavebeendoneinthisthesis.
4.2 Principle
FromyourSimulinkmodel(seenextsection),MatlabgeneratesaCcodeandsendittothe
hardware(dSpaceDS1103)connectedtothePC.
Figure4.1:Laboratorysetup
64

Then, using Control Desk software, you can build an interface with control panel : knobs, control
buttons.Youcanalsoaddvisualizations:led,gauge,graphandsoon.
Tobeabletorunoursystem,somemodificationneedtobedoneonourSimulinkmodel.
4.3 Simulinkmodelmodification
ThetoplevelSimulinkmodelforimplementationisshowinFigure4.2.
ADC
TheimportantinformationusingADCandDACisshowninthefollowingtable.Youneedtomultiply
by10avaluefromADC,anddivideby10beforesendingtoDAC.
ADC
Inputvoltage
range
Correspondance
inSimulink
10V+10V 1+1
DAC
Simulink
value
Outputvoltage
range
1+1 10V+10V
Table4.2:ADC/DACvaluerange
Figure4.3:ADCexample(seeAPPENDIXG. Figure0.42)
Figure4.2:ToplevelSimulinkmodelfordSpaceimplementation
65

PWM
The PWM block have been replaced by the dSpace PWM block DS1103SL_DSP_PWM3. This is a
sinusoidal symmetric PWM (Ftriangle = Fswitching = Fsampling). You can modify the carrier wave
(triangle)andthedeadtimeduration.
PWMstopallowstoenable(PWMstop=0)ordisable(PWMstop=1) thePWMblock. Thissignal
needs double type and not Boolean (but following Simulink help it should be Boolean). The
Termination and Initialization values of the block should be set (see next section for explanation
aboutTerminationandInitialization).
The input range for duty cycle abc is [0;+1]. Finally, we have to send our threephase reference
voltage to this block but a scaling block is needed. This block is included to the control block and
showninFigure4.4.
CONTROLSYSTEMANDPLL
You can find the detail of this block in APPENDIX G. Figure 0.43. You can see that the scaling block
presented above is included to this block. The control is totally similar to the one presented in
Chapter3exceptthat:
Allthesample&holdblockhavebeenremovedbutthesystemisstilldiscrete.
Thesampletime"Ts"isreplacedby"1"(inherited).
Theenablesignalismaybenotuseful.Itcouldberemoved.Itdependshowwillberunthesystem.
Butifitsused,theoutputportUabc_refrange[0;1]shouldbesettothefollowingcharacteristics:
Resetwhendisabled
Initialoutput=0.
Inthisconfiguration,whentheblockisdisabled,theoutputwillbezeroandthePWMblockwillsee
zerodutycycleandwillopentheswitches.
TRIGGERSIGNAL,SYNCHRONIZATION
Thesample&Holdhavebeenremoved.Now,weneedtospecifywhenacquireasample.Weknow
thatweneedtosampleonthepeakofthetriangularwaveofthePWM,ideally,oneverypeakthat
istheasymmetricPWM.
We guess that more than one solution is possible to run the system. But for simplicity, as we said
above,wedecidedtousethePWMblockDS1103SL_DSP_PWM3usingasymmetricPWM.
Furthermore, this block is link to an interruption DS1103SLAVE_PWMINT. The interruption is

