Power System Harmonic Analysis - 1997 - Arrillaga - Appendix IV Derivation of The Jacobian

Appendix IV
DERIVATION OF THE
JACOBIAN
In this Appendix, the full Jacobian matrix is derived for a six-pulse rectifier attached
to the ac system via a star-gjstar transformer. The elements of the Jacobian are the
partial derivatives of the mismatch functions with respect to the variables that are
being solved for by Newton's method. An important distinction is made in Newtons
method between functions and variables. A variable is never a function of something
else. A function is only a function of the variables being solved for, and never
another mismatch function. The variables that are being solved for are defined to be
Vk, yt, Vk:, Idk' ¢i, ei, oco. Thus Idk' the de current harmonics, are defined not to be a
function of Vk. the terminal voltage harmonics. In the analysis to follow, any other
quantity is either a function of these variables or a constant.
In finding the partial derivative of a mismatch function with respect to one of
these variables, all other variables are held constant. Thus the chain rule is never
applied to give a derivative of one variable with respect to another. For example, in
the de current mismatch equations, the partial derivative with respect to the average
delay angle is always zero. Intuitively this is incorrect, as we expect a change in delay
angle to change all the de harmonics. However, in terms of the converter mismatch
equations, this requires several applications of the chain rule to quantities that have
been defined as variables, not functions. The overall network of interdependency
between all the converter quantities is only fully represented in the inversion of the
Jacobian matrix, and in the definition of the mismatch functions.
All of the partial derivatives obtained below have been confirmed by comparison
with the numerical partial derivative obtained from the corresponding mismatch
equation. That is;
aF F(x +Ax) - F(x)
- "'---,----- (IV.l)
ax Ax
IV .1 Voltage Mismatch Partial Derivatives

The voltage mismatch partial derivatives are obtained by first deriving the phase
current partial derivatives, and then applying the differential current to the three-
phase system impedance. The phase current partial derivatives are derived in turn by
Power System Harmonic Analysis Jos Arrillaga, Bruce C Smith, Neville R Watson and Alan R Wood
© 1997 John Wiley & Sons, Ltd. Published 1997 by John Wiley & Sons, Ltd.
10.1002/9781118878316.app4, Downloaded from https://onlinelibrary.wiley.com/doi/10.1002/9781118878316.app4, Wiley Online Library on [17/05/2023]. See the Terms and Conditions (https://onlinelibrary.wiley.com/terms-and-conditions) on Wiley Online Library for rules of use; OA articles are governed by the applicable Creative Commons License
332 APPENDIX IV
considering the partial derivatives of the sampled commutation and de currents of

which they are composed.
IV.l.l With Respect to AC Phase Voltage Variation
First, the partial derivative of the terminal voltage mismatch with respect to terminal
voltage variation is obtained. In this analysis all other variables are held constant.
The commutation current, sampled de current, and phase currents are all functions,
and require an application of the chain rule. The phase voltage mismatch equation,
which represents the interaction of the calculated phase currents with the ac system
impedance is
In order to generalize over all phases, [oc f3 y] is a permutation of [abc]. Z = Y;_:;? is

the ac system impedance, and r etc are the phase currents. Note that
I(Vk, f1, Vk, Iak' (/>;, 8;) is a function of the converter variables. Since the terminal
voltages are represented as complex phasors, it is necessary to differentiate with
respect to the real and imaginary parts separately. Differentiating Equation IV.2
partially with respect to a variation in one of the phase voltages:
oc =F fJ or k =F m
oc=fJ and k=m
(IV.3)
BR{Fvk } - I { -Z(J.(J. Blka -zaP Blkf3 - y Blk.. }

