The 30th Annual Conference of the IEEE Industrial Electronics Society, November 2 - 6,2004, Busan, Korea
Automatic Voltage Regulator Using a Novel Phase-Shifted PWM
Single-phase Inverter *Kuo-Kai S h y *Ming-Ji Yang *Jing-Heng Hong **Bau-Hung Lin *Department of Electrical Engineering, National Central University, E-mail : kkshyu@ee.ncu.edu.tw **Department of research and development, RIYE Electric CO., LTD, E-mail : bau@ms70.url.com.tw Absfract-In this paper, a novel phase-shifted pulse width modulation (PS-PWM ) automatic voltage regulator (Am) with fast voltage control and reduced total harmonics is proposed The novel PS-PWM AVR is made up of an AUAC converter withreversiblevoltage control and a transformer for series voltage compensation. In the active rectifier, a proper switching operation is achieved without the problemof power factor correction. The AVR uses a fully digital controller, which is implemented by a fixed-point digital signal processor (DSP) TMS320F240 DSP-based board. Therefore, the proposed AVR gives high efficiency and reliability. It is also shown via some experimental results that the presented novel PS-PWM AVR gives good performance for high quality of the output voltage. Index Terms- PS-PWM AVR, AC/AC converter, DSP, active rectifier I. INTRODUCTION With the modem industry advance day by day, the production equipments of automation become more and more precise. So the requirement of power quality becomes higher. Power quality problems commonly face industrial operations including transients, sags, swells, surges, outages, harmonics, and impulses that vary in quantity or magnitude of the voltage. Of these, voltage sags and extended undervoltages have the largest negative impact on industrial productivity, and could be the most important factors of power quality variation for many industrial and commercial customers. Therefore, the automatic voltage regulator (AVR) of high stability, wide voltage regulation range, and fast dynamic response is required to compensate for the fault of power quality. The conventional voltage regulator mainly has used servomotor to change the tap-changing transformer. But the faults are as follows: large size of the mechanism, slower dynamic response, mechanical attrition and lower efficiency etc. Therefore, the conventional voltage regulator cannot be used in precision equipment. In recent years, development of the AC voltage-voltage Converter and AC chopper has been used in AVR [ 11-[7]. There are two typical configurations of such AVR. First, the circuit configuration is an AC voltage-voltage converter (AC Buck) type. Even though most faults of the conventional voltage regulator could be improved by AC Buck, but it cannot level down the AC line voltage when the AC line has occurred some situations, such as swell, surge or long-term overvoltage. Secondary, the circuit configuration is a novel AC chopper [Z]. It not only improves the problem of conventional voltage regulator but also has voltage upldown capability. But its switching sk-itegy cannot reduce total harmonic distortion, switching loss and the size of the LC filter. Therefore, a novel switching strategy for single-phase voltage regulator is proposed in t hi s study. The proposed switching strategy can reduce switching loss, total harmonic distortion, sizeof the LC filter etc, and then increases the performance of the single-phase voltage regulator. JIDESCFUPTION OF THE VOLTAGE REGULATOR TOPOLOGY In this paper, the proposed voltage regulator topology is shown in Fig. 1. Tn order to provide a stable AC power supply, the transformer series in between the AC line and the load side to compensate the variable voltage of AC he. The hcti on of the voltage regulator is making AC line from unstable to stable voltage, after the line voltage is regulated and controlled by power circuit and digital controller. Fig. 2 shows the voltage regulator topology, the output voltage of load is given by v, =v, +"./;G where vi is the unstable input, V, is the stable output, Yo' is the output of the AC/AC converter, and N is turns ratio of transformer. I\ i t v, AC/AC Converter I Fig. 1. When the AC line input terminal has occurred voltage variation, the load terminal still outputs a stable voltage after regulating the AC/AC converter. It can be noted that the power specification of AC/AC converter is reduced to IN of the output power because of using a hnsformer. That is, Topology of the proposed novel PS-PWM AVR where output power, and N is the t u r n s ratio of the transformer. is the power of the AClAC converter, Po,, is the 0-7803-8730-9/04/$20.00 92004 IEEE 1851 " I Inverter : Fig. 2. Power circuit of the proposed AC/AC converter with 1_-!!9k?Rec!!?L~-i i _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ .--.--......*..... J novel PS-PWM control. 