generated every POSITIVE PEAK of the triangular wave of block PWM3 as shown in Figure 4.5.
Consequentlywehave:Finteruption=Fsampling=Ftriangle=Fswitching.
Figure4.4:Scalingblock
66
TheinterruptisgeneratedthatcanbeshiftednearlyoverthewholePWMperiodbyspecifyingthe
interruptalignment(Source:dSpaceHelpinMatlab[33]).
InSimulink,ablockDS1103SLAVE_PWMINTisavailable.To triggerthewholeSimulinkmodel,we
have to link this block to another block called Timer Task Assignment as shown in the toplevel
modelFigure4.2.Finally,everyinterruptionsignal,ONEsamplewillbeacquired.
Nevertheless, the overrun condition should be checked. We need to be sure that the calculation
(inthecontroller)isfinishedbeforeanewsampleisacquired.
CONTROLSIGNALGO
The GO signal (Figure 4.2) is used to activate the integrator part of the controller (see section
3.9.1Simulationsteps,Simulinkblockdiagramforexplanation).Itisalsousedtoenableordisable
PWMblock.
HOWTOFORCEIGBTSOFF
ItspossibletoforceIGBTsOFFdisablingtheblockControlsystemandPLLsincetheoutputwillbe
zero when disable (if set correctly). A zero value will be sent to the PWM block and the switches
willbeopen.
AnothersolutioninpresentedinFigure4.6andispresentinthemainblockdiagraminAPPENDIXG.
Figure0.43.
Figure4.5:MatlabHelpfromdSpace,PWMinterruption[33]
67
TheswitchesareactivatedbytheGOsignalinourmodel.
IfGO=0 Output=0 IGBT=OFF
IfGO=1 Output=Ubacrange[0;1] IGBT=ON
4.4 Runninganexperiment
To run an experiment we need to introduce some important points that are :
STOP/PAUSE/RUNmechanism,simStatevariable,InitializationandTerminationvalue,howtobuilda
modelandwhichparametersshouldweused,andhowtouseControlDesksoftware.
A tutorial is also available in [37] , and we also advice to use the dSpace Help in Simulink (more
usefulthanthedSpacebooks).
SIMSTATEVARIABLE
The simState variable is an internal variable that allows to read or set the simulation state of the
application [33] . This variable is created when the system is built (see how to build a model in the
following).
Itcantakethefollowingvalue(TableXXX).
SimulationState simStatevariable
STOP 0
PAUSE 1
RUN 2
Table4.3:simStatevalues
STOP/PAUSE/RUNMECHANISM
TheSTOP/PAUSE/RUNmechanismdependsonthesimStatevariable.Bycontrollingit,youcanstop,
pauseorrunyourexperiment.
In our case, we chose to control it via Control Desk. When your system is built and your variable
descriptionfile(.sdf)is openedinControlDesk(seenextparagraph),you canfindthisvariablein
themaingroupofvariable.
The following figure shows a part of control panel in Control Desk, the simState is linked to Push
Buttons.
Figure4.6:HowtoforceIGBTsOFF(completediagram:APPENDIXG.Figure0.43)
68
In each Simulink block, you can specify an Initialization and Termination value. The following table
showsthelinkswiththesimStatevariable.
STATE SIMSTATE RESULT

STOP 0 Terminationcodeexecuted.Terminationvalueareused.
PAUSE 1 IfthepreviousstatewasinRUN,noTerminationvaluesareused,the
currentoutputsarekept.
IfthesystemwasinSTOPmode,theInitializationvaluesareused.
RUN 2 IfthesimulationwaspreviouslyinthePAUSEmode,theexecutionof
theapplicationisreenabled.
If the previous state was STOP, the states of the model are reset to
theirinitialvaluesandtheexecutionoftheapplicationisrestarted.
Table4.4:RelationbetweenapplicationstateandInitializationandTerminationvalues
SIMULATIONPARAMETERSANDBUILDMODEL
WhenyourSimulinkmodelismodified,youcanBUILDthemodelfromSimulinkusing:
//Tools/RealTimeWorkshop/BuildModel(orCTRL+B)
Butbeforethat,youmayneedtomodifytheConfigurationParametersasfollow:
PARAMETERS VALUE
Solver/Step Fixed
Solver/StopTime INF
Optimization/blockreduction Disable
RealTimeWorkshop/SystemTargetFile rti1103.tlc
Table4.5:ConfigurationParametersbeforeBUILD
Before pressing CTRL+B (build), we advice to open Control Desk software. In this case, Control
Deskwillautomaticallydetectthatanewfilehavebeenbuilt(variabledescriptionfilewithextension
.sdf).
Then, a new experiment should be created, and the .sdf file should be added to experiment.
You can now create a new layout. Since you have the layout open, you can add buttons, knobs,
display, gauge, numeric input (to write a value) and so on. After that, you can link your Simulink
variables (or labels) to graphical instruments, for example, a button to control this variable or a
simStatevariable
Enable
GOsignal
Figure4.7:ControlPanelinControlDesk
69

graph for visualization. The variables are visible in the Tool Window in the bottom part of the
ControlDeskinterface.
ATTENTION!
When you build the model, the Ccode generated is automatically sent to your hardware and the
applicationSTARTTORUN(simState=2).So,asyoucanseeintheFigure4.2,thesignalGOandthe
Enable are set to zero. Consequently, when our system is built and start running, the PWM is OFF
andthecontrollerisdisabled.
CONCLUSIONSANDFUTUREWORK
70