(IV.4)
BI{V~} - k BI{V~} k BI{V~} Z% BI{V~} '
oc=fJ and k=m
(IV.S)
(IV.6)
Since the ac phase currents are calculated by sampling the de and commutation
currents, the effect of phase voltage variation on phase current is determined from
the effect of phase voltage variation on the sampled commutation currents alone.
IV. I VOLTAGE MISMATCH PARTIAL DERIVATIVES 333
This is because the de current and switching angles are variables which are held
constant, while the commutation currents are functions of the terminal voltage. Four
commutations contribute to one cycle of ac current, consequently
art _ ~ c a1ei (IV.7)

an{ v~} - {={ Mi an{ v~} •
and
(IV.8)
where ~i is the ith commutation current, lei, sampled over the commutation period.
CrJ.th E [ -1, 0, 1] is a coefficient matrix that defines whether for the ith commutation
the phase r:t current is a function of the phase f3 terminal voltage, and if so, in which
sense. C is defined in Table IV.l where i indexes each set of data:
The commutation current is given by
+L
nh
lei( t) = D leik ejkwt, (IV.9)
k=i
where
(IV.10)
(IV.ll)
In Equation IV.ll, e and b are subscript functions of i, and refer to the phases ending
and beginning conduction respectively. Sampling the commutation current requires
a convolution with the relevant sampling function:
(IV.l2)
Table IV.l. The coefficient matrix Co:6; which specifies the dependence between commutation
current i, terminal voltage phase, and ac current phase
[J
a b c
a {-1, 0, -1, -1, 0, -1} {0, 0, 1, 0, 0, 1} {1, 0, 0, 1, 0, 0}
ex b {0, 0, 1, 0, 0, 1} {0, -1, -1, 0, -1, -1} {0, 1, 0, 0, 1, 0}
c {1, 0, 0, 1, 0, 0} {0, 1, 0, 0, 1, 0} {-1,-1,0,-1,-1,0}
334 APPENDIX IV
Setting Icio = D, expanding the convolution, and taking the kth component yields
(IV.l3)
Since the commutation circuit is linear,
alei
aR{ J 6}
Ill
= 0 V /, m such that l #- m and l > 0.
This allows the following partial derivative to be written:
ai
+ (
31.·
Clm I.Jl*
aR{Vb} (2i-1Jm+k
)* + { -aR{Vo}
aJ.
m
Clm I.Jl
.(2i-llk-m'
(IV.l4)
m Clm I.Jl* .
3R{V,~} (2z-llm-k'
Similarly,
+( aJ
Clm I.Jl*
)* + - ar{v~}'Pc2i-l)lc-m' m~kl
{
ale;
m (IV.l5)
ai{Vo}
m
(2i-l)m+k aJ.
Clm
ai{V,~,}
I.Jl*
(2i-llm-k' m>k
The calculations required to evaluate Equations IV.l4 and IV.l5 can be
approximately halved by using the Cauchy Reimann equations for the partial
derivatives of complex functions. For an analytic function
aF(z) . 3F(z)
(IV.l6)
3I{z} = J 3R{z}.
For the complex conjugate of an analytic function
aF(z)* . 3F(z)*
3I{z} = -J 3R{z} . (IV.l7)
Thus, as each term of equation IV.l4 is evaluated, the corresponding term in

Equation IV.l5 is obtained from a simple rearrangement of the real and imaginary
parts. The remaining partial derivatives, aic;0 jaR{V~n} and aici.,/aR{V~}, are
obtained from equations IV.lO and IV.ll;
(IV.l8)
(IV.l9)
(IV.20)
It is assumed here that phase b is beginning conduction; phase b ending conduction is

accounted for in the C matrix. This completes the derivation of the partial derivative
of terminal voltage mismatch with respect to terminal voltage.
IV.1.2 With Respect to DC Ripple Current Variation
A variation in the de ripple at a particular harmonic is sampled by the compound de

current sampling function, and so affects all phase current harmonics. In addition,
the commutation currents are functions of the de ripple, and so the resulting
variation in commutation currents are sampled on the ac side by the commutation
interval sampling functions. These two effects, when added together, are sufficient to
give the variation in phase currents, and by injecting the phase current variation into
the ac system, the required mismatch partial derivative for the Jacobian matrix is
obtained. The voltage mismatch partial derivatives are therefore
aR{F } R { _zaa
-----"v'~~- aika - zCJ./3 aikf3 - zrxr aik" } (IV.21)
aR{I~ } - k aR{I~ } k aR{I~ } k aR{I } '
~
(IV.22)
(IV.23)
(IV.24)
336 APPENDIX IV
Table IV.2. Coefficient matrix Ef defining the contribution of the commutation currents to
each phase current. i is the commutation number
rx
a b c
1 1 0 -1
2 0 -1 1
3 -1 1 0
i
4 1 0 -1
5 0 -1 1
6 -1 1 0
The phase currents are composed of commutation currents and the de current
sampled on the ac side:
6
lrx. = L)Eflci ® 'Pz;-J] + ld ® '~"rx.· (IV.25)
i=l
Here Ef is a coefficient matrix that specifies how the commutation currents

