PiM Control Method of Multiple Inverters for MACLEV

Kazuhiro Imaie Hitachi Works, Hitachi, Ltd. 3-1-1 Saiwaichou, Hitachi Ibaraki. 317 JAPAN
ABSTRACT A new pulse width modulation (PWM) strategies in a current and speed control circuit for multiple inverters employing large capacity gate turnoff(GT0) thyristors assuming a magneticly levitated transportation system (MAGLEV) as a load is presented. To realize the strategies. the necessity of the dead-time compensation scheme is also explained. Simulated results and experimental results of small model multiple inverters and a synchronous motor with multi-CPU constructed control circuits are presented.
Satoru Ito Shigeta Ueda

Hitachi Research Laboratory, Hitachi. Ltd.

4 0 2 6 Kujichou. Hitachi

Ibaraki. 317 JAPAN

1. Introduction

Large capacity gate turn-off (GTO) thyristors have begun to be used for lase capacity power conversion system, HVDC. SVC. etc. The limitation of the switching frequency of these GTOs is thought to be 500Hz (depending on thier conditions). then multiple configurated circuits are used actually to reduce the output current harmonic distortion. A s a typical application of these large capacity power conversion system. a inverter for a magnet i cly 1ev i tated transportat i on systen (MAGLEV) is presented in this paper. MAGLEV as a liner synchronous rotor has been studied for a few decades in Japan. In this systea. superconducting magnets are used for the levitation, the harmonic distortion involved in the synchronous motor current which causes heat and torque ripple should be reduced. Therefore, multiple inverters are used for the MAGLEV. For MAGLEV drive, the power supply of grand coils is requiered to change its output frequency related to the MAGLEV speed up to several hundred km/h (assuming between dc and several ten Hz). In the case of series connected multiple inverters. transformers are mounted at thier output stage to

keep an isolaton between aain circits and the load, and to sum up the outputs. So the multiple configuration will not be realistic without thinking thier voltage-time product, which decide the dimension of the output transformers. Therefore, a nev pulse width modulation (PWM) control strate gies aim at the reduction of VT are necessary to operate the multiple inverters. when the output frequency is low in particular, special control method of PWM is required to prevent the saturation of the transformers and reduce the harmonic distortion. As the large capacity GTO requires a long dead-time (abut 50p s). dead-time compensation scheme is also necessary. Because the influence of the dead-time is larger, as the number of stage series connected inveters are increased. In this paper, the new PWM control strategies for the multiple inverter, N-stage series-connected inverters are explained. Using the new PWM control strategies, the current and speed control with PI controler for synchronous motor is also studied. Then simulated results and experimental results of small wdel multiple inverters empoying IGBTs (assuming the same dead-tine period as for a large capacity GTO) and synchronous motor with multi-CPU constructed control circuits are presented.

2. Configuration of main circuit

The configuration of a nultiple inverter is shown in Fig. 1. This multiple inverter consists of N-units of full-bridge single phase inverters in a phase (3N in total) because of their large capacity and their ability to reduce harmonic distortion. Each inverter has a transformer at its output stage, of which the secondary terminals are series connected to each other in a phase, then the inverters can sum up their output voltage. As MAGLEV requiems variable frequency power supply

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between dc to several ten Hz. the configuration should be considered under the low frequency condition. When the output frequency is low, INVl is switched over to a half bridge inverter without output transformer by mecanical switches to prevent the saturation. The other full bridge inverters are used within the saturation limit. Then, the multiple inverter can cover all the frequency band.

signals with dead-time compensation signals which are desided from the value of the current and the reration between the output voltage and the current. The 3-phase voltage references are transmitted to the PWM pulse generating units. There are 3N/Z PWM units for all the inverters because one unit operates two full bridge inverters in a phase (Pig. 3). Receiving the voltage reference and the syhchronizing signal, PWM units begin to calculate the pulse width independently each other. W Each P M units has an identification No. (ID No.) to know which inverters the unit should control. This configuration of the control circuits with the ID No. is advantageous to data transmition between UNIT1 and UNITZ. and also enables to install the same control program in these PWM units if the number of N stage full bridge inverters is increased. A new PWM control nethod is required to prevent the saturation of the output transformers because this main circuit supplies power betveen dc and about 60Hz. For that reason, this paper proposes a new PWM control method adapted to the output frequency.
, . ... .. .. .. ... .. .. . . . . .. . . . ... .. .. .. . . . . . . . . . ... . . .. . . . . . .

output Transformer

SM:Synchronous Motor HB:Half Bridge Inverter FB:Full Bridge Inverter Fig. 1 Main circuit configuration
3. Control circuits and control methods

