Chapter 4

Basic Understanding of Power

Processing in Electric Drives

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-1

Power Processing Unit (PPU)

o Efficient conversion of power from line frequency AC to
appropriate form required by the motor
Sub-blocks of PPUs

utility
+
Vd M
-
Rectifier switch - mode
converter

controller

o Rectifier: Line frequency AC to DC

o Switch-Mode Converter: DC to form required by motor

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-2

Switch-Mode Converters for

dc- and ac-motor drives

ia ia
A
A
+ +
B
Vd M Vd M
B
- - C

For DC Drives For AC Drives

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-3

Analysis of Switch-Mode Converters

o Pole as a Building Block
pole-A

ì
+ ï i A (t )
Vd voltageïï A
í
port ï + ü
- ï current
ï
ïî v AN (t ) ý port
ïþ
-
q A (t ) N
vc, A (t )
vtri (t )
PWM-IC
o Vd uncontrolled
o vCA : control voltage depicting desired output voltage
o Switch modulated to produce desired average voltage v AN
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-4

Pulse Width Modulation ( PWM )

if vc, A ( t ) > vtri ( t ) Þ q A ( t ) = 1 Þ switch "up" Þ v AN ( t ) = Vd

if vc, A ( t ) < vtri ( t ) Þ q A ( t ) = 0 Þ switch "down" Þ v AN ( t ) = 0

)
Vtri vtri (t )
vc, A (t )
0 t

v AN (t ) = q A (t )Vd
1
q A (t )
0 t
d ATs
Vd
v AN (t ) v AN
0 t
Ts = 1 / f s

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-5

Average Representation of a Pole

Output Voltage
Average output voltage over one switching cylce
1 )
v AN = ò v AN ( t ) dt = d AVd Vtri
vtri (t )
Ts Ts vc, A (t )
0 t
1 1 vc, A
Duty ratio dA = +
2 2 Vˆtri
1
Vd Vd / 2 q A (t )
Þ v AN = + vc, A
{
2 Vˆ 0 t
{ tri d ATs
dc offset k Vd
pole
v AN (t ) v AN
V /2 0 t
Pole gain k pole = d
Vˆtri Ts = 1 / f s

Pulsating v AN (t ), relatively smooth i A (t )

© 2000 http://www.ece.umn.edu/groups/electricdrives
 Average Representation of a Pole 4-6

Input and Output Currents

o Assuming ripple in i A (t ) to be negligible, i.e. i A (t ) = iA (t )
average values of input and currents can be related as,
idA (t ) = d A (t ) iA (t )
q(t ) control function
idA (t ) pole-A
0 t
ì i A (t )
+ ï i A (t ) ideal output current iA t
Vd voltageïï A 0
í + ü idA (t )
port ï ï current
- ï v AN (t ) ý port idA t
dTs
ïî ï
- þ 0 ideal and average input current
Ts = 1 / f s
N
i A (t ) i
A
vc, A (t ) q A (t )
vtri (t ) t
PWM-IC 0 actual output current
(ripple often ignored)

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-7

Average Representation of a Pole as An

Ideal Transformer
idA (t )
iA (t )
+ +
v AN (t ) = d A (t )Vd
Vd 1 d A (t )
idA (t ) = d A (t ) iA (t ) v AN (t )
-
-

vc, A (t ) 1 +
) S
2Vtri
+ 1/ 2

o Transformer turns-ratio is adjustable via Pulse Width Modulation

o This Transformer can pass AC and DC currents but only unipolar
voltages

© 2000 http://www.ece.umn.edu/groups/electricdrives
 Average Representation of a Pole 4-6

Input and Output Currents

o Assuming ripple in i A (t ) to be negligible, i.e. i A (t ) = iA (t )
average values of input and currents can be related as,
idA (t ) = d A (t ) iA (t )
q(t ) control function
idA (t ) pole-A
0 t
ì i A (t )
+ ï i A (t ) ideal output current iA t
Vd voltageïï A 0
í + ü idA (t )
port ï ï current
- ï v AN (t ) ý port idA t
dTs
ïî ï
- þ 0 ideal and average input current
Ts = 1 / f s
N
i A (t ) i
A
vc, A (t ) q A (t )
vtri (t ) t
PWM-IC 0 actual output current
(ripple often ignored)