5 CONCLUSIONSANDFUTUREWORK
Controllerlabtests
IntheChapter3,somesimulationswerepresented.Thecontrollerseemstobecorrectand
stable. We suppose that some labtests can now be achieved with a gridconnected converter with
simpleresistiveload.
The Simulink file prepared for implementation may need to be slightly modified but the idea was
presentedinChaper4withsomekeypointtorunanexperimentwithdSpace.Atutorialisavailable
atthereference[37].
Stabilityanalysis
Inthisreport,asimplestabilityanalysishavebeendone.Nevertheless,thisanalysisisquite
simplistic (with approximations) and have been realized in continuous time only. It should be also
completeindiscretetimebecausethecontrollerisimplementedindiscretetime.
Deadtime
As we explain in the first part (2.4.3 Dead time effect), the performances of the converter
are affected by injection of deadtime in the PWM signals to avoid short circuit of the DClink. We
suppose that some simulations of this deadtime and some compensation should be done before
testingthecontrollerinthelaboratory.
Modulationmethod
The modulation method could be improved. In our system, we decided to implement a
sinusoidalPulseWidthModulationmainlyforitssimplicityandacceptableperformances.Weadvice
totestit inthelab.Nevertheless,asimulationwithSpaceVectorModulation(SVM)shouldbealso
simulated and a deep comparison to sinusoidal PWM could be done. The SVM is known for its
effectiveness,simplicityforimplementation,harmonicsreduction.
Controlmethod
AlastpossibleimprovementcouldbedonebyimplementingaVirtualFluxOrientedControl
(VFOC).Itcouldimprovetheperformanceundernonideallinevoltageconditions.Furthermore,this
method could be useful if a machine is added to the model (AC side) because machine models are
generallydonewithfluxorientedreference.
Wealsoadvicetoimplementaloadcurrentcontroller.Readingsomepapers,wesawsome
batterychargerconfigurationwithanotherstageaftertherectifier(onmorelegwithtwoIGBTsfor
DCDCconversion).Aloadcurrentcontrollerwasresponsibleoftheswitchesforthisstage([3]).
REFERENCES
71