Fig. 2 Brock Diagram of the control circuits

A block diagram of the control circuits is

shown in Fig.2. There are two units in it. a speed and current control unit, and a PWM pulse generating unit. First, the revolving speed of synchronous motor is deteced. and calculated with the speed patern signal through an automatic speed regulator (ASR) with a PI controller. Then q conponent reference value is acquired. Second, the d-q components and the zero component are calculated from the 3-phase load currents and magnetic pole position signal in the speed and current control unit. The magnetic pole position signal control is also used not only to make sin and cos data but also to control the revolving direction. These signals are calculated through an automatic current regulator (ACR) with a PI controller, and are finally translated into votage reference

UNIT 1

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INVl

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INVN-I N V I

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Phase V

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UNIT 2
Fig. 3 PWM Units configuration

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3.1. PllM control method The output frequency of the multiple inverter is divided into two frequency bands shown in Fig.4 ; a low frequency band (LFB) (de - 30Hz). and a high frequency band (HFB) (25 - abut 60Hz). These band have an overlap band each other convenient for switch over the main circuit configuration in running. And also the overlap, hysteresis running. is convenient when a power supply section is changed in actual use. In each band, the PWM pulse is calculated and generated to reduce the harmnic distortion in the output current, based on the sub-hamnic method.

Reference Voltage Half Bridge Inverter Output Voltage Full Bridge Inverter Reference Voltage

x
Y

Fig. 5 Principle of LFH Control Method

1 0 0 7

[,,

7J 3

a 601 _._.................

40

50
3

Freauency [Hzl Fig. 4 Output Voltage of Multiple Inverter In the HFB. the main circuit uses all the unit inverters as full bridge inverters. The voltage reference signals are allocated to all full bridge inverters equally. All full bridge inverters produce the same voltage value with a difference in the phase of the triangular carriers, which is distributed to each bridge of the inverters with the same phase difference (360'/ N. being 2N ) number of carriers in all. Then the sub-harmonic output voltage is produced after the output s u ming transforner. In the LFB. the main circuit uses one inverter (INVl) as a half bridge inverter and the other N-1 (INV2 - INV N) as full bridge inverters'". For the reason that the voltagetime product across the output transformer by the HFB control is unacceptable in actual use, the half bridge inverter is control to produce the output voltage without the output transformer. The half bridge inverter, therefore, produces a maximum voltage. i.e. a rectangular waveform voltage, and the other full bridge inverters produce the rest of the voltage reference equally (Fig. 5) ['I ['I ['I. Using this control method. the result of the voltage time product across the transformers is reduced compared to AFB method as shovn in Fig.6.

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.................................................

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\ LFB Control . I . . .
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Frequency [Hz]

Fig. 6 VoltageTime Product

3.2. Dead-time compensation method 'I

Since the GTOs are operated with abut 5 0 ~ s dead-time which is too long to be ignored. deadtine canpensation is necessary for the multiple inverters in actual application. As the number of multipes in a phase is increased, the influence of the dead-tine is lager. The influence causes reduction of the output voltage and current distortion, especially in the lower frequency band. In this paper. dead-time coapensation is carried out with a special function derived from the sum of the output voltage errors which is defined as the difference between ideally calculated output voltage and real output after dead-time circuits Carrier Reference Voltage

Error Gate Signal

Fig. 7 Error Voltage by Dead-Time

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Voltage Reference Dead-Time Conpensation

. i

(Fig.1). This function, which is synchronized with the current, has the inclination that reduce the distortion around the zero cross point of the current. The actual voltage reference is produced as the sum of the voltage reference frm the ACR and this function. The principle of the applied dead-time compensation method is shownin Fig.8.

..
4 Simulated results and experimental results . As the typical application of the proposed control strategies, assuming the number of mutiples N as 4. simulated results and experimental results are shown. These results are obtained from a small modcl. employing IGBTs as switching devices and 5.5kW synchronous motor, assuming the large capacity GTO inverters for actual MAGLEV liner synchronous motor. And also PWM control is carried out with the same value of GTO dead-time to confirm the effect of the dead-time compensation method. The frequency of the triangular carrier is 500 Hz.