contribute to each of the phase currents, and 'P rx. is the phase rx de current compound
sampling function. E is listed in Table IV.2. Differentiating the kth component of
equation IV.25 with respect to R{Idm} yields
aif a{Z:;[Eflci ® 'Pzi-l]}k a{Id ® 'Prx.}k

(IV.26)
aR{Idm} = aR{Idm} + aR{Idm} .
The first term is similar to the differential with respect to voltage already derived
above, as a variation in Idm affects only Icim and /ci0 .Expanding the convolution in the
first term, selecting the kth component, and differentiating yields
m~k]·
m~k
(IV.27)
Expanding the convolution in the second term of Equation IV.26 gives the kth
component of the sampled de current:
(IV.28)
IV.! VOLTAGE MISMATCH PARTIAL DERIVATIVES 337
where fd~ is the phase a sample of the de current. This equation can be differentiated
to yield:
(IV.29)
Applying the above analysis for variations in the imaginary part of Id, gives
(
8/
Clm tp*
)* -
{
8/ci
8I{Jm }'P(2i-l)k-m'
dm m~k]
+ 8I{I }
dm
C2 i-llm+k + 81Clm· tp* m"?;k '
8I{l } (2i-llm-k,
dm
(IV.30)
and
(IV.31)
These equations are then substituted into an equation analogous to Equation IV.26
and hence into Equations IV.22 and IV.24. The remaining partial derivatives,
8lci0 /8R{ldm} and 8lc;,,I8R{ld,}, are obtained from Equations IV.lO and IV.ll:
(IV.32)
81.
cl 0 . eO' {L
~ike;}
8I{I } = -JR - L - ' (IV.33)
dm eb
8/cim Le
(IV.34)
8R{Id,J Leb
IV.1.3 With Respect to End of Commutation Variation
A variation in the end of commutation angle, ¢ 1, affects the (2h- l)th and 2hth
sampling functions. This affects all harmonics of the ac side sampled commutation
currents, and de current. Combining these two effects into the phase current
338 APPENDIX IV
variation, and injecting into the ac system yields the variation in the terminal voltage
mismatch;
(IV.35)
(IV.36)
Differentiating the kth component of Equation IV.25 with respect to ¢ 1,
aJk = a{L::;[Ef/,;0'¥2;-dL,+ a{Id0'¥a}~c (IV.37)

a¢" a¢" a¢"
A variation in ¢" affects only the sampling of the hth commutation current in the
first term of Equation IV.37. Expanding only this convolution from the summation
yields
(IV.38)
Differentiating this gives
+ 6~(Ichz a'¥(2h-l)z+k)
a¢
*_~(I
6 cht
a'¥C2h-llk-z)}
a¢ , k > 0.
1=1 h 1=0 h
(IV.39)
where
a'¥(2h-l) a'¥ 21z 1[ . . ]

= _ - - =- sm(m¢~z) + J cos(m¢~z) .
111
--'--------'-"'- 111 (IV.40)
a¢h a¢h n
The compound sampling function in the second term of Equation IV.37 is affected
by variation in four of the six end of commutation angles. This is because the
transfer of de current to the ac side is defined by two conduction periods per cycle;
the beginning and end of each conduction period corresponding to an end of
commutation angle. The effect of a variation in ¢~z therefore depends upon whether
it corresponds to the beginning or end of a positive or negative conduction period for
phase rx. This information is already collated as the coefficient matrix -Ea,·
A similar analysis to the above for the second term of Equation IV.37 results in
(IV.41)
Since the compound sampling function is a sum of constituent sampling functions, it

has been replaced in the partial derivative by the only term which is a function of ¢h·
This is then substituted back into Equation IV.37 to give the required partial
derivative.
IV.l.4 With Respect to Firing Angle Variation
The transfer of de current to the ac side of the converter is defined entirely with
reference to the end of commutation angles. The effect of a variation in the firing
instants on the phase currents can therefore be obtained by analysing just the
sampling of the commutation currents. The partial derivative of the ac voltage
mismatch with respect to a firing angle variation is
(IV.42)
Since the ac side sampled de current is not a function of fh
ai'k a{ 2.::~=1 Efl~iL a{ 2.::~=1 Eflci ® '~'<2i-1J L a{Ehfch ® '~'<2h-1J}k

