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20 Modulation Techniques
20 Modulation Techniques
20 Modulation Techniques
d-axis V3 = 010
Sector 2
V2 = 110
Sector 3
Vref
T2V2 T2
V1 = 100 q-axis
V4 = 011
T1V1 T1
Sector 4 Sector 5 Sector 6
V5 = 001
V6 = 101
-Vth
Quadrants of Operation
Second Quadrant negative speed-positive torque reverse-braking Torque First Quadrant positive speed-positive torque forward-accelerating
Generating
Motoring
II I III IV
Motoring
Speed
Generating
Fourth Quadrant Positive speed - negative torque forward-braking
Dave Wilson
im
+ -
Advantages
Easy to implement Low Cost Compact Only 1 diode snap per PWM cycle
Disadvantages
1 diode drop loss on current commutation Motor cannot reverse direction Does not regenerate power
Dave Wilson
PWM2
PWM4
PWM6
Source: Power Electronics, by Ned Mohan, Tore Undeland, and William Robbins, John Wiley & Sons, 1995 Dave Wilson
AC Mains
Vbus
PWM 2 PWM 6
Freescale
PWM 4
3 = 0.866 2
1 Vbus = peak l-n voltage
13% DROP!
Dave Wilson
i=0N-1
0% PWM limit
4 + V3 sin (3 o t + 4 ) C V1 sin o t + 3
2 + V3 sin (3 o t + 2 ) V1 sin o t + 3
Dave Wilson
V3 = 011
A B C
V2 = 010
A B C
- 6 voltage vectors
V6=110
A B C
V4 = 100
A B C
V5 = 101
A B C
C
V0 = 000 V7 = 111 1 = Top Switch is on 0 = Bottom Switch is on
- 2 null vectors Source: Mahmoud Riaz, Sc.D., Professor of Electrical Engineering, Department of Electrical and Computer Engineering, University of Minnesota Dave Wilson
V6 180o
0o V1
A
240o 0 60 120 180 240 300 0 V4 300o V5
Vector Diagram
Vref = VmagSIN()
Sinusoidal operation occurs when a reference vector (Vref) rotates around the d-q axis.
Output voltage vector created by repeatedly switching between adjacent vectors and the null vector (all three phases high or all three phases low). Output angle determined by relative on time between two adjacent vectors. Output magnitude determined by relative on time between two adjacent vectors and the null vector.
Dave Wilson
SVM Implementation
V2 = 010 V3 = 011 (Vy)
Sector 2
Vref, is created by the two adjacent state vectors Vx, Vy, and a null vector in a time averaging fashion:
Vref = VxT1 + VyT2 + VnullT0
Where: Vx = lowest angle voltage vector Vy = highest angle voltage vector
Sector 3
Vref
T2Vy
V1 = 001 (Vx)
V6 = 110
T1Vx
Sector 4 Sector 5 Sector 6
V4 = 100
V5 = 101
Vx
T1
Vy
T2
Null
T0
Dave Wilson
SVM Variations
Choice of Null vectors effects SVM waveform creation and switching performance but motor still sees sinusoidal waveform at its phases.
NULL=V0
1 0.8 0.6 0.4 0.2 0 1 0.8 0.6 0.4 0.2 0 0 60 120 180 240 300 360 0 60 120 180 240 300 360
NULL=V7
Good choice when reduced switching losses are desired in an inverter with high-side bootstrap circuits.