111. PROPOSED SWITCHING STRATEGY FOR AVR Themain power circuit of systemis shown in Fig. 2 i s based on the same circuit structure as 121, but the switching strategy is innovative. Fig. 2 shows two parts of the power circuit, the left dotted line block and the right one are the active rectifier and the inverter, respectively. In the following, their operational principles and functions will be illustrated. A. DESCRIPTION OF THE ACTIVE RECTIFIER Consider the active rectifier shown in Fig. 2. When switches S,, SJR are tumed on, the waveforms ofAC input are changed from negative to positive. Thus, the sine waveofAC input is rectified to a signal greater than zero. Because the active switches are substituted for the passive ones, it is called active rectifier. The forward voItages on the active switch and the passive one are 0.2 volt and 0.7 volt, respectively. Hence, the forward voltage of active switch is lower as compared with the passive diode rectifier. However, using the active rectifier not only reduces power loss on theswitches, but also increases the power factor at the AC line input. Therefore, it is suitably used high power applications. Fig. 3 Equivalent circuit of the reversible voltage inverter B. PROPOSED SWITCHING STRATEGY FOR Fig. 3 shows the equivalent circuit of the reversible voltage inverter [ 8] . Th i s circuit schematic is identical with general inverters. To compare the switching strategies of the proposed method and the conventional one, Figs. 4 and 5 show the conventional switching strategy and the proposed method, respectively. These figures show the sequences of all driving signals and output voltage waveformat the fullbridge inverter. It can be seen that the proposed switching strategy only FULLBRIDGE INVERTER uses half the switching frequency of the conventional one. But he proposed switching strategy outpuM the same switch pattern as the conventional one. However, it should be noticed that during the positive period of AC line input, the duty ratio is limited to greater than 50% for the switches Si and S4. On the contrary, during the negative period of AC line input, the duty ratio is limited to less than 50% for the switches SI and S4. To clearly explain the operational concepts o f the switching strategy, in the following, more details will be given. For convenient illustration, the input voltage will be assumed to be a DC value and the characteristics of all components will be considered in ideally. Fig. 4. Conventional switching strategy for single-phase full-bridge inverter t t t f t Fig. 5. Proposed switching strategy of the novel PS-PWM for single-phase full-bridge inverter (1) Duty ratio 0 2 5 0 % 1852 FromFig. 6, it can be observed that the signal of S, is phase-shifted 90" to the signal of S,, and the switching signal of high side is complementary to that of the low side in the full-bridge inverter. During the interval I , 5, and S4 are turned on and S2 and S3 are turned off. The switching output voltage Vsw is the same as the input voltage Vi. Therefore, the inductor voltage VL is given by VL =y, - v, (3) Duriog the interval 2, SI and S, are tumed on, and $2 and S, are turned off. In this case, Vm equals zero. VL becomes Similarly, same results can be obtained during inteivals 3 and 4. Therefore, the average inductor voltage can be derived by the volt-second balance theoremduring one switching cycle [SI as v, =-v, (4) Accordingly (5-v,). T -- +(-v,).(Tw-Tm)=O ( 6) D = ? k (7) v, = V, . ( 2 0 - l ) ; DL0 . 5 (8) ( m : I Define D be the ratio between the turn-on time and the cycle time of the switch during a switching cycle as Tm Thus, inserting (7) into (6) gives (2) Duty ratio DS OW In t hi s condition, interval 5 is fmdy discussed. Dlning the interval 5, SI and S3 areturned on, and SI and S4 are turned off. It is seen that V, is equal to zero and VL is: v, =-v, (9) Next, during the interval 6, because 52 and S, are turned on, and S, and & are turned off. Vsw reverses to Vi. As a result, VL isgiven by Following similar discussions, same results can be obtained for intervals 7 and 8. Accordingly, the average inductor voltage during one switching cycle is obtained as v, =-vi -v, (10) +T" Consequently, oneobtains v, =P i . ( 20 - 1); D 5 0. 