- aeh = aeh = aeh = aeh
(IV.43)
Noting that a change in (}h affects Icho and 'P(2h-1), applying the product rule to the
expansion of the convolution leads to
This completes the analysis of the terminal voltage mismatch equation partial
derivatives, as there is no dependence upon a0 , the only remaining variable.
340 APPENDIX IV
IV .2 Direct Current Partial Derivatives

The direct current partial derivatives are obtained by a process analogous to that
used in obtaining the terminal voltage partial derivatives. The de voltage partial
derivatives are obtained and then applied to the de system admittance to calculate
the direct current differential. The direct current mismatch equation is:
(IV.45)
Finding the partial derivatives of this equation is therefore mainly concerned with
Vdk' which is a function of all the converter variables except IXo.
IV.2.1 With Respect to AC Phase Voltage Variation
Differentiating Equation IV.45 with respect to terminal voltage yields
(IV.46)
(IV.47)
(IV.48)
(IV.49)
vdk is given by:
The only terms in this equation which are a function of V~ are the twelve pre-
convolved de voltage phasors Vd11 • There are three equations which define the twelve
pre-convolved de voltage phasors;
(IV.51)
for a 'normal' conduction interval,
(IV.52)
IV.2 DIRECT CURRENT PARTIAL DERIVATIVES 341
for a commutation on the positive de rail, and
(IV.53)
for a commutation on the negative rail. Differentiating these three equations with
respect to v~ gives 36 possible values for avd;,;av~ according to the sample
number i, and the phase of 6. The required partial derivatives are summarized in
Table IV.3 by reference to the partial derivatives of Equations IV.51, IV.52,
and IV.53 listed below:
avdiz = 1
aR{VtJ
avdi[ = -1 (IV.54)
an{Vn
for a 'normal' conduction interval,
avdi[ Lb
aR{V/} Lb +Le
aVc~;l Le
aR{Vfl - Lb + Le
avc~;,
-----'- = -1 (IV.55)
aR{V[}
for a commutation on the positive de rail, and
_av_d_._i,_ = 1 (IV.56)
aR{V/}
for a commutation on the negative rail. The Cauchy Reimann equations can be used
to give the partial derivative with respect to the imaginary part of the voltage
variation as j times that listed above.
342 APPENDIX IV
Table IV.3. Assembly of de voltage partial derivatives
sample (z) De Voltage derivative
e b 0 + equation
1 A c B {IV.55)
2 A B {IV.54)
3 c B A {IV.56)
4 A c (IV.54)
5 B A c (IV.55)
6 B c {IV.54)
7 A c B (IV.56)
8 B A {IV.54)
9 c B A (IV.55)
10 c A (IV.54)
11 B A c (IV.56)
12 c B (IV.54)
The partial derivatives in Equations IV.54, IV.55, and IV.56 are then substituted
into the partial derivatives of Equation IV. 50 which are given below:
(IV.57)
(IV.58)
This completes the derivation of the partial derivative of de current mismatch

equation with respect to terminal voltage.
IV.2.2 With Respect to Direct Current Ripple Variation
Apart from being the most significant term in the de current mismatch equation, the
de ripple affects the commutation currents, and also causes a voltage drop through
the commutating reactance. These last two effects mean that the de voltage is a
function of the de current ripple. It is therefore necessary to obtain partial derivatives
of the de voltage harmonics in a similar manner to that undertaken already for the
IV.2 DIRECT CURRENT PARTIAL DERIVATIVES 343
derivative with respect to terminal voltage. Differentiating the de current mismatch

