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DC To AC Conversion (Inverter)
DC To AC Conversion (Inverter)
DC To AC Conversion (Inverter)
General concept Basic principles/concepts Single-phase inverter Square wave Notching PWM Harmonics Modulation Three-phase inverter
Power Electronics and Drives (Version 2): Dr. Zainal Salam, 2002
DC to AC Converter (Inverter)
DEFINITION: Converts DC to AC power by switching the DC input voltage (or current) in a pre-determined sequence so as to generate AC voltage (or current) output. TYPICAL APPLICATIONS:
Un-interruptible power supply (UPS), Industrial (induction motor) drives, Traction, HVDC
+ Vac
Power Electronics and Drives (Version 2): Dr. Zainal Salam, 2002
Types of inverter
Voltage Source Inverter (VSI) Current Source Inverter (CSI)
L + VDC IDC
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DC link voltage is varied by a DC-to DC converter or controlled rectifier. Generate square wave output voltage. Output voltage amplitude is varied as DC link is varied. Frequency of output voltage is varied by changing the frequency of the square wave pulses.
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Vdc1
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DC voltage is held constant. Output voltage amplitude and frequency are varied simultaneously using PWM technique. Good harmonic control, but at the expense of complex waveform generation
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VDC
S1
S3 EQUAVALENT CIRCUIT
S4
S2
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S1 VDC S4
S3
VDC
+ vO S2
t1
t2
S1 VDC S4
S3 t2 S2 -VDC t3
+ vO
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-Vdc FUNDAMENTAL V1
4VDC
V1 3
3RD HARMONIC
V1 5
5RD HARMONIC
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Filtering
Output of the inverter is chopped AC voltage with zero DC component.In some applications such as UPS, high purity sine wave output is required. An LC section low-pass filter is normally fitted at the inverter output to reduce the high frequency harmonics. In some applications such as AC motor drive, filtering is not required.
(LOW PASS) FILTER L + vO 1 C + vO 2 vO 2 LOAD
vO 1
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Vdc
Fundamental Component
Vdc
Vdc
Notching results in controllable output voltage magnitude (compare Figures above). Limited degree of harmonics control is possible
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pwm waveform
desired sinusoid
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(Vn, RMS )
= n=2
where n is the harmonics number. Current THD can be obtained by replacing the harmonic voltage with harmonic current :
(I n, RMS )2
Fourier Series
Study of harmonics requires understanding of wave shapes. Fourier Series is a tool to analyse wave shapes. Fourier Series 1 2 ao = f (v)d 0 1 2 an = f (v) cos(n )d 0 1 2 bn = f (v) sin (n )d 0 Inverse Fourier
1 f (v) = ao + (an cos n + bn sin n ) 2 n =1 where = t
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=t
-Vdc
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3rd (0.33) 5th (0.2) 7th (0.14) 9th (0.11) 11th (0.09) 1 3 5 n 7 9 11
-Vdc
Note that an = 0. Due to half - wave symmetry, 1 2Vdc bn = 2 Vdc sin (n )d = cos n n 2Vdc [cos(n ) cos n( )] = n Expanding, cos n( ) = cos(n n ) = cos n cos n + sin n sin n = cos n cos n
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Harmonics control
bn = 2Vdc [cos(n ) cos n cos n ] n 2V = dc cos(n )[1 cos n ] n If n is even, bn = 0, If n is odd, bn = 4Vdc cos(n ) n
In particular, amplitude of the fundamental is : 4V b1 = dc cos( ) The fundamental , b1, is controlled by varying Harmonics can also be controlled by adjusting , For example if = 30o , then b3 = 0, or the third harmonic is eliminated from the waveform. In general, harmonic n will be eliminated if : 90o = n
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Example
A full - bridge single phase inverter is fed by square wave signals. The DC link voltage is 100V. The load is R = 10R and L = 10mH in series. Calculate : a) the THDv using the " exact" formula. b) the THDv by using the first three non - zero harmonics c) the THDi by using the first three non - zero harmonics Repeat (b) and (c) for quasi - square wave case with = 30
degrees
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+ VC1 Vdc
S1 OFF S2 ON
Also known as the inverter leg. Basic building block for full bridge, three phase and higher order inverters. G is the centre point. Both capacitors have the same value. Thus the DC link is equally spiltinto two.
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+ S1 Vdc
Ishort
td "Dead time' = td
td
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LEG R + +
Vdc
Vdc 2
LEG R'
S1 G R
S3
+ Vo -
R'
VR 'G Vdc 2
+
Vdc 2
S4
S2
Vdc 2 Vo Vdc
Vo = V RG VR 'G
G is " virtual groumd"
Vdc
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Three-phase inverter
Each leg (Red, Yellow, Blue) is delayed by 120 degrees. A three-phase inverter with star connected load is shown below
ZR
ia
ZY N
ib
ZB
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VB0
VDC 600 VAB 1200 t -VDC (b) Line voltage waveform 2VDC/3 VAPH VDC/3 t -VDC/3 -2VDC/3 (c) Phase voltage waveform (six-step) Interval Positive device(s) on Negative devise(s) on 1 3 2,4 2 3,5 4 3 5 4,6 4 1,5 6 5 1 2,6 6 1,3 2
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Modulating Waveform
Carrier waveform
1 Vdc 2
0
t0 t1 t 2
t 3 t 4 t5
Vdc 2
PWM types
Natural (sinusoidal) sampling (as shown on previous slide)
Problems with analogue circuitry, e.g. Drift, sensitivity etc.