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[2] BOYIN,ORUGANTIR.,PANDAS.K.,BHATA.K.S.ASimpleSingleInputSingleOutput(SISO)Modelfor
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[3] BOJRUPMARTIN.AdvancedControlofActiveFiltersinaBatteryChargerApplication.PhdThesis,
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[5] HENGCHUN MAO, BOROYEVICH D., LEE F.C.Y. Novel ReducedOrder SmallSignal Model of a Three
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[6] HITI S., BOROYEVICH D., CUADROS, C. Smallsignal modeling and control of threephase PWM
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[7] H.S. KIM, H.S. MOK, G.H. CHOE, D.S. HYUN, S.Y. CHOE. Design of Current Controller for 3Phase
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1998.Vol.1.Pages:503509.
[8] JASINSKI M., ANTONIEWICZ P., KAZMIERKOWSKI M.P. Vector control of PWM rectifier inverter fed
induction machine a comparison. Compatibility in Power Electronics, IEEE 2005. Pages: 91
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[9] KASMIERKOWSKI MARIAN P., BLAABJERG F., KRISHNAN R. Control in power electronics, selected
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[10] KASMIERKOWSKI MARIAN P. Current Control Techniques for ThreePhase VoltageSource PWM
Converters:ASurvey.IEEETransactionsonIndustrialElectronics.Vol.45,issue:5.1998.Pages:
691703.
[11] KNAPCZYK MICHA, PIENKOWSKI KRZYSZTOF. High Performance decoupled control of PWM rectifier
with load compensation. Politechnika Wrocawska, Instytut Maszyn, Napedw i Pomiarw
Elektrycznych.2007.11p.Availableat:
http://www.imne.pwr.wroc.pl/Wydawnictwa/PNIMNIPEnr60/Napedy/pdf/4%20Michal%20KNA
PCZYK%20Krzysztof%20PIENKOWSKI%202.pdf
[12] LUNDBERG STEFAN. Lecture slides : ENM075 Electric Drives II. Department of Energy and
Environment,ChalmersUniversityofTechnology,Gteborg,Sweden.2009.
[13] MALINOWSKI MARIUSZ. Sensorless Control Strategies for ThreePhase PWM Rectifiers. PhD
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Technology,Gteborg,Sweden.2003.165p.ISBN:9172912960.
[15] RODRIGUEZJ.R.,DIXONJ.W.,ESPINOZAJ.R.,PONTTJ.,LEZANA,P.PWMRegenerativeRectifiers:State
oftheArt.IEEETransactionsonIndustrialElectronics,2005.Vol.52,issue:1.Pages:522.
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[18] WEI KEXIN, WANG SHUIMING. Modeling and Simulation of ThreePhase Voltage Source PWM
Rectifier.InternationalConferenceonAdvancedComputerTheoryandEngineering,IEEE2008,
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[19] YU FANG, YONG XIE, YAN XING. Study on control strategy of three phase high power factor PWM
rectifier.InternationalConferenceonElectricalMachinesandSystems,IEEE2008.Pages:1832
1837.
PowerElectronics
[20] ERIKSON ROBERT W., MAKSINMOVI D. Fundamentals of Power Electronics. Second Edition.
SpringerScience,USA.2001.883p.ISBN:9780792372707.
[21] MOHAN N., UNDELAND T., ROBBINS W. Power Electronics, Converters, Applications and Design.
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[23] BONGIORNO MASSIMO, SANINO A. Lecture slides : ENM100 Power Electronic Solutions for Power
Systems. Department of Energy and Environment, Chalmers University of Technology,
Gteborg,Sweden.2009.
CarrierbasedPWM
[24] HAVA AHMET M., KERKMAN RUSSEL J., LIPO THOMAS A. CarrierBased PWMVSI Overmodulation
Strategies : Analysis, Comparison, and Design. IEEE Transactions on Power Electronics, 1998,
Vol.13,issue:4,pages:674689.
SVM
[25] ANALOG DEVICES APPLICATION NOTE AN3117. Implementing Space Vector Modulation with the
ADMC331.AnalogDevicesInc.,January2000.
[26] DORIN O. NEACSU. Space Vector ModulationAn Introduction. Tutorial at IECON2001, the 27th
AnnualConferenceoftheIEEEIndustrialElectronicsSociety.2001.
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[27] JINWOO JUNG. Project #2 Space Vector PWM inverter. Project performed at Mechatronic
Systems Laboratory, Department of Electrical and Computer Engineering, The Ohio State
University,USA.2005.Availableat:
http://www2.ece.ohiostate.edu/ems/PowerConverter/SpaceVector_PWM_Inverter.pdf
PLL
[28] AMUDA L.N., CARDOSO FILHO B.J., SILVA S.M., SILVA S.R., DINIZ A.S.A.C. Wide bandwidth single and
threephase PLL structures for gridtied PV systems. Photovoltaic Specialists Conference, IEEE
2000.Pages:16601663.
[29] CHUNG S.K. Phaselocked loop for gridconnected threephase power conversion systems.
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[31] JONG WOO CHOI, SUNG IL YONG, SEUNG KI SUL. Inverter output voltage synthesis using novel dead
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Pages:100106.
[32] SEUNGGI JEONG, MINHO PARK. The analysis and compensation of deadtime effects in PWM
inverters.IEEETransactionsonIndustrialElectronics,vol.38,no.2,1991.Pages:108114.
dSpace
[33] dSpaceHelpinSimulink.
[34] JUSTIN D. LANGDON. Design and Adaptive Control of a Labbased, Tirecoupled, Quartercar,
Suspension Test Rig for the Accurate Recreation of Vehicle Response. MSc Thesis, Virginia
Polytechnic Institute and State University, USA. January 31, 2007. Available at:
http://scholar.lib.vt.edu/theses/available/etd02132007
112050/unrestricted/Langdon_Thesis_Rev_Final_ETD_2007.pdf
[35] KIRAN KUMAR GUNDA. Adjustable Speed Drives Laboratory Based on dSpace Controller. MSc
Thesis, Department of Electrical & Computer Engineering, Louisiana State University and
AgriculturalandMechanicalCollege,USA.2008.
[36] Laboratory Tutorial, Massachusetts Institute of Technology, Department of Mechanical

Engineering, 2.737 MechatronicsSpring 2006, February 14, 2006. Available at:
http://web.mit.edu/2.737/www/labs/General/tutorial.pdf
[37] NICANOR QUIJANO, KEVIN PASSINO. A Tutorial Introduction to Control Systems Development and
Implementation with dSPACE. Dept. of Electrical Engineering, The Ohio State University, USA.
2002.Availableat:http://www2.ece.ohiostate.edu/~passino/dSPACEtutorial.doc.pdf
APPENDICES
74