equation;
k=Fm
(IV.59)
k=m
(IV.60)
k=Fm
(IV.61)
k=m
(IV.62)
Differentiating Equation IV.50 with respect to R.{Idm} yields
m~k]'
m?;k
(IV.63)
Similarly,
m~kl'
m?;k
(IV.64)
The partial derivatives avdim/iii{Idm} are obtained from Equations IV.51, IV.52,
and IV.53:
aVdim .k (L + L )
aR.{I } = -J w + - (IV.65)
dm
during normal conduction, and
(IV.66)
344 APPENDIX IV
during any commutation. Again, the imaginary partial derivatives are obtained by
the Cauchy Reimann equations. The correct phase subscripts can be obtained from
Table IV.3. This completes the linearized dependence of the de mismatch upon de
ripple variation.
IV .2.3 With Respect to End of Commutation Variation

The effect of variation in the end of commutation angle cph is limited solely to the
sampling of relevant de voltage sections. This is best explained with reference to the
following equation for the de voltage:
1
L
12
vd = 2j vdi ® '¥;. (IV.67)
i=i
In this equation, only two of the twelve'¥; are functions of ¢h· Table IV.4 shows that
'¥ 2h and '¥ 2h-i are functions of ¢h· Equation IV.50 can therefore be differentiated to
yield:
(IV.68)
Table IV.4. Limits of converter states for use in sampling

functions
sample (i) b;
1
2
3
4
5
6
7
8
9
10
11
12
IV.3 END OF COMMUTATION MISMATCH PARTIAL DERIVATIVES 345
Differentiating the de ripple mismatch Equation IV.45 yields:
aR{Fik} _ {- avdk}
a¢h - R Ydk a¢h , (IV.69)
and
(IV.70)
Substituting Equation IV.68 into IV.69 and IV.70 gives the required partial
derivative of de ripple mismatch with respect to end of commutation.
IV .2.4 With Respect to Firing Angle Variation
The partial derivatives of de ripple mismatch with respect to firing angle are obtained
in an exactly similar manner. The result is:
(IV.71)
and
(IV.72)
where
-L nh [
vd(Zh-z),
( a'¥ Zh-i/-k )
ae
*) J* - Lk vd(2h-i) 1
T 2h-lk-/
an1
ae
1=0 h 1=0 h
+ ~ vd(2h-l),
nh ( a'¥ Zh-1 1 k )
aeh -
*+ ~
nh [
vd(Zh-l),
( rzh-! 1 k )
an1
aeh -
*) ]*) · (IV.73)
IV .3 End of Commutation Mismatch Partial Derivatives

The end of commutation mismatch is the current in the phase that is commutating
off, at the end of the commutation. This current should be zero, and is given by
(IV.74)
346 APPENDIX IV
for a commutation on the positive rail, where
(IV.75)
(IV.76)
(IV.77)
The end of commutation mismatch equation is therefore a function of all the

variables except the average delay angle oc 0 . A commutation on the negative rail is
accounted for by substituting -Ia'" in the above equations for Ia,.
VI.3.1 With Respect to AC Phase Voltage Variation
Differentiating Equation IV. 74 with respect to an arbitrary voltage phase and

harmonic yields:
(IV.78)
and
BFq,; _ { _ BD _ Blcim ·m</J;} (IV.79)

BI{V~}- R BI{V~} BI{V~} el .
The partial derivatives in these equations are obtained from Equations IV. 75 to IV. 77
as
(IV.80)
aicim -1
(IV.81)
BR{ V~} - jmw(Le + Lb)'
(IV.82)
aJcim - -j
(IV.83)
BI{ V~} - jmw(Le + Lb) .
It is assumed in the above analysis that V! corresponds to a phase ending

conduction. Multiplying by -1 gives the required partial derivative for the case that
V! corresponds to a phase beginning conduction.
IV.3 END OF COMMUTATION MISMATCH PARTIAL DERIVATIVES 347
IV .3.2 With Respect to Direct Current Ripple Variation
The analysis is similar to that for ac phase voltage variation. Differentiating

