ELECTRIC DRIVES

CONVERTERS IN ELECTRIC DRIVE SYSTEMS

MODULE 2
Dr. Nik Rumzi Nik Idris
Dept. of Energy Conversion, UTM
2013

CONVERTERS - Module 2

AC-DC controlled rectifier

approximate model
SIMULINK examples
open-loop
closed-loop

Switch Mode DC-DC

converter
2-Q and 4-Q converters
Small signal modeling
unipolar
bipolar
SIMULINK example

Current-controlled for SM
converters
Bridge converter
hysteresis
fixed frequency
3-phase VSI
hysteresis
fixed frequency
SVM-based

Switch mode DC-DC converter

Two-quadrant converter

Va
+

T1

D1
ia

Vdc

T2

D2

Q2

Q1

Ia

+
Va
-

T1 conducts va = Vdc

Switch mode DC-DC converter

Two-quadrant converter

Va
+

T1

D1
ia

Vdc

T2

D2

Q2

Q1

Ia

+
Va
-

D2 conducts va = 0

Va

T1 conducts va = Vdc

Eb

Quadrant 1 The average voltage is made larger than the back emf

Switch mode DC-DC converter

Two-quadrant converter

Va
+

T1

D1
ia

Vdc

T2

D2

Q2

Q1

Ia

+
Va
-

D1 conducts va = Vdc

Switch mode DC-DC converter

Two-quadrant converter

Va
+

T1

D1
ia

Vdc

T2

D2

Q2

Q1

Ia

+
Va
-

T2 conducts va = 0

Va

D1 conducts va = Vdc

Eb

Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction

Switch mode DC-DC converter

Two-quadrant converter

Vdc

Switching signals obtained by comparing

control signal with triangular wave

+
Va

vtri
q

vc

We want to establish a relation between vc and Va

AVERAGE voltage

vc(s)

Va(s)

DC motor

Ttri

Switch mode DC-DC converter

Two-quadrant converter

1
q
0

vc

Vc < Vtri

1 t Ttri
d q dt
Ttri t

Vc > Vtri

t on
Ttri

ton

Vdc

1 dTtri
Va Vdc dt dVdc
Ttri 0
0

Switch mode DC-DC converter

Two-quadrant converter
d

0.5

vc
-Vtri
Vtri

vc

-Vtri

For vc = -Vtri d = 0

Switch mode DC-DC converter

Two-quadrant converter
d

0.5

vc

Vtri

-Vtri
Vtri

vc
Vtri

For vc = -Vtri d = 0
For vc = 0

d = 0.5

For vc = Vtri

d=1

Switch mode DC-DC converter

Two-quadrant converter
d

0.5

Vtri

-Vtri

vc

Vtri

Vtri

vc

1
d 0.5
vc
2Vtri
For vc = -Vtri d = 0
For vc = 0

d = 0.5

For vc = Vtri

d=1

Switch mode DC-DC converter

Two-quadrant converter
Thus relation between vc and Va is obtained as:

Va 0.5Vdc

Vdc
vc
2Vtri

Introducing perturbation in vc and Va and separating DC and AC components:

DC:

Vdc
Va 0.5Vdc
vc
2Vtri

AC:

Vdc ~
~
va
vc
2Vtri

Switch mode DC-DC converter

Two-quadrant converter
Taking Laplace Transform on the AC, the transfer function is obtained as:

v a ( s)
Vdc

v c ( s) 2Vtri

vc(s)

Vdc
2Vtri

va(s)

DC motor

Switch mode DC-DC converter

Four-quadrant converter
leg A

Q1

leg B

+Va

Vdc

Positive current
va = Vdc

when Q1 and Q2 are ON

Q4

D3

D1

D4

D2

Q3

Q2

Switch mode DC-DC converter

Four-quadrant converter
leg A

Q1

leg B

+Va

Vdc

Q4

D3

D1

D4

Positive current
va = Vdc

when Q1 and Q2 are ON

va = -Vdc

when D3 and D4 are ON

va = 0

when current freewheels through Q and D

D2

Q3

Q2

Switch mode DC-DC converter

Four-quadrant converter
leg A

Q1

leg B

+Va

Vdc

Q4

D3

D1

D4

Positive current
va = Vdc

when Q1 and Q2 are ON

va = -Vdc

when D3 and D4 are ON

va = 0

when current freewheels through Q and D

D2

Q3

Q2

Negative current
va = Vdc

when D1 and D2 are ON

Switch mode DC-DC converter

Four-quadrant converter
leg A

Q1

leg B

+Va

Vdc

Q4

D3

D1

D4

Positive current

D2

Q3

Q2

Negative current

va = Vdc

when Q1 and Q2 are ON

va = Vdc

when D1 and D2 are ON

va = -Vdc

when D3 and D4 are ON

va = -Vdc

when Q3 and Q4 are ON

va = 0

when current freewheels through Q and D

va = 0

when current freewheels through Q and D

Switch mode DC-DC converter

Four-quadrant converter
Bipolar switching scheme
Vdc
-Vdc

q
vtri

vc

2vtri

vA

Vdc
+ VAB

vc

Vdc
0

Vdc
vB

Vdc

v
d A 0.5 c
2Vtri
VA 0.5Vdc

Vdc
vc
2Vtri

v
dB 1 d A 0.5 c
2Vtri
VB 0.5Vdc

Vdc
vc
2Vtri

vAB
-Vdc

VA VB VAB

Vdc
vc
Vtri

Switch mode DC-DC converter

Four-quadrant converter
Bipolar switching scheme

v a ( s) Vdc

v c ( s) Vtri

vc(s)