Dave Wilson
C
1 0.8
360
Dave Wilson
Alternating-Reversing Sequence
Dave Wilson
T1 = TmSIN(60 - ) T2 = TmSIN() T0 = T - T1 - T2
Source: Understanding Space Vector Modulation, by Peter Pinewski, EDN Products Edition, March 7, 1996
Dave Wilson
Uphase-phase
PWM1
PWM3
PWM5
PWM2
PWM4
PWM6
Dave Wilson
UDC-BUS
B A C
Uphase-phase
Uphase-phase
PWM1
PWM3
15%
PWM5
B A
PWM2
PWM4
PWM6
Dave Wilson
15%
Dave Wilson
Recall:
T1 = TmSIN(60 - ) T2 = TmSIN() T0 = T - T1 - T2
Vx
V T1Vx T2Vy V
m=
(V )2 + (V )2
V V
= tan1
but with FOC, we dont have POLAR notation. We have RECTANGULAR notation (V and V). Reference Voltage Vector
Components of the Stator Reference Voltage Vector amplitude 1 0.8 0.6 0.4 0.2 0 -0.2 -0.4 -0.6 -0.8 -1
1. 2.
60
120
180
240
300
360 angle
3. 4.
Perform modified inverse Clarketransform on the voltage vector Calculate which sector the voltage vector is in Determine T1, T2, and T0 Directly calculate the PWM register values
Dave Wilson
+ -
0.5
i j
V 3 i= V 2 2
j = V
V 3 k= V 2 2
k i
0.5
Dave Wilson
b. Use look-up table below to determine the sector from the value of N N= Sector = 1 6 2 2 3 1 4 4 5 5 6 3
Alternatively, you can determine the sector by using IF THEN statements to check the polarities of i, j, and k.
1
Dave Wilson
1 (U0-U60)
2 (U60-U120)
3 (U120-U180)
4 (U180-U240)
5 (U240-U300)
6 (U300-U0)
i j
-k -i
j k
Null = V0 U = T1+T2 Sector 1 V = T2 W=0
-i -j
Null = V7 U = 100% V = T0+T2 W = T0 U = T0+T1 V = 100% W = T0 U = T0 V = 100% W = T0+T2 U = T0 V = T0+T1 W = 100% U = T0+T2 V = T0 W = 100% U = 100% V = T0 W = T0+T1 V7 in 1,3,5 V0 in 2,4,6 U = 100% V = T0+T2 W = T0 U = T1 V = T1+T2 W=0 U = T0 V = 100% W = T0+T2 U=0 V = T1 W = T1+T2 U = T0+T2 V = T0 W = 100% U = T1+T2 V=0 W = T1
k i
V0 in 1,3,5 V7 in 2,4,6 U = T1+T2 V = T2 W=0 U = T0+T1 V = 100% W = T0 U=0 V = T1+T2 W = T2 U = T0 V = T0+T1 W = 100% U = T2 V=0 W = T1+T2 U = 100% V = T0 W = T0+T1
-j -k
Alternating Reversing Sequencing U = T1+T2+.5T0 V = T2+.5T0 W = .5T0 U = T1+.5T0 V = T1+T2+.5T0 W = .5T0 U = .5T0 V = T1+T2+.5T0 W = T2+.5T0 U = .5T0 V = T1+.5T0 W = T1+T2+.5T0 U = T2+.5T0 V = .5T0 W = T1+T2+.5T0 U = T1+T2+.5T0 V = .5T0 W = T1+.5T0
T0 = 1 T1 T2
U = T1 Sector 2 V = T1+T2 W=0 U=0 Sector 3 V = T1+T2 W = T2 U=0 Sector 4 V = T1 W = T1+T2 U = T2 Sector 5 V = 0 W = T1+T2 U = T1+T2 Sector 6 V = 0 W = T1
Recall that T1 always applies to Vx (the most clockwise vector), and T2 applies to Vy (the most counter-clockwise vector) for any given sector.
Source: Understanding Space Vector Modulation, by Peter Pinewski, EDN Products Edition, March 7, 1996
Dave Wilson
Modulation Summary
Feature VL-L (max) Modulation Sine 3rd Harmonic Alternating Vnull with Reverse Sequencing Non-Alternating Vnull 0.866 VDC VDC VDC Switching Loss Reduction No No Switching Harmonics High Lower than sine Lower than sine Better spectrum spreading than 3rd Harmonic ? FOC Compatibility Fair Fair
No
Good
VDC
33%
Good
Dave Wilson