APPENDICES
A.ThreephasesystemCoordinatetransformations
A.1Voltageandcurrentdefinition
Firstofall,wecandefinethevoltageandcurrentofathreephasesystem:
:
u
(t) = E
m
cos(t)
:
b
(t) = E
m
cos _t -
2n
S
]
:
c
(t) = E
m
cos _t -
4n
S
]
(positivesequencehere)
i
u
(t) = I
m
cos(t + )
i
b
(t) = I
m
cos _t + -
2n
S
]
i
c
(t) = I
m
cos _t + -
4n
S
]
Foranythreephasesystemcomposedofpositiveandnegativesequencewehave
:
u
(t) +:
b
(t) + :
c
(t) = u vt
Ifthesystempresentanasymmetry,azerosequenceappearsandisdefineasthemeanvalue
:
0
(t) =
:
u
(t) +:
b
(t) + :
c
(t)
S
.
Agoodthingisthattherewillneverbeanyzerosequenceinthecurrents,providedthatthereisno
neutralconnection.
A.2Equivalenttwophasesystem,o[transformation(Clarke)
A threephase system can be described with only two components and (real and
imaginaryrespectively).Furthermore,wecallaspacevectorthequantity
:
s
(t) = :
u
(t) + ]:
[
(t) =
2
S
K_:
u
(t) + :
b
(t)c
]
2n
3
+ :
c
(t)c
]
4n
3
].
whereKisascalingconstant.ThetransformationfromABCto(Clarketransformation)
dependingonthescalingconstantKis:
APPENDICES
75
A.3Synchronouscoordinate,dqtransformation(Park)
We can now define a transformation of the previous space vector :
s
= :
u
+]:
[
(we now
dropthetimeargument(t)forsimplicity)with
:
dq
= :
s
c
-]0
where0 = t.Thistransformationmakes:
dq
similartofixedcomplexphasor.Thistransformation
is called dqtransformation and can be regarded as observing the space vector from a coordinate
system rotating with the frequency (synchronous coordinate or dqcoordinate). We denote the
spacevectorinsynchronouscoordinatesas
:
dq
= :J +]:q.
Giving dcsteady state quantity, the synchronous coordinates are very useful for analysis,
implementationofcontrolalgorithm(controllerdesigniseasierondcquantities).
Wecanwrite
:
s
= :
dq
c
]0
= (:
d
+ ]:
q
)(cos0 + ]sin0) = (:
d
cos0 -:
q
sin0) + ](:
d
sin0 +:
q
cos0)
= :
u
+ ]:
[
_
J
q
_ = j
cos0 sin0
-sin0 cos0
[ j
o
[
[andj
o
[
[ = j
cos0 -sin0
sin0 cos0
[ _
J
q
_.
Source:[4]

Figure0.1:Relationbetweeno[frameanddqframe(rotating)[23]
j
o
[
[ = K_
2
3
-
1
3
-
1
3
u
1
3
-
1
3
_ _
o
b
c
_
and
_
o
b
c
_ =
1
K

l
l
l
l
1 u
-
1
2
3
2
-
1
2
-
3
2
1
1
1
1
j
o
[
[.
Amplitudeinvariant K = 1
RMSvalueinvariant K =
1
2
Powerinvariant
K =
_
S
2
APPENDICES
76

A.4Simulation
These transformations and the theta angle (voltage angle) are very critical for all the
simulations in the project. To be sure that we have the correct angle, we created this angle first,
then,athreephasevoltagesystemiscreatedaccordingtothisangleaswecanseeinthefollowing
blockdiagram.
Thetransformationsareimplementedasbelow.
Thesimulationresultsareplottedonthefollowingfigure.
Figure0.4 : dqtransformation
Figure0.3:o[transformation
= 2nSu roJs
Emwillbetheamplitude
ofthe3phasevoltages
(amplitudeinvariant
transformation).
Figure0.2:Threephasesystemsimulation
APPENDICES
77
Simulationcomments:
Thetaispositive.
Voltageisplacedonthedaxis.
Betasignalisdelay(lag).
We verify a direct threephase system (A first[0 rad], B in second[2/3 rad], C third[4/3
rad]).
A.5Impedanceinsynchronouscoordinates
We assume in the report (current controller design) that the impedance is : Z(s) = (s +
])I.Wecanprovethisrelationwiththefollowing.
y
s
isageneralspacevector,itstransformationinsynchronouscoordinatesis
y
dq
= y
s
c
-]0
anditstimederivativeistransformedas
Jy
s
Jt
=
J(c
]0
y
dq
)
Jt
= c
]0
_]y
dq
+
Jy
dq
Jt
_.
Then,usingthederivativeoperationp = JJtweget
py
s
= c
]0
(p + ])y
dq
IntheLaplacedomain,thefollowingsubstitutionismade:s - s + ].Thisimpliesthatthe
compleximpedanceofaninductorinsynchronouscoordinatesis
Z(s) = (s + ])I
Figure0.5:Simulationofcoordinatestransformations
APPENDICES
78
Source:[4]