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-8

Pole as a Two Quadrant Converter

idA (t )

ì
ï
o v AN always positve + ï
voltage ïí
i A (t ) La Ra
Vd
- +
o iA can reverse port ï
ï
A
ü current
ï
+
ïî v AN ý port Ea
u iA > 0 if v AN > Ea - N
ïþ -

power Vd ® Ea q A (t )

Þ Buck Mode IA Ra

u iA < 0 if v AN < Ea + +
Vd 1 dA +
- VAN = d AVd Ea
power Ea ® Vd -
Þ Boost Mode -
vc, A (t ) 1
) S
2Vtri
1/ 2
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-9

Calculation of Ripple Current iripple

Ra i A (t ) La IA Ra La

+ + + + +
v AN (t ) Ea = VAN Ea + vripple (t )
- - - - -

vripple (t ) Vd -V AN

0
i A (t ) = I A + iripple (t ) dTs
t
VAN
Ts
v AN (t ) = V AN + vripple (t ) iripple (t )
0 t
VAN - Ea
IA = i A (t ) IA
Ra
iripple (t ) = sawtooth with zero DC
offset 0
t

volt - seconds (V - VAN )dTs V (1 - d )Ts

Di A = = d , or AN
La La La

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-10

Implementation of Bi-Positional Switches

Buck Boost

iC

+
iA ON
Vd approx switching
trajectory
-

0 Von OFF VCE

+ switching power loss
q
vc, A A q -A for a very short time
vtri q A (t )

o Switching frequency 6kHz to 50kHz

o Switching power loss: kept low by fast switching
o Conduction loss: kept low by having switches fully ON or
fully OFF

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-11
Switch-Mode Converters for
id
DC-Motor Drives
idA
DC motor
idA io
idB io
iA + idB +
+ + + 1 d A (t ) vo (t )
+ vo ea -
Vd Vd
iB v AN (t ) +
- - -
- 1
d B (t )
q A (t ) vBN (t )

vc (t ) - -
qB (t ) 1
vc (t ) 2Vˆtri + S
vtri (t ) + 1/ 2
1 +
-1 S
vc, B (t ) 2Vˆtri +
1/ 2
1 v (t ) V V
d A (t ) = + c v AN (t ) = d + d vc (t )
2 2Vˆtri 2 2Vˆtri
1 v (t )
d B (t ) = - c V V
2 2Vˆtri vBN (t ) = d - d vc (t )
2 2Vˆtri
o Output voltage can be positive or negative
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-12
Analysis of DC-Motor Drives Based on
Average Quantities
v (t )
d (t ) = d A (t ) - d B (t ) = c
Vˆtri id
( -1 £ d £ + 1) DC motor
io (t )
Vd
vo (t ) = v AN (t ) - vBN (t ) = vc (t ) + +
ˆ
Vtri
Vd 1 d (t )
( -Vd £ vo £ + Vd ) - vo (t )
V
k PWM = d -
Vˆtri
vc (t ) 1
vo (t ) = k PWM × vc (t ) Vˆtri

o Combined transformer
o Four quadrant capability
o Transformer can pass AC or DC currents and voltages
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-13
Three Phase Inverter AC-Motor Drives
iA
A
+ iB
Vd B n
- iC
C
q A (t )

vc, A (t )

Vˆc
PWM v (t ) qB (t )
c, B
f1 IC
qC (t )
Vˆc
d A (t ) = 0.5 + sin(w1t )
vc,C (t )
vtri
ˆ
2Vtri
vc, A (t ) = V$c sin(w 1t ) Vˆc
d B (t ) = 0.5 + sin(w1t - 1200 )
vc,B (t ) = V$c sin(w 1t - 1200 ) 2Vˆtri
Vˆc
vc,C (t ) = V$c sin(w 1t - 2400 ) dC (t ) = 0.5 + sin(w1t - 2400 )
2Vˆtri
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-14
Transformer Equivalent of a
Three Phase Converter iA (t ) e A (t )

idA (t ) idB (t ) idC (t ) A iB (t ) eB (t )

