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M. Kazerani
V. H. Quintana
IEEE Member
University of Waterloo
Department of Electrical & Computer Engineering
Waterloo, Ontario, Canada N2L 3G1
Phone: (519) 888-4567, Ext. 3737
Fax: (5 19) 746-3077
yve@,engmail.uwaterloo.ca
m.kazerani@ece.uwaterloo.ca
ABSTRACT- Pulse-width modulated (PWM) voltagesource converter (VSC) and current-source converter (CSC)
are the building blocks of most of the switch-mode power
electronic systems. Irrespective of the converter type, the
controller is supposed to fulfill two objectives: 1) real power
flow control which leads to the regulation of the dc quantity
(dc voltage in VSC and dc current in CSC) and 2) reactive
power flow control on the ac-side. The major difficulty in
control is caused by the nonlinearities in the converter model.
The existing control techniques are based on the design of the
PI-controllers without the knowledge of the converter model,
linearizing the nonlinear model, or splitting the original
system into linear and nonlinear parts and dealing with them
separately. In this paper, power balance equation and
nonlinear input transformation are used to derive a linear
model from the original nonlinear model. Then, decoupled
state-feedback control method is applied to the new model.
The accuracy of the new model and the performance of the
applied control method are evaluated using the simulation
results obtained from the PSCADKMTDC simulation
package. It is shown that as a result of using the new model
and applying the state-feedback control technique, the
dynamics of the system is considerably improved resulting in
short response times. It is also shown that the approach taken
in modeling and control results in excellent results even at
low switching frequencies making the scheme very suitable
for high-power applications.
I. INTRODUCTION
Thanks to many years of research and development,
switch-mode power converters have matured in both
structure of the power circuit and the method of control.
Irrespective of the topology, power converters are
controlled to realize two objectives: regulation of the dc
quantity (dc voltage in VSC and dc current in CSC) and
control of the ac-side reactive power. The most common
switching technique in switch-mode converters is Pulse
Width Modulation (PWM). As far as the fundamental
component of the ac quantity at the converter terminals (ac
voltage in VSC and ac current in CSC) is concerned, a
power converter under PWM behaves as a linear power
quintand&kingcong.uwaterloo.ca
102
11. CONVENTIONAL
NONLINEAR
CONVERTER
MODELS
,E,P
[v]=[vd
v,p and
[I']= z[;
fir.
[ I / ] =[M]rdc
(4)
,1
c +wv, --MdIdc
C
1
1
-v
= - I , -wvd --M
c
4 I dc
dt
C
3
+-kfdvd
d
-Idc =-%Idc
dt
Ldc
2Ldc
3
+-kf4vq
2Ldc
d
-Id
dr
R
=--Id
L
R
= - w I ~ --I,
1
+ d ,--vd
L
--Vq
1
+-Ed
B.
E,T
[VI = 21 [m)'dc
Idc =
51 [,I* [il
(5)
(6)
[VI = [MP&
L
1
+-E,
L
VSCModel
-I
dt
1
=-Id
A. CSCModel
vdc
d
dt
d
-vd
103
(12)
where
[MI=
[ M ~M ,
y.
side and KCL equation on the dc-side and replacing for Vd,
V, and Idc from (12) and (13), the following nonlinear
model for VSC results:
MODELS
111. IMPROVED
CONVERTER
3
3
Pur =-EdId +-E I
2
2 q 9
d
(17)
Idc + Rdcl:c
(18)
U , = E q -V,
Iid = I'd -&E9
rjq= II,+&E~~
The improved
-((Idc)
d 2 =-3(I&)+-Id
Ldc
dt
d
-Id
dt
d
-1
dt
104
R
=--Id
L
thus becomes:
3Ed
+>Iq
3E
Ldc
Ldc
1
+dq
+-ud
L
R
1
=-@Id --I,
+-U
L
L 9
d
1
1
=--Id
C +@U, +-lid
C
dt
d
1
1
-U
=--I
-wud+-Iiq
d t q
C q
C
-ud
where
ud,
(29)
(30)
and I , are the input variables, and ( I & ) and I, are the
output variables. R, L, C, Rdc, Ldc, Ed, E, and w are the
system parameters and are considered constant.
ud
(31)
d
vdc
-vi
(32)
(36)
(37)
d 2
-(&A=-
3
=2
-vd
U , = E , -V,
dt
(&)
&gdc
drd
= --Id
R
dt
L
+3Ed
Id
cdc
(38)
cdc
+-ud
L
(39)
1
+-U
(40)
+w~q 1
3E
d
-1,
dl
= -01, --I,
where
L 4
Rdc, and c d c , Ed, E, and w are the system parameters and are
considered constant.
RAp
As in the
Of csc7p'oss can be
without
loss of accuracy. For better accuracy, the converter loss
can be represented by a large resistor in parallel with Rdc.
The equivalent resistance is still called Rdc. From
Pa, = Pd, ,the following dynamic equation results:
cdcvdc-vdc
d
dt
+-Vdc=-EdId
1 2 3
Rdc
2
CONTROL
METHOD
IV. DECOWLED
STATE-FEEDBACK
(33)
+ ploss
+ z3E q I q
(34)
X=Ax+Bu
y=cx
where x is the state variable vector, U is the input variable vector
and y is the output variable vector. A , B and C are constant
matrices. The state-feedback control regulation is:
U
= -Kx
+ Ryrej
(43)
(35)
By taking (vdc)as the state variable, instead of vdc?
(35) becomes a linear equation. Since Vdc is unipolar, the
as the state variable does not cause any
choice of
problem.
(vi)
105
where,
G , (s) = C(SI - A + BK)- B
(45)
(4
25
20
............................................
IS
10
0.
(A)
10
8
6
4
2
0
0.08
0.1
0.12
RESULT
V. SIMULATION
0.18
Ia
(A)
0.16
0.14
(b)
0.08
0.1
0.12
(c)
0.16
O.I4
4M
350
- ................... ;....................
I
;....................
;....................
Iq & Iqref
(4
-2
_ ...................
;....................
, : .--4 -1
-6 _................... :.....................
-8
- ...................
....................
- . .
....................
.?!..............
;....................
:....................
:....................
Ia
I
0.1
0.12
0.14
-U)
0.08
- .
....................
(4
20-
....................
-:
0.16
(C)
106
0.18 (s)
25
................. ;....................
;....................
-.
2Ll
15
....................
IO
0.2
......
0.22
026
0.24
0.28
0.3 (s)
(a)
(A)
IO
REFERENCE
6
4
2
0
0.2
0.22
0.24
0.26
0.28
0.3 (5)
0.26
0.28
0.3 (SI
(b)
--
0.2
0.22
0.24
(C)
(v)
450,
400
:v
350
- ...................
;....................
;....................
;....................
Iq & Iqref
(A)
0
-2
-8 - ...................
I
-10
0.2
0.22
0.24
026
0.28
.-
0.3
(S)
0.3
(S)
(b)
Ia
(4
.m
-a0
0.2
0.22
0.24
0.26
0.28
(C)
107