Figure0.6:Illustrationo[anddqimpedance
APPENDICES
79

B.Voltageandcurrentcontrol,continuoussimulation
B.1SimulinkcurrentcontroltestsBlockdiagram

Figure0.7:SimulinkcurrentcontroltestsBlockdiagram
APPENDICES
80

B.2 Continuous voltage controller, simulation with saturation, anti
windup,activedamping
NEWPARAMETERS VALUE
Ga 0.0057
Kiv 7.1205
Table0.1:Newparametersforvoltagecontrollerwithactivedamping

Figure0.8:VoltagecontrollerSimulationwithsaturation,antiwindup,activedamping
APPENDICES
81

C.Digitalsimulation
DISCRETEINTEGRATOR
Asthecontrollerwillbedigital,wedecidedtosimulatethecontrolsystemindiscretetime.
Theintegratorhavebeenimplementedasbelow.
REMARKFORSIMULINKSIMULATION
Inasimulationwherediscreteandcontinuousblocksareusedatthesametime,inorderto
come back from discrete to continuous, we should add a zero to the discrete signal with sampling
timeINFasbelow.Then,theoutputsignalistreatedascontinuousbySimulink.

Discrete Continuous
Figure0.10:Simulinkdiscretetocontinous
Figure0.9:Discreteintegrator
y(k) = y(k - 1) +I
S
u(k - 1)
z
=(z) = (z)z
-1
+I
S
u(z)z
-1
= (z)(1 -z
-1
) = I
S
u(z)z
-1
(z)
u(z)
=
I
S
z
-1
1 -z
-1
=
I
S
z - 1
(z) = |(z) + I
S
u(z)]z
-1
U:input/Y:output
Wecanalsodrawtheblockschemewiththe
followingequation:
APPENDICES
82

D.Voltageandcurrentcontrol,discretetimesimulation
Table0.2:Voltageandcurrentcontrol,discretetimesimulation
Parameters Value
R() 0.1
L(H) 5e3
C(F) 2200
(rad/s) 250
1152
Rload() 500
Vdcreference(V) 400
u
|
= 2a F
SW
1(rad/s) 1.26e4
u
u
= 2a F
SW
1(rad/s) 1.26e3
Vcontroller,Kiv 0.01
Icontroller,Kii 1.26e3
Isaturation(A) 15
Vdcstepat0.03(V) 50
TriangularwaveFrequ.(kHz) 20
Samplingfrequency(kHz),F
S
=2F
tri
40

Figure0.11:Controllersimulationresults(discrete)
APPENDICES
83

E.Stabilityanalysiscont.
E.1Simulations
Figure0.13:Bodeof Li
Figure0.12:NyquistofLi
APPENDICES
84
Figure0.15:NyquistofLv(Ponly)
Figure0.14:BodeofSi
APPENDICES
85
Figure0.17:BodeofSv(Ponly)
Figure0.16:BodeofLv(Ponly)
APPENDICES
86
Figure0.19:NyquistofLv(PI)
Figure0.18:BodeofLvi(Ponly)
APPENDICES
87
Figure0.21:BodeofSv(PI)
Figure0.20:BodeofLv(PI)
APPENDICES
88
WITHACTIVEDAMPINGGA
Figure0.23:BodeofLv(PIGa)
Figure0.22:BodeofLvi(PI)
APPENDICES
89
Figure0.25:BodeofSv(PIGa)
Figure0.24:BodeofLv(PIGa)
APPENDICES
90
Figure0.26:BodeofLvi(PIGa)
APPENDICES
91