Equation IV.74 with respect to de ripple yields
(IV.84)
and
(IV.85)
The partial derivatives in these equations are obtained from Equations IV.75 to IV.77
as
aD Le eikB;
(IV.86)
aR{Idm} Le + Lb ,
a/Clm -Le
(IV.87)
aR{Idm} Le + Lb,
aD jLe eikB; (IV.88)

ai{ldm} Let Lb '
a/Clm -jLe
(IV.89)
ai{Idm} Le+Lb
This analysis assumes that the commutation is on the positive rail. A similar analysis
holds for a commutation on the negative rail, but with -Idm substituted into
equation IV.74.
IV .3.3 With Respect to End of Commutation Variation
This partial derivative gives the effect on the 'residual' commutating-off current at
the end of the commutation, if the end of commutation is moved. It is obtained
simply by differentiating Equation IV.74 with respect to ¢, to yield
(IV.90)
348 APPENDIX IV
IV.3.4 With Respect to Firing Instant Variation
The de offset to the commutation, D, is a function of the firing instant, and so the
only effect of I.J; on F¢ 1 is through D. Differentiating the expression for D,
Equation IV.75, gives the required partial derivative.
(IV.91)
IV .4 Firing Instant Mismatch Equation Partial Derivatives

For the implemented constant current controller, the firing instant mismatch is not a
function of the ac terminal voltage. This is because the firing order is obtained solely
from monitoring the de current. This also means that the firing mismatch is not a
function of the end of commutation instants. The firing instant mismatch is a
function only of the de ripple, the firing angle, and the average firing order. The
firing mismatch equation is
(IV.92)
where
(IV.93)
The partial derivatives are easily obtained as;
oFei- 1 (IV.94)
arxo - '
(IV.95)
(IV.96)
(IV.97)
where
(IV.98)
IV.5 AVERAGE DELAY ANGLE PARTIAL DERIVATIVES 349
IV.S Average Delay Angle Partial Derivatives

The average delay angle, IXo, is obtained by requiring that the average de voltage,
when applied to the de system, should result in the current order. Thus IXo is a control
variable, required for the case of constant current control. The mismatch equation is
(IV.99)
where Vdc represents a de voltage source, and
(IV.lOO)
Thus Fa 0 is a function of all the converter variables, with the exception of IXo itself.
Analysis of the partial derivatives of Equation IV.99 is similar to that for the partial
derivatives of the de ripple mismatch.
IV.5.1 With Respect to AC Phase Voltage Variation
Differentiating the mismatch Equation IV.99 with respect to an arbitrary phase and
harmonic of ac voltage yields
(IV.lOl)
and
(IV.102)
Differentiating Equation IV.IOO yields
(IV.103)
and
(IV.104)
which when substituted back into Equations IV.lOl and IV.102 give the required
partial derivatives. The remaining partial derivatives, aVd;"'jaR.{V!} etc., have
already been obtained in Equations IV.51, IV.52, and IV.53, and by reference to
Table IV.3.
350 APPENDIX IV
IV .5.2 With Respect to DC Ripple Current Variation
Variation in the de ripple affects the de voltage samples in a similar manner to that of
a variation in the terminal voltage above. Differentiating the mismatch
Equation IV.99 with respect to an arbitrary phase and harmonic of de current
ripple yields
(IV.105)
and
(IV.l06)
Differentiating Equation IV.lOO yields
(IV.107)
and
(IV.108)
which when substituted back into Equations IV.l05 and IV.l06 give the required
partial derivatives. The remaining partial derivatives, aVd;,jaR{ld,} etc., have
already been obtained in Equations IV.65, and IV.66.
IV.5.3 With Respect to End of Commutation Variation
The effect of a variation in the end of commutation is to modify the sampling of the
de voltage sections in Equation IV.lOO. Differentiating Equation IV.99 with respect
to ¢h yields
(IV.l09)
This requires the partial derivative avdo/a¢h· Differentiating Equation IV.lOO yields
avdo 1· a'n* T 2ht ) }

