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A High Performance DSP Controller For Three-Phase PWM Rectifiers With Ultra Low Input Current THD Under Unbalanced and Distorted Input Voltage PDF
A High Performance DSP Controller For Three-Phase PWM Rectifiers With Ultra Low Input Current THD Under Unbalanced and Distorted Input Voltage PDF
Abstract—Although in recent years three-phase PWM for PWM rectifiers due to its simple hardware structure, a
rectifiers have become increasingly popular, in most practical standard six switches voltage source converter (VSC). In
cases the line unbalance and/or the presence of distortion can addition, the input current is continuous, thus the input current
seriously affect their performances. Line unbalance and filtering is much easier. The boost-type rectifier can be
distortion add unwanted low frequency harmonics to the input controlled in a number of ways, each yielding advantages and
current, leading to an increase in the total harmonic distortion disadvantages related to control complexity, switching
(THD). At high power level, the switching frequency is restricted frequencies and performances. Among them the phase and
to a few kilohertz and therefore an LC filter is needed to amplitude control method [24], [25] is very popular because
eliminate the switching ripple of the current. The resulting its simple structure that does not involve phase current
structure is an LCL filter that causes instabilities and measurement or current controllers. In this technique
oscillations. This paper details how to implement a high controlling the phase and amplitude of the AC voltage
performance multi-loop digital controller suitable for a boost generated by the VSC indirectly controls the phase and
type PWM rectifier, leading to an extremely low THD content amplitude of the AC side current. The reference voltage for
even with non-ideal input voltage conditions. The multi-loop the modulation is derived from the supply voltage and the
method uses only two capacitor filter voltages and inverter parameters of the AC power circuit. This method is essentially
currents to estimate the line voltages and currents. Positive and an open loop type control and therefore is very sensitive to
negative sequence controllers are used to regulate the both measurement and modeling errors. In addition, the
fundamental currents while resonant controllers tuned to each mathematical model of the phase and amplitude control
harmonic from third to thirteenth remove the low frequency method is only valid if the input voltages are balanced and
components due to input voltage unbalance and/or distortion. free of distortion. In order to achieve high performances
The proposed approach is implemented on a 16-bit fixed point under non-ideal conditions closed loop current controllers
DSP (ADMC401) and tested on a three-phase 20 kW IGBT-based structures must be adopted. Over the years many advanced
PWM rectifier. techniques have been proposed, involving dead-beat control,
predictive control, state-feedback control, etc [27]. In some of
the most demanding applications such as switched mode
I. INTRODUCTION
power supplies for telecommunications, 400 Hz ground power
Large non-sinusoidal input current with increased unit (GPU) for aircraft applications or ship board power
harmonic content causes serious power quality problems. In sources the total harmonic distortion (THD) is restricted to
general, the source of these current harmonics is the front-end less than 3% even under non-ideal conditions such as
uncontrolled rectifier using either a full-wave diode or an SCR unbalanced and distorted input voltage. Achieving such
bridge followed by a large electrolytic capacitor. These performances is not an easy task especially at higher power
rectifiers do not comply with the new standards such as IEEE- levels where the switching frequency is limited to less than
519 and IEC-61000-3-2 [22], [23]. With severe regulations 10Khz. Regardless of the switching frequency an LC filter is
and economic restraints in recent years, three-phase PWM needed to eliminate the switching ripple of the current. The
rectifiers have become increasingly popular due to their ability resulting structure is an LCL filter that affects the current
to provide near unity power factor, instantaneous power flow controller, causing instabilities and oscillations. Most of the
reversal and low harmonic content. The PWM rectifiers can be previously published papers on boost PWM rectifiers have
divided in two main categories: buck-type rectifiers and boost- only dealt with individual problems encountered in practical