F.Gridconnectedconvertersimulationcont.
F.1Dataandsimulations
Table0.3:Parametersofsimulation1
GRID VALUE
Frequency(Hz) 50
u
RMS
(V),linetolineRMS 400
I
RMS
(V),linetoneutralRMS 230
E
g
(V),linetoneutralamplitude 327
R
g
I
g
BREAKERSW1 VALUE
Rb_open() 1e5
Rb_close() 0.01
Cac(nF) 1
Closingattime(s) 0.005
IGBTsON/OFFSIGNAL VALUE
IGBTsONattime(s) 0.01
ONstate 1
OFFstate 0
PLL VALUE
Bandwidth(Hz) 20
Bandwidthp(rad/s) 125.6637
y
1
48.3510
y
2
0.7695
DISCRETESYSTEM VALUE
Samplefreq.F
S
= 2Fc(kHz) 20
SampletimeI
S
(s) 5e005
SIMULATION VALUE
SolverStep Variable
Stepmax 1(1uF
Sw
)
Fastersolver Ode23tb
Tolerance 1e3
PWM VALUE
Triangularfreq.Fc(kHz) 10
Mode Asymmetric
CONVERTER VALUE
R() 0.05
I(H) 3e3
C(F) 2200e6
F
Sw
(kHz),switchingfreq.=Fc 10
R
L0A
() 150
R
L0A_1LMP
() 1e5
I
Cc]
(V) 700
I
Cc]
STEP(V) 30
Stepat(s) 0.025
PowerI
Cc]
2
R
L0A
(W)
3267
CONTROLLER VALUE
R
`
() R
I
`
(H) L
C
`
(F) C
o
= 2n F
S
1u(rad/s) 1.2566e+004
o
= 2n F
S
1uu(rad/s) 1.2566e+003
Kp
Ki
Kp
Ki
Saturationcurrentcontrol(A) 15
Filtero
]]
= o
1u (rad/s) 1.2566e+003
APPENDICES
92
Figure0.27:Simulation1100VSteponF
DCre
,saturationlimit50A(currentcontroller)
APPENDICES
93
Figure0.28:Simulation4withactivedamping
APPENDICES
94

Figure0.29:Simulation4withactivedamping,modifiedcontrollerparameters
APPENDICES
95
Figure0.32:Capacitorinfluence Test:C
`
= C -u.9C
Figure0.31:Inductanceinfluence Test:I
`
= L -u.9I
Figure0.30:Inductanceinfluence Test:I
`
= L +3L
APPENDICES
96
Figure0.33:SimulinkDISCRETEBLOC
APPENDICES
97

Figure0.36:SimulinkGRIDANDRECTIFIERMODEL/eg_abc
Figure0.35:SimulinkDISCRETEBLOCK/DECOUPLEDCONTROLLER/DiscretePIVController
Figure0.34:SimulinkDISCRETEBLOCK/PLL
APPENDICES
98
Figure0.37:SimulinkDISCRETEBLOCK/DecoupledController
APPENDICES
99
Figure0.39:SimulinkGRIDANDRECTIFIERMODEL/GridPhaseB
Figure0.38:SimulinkPWMblock
APPENDICES
100
Figure0.40:SimulinkGRIDANDRECTIFIERMODEL
APPENDICES
101
Figure0.41:SimulinkDISCRETEBLOCK/DecoupledControllerwithactivedamping
APPENDICES
102

F.2MatlabScript(VdcStep)
close all; clear all; clc

%***********************************************************************
% GRID / BREAKER / COMMAND
%***********************************************************************
grid_f = 50;
w = 2*pi*grid_f; % Line frequency
Urms = 400; % Line-to-line RMS voltage
Vrms = 400/sqrt(3); % Line-to-ground RMS voltage
Eg = Vrms*sqrt(2) % Phase-to-ground voltage amplitude
Rg = 1e-3; % 1e-2
Lg = 1e-5; % 1e-4

%BREAKER
Rb_open = 1e5; %ATTENTION VALUE
Rb_close = 0.01;
Cb = 1e-9 ; %Cac - ATTENTION VALUE (NEED DESIGN FILTER, avoid resonnance
frequency)

%STEP breaker SW1 command : 0/1
breaker_step_time = 0.005; %Close switch at...
breaker_initial_value = 0;
breaker_final_value = 1; %Or more than 0

