Electric Taction Drive-Lecture04

Chapter 4
The Operating Principle and Modulation

Scheme of Three-phase PWM Inverters
Dr. xinglai Ge
Email:xlgee@163.com
Train Control & Traction Drive Lab,
Southwest Jiaotong University
Electric Railway Traction AC Drive Systems Outline
 The Operating Principle Analysis of Two-level Three-

phase PWM Inverter
 Principle and Design Rules of Two-level Space Vector
Pulse Width Modulation (SVPWM)
创新、自主研发
2
Electric Railway Traction AC Drive Systems Introduction to Three-phase Traction Inverter
 Voltage-source traction inverter include two-level VSI and

three-level VSI based on the output voltage level of
traction inverter.
3
The Operating Principle Analysis of Two-level
Electric Railway Traction AC Drive Systems Three-phase PWM Inverter
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
1 Tap on, Tan off 1 Tbp on, Tbn off 1 Tcp on, Tcn off
Sa   Sb   Sc  
0 Tap off, Tan on 0 Tbp off, Tbn on 0 Tcp off, Tcn on
 There are 23 = 8 switching states corresponding with 8 operation modes. The

out AC terminal voltage uab owns three voltage levels Udc, 0, and -Udc.
4
Electric Railway Traction AC Drive Systems
Three-phase PWM Inverter
Mode 0 (SaSbSc=000)：
idc
Tap Tbp Tcp
ia
a
Udc ib M
b 3~
c ic
Tan Tbn Tcn
 Switches Tan, Tbn and Tcn are turned on，Tap, Tbp and Tcp are turned
off，uaN=ubN=ucN= -Udc ; uab=ubc=uac=0。
5
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tan, Tbn and Tcp are turned on，Tap, Tbp and Tcn are turned
off，uaN=ubN= -Udc/3, ucN= 2Udc/3 ; uab=0, ubc=uac= -Udc。
+
Zc
N
Za Zb
-
6
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tan, Tbp and Tcn are turned on，Tap, Tbn and Tcp are turned
off，uaN=ucN= -Udc/3, ubN= 2Udc/3 ; uab=ucb= -Udc, uac=0。
+ Zb
N
Za Zc
-
7
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tap, Tbp and Tcn are turned on，Tan, Tbn and Tcp are turned
off，uaN= -2Udc/3, ubN=ucN= Udc/3 ; uab=uac=-Udc, ubc=0。
8
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tap, Tbn and Tcn are turned on，Tan, Tbp and Tcp are turned
off，uaN= 2Udc/3, ubN=ucN= -Udc/3 ; uab=uac= Udc, ubc=0。
+ Za
N
Zb Zc
-
9
 Switches Tap, Tbn and Tcp are turned on，Tan, Tbp and Tcn are turned
off，uaN=ucN=Udc/3, ubN= -2Udc/3 ; uab=ucb= Udc, uac=0。
10
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tap, Tbp and Tcn are turned on，Tan, Tbn and Tcp are turned
off，uaN=ubN= Udc/3, ucN= -2Udc/3 ; uab=0, ubc=uac=Udc。
11
idc
1 Za
Sa a ia
0 1
b ib Zb
Udc Sb N
0
1 Zc
Sc c ic
0
 Switches Tap, Tbp and Tcp are turned on，Tan, Tbn and Tcn are turned
off， uaN=ubN=ucN=Udc, uab=ubc=uca=0。
12
Table Summary of Inverter Switching States
(2 S a  Sb  Sc ) (2 S a  S a  Sc ) (2 Sc  S a  Sb )
uaN  U dc ubN  U dc ucN  U dc
3 3 3
uij  ( Si  S j )U dc (i , j  a , b , c )
13
Principle and Design Rules of Two-level Space Vector
Electric Railway Traction AC Drive Systems Pulse Width Modulation (SVPWM)
 It can be shown that the corresponding space vector V with magnitude

Um rotates in a circular orbit at angular speed ω where the direction of
rotation depends on the phase sequence of the voltages.