type rectifiers. The buck-type rectifiers can deliver a voltage implementations such as: current controlled techniques with
less than that of an uncontrolled diode bridge. It is however unbalanced mains, influence of the input filter on the overall
rarely used in practice because it requires bi-directional stability, effect of the input voltage harmonics, realization of a
switches and the input current is discontinuous, thus it requires high performance PLL, etc. This paper details how to integrate
a very large filter in order to achieve sinusoidal current. The different solutions into a high performance multi-loop digital
boost-type rectifier is by far the most popular topology used controller suitable for an LCL boost type PWM rectifier,
measuring the currents both before and after the Lf-Cf filter Vcf phase B
DQ
Estimation Vsq Identification (Fig. 4)
Cos
mains voltage [6] thus leading to a deterioration of the power IL phase A Phase capacitor
Estimation Icfq
Harm_sd
Q1
Vdc Esd Pos_seq_sd
Lf L C PI REG p Pos D pe Kc Q2
+
LOAD
DQ
vector
Lf L PI REG DQ
modulation
Ref Q3
Harm_sq
Lf L
Q2 Q4 Q6
V1 V2 V3 pe Pos Q p Q4
Esq
Space
DQ Pos_seq_sq
PI REG DQ Kc
Cf
Q5
Cf Cf
n Neg D ne Q6
DQ DQ
Neg_seq_sq
PI REG Limitation
Dual IGBT Dual IGBT Dual IGBT
PHASE C CURRENT
PHASE B CURRENT
ne Neg Q n Reset
DQ PI REG DQ
Vdc
ADMC 401 DSP CONTROLLER BOARD
Vcf phase B
If the source currents are tightly regulated and kept Phase Rotation
-1 1
2
1
sinusoidal the line voltages can be estimated as in (12) Identification 3
and (13).
O(k) SIN Ki
est
dI Sfd (t ) Sin(x) function Low Pass Filter
s
V sd (t ) = VCfd + L f ⋅ = +
+
Taylor approx.
dt
Cos(x) function COS
= VCfd − ω ⋅ L f ⋅ I S ⋅ sin(ω ⋅ t ) = Taylor approx.
phase error is obtained. This DC signal is input to a digital The controller detailed so far can only track the fundamental
integrator serving as a phase regulator, therefore the output of component but several harmonics can still be present in the
the integrator is continuously added to the argument of the input current. They are mainly due to possible distortion
sin/cosine generators. It is obvious that any input voltage and/or unbalance of the input voltage, non-ideal PWM
distortion will result in errors on the estimators (12) and (13), converter modeling as well as delays and quantization effects.
however this is not translated in further distortion on the To remove these unwanted components a harmonic controller
current since the LPF of the PLL will remove any higher is added to the output of the dq regulators controlling the
harmonics. Furthermore, in order to ensure that a balanced set fundamental component. The harmonic controller is detailed
of three-phase input current references is obtained, only one in Fig. 4 where it can be seen that each harmonic from third to
voltage, Vsd is processed by the PLL. The references for the thirteenth is individually controlled to zero by the use of
input current in dq coordinates are obtained by multiplying the resonant controllers that have an infinite gain at the selected
output the PI regulator for the DC-link voltage with the two frequencies [1]. The resonant controllers are implemented as
sin/cos functions from the PLL block. To achieve zero steady IIR filters with a normal architecture to minimize the round-
state error for the mains current even under unbalanced off errors [15], [20]. One should mention here that the
voltage conditions the input current errors are transformed in structure of the resonant controller becomes slightly different
K c ⋅ H (s)
= (20)
3 2
s ⋅ L ⋅ L f ⋅ C f + s ⋅ L f ⋅ C f ⋅ K c + s ⋅ (L + L f )
Due to the complexity of (20) experimental tests were used to
adjust the gain Kc obtained by computer analysis and
simulations.
IV. EXPERIMENTAL RESULTS
The proposed digital method has been implemented on a
three-phase 20KVA PWM rectifier using a 16-bit DSP-based
controller ADMC401 (Analog Devices). This 26 MIPS single-
chip DSP controller is well suited for the easy and inexpensive
implementation of various high performance digital control
algorithms because it includes all the facilities required in a
voltage and current control loop such as: 8 A/D channels with Fig. 6 Input power factor at 10.7 kW output power
Fig. 10 Line-line voltage distortion (THD) at 15 kW output power Fig. 11 Phase current distortion (THD) at 15 kW
Fig. 13 Input power factor at 15 kW output power Fig. 16 Phase voltage and current during transient from 0 to 15 kW
Fig. 14 Steady-state phase voltage and current at 15 kW Fig. 17 Line-line voltage and phase current at 20 kW output power