%IGBTs ON/OFF SIGNAL (To activate switching)
IGBTONOFF_step_time = 0.01;
IGBTONOFF_initial_value = 0;
IGBTONOFF_final_value = 1;

%***********************************************************************
% CARRIER BASED PWM PARAMETERS
%***********************************************************************
Carrier_amp = 1; % Triangular wave Amplitude
Carrier_f = 10e3; % Triangular wave frequency = Fsw
Tc = 1/Carrier_f; % Triangular wave period

%***********************************************************************
% CONVERTER PARAMETERS
%***********************************************************************
R = 0.05; % Line Resistance
L = 3e-3; % Line inductance
C = 2200e-6; % DC bus capacitor
Fsw = Carrier_f; % Converter switching frequency = Triangular wave f
Rload = 150; % Output load, Pout about 800W
Rload_temp = 1e5; % Temporary output load to avoid discharge of C
Vdc_ref = 700; % Output voltage reference
initial_condition_integrator = Vdc_ref; % IC model integrator
APPENDICES
103

%***********************************************************************
% CONTROLLER PARAMETERS
%***********************************************************************
Ts = 0.5*Tc; % Sample time, half of triangular wave period, Fs = 2*Fc
Fs = 1/Ts;

%ESTIMATED PARAMETERS
R_hat = R;
L_hat = L;
C_hat = C; % probably, C_hat = C OK
Vpcc_hat = Eg ; % Ph-to-gnd - Possible for stiff grid, otherwise, Vpcc <
Eg

%CURRENT PI Regulator (thesis, state-variable W=Vdc^2)
alphaI = Fs/10*2*pi; % Bandwidth in rad/s
Kpi = alphaI*L_hat
Kii = alphaI*R_hat

%VOLTAGE PI Regulator (thesis, state-variable W=Vdc^2)
alphaV = Fs/100*2*pi; % Bandwidth in rad/s
Kpv = alphaV*C_hat/(3*Vpcc_hat)
Kiv = 0.01

%SATURATION (TO MODIFY, depends on rectifier limit)
Isaturation_upper_limit = 50; %saturation on Iref, V PI controller
Isaturation_lower_limit = -50;

%FEEDFOWARD Ed_hat/Eq_hat FILTER
alphaf_ff = alphaI/10;
%***********************************************************************
% PLL PARAMETERS
%***********************************************************************
%Gain gamma1&2 : calculated in simulink (we assume Ed_hat and Eq_hat can
change)
Fbandwidth_pll = 20; %bandwidth in Hz
rho_pll = 2*pi*Fbandwidth_pll; %bandwidth in rad/s
gam1 = (rho_pll^2)/Vpcc_hat
gam2 = 2*rho_pll/Vpcc_hat

%***********************************************************************
% TESTS
%***********************************************************************
%INPUT STEP
input_step_time = 0.025;
input_step_value = 100;
APPENDICES
104

G.Implementation
Figure0.42:ADCblock
APPENDICES
105
Figure0.43:Controlblock

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Voltage Oriented Control of ThreePhase

a)Generalphasordiagram b)Rectification (atUPF) c)Regeneration(atUPF)

whereKisascalingconstant(amplitudeinvariantK = 1,RMSinvariantK = 12,powerinvariant

IMPORTANT : The previous voltage I

IJc > _S|E

TECHNIQUE ADVANTAGES DISADVANTAGES

Figure2.15:Onelegwithtransistors B1andB2 On/Offstates,deadtimeTd[32]

For this inner current control loop, the bandwidth o

should be selected smaller than a decade

(IJ + ]Iq) -]I

As we can see, the previous equation is not linear with

= u.u1). And finally, the active damping coefficient

(s) = F(s)0'(s) (3.38)

(s) = F(s)0(s) = _Kp

(s) = F(s)0(s) = _Kp

PCONTROL PICONTROL PIANDACTIVEDAMPINGGA

(s). Bode plot are given for the

where p can be seen as the bandwidth of the PLL (rad/s), and E

The sample frequency is chosen as : F

NoisephaseA NoisephaseB NoisephaseC

On the current plot (i

For simulation5, we now assume that R

Furthermore, this block is link to an interruption DS1103SLAVE_PWMINT. The interruption is

STATE SIMSTATE RESULT

[36] Laboratory Tutorial, Massachusetts Institute of Technology, Department of Mechanical

close all; clear all; clc

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