an1*
T (2h-1)t
L
nh n12 (
~ = 2J { _l)vd(2h-1)1 a¢ )+ vd(2h), ~ , (IV.llO)
'l'h 1=1 h 1=1 'l'h
where use has been made of Table IV.4 to determine the only two sampling functions
that are affected by ¢h·
IV.5 AVERAGE DELAY ANGLE PARTIAL DERIVATIVES 351
IV.5.4 With Respect to Firing Angle Variation
The effect of a change in the firing angle on the average delay angle mismatch
equation is similar to that for a change in the end of commutation angle. The
sampling of the de voltage sections is modified, and this changes the average de
voltage. The analysis carried out above for the end of commutation variation is also
valid in this case, with only the two affected sampling functions, as determined from
Table IV.4 being different. The result is that
aFrx0 _ { _ avdo } (IV.lll)

ae" - I Ydo ae" '
where
(IV.l12)
This completes the derivation of the partial derivatives required for the Jacobian
matrix, as the average delay angle mismatch equation is not a function of the average
delay angle.

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Appendix IV

IV .1 Voltage Mismatch Partial Derivatives

considering the partial derivatives of the sampled commutation and de currents of

IV.l.l With Respect to AC Phase Voltage Variation

In order to generalize over all phases, [oc f3 y] is a permutation of [abc]. Z = Y;_:;? is

oc=fJ and k=m

BR{Fvk } - I { -Z(J.(J. Blka -zaP Blkf3 - y Blk.. }

oc=fJ and k=m

art _ ~ c a1ei (IV.7)

Since the commutation circuit is linear,

This allows the following partial derivative to be written:

For the complex conjugate of an analytic function

Thus, as each term of equation IV.l4 is evaluated, the corresponding term in

It is assumed here that phase b is beginning conduction; phase b ending conduction is

IV.1.2 With Respect to DC Ripple Current Variation

A variation in the de ripple at a particular harmonic is sampled by the compound de

Here Ef is a coefficient matrix that specifies how the commutation currents

aif a{Z:;[Eflci ® 'Pzi-l]}k a{Id ® 'Prx.}k

IV.1.3 With Respect to End of Commutation Variation

Differentiating the kth component of Equation IV.25 with respect to ¢ 1,

aJk = a{L::;[Ef/,;0'¥2;-dL,+ a{Id0'¥a}~c (IV.37)

Differentiating this gives

a'¥(2h-l) a'¥ 21z 1[ . . ]

Since the compound sampling function is a sum of constituent sampling functions, it

IV.l.4 With Respect to Firing Angle Variation

Since the ac side sampled de current is not a function of fh

ai'k a{ 2.::~=1 Efl~iL a{ 2.::~=1 Eflci ® '~'<2i-1J L a{Ehfch ® '~'<2h-1J}k

IV .2 Direct Current Partial Derivatives

IV.2.1 With Respect to AC Phase Voltage Variation

Differentiating Equation IV.45 with respect to terminal voltage yields

vdk is given by:

for a 'normal' conduction interval,

for a commutation on the positive de rail, and

for a 'normal' conduction interval,

for a commutation on the positive de rail, and

Table IV.3. Assembly of de voltage partial derivatives

sample (z) De Voltage derivative

This completes the derivation of the partial derivative of de current mismatch

IV.2.2 With Respect to Direct Current Ripple Variation

derivative with respect to terminal voltage. Differentiating the de current mismatch

Differentiating Equation IV.50 with respect to R.{Idm} yields

IV .2.3 With Respect to End of Commutation Variation

Table IV.4. Limits of converter states for use in sampling

Differentiating the de ripple mismatch Equation IV.45 yields:

IV .2.4 With Respect to Firing Angle Variation

IV .3 End of Commutation Mismatch Partial Derivatives

for a commutation on the positive rail, where

The end of commutation mismatch equation is therefore a function of all the

VI.3.1 With Respect to AC Phase Voltage Variation

Differentiating Equation IV. 74 with respect to an arbitrary voltage phase and

BFq,; _ { _ BD _ Blcim ·m</J;} (IV.79)

It is assumed in the above analysis that V! corresponds to a phase ending

IV .3.2 With Respect to Direct Current Ripple Variation

The analysis is similar to that for ac phase voltage variation. Differentiating

aD jLe eikB; (IV.88)

IV .3.3 With Respect to End of Commutation Variation

IV.3.4 With Respect to Firing Instant Variation