Regular sampling
simplified version of natural sampling that results in simple digital implementation
Optimised PWM
PWM waveform are constructed based on certain performance criteria, e.g. THD.
Natural/Regular sampling
MODULATION INDEX = M I : Amplitude of the modulating waveform MI = Amplitude of the carrier waveform M I is related to the fundamental (sine wave) output voltage magnitude. If M Iis high, then the sine wave output is high and vice versa. If 0 < M I < 1, the linear relationship holds : V1 = M I Vin where V1, Vin are fundamental of the output voltage and input (DC) voltage, respectively. MODULATION RATIO = M R (= p ) MR = p = Frequency of the carrier waveform Frequency of the modulating waveform
M R is related to the " harmonic frequency". The harmonics are normally located at : f = kM R ( f m ) where f m is the frequency of the modulating signal and k is an integer (1,2,3...)
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M1 sin mt
T 4
3T 4
5T 4
Vdc 2
asymmetric sampling
t0 V dc 2
t1
t2
t3
t symmetric sampling
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In general, unipolar switching scheme produces better harmonics. But it is more difficult to implement. In this class only bipolar PWM is considered.
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modulating waveform
carrier waveform
kth pulse
1k
2k
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kth pulse
1k
2k
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+ VS 2
0 2k
1k
V S 2
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+ Vdc 2
Ap1
Ap2
V dc 2
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Example
For the PWM shown below, calculate the switching angles for all the pulses.
2V 1.5V
carrier waveform
2
modulating waveform
t1
t2
t3 t4 t5 t6
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Which can be reduced to : Vdc {cos n( k 2 o ) cos n( k 1k ) bnk = n + cos n( k + 2 k ) cos n( k 1k ) + cos n( k + 2 k ) cos n( k + 2 o )}
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Harmonics of PWM
Yeilding, 2V bnk = dc [cos n( k 1k ) cos n( k 21k ) n + 2 cos n k cos n 2 o ] This equation cannot be simplified productively.The Fourier coefficent for the PWM waveform isthe sum of bnk for the p pulses over one period, i.e. : bn = bnk
k =1 p
The slide on the next page shows the computation of this equation.
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PWM Spectra
M = 0.2
Amplitude
M = 0.4 1.0 0.8 M = 0. 6
M = 0.8
Depth of Modulation
2p
3p
4p
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0.335 0.044
0.163 0.012
0.157 0.070
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By observing the waveform, it can be seen that with odd p, the line voltage shape looks more sinusoidal. The even harmonics are all absent in the phase voltage (pole switching waveform). This is due to the p chosen to be odd.
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Spectra observations
Note the absence of harmonics no. 21, 63 in the inverter line voltage. This is due to p which is multiple of three. In overall, the spectra of the line voltage is more clean. This implies that the THD is less and the line voltage is more sinusoidal. It is important to recall that it is the line voltage that is of the most interest. Also can be noted from the spectra that the phase voltage amplitude is 0.8 (normalised). This is because the modulation index is 0.8. The line voltage amplitude is square root three of phase voltage due to the three-phase relationship.
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Vdc 2
2 V RG
VYG
V RY
Vdc
Vdc 2
p = 8, M = 0.6 V RG
Vdc 2 Vdc 2
Vdc 2
VYG
p = 9, M = 0.6 ILLUSTRATION OF BENEFITS OF USING A FREQUENCY RATIO THAT IS A MULTIPLE OF THREE IN A THREE PHASE INVERTER
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B 19 23 37
41
43
47
59
61
65 67
79
83
85
89
A 81 65 79 67 69 77 83 85 87 89
19 Fundamental
23
37
39
41
43
45
47 57
59
61
91 Harmonic Order
COMPARISON OF INVERTER PHASE VOLTAGE (A) & INVERTER LINE VOLTAGE (B) HARMONIC (P=21, M=0.8)
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Example
The amplitudes of the pole switching waveform harmonics of the red phase of a three-phase inverter is shown in Table below. The inverter uses a symmetric regular sampling PWM scheme. The carrier frequency is 1050Hz and the modulating frequency is 50Hz. The modulation index is 0.8. Calculate the harmonic amplitudes of the line-to-voltage (i.e. red to blue phase) and complete the table.
Harmonic number 1 19 21 23 37 39 41 43 45 47 57 59 61 63 65 67 69 Amplitude (pole switching waveform) 1 0.3 0.8 0.3 0.1 0.2 0.25 0.25 0.2 0.1 0.05 0.1 0.15 0.2 0.15 0.1 0.05 Amplitude (line-to line voltage)
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