Yo1 tage

Fig. 8 Plinciple of Dead-Time Compensation

lNVl (GOV/div) IN12 (GOV/div) INV3 (GOV/div) IN14 (GOV/div) Total Output Voltage (GOV/div)

INVl (GOV/div) INV2 (60V/d iv) INV3 (GOV/div) 1 NV4 (GOV/div) Total Output Voltage (GOV/div)

output Current (4A/d iv) (ImS/di v) Fig. 9 Output waveforms in HFH

output Current ( S U d iv) (GmS/div) Fig. 11 Output waveforms in LFB

II

Fig. 10 Output Current Spectram in HFB

Fig. 12 Output Current Spectra. in LFB

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4.1. HFB PWM control The simulated waveforms and the spectra of the output current through Fast Fourier Transformation in HFB are shown in Fig. 9 and Fig. 10. And the experimental results under sane condition are also shown in Fig. 11 and Fig. 12. Both waveforms are almost same. In this frequency band, each inverter produces same value and same phase of voltage with the only difference of carrier phases. Though it is apparent to be used the different phase carriers f r m the total output waveforms, i t is obvious the difference is a same phase from thier spectra, that is the components between 1 to 7 times of 500 Hz ones are eliminated, being used 8 carrier in total. These inclination are obtained fron the both results. The operatins in plinciple. therefore, is confirmed from the results. The effect of the PWM control is seen as using 4kHz carrier equivalent1y.

4.2. LFB PWM control The simulated waveforms and the spectra of the output current in LFB are shown in Fig. 13 and Fig. 14. And the experimental results under same condition are also shown in Fig. 15 and Fig. 16. Both waveforms are almost same. In this frequency band, INVl produces rectangular waveform without PM, and the others produce the rest of the voltage reference, same value and same phase of voltage with the only difference of carrier phases. Though it is apparent summing the output from the wave forms. the operatins in plinciple is confirmed as same as in HFBs. I t is observed the components between 1 to 5 times of 500 Hz ones are eliminated, because of 6 carrier. These inclination are obtain ed from the both results. The effect of the PWM control is seen as in using 3kBz carrier equivalently. Therefore, the practicability of this new plinciple is obvious

,
I

............................................................................ . . . . . .. .. . .. ..

I NV3

(lOOV/div)
I NV4

(lOOV/div) Total Output Voltage (ZOOV/div)

I
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I

(lOOV/div)
Total OUtDUt

output Current (10A/div) (SmS/div) Fig. 13 Output waveforms in HFB

1..............

......... ........

.........

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output Current ( OA/di v 1 ) (10aS/div)

Fig. 15 Output waveforms in LFB

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Frequenky

CkHzl

Freauen-cy

CkHzl

Fig. 14 Output Current Spectran in HFB

Fig. 16 Output Current Spectran in LFB

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While the waveform in LFB in Figs.17 (a) is compensated with the special function, the one in Fig.17 (b) is not. Without it, the current waveform should be distorted and reduced like in Fig. 17 () As this inclinatin is conspicuous in lower b. frequency, the compensation is necessary. It can be seen that in Fig.17 (b) there is a lot of harmonic distortion of the current and ripples on the torque and decline of current and torque values. In Fig. 17 () however, with compensation a. there is a lot of improvement in the current and torque values, and also the torque ripple. From these results. the effect of dead-time compensat i o n is apparent. compensated (10A/d iv)

5. Conclusion

In this paper, the new PWM control method and the dead-t ime compensation scheme were explained with simulated results and experimental results, then, their performances and effects were apparent. The reduction of the torque ripple and the improvement in the values of the current were obtained.

Refer ences

o; m;
(b) NOT compensated (10AIdiv) Fig. 11 Output Current in LHB Fig. 18 shows the caracteristics of the distortion in the output current over the dc t o about 60 Hz. I t is apparent t o enable t o operate the multiple inverter with the hamonic distortion under 3% except for extremely low frequency. Though the increase of the distortion is found in the lower frequency of each band, which is caused by the decrease of the modulation factor, it can be said that the distortion should deteriorate without the comoensation.
1988. No.70

[11 K.Nakada. e t a1 : 'Novel Contol Method of Harmonic Reduction for LSM Driving System'. National Convention Record IEE Japan 1990 [2] K. Imaie. e t al : "Control Method of Multiple Inverters in Middle Band for WLCLEV'. National Convention Record IEE Japan 1992. No. 26 [31 S. Ito. e t a1 : *Control Method in Medium Speed Region for Multiple Inverter". National Convention Record IEE Japan 1992. No.970 [41 S. Ito. et a1 : 'Control Method of Multiple Inverter for Reduction of Voltage-Time Product and Harmonics", International Session Conf. Rec. 1992 IEE Japan IAS No.e8-1 [51 Matui, e t al : 'Compensation Method of Output Voltage Distortion for Volage Controled PWM Inverter". National Convention Record IEE Japan

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Freauency [Hz]

Fig. 18 Distortion Characteristcs

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