Voltages with respect to B n
to N + C iC (t ) eC (t )
+ + +
V V Vˆc Vd 1 d A (t ) 1 d B (t ) 1 dC (t )
v AN (t ) = d + d sin(w1t )
2 2 Vˆtri - v A (t ) vB (t ) vC (t )
M - - -
N
Voltages with respect to
load-neutral n 1 +
vc, A (t ) S
Vd ˆ 2Vˆtri +
v An (t ) = Vc sin(w1t )
2Vˆtri
{
1 +
k pole vc, B (t ) S
2Vˆtri +
= k pole Vˆc sin(w1t )
1 +
M
vc,C (t ) S
2Vˆtri
+ 1/ 2
DC offset voltages disapper when voltages are with respect to load neutral
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-15

Power Devices

o Voltage rating up to 9kV

o Current rating ~ kA

o Switching items ~ 0.1 m s

o On-State voltage drop 1V to 3V

o Cost

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-16

Controlled Switches
o MOSFET D iD D

G
VDS
G
+
VGS - S
S

iD
VGS = 7V
6V
on state 5V
u Insulated gate for low 4V
gate requirements
VDS
u Built-in diode
u rds increases exponentially with voltage rating
u Good for low voltage, high frequency
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-17

o IGBT - Insulated Gate Bipolar Transistor

C

+ iC
G VCE
+ VGE
VGE - -

E
VCE
u Insulated Gate for low drive requirements
u Moderately high switching frequency
u Lower conduction losses than MOSFETs in high voltage
devices
u Higher voltage (up to 3.3 kV) and current rating
(up to 1200A)
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-18

o Smart Power Modules

• Gate Driver ICs
• Power Modules with Gate drivers

© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-19

Summary
o What is the function of PPUs?
o What are the sub-blocks of PPUs?
o What are the roles of the rectifier and the filter-capacitor
sub-blocks?
o Qualitatively, how does a switch-mode amplifier differ
from a linear amplifier?
o Why does operating transistors as switches result in much
smaller losses compared to operating them in their linear
region?
o How is a bi-positional switch realized in a converter pole?
o What is the gain of each converter pole?
o How does a switch-mode converter pole approach the output
of a linear amplifier?
o What is the meaning of v AN (t ) ?
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-20
Summary
o How is the pole output voltage made linearly proportional
to the input control signal?
o What is the physical significance of the duty-ratio, for
example d A (t ) ?
o How is pulse-width-modulation (PWM) achieved and what
is its function?
o Instantaneous quantities on the two sides of the converter
pole, for example pole-A, are related by the switching signal
q A (t ) . What relates the average quantities on the two sides?
o What is the equivalent model of a switch-mode pole in
terms of its average quantities?
o How is a switch-mode dc-dc converter which can achieve an
output voltage of either polarity and an output current flowing
in either direction realized?
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-21

Summary
o What is the frequency content of the output voltage
waveform in dc-dc converters?
o In a dc-drive converter, how is it possible to keep the ripple
in the output current small, despite the output voltage
pulsating between 0 and Vd , or 0 and -Vd , during each
switching cycle?
o What is the frequency content of the input dc current?
Where does the pulsating ripple component of the dc-side
current flow through?
o How is bi-directional power flow achieved through a
converter pole?
o What makes the average of the dc-side current in a
converter pole related to the average of the output current
by its duty-ratio?
© 2000 http://www.ece.umn.edu/groups/electricdrives
 4-22

Summary
o How are three-phase, sinusoidal ac output voltages
synthesized from a dc voltage input?
o What are the voltage and current ratings and the switching
speeds of various power semiconductor devices?

© 2000 http://www.ece.umn.edu/groups/electricdrives