Vdc
Vtri

va(s)

DC motor

Switch mode DC-DC converter

Four-quadrant converter
Unipolar switching scheme

Vdc

Leg b

vc
Vtri

-vc

vtri

Vdc

qa

vc

Leg a

vA

vtri

d A 0.5

vB

qb

-vc

vc
2Vtri

VA 0.5Vdc

Vdc
vc
2Vtri

dB 0.5
VB 0.5Vdc

vc
2Vtri
Vdc
vc
2Vtri

vAB

VA VB VAB

The same average value weve seen for bipolar !

Vdc
vc
Vtri

Switch mode DC-DC converter

Four-quadrant converter
Unipolar switching scheme

v a ( s) Vdc

v c ( s) Vtri

vc(s)

Vdc
Vtri

va(s)

DC motor

Switch mode DC-DC converter

MATLAB v6.5, SIMULINK v5

2-quadrant converter

SIMULINK EXAMPLES
Open-loop control
Closed-loop control (current control)

Switch mode DC-DC converter

SIMULATION EXAMPLES
Id

2-quadrant converter

+
vtri

Vdc

vc

vc
To Workspace2
Sine Wave

qA
Relay

-K -

vau

Gain 1

To Workspace 3

Out 1

1
0.01 s+10

Subsystem

Transfer Fcn

vave
To Workspace 1

-K -

iave

0.01 s+10

Gain 3

To Workspace5

Transfer Fcn 1

100
Constant

rl_2q_average.mdl

iD
Dot Product

To Workspace8

iau
To Workspace4

Switch mode DC-DC converter

SIMULATION EXAMPLES
2-quadrant converter

vc
To Workspace2
Sine Wave

qA
Relay

-K -

vau

Gain 1

To Workspace 3

Out 1

1
0.01 s+10

Subsystem

Transfer Fcn

vave
To Workspace 1

-K -

iave

0.01 s+10

Gain 3

To Workspace5

Transfer Fcn 1

100
Constant
iD
Dot Product

Average model

To Workspace8

iau
To Workspace4

Switch mode DC-DC converter

SIMULATION EXAMPLES
4-quadrant converter

Vdc
Leg b

+
vtri

Vdc
qa

vc

Leg a

vtri

-vc

qb

Switch mode DC-DC converter

SIMULATION EXAMPLES
4-quadrant converter
Sine Wave

Relay

iau

Continuous

To Workspace1

powergui

Out1

Subsystem

Relay 1

+
-1
Sine Wave 1

DC Voltage Source

Relay 2

Gain 1

Relay 3

Gain 3

unipolar_4q_with_id.mdl

+ i
-

Current Measurement
Series RLC Branch

Universal Bridge

-K -

Average model

Scope 1

1
0.01 s+10
Transfer Fcn 1

iave
To Workspace5

Switch mode DC-DC converter

SIMULATION EXAMPLES
Closed-loop current control

iref

PI

H-bridge
converter

Small signal model

s

Iref(s)

ki

ki

kp

vc(s)

Vdc
Vtri

Va(s)

1
sL R

Ia(s)

Switch mode DC-DC converter

SIMULATION EXAMPLES
Closed-loop current control

Continuous
powergui

PID
Signal
Generator 1

PID Controller 1
8

Gain 3

Constant

-1

+v
-

Relay

Voltage Measurement

ia
Scope 1

To Workspace1

Out1

Subsystem

Relay 1

+
Relay 2

DC Voltage Source

Relay 3

closed_loop_unipolar_4q_with_id.mdl

Scope 2

g
A

+ -i
Current Measurement
Series RLC Branch

Universal Bridge

iref
To Workspace2

Switch mode DC-DC converter

SIMULATION EXAMPLES
Closed-loop current control

Controlled rectifier
DC-DC Switch mode
For both DC-DC and Contr.
Rectifier:
7
6.5

6.5

Current controlled, Iref = 5 A

6

6
5.5

Load: 250m , 20

5.5
5

4.5
Disturbance in DC source:
70V, at 5Hz

4.5
4

3.5

3.5

3
0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.85

ftri = 10 000 Hz
4-quadrant
Unipolar

0.9

0.95

3
0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.85

3-phase, 50Hz
2-quadrant

0.9

0.95

Switch mode DC-DC converter

SIMULATION EXAMPLES
Closed-loop current control

Controlled rectifier
DC-DC Switch mode
For both DC-DC and Contr. Rectifier:
8

Current controlled, 6Iref = 5 3 A, freq 5Hz

6
4

Load: 250m , 202

0
0.3

0.35

0.4

0.45

0.5

0.55

0.6

0.65

0.7

0.75

0.8

0
0.3

600

600

400

400

200

200

-200

-200

-400

-400

-600
0.3

0.35

0.4

0.45

0.5

0.55

0.6

0.65

ftri = 10 000 Hz
4-quadrant
Unipolar

0.7

0.75

0.8

-600
0.3

0.35

0.4

0.45

0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.35

0.4

0.45

0.5

0.55

0.6

0.65

0.7

0.75

0.8

3-phase, 50Hz
2-quadrant