ua  U m cos t

 2
u
 b  U m cos( t  ) (1)
 3
 2
u
 c  U m cos( t  )
3
2
V (ua  ub e j 2 3  uc e  j 2 3 ) (2)
3
14
 The inverter has six active states(1~6) and

two zero states(0 and 7).
 The corresponding space vectors of these
8 switching states in three-phase
stationary frame (abc) are shown in
Figure. Space voltage vector Vk is defined
as the follows:
 2 j ( k 1) 3
Vk  U dc e (k  1,...6)
 3
V0,7  0

Figure. Space voltage vectors
or 2
Vk  U dc ( Sa  Sb e j 2 3  Sc e  j 2 3 ) ( k  0,...7)
3
 The corresponding space vector for three-phase sinusoidal and
balanced voltages given by the inverter can be expressed as:
2
V (uaN  ubN e j 2 3  ucN e  j 2 3 )
3
15
 Construction of Vector V1(100):

For the states (100), uaN=2Udc/3, ubN= ucN = -Udc/3.
The corresponding space vector V1 can be expressed as:
2 2 2 1 1 2
V1  [U aN  U bN +U cN ]  [ U dc e j 0  U dc e j 2 3  U dc e  j 2 3 ]  U dc e j 0
3 3 3 3 3 3
The graphical derivation of V1(100)

in Figure indicates that the vector has
a magnitude of 2Udc/3 and is aligned
in the horizontal direction as shown.
Figure
16
Construction of Vector V2(110):

For the states (110), uaN= ubN= Udc/3, ucN = -2Udc/3.
The corresponding space vector V2 can be expressed as:
2 2 1 1 2 2
V2  [U aN  U bN +U cN ]  [ U dc e j 0  U dc e j 2 3  U dc e j 2 3 ]  U dc e j  3
3 3 3 3 3 3
The graphical derivation of V2(110) in

Figure indicates that the vector has a
magnitude of 2Udc/3 and is aligned in
the horizontal direction as shown.
Figure
17
 In the same way, all six active vectors and two zero vectors are derived
and plotted in Figure. The active vectors areπ/3 angle apart and
describe a hexagon boundary. The two zero vectors V0(000) and
V7(111) are at the origin.
II Reference
Im Voltage
b V3 (010)
V2 (110)
Reference
Voltage limit
III
I
Vb Vref
ɷs V1 (100)
V4 (011) ɵ
Va a
Re
VI
V0 (000)
IV
V7 (111)
V5 (001) V6 (101)
c V
Figure
18
 Square-wave operation:
The vector sequence is V1→V2 →V3 →V4 →V5 →V6, with each
dwelling for an angle of π/3, and there are no zero vectors.
(a) The tracks of space vectors (b) The output voltages

 The question is how to control the inverter space vectors in order to
generate harmonically optimum PWM voltage waves as the output.
19
 Linear Modulation Region

Definition: If the magnitude of reference voltage vector is lower than that
of reference voltage limit( the inscribed circle shown in Figure, we name
the reference vector Vref locates in linear modulation region.
Figure
20
 Linear Modulation Region
SVPWM in linear modulation region:

The modulating command voltages of a three-phase inverter are always
sinusoidal, and therefore, they constitute a rotating space vector Vref.
As a example, a convenient way to generate the PWM outputs is to use the
adjacent vectors V1 and V2 of sector I on a part-time basis to satisfy the
average output demand. The Vref can be resolved as
 2 
  2 V
 a  Vref sin(  )
 Vref sin(   )  Va sin  3 3
3 3 

 V sin   V sin 2 V  2 V sin 
 ref b
3  b 3
ref
21
 In sector I, Va and Vb are the components of Vref aligned in the directions

of V1 and V2, respectively. Considering the period Tc during which the
average output should match the command, on the basis of voltage-
balance principle, we can write the vector addition.
 T1 T2 T0,7
V
 ref  Va  Vb  V1  V2  V0,7
 Tc Tc Tc (1)
T  T  T  T
 c 1 2 0,7
22
 On the basis of sinusoidal law, we can get
T2 T1
V2 V1
Vref Tc Tc
  (2)
2 
sin sin(   ) sin 
3 3
 Where Vref, V1 and V2 are the magnitudes of vectors Vref, V1 and V2, respectively.
As we known, V1=V2 =2Udc/3, On basis of equations (1) and (2), we can get
 