5 (13) C. TRANSFER FUNCTION OF THE PROPOSED PSPWM INVERTER Synthesizing analysis of above discussions (DZO. 5 and DSU.5), onecan easily have the relation between Vi and V. for the whole duty ratio range as follows: v, = v i . ( 2 ~ - I ) ; 0 S DI I (14) v / Postive ' YYR A / i Negative -1 Fig. 6. Vdv, contrasts with the D Fig. 6 shows the relation, which contrasts the F'Pi witb the duty ratio D. When D >50%, the output voltage is in phase to the input. When D=50%, the output voltage is zero. When D <50%, the output voltage is reverse to the input. Accordingly, it is obvious that one only need to adjust the duty ratio D to obtain an in phase or reverse voltage to the input waveform. FromB e foregoing analysis, the waveforms are repeated for V,, and VL during one switching cycle (intervals 1-4 or intervals 5-6). In other words, the output k pnc y will be double to the switching fiequency of the each switch. That is where fo is the oufput fiequency and fm is the actual switching fiequency. Consequently, it can be concluded that the proposed novel switching strategy can reduce the switching fkequency of the switch to reduce the switching losses. The most important is that it doubles the output fkquency; as a result, the total harmonic distortion and the specification of LC filter are reduced. Fig. 7 shows the corresponding signal waveforms of the inverter using the proposed novel switching strategy. f, =2 . f , (15) 1 inphase voltage I reverse vattage Fig. 7. Waveforms diagramof the power circuit. 1853 Turns ratio of the transformer 5 6 7 8 9 10 11 12 Voltage disturbances a. Momentary voltage b. Transient 0 Vervoltage Freauencv variation Voltage THD Power factor Switching frequency PWM output fkequency Input voitage Load power Inductance of the output filter Capacitance of the output filter neters and conditions Rang or maximum N, : N, = 5 : l -20% to +20% (ANSI C84.1-1970 k+6. -13%) -20 to -25% for less OSs , with -100% acceptable for 5-25111s +120 to 160% for less than 0. l m 60- fO.5Hz to flHz 3-4% (withlinear load) 0.95-0.98 . . . . . . f.=20kHz AC llOV,, 14 10 kVA Lo= 1mH CO= louF Fig. 8. Structure block diagram of the pmpased navel AVR system Fig. 9. Photo of the novel single-phase PS-PWM AVR + 45.514 m Freq(1I 28.8885 k l h FreqQ) Rn 28.8885 klh Fr eql Q) M 48.8855 k l h Fig. 10. Chi: Switching waveform of SI, Ch2: Switching waveform of SI, Ch3: Waveformof the P W M output. 24-tlov-83 23:32:2B c 47 IRj mxirum(1 I 131 W F reqtl l M 59 99 L mx1ru" 155 W Fr eq W M 59 99 tb 18 ffi Fig. 11. Input and output voltage waveform when input is long-term undervoltage. 19- k - 83 1356 I4 ,I- ---. 1. Fig. 12. Input and output voltage waveform when input is long-term overvoltage. prototype 1854 I l l I I I I I I I I I I t I I I I I I I I I I I Eh2: b Fig. 13. Input and output voltage waveform when input is voltage sag. I I I I l I I l l i I I I I I I O I I I I I 1 I l l i I I I 450, O l s Fig. 14 Input and output voltage waveform when input is voltage swell. IV. EXPERIMENTAL RESULTS The proposed novel switching strategy has been implemented in a novel AVR according to the structure block diagrams for this system shown in Fig. 8. Fig. 9 shows the real hardware experimental system of a 10 RVA novel single-phase PS-PWM AIR prototype. Table I shows the experimental parameters and conditions for this system. Figs. 10-14 show the experimental results. In Fig. 10, one can see the output P W M fiequency doubles the switching lkquency. Fig. 11 shows the compensated output voltage when AC line had occurred long-term undervoltage. However, if the AC line had occurred long-term overvoltage, Fig. 12 shows this system can still works well. For the case when the AC line had occurred the voltage sag, Fig. 13 shows the output voltage can be fast compensated. Also, Fig. 14 shows this systemfastly cut down the input voltage when the AC line had occurred the voltage swell. V. CONCLUSIONS In this study, a fixed-point, high-speed cost-effective DSP (TMS320F240) is used to implement the fully digital controller of the proposed voltage regdator. It has been demonstrated through experimental results that the proposed novel switching strategy can lower the switching fiequency of the switch to reduce the switching losses. The most important is that it doubles the output frequency; as a result, the total h o n i c distortion and the specification of LC filter are reduced. The proposed novel PS-PWM AVR has the following features: allows any schemes of the single-phase full-bridge inverter. fast dynamic response for AC voltage regulation. reduces switching losses and total harmonic distortions. reduces the LC filter size. improves the input power factor and power quality. a fully digital design to lower total system cost and improves reliability. VI. REFERENCE [l] Steven M. Hietpas, Mark Naden, Automatic Voltage Regulator Using an AC Voltage-Voltage Converter, IEEE Tranractions on Industry Applicafions, Vol. 36, No.1, pp. 33-38, Jan, 2000. 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Kim, Wove1 commutation technique of AC-AC converters, IEE Proc.-Electr: Power Appl., Vol. 145, NO. 4, pp. [8] N. Mohan, T. M. Undeland, W. P. Robbins, Power Electronics: Converters, Applications, and Design. Second Edition, John Wiley & Sons, Inc., 1996. 5 , pp. 1110-1119, Oct., 2002. 3, pp. 554-562, Ju., 2001. 91-97, Jan., 2004. 295-300, July, 1998. Achowledgment: and the National Science Council of Taiwan under contract NSC 92-2622-E-008-027-CC3. This study was supported by the RIYE Electric CO. 1855