T
 1  m T c s in ( )
3 3Vref
 The modulation index
 T 2  m T c s in  m
T m is defined as: U dc
 T c  T1  T 2
 0 ,7

23
 Note that the time intervals t1 and t2 satisfy the command voltage, but
time t0,7 fills up the remaining gap for Tc with zero or null vector. The
selection demands of zero vectors V0 and V7 are reducing the switching
commutation times and switching losses.
 In a switching period Tc, T0 and T7 are defined as the operation times of
zero vectors V0 and V7, respectively. And which can be expressed as:
T0  kT0,7
 0  k 1
T7  (1  k )T0,7
24
 Vector Sequence Mode 1

 The vector sequence is V0→V1 →V2 →V0

 The selection coefficient of zero vectors k=1. T0=T0,7, T7=0.
Im
V2 110
Sa
Vref T2
V2
Tc
Sb
Sc
T0 2 T1 T2 T0 2
V1 100
Tc
T1 Re
V1
Tc
a） b）
100
80
Magnitude
（ %）
60
40
20
0
f1 fc 2fc
Frequency
c) 25

 The vector sequence is V0→V1 →V2 →V1 →V0

 The selection coefficient of zero vectors k=1. T0=T0,7, T7=0.
T1
V1
2Tc
T2
V2
Tc T0 2 T1 T2 T1 T0 2
T1 Tc
V1
2Tc
f1 fc 2 fc
26

 The vector sequence is V0→V1 →V2 →V7 →V2 →V1 →V0
 The selection coefficient of zero vectors k=0.5. T0=T7=T0,7/2.
Im
V2 110
Sa
Sb
T1
V2
2Tc
Vref
Sc
T0 T1 T2 T2 T1 T0
T2 T7
V2 2 2 2 2 2 2
Ts V1 100 Tc
T1
V2 Re b)
2Tc a)
100
80
60
40
20
0
f1 fs 2 fs
Frequency
c)
This mode is widespread adopted in motor drive system. 27
Application Case 1 :CRH1 EMU Traction
Electric Railway Traction AC Drive Systems drive system
End a Unit 1 Unit 3 Unit 2 End b
Mc1 Tp1 M1 M3 Tb M2 Tp2 Mc2
CRH1 EMU consist of 8 cars:5 driving cars, 3 trailer cars.

28
29
The Configuration of CRH1 EMU Electric Railway Traction AC Drive Systems
30
CRH1 EMU Traction Drive System Unit Electric Railway Traction AC Drive Systems
Application Case 2 :CRH5 EMU Traction
drive system
31
The Configuration of CRH5 EMU
CRH5 EMU consist of 8 cars:5 driving cars, 3 trailer cars.

32
33
34
35
CRH5主电路电气原理图 Electric Railway Traction AC Drive Systems

Electric Taction Drive-Lecture04

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Chapter 4

The Operating Principle and Modulation

 The Operating Principle Analysis of Two-level Three-

 Voltage-source traction inverter include two-level VSI and

 There are 23 = 8 switching states corresponding with 8 operation modes. The

Tan Tbn Tcn

Table Summary of Inverter Switching States

 It can be shown that the corresponding space vector V with magnitude

 The inverter has six active states(1~6) and

 Construction of Vector V1(100):

The graphical derivation of V1(100)

Construction of Vector V2(110):

The graphical derivation of V2(110) in

(a) The tracks of space vectors (b) The output voltages

 Linear Modulation Region

 Linear Modulation Region

SVPWM in linear modulation region:

 In sector I, Va and Vb are the components of Vref aligned in the directions

 On the basis of sinusoidal law, we can get

 Vector Sequence Mode 1

 The vector sequence is V0→V1 →V2 →V0

 Vector Sequence Mode 2

 The vector sequence is V0→V1 →V2 →V1 →V0

 Vector Sequence Mode 3

End a Unit 1 Unit 3 Unit 2 End b

Mc1 Tp1 M1 M3 Tb M2 Tp2 Mc2

CRH1 EMU consist of 8 cars:5 driving cars, 3 trailer cars.

CRH5 EMU consist of 8 cars:5 driving cars, 3 trailer cars.

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