ELECTRIC DRIVES

CONVERTERS IN ELECTRIC DRIVE SYSTEMS

MODULE 2

Dr. Nik Rumzi Nik Idris
Dept. of Energy Conversion, UTM
2006
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
Assignment 1
AC-DC controlled rectifier

+

V
o



+

V
o



o
t
= cos
V 2
V
m
o
90
o
180
o

t
m
V 2
t

m
V 2
90
o

t
m , L L
V 3
t

m , L L
V 3
o
t
=

cos
V 3
V
m , L L
o
For steady state continuous current flow
Average voltage
over 10ms
Average voltage
over 3.33 ms
50Hz
1-phase
50Hz
3-phase
180
o

o
o
AC-DC controlled rectifier

firing
circuit
controlled
rectifier
o
+

V
a



v
c

v
a
(s) v
c
(s)
DC motor
The relation between v
c
and v
a
is determined by the firing circuit

?
It is desirable to have a linear relation between v
c
and v
a
AC-DC controlled rectifier

linear firing angle control
Input voltage
V
m

v
t
v
c
0 t 2t
3t 4t
Sawtooth compared with control signal
Results of comparison to trigger SCRs
Output voltage
AC-DC controlled rectifier

linear firing angle control
V
m

v
t
v
c
0 t 2t
3t 4t
o
v
c

t
o
=
t
c t
v v
t = o
t
c
v
v
( ) o
t
= cos
V 2
V
m
a
|
|
.
|

\
|
t
t
=
t
c m
a
v
v
cos
V 2
V
o
A non-linear relation between V
a
and v
c
AC-DC controlled rectifier

Cosine-wave crossing control
V
m

v
s
v
c
0 t 2t
3t 4t
Input voltage
Cosine wave compared with v
c
Results of comparison trigger SCRs

Output voltage

AC-DC controlled rectifier

Cosine-wave crossing control
V
m

v
s
v
c
0 t 2t
3t 4t
o
o
V
s
cos(et) V
s
cos(o) = v
c

|
|
.
|

\
|
= o

s
c 1
v
v
cos
( ) o
t
= cos
V 2
V
m
a
|
|
.
|

\
|
|
|
.
|

\
|
t
=

s
c
1
m
a
v
v
cos cos
V 2
V
s
c m
a
v
v V 2
V
t
=
A linear relation between v
c
and V
a

AC-DC controlled rectifier

e.g. cosine wave crossing control
AC-DC controlled rectifier
Control model

V
a
is the average voltage over one period of the waveform
- sampled data system

Delays depending on when the control signal changes normally taken
as half of sampling period
AC-DC controlled rectifier
Control model

V
a
is the average voltage over one period of the waveform
- sampled data system

Delays depending on when the control signal changes normally taken
as half of sampling period
AC-DC controlled rectifier
Control model

s
2
T
H
Ke ) s ( G

=
v
c
(s) V
a
(s)
s
m
V
V 2
K
t
=
Single phase, 50Hz
T=10ms
s
m , L L
V
V 3
K
t
=

Three phase, 50Hz
T=3.33ms
Simplified if control bandwidth is reduced to much lower than the
sampling frequency


AC-DC controlled rectifier

SIMULINK EXAMPLES
MATLAB v6.5, SIMULINK v5

SympPowerSystems toolbox

Open-loop control

Closed-loop control
AC-DC controlled rectifier
Open loop

firing
circuit
controlled
rectifier
o
+

V
a



v
c

+
-
v
+
-
v
+
-
v
Vol tage Measurement1
+
-
v
A
B
C
pulses
+
-
Uni versal Bri dge
acos
Tri gonometri c
Functi on
alpha_deg
AB
BC
CA
Block
pulses
Synchroni zed
6-Pul se Generator
Step1
Step
Seri es RLC Branch
Scope2
Scope1
Scope
-K-
Gai n
+
i
-
Current Measurement1
+
i
-
Current Measurement
s
i g
n
a
l
+ -
Control l ed Vol tage Source
DC motor
modeled with
R-L and V
dc

+
-
v
+
-
v
+
-
v
Vol tage Measurement1
+
-
v
A
B
C
pulses
+
-
Uni versal Bri dge
acos
Tri gonometri c
Functi on
alpha_deg
AB
BC
CA
Block
pulses
Synchroni zed
6-Pul se Generator
Step1
Step
Seri es RLC Branch
Scope2
Scope1
Scope
-K-
Gai n
+
i
-
Current Measurement1
+
i
-
Current Measurement
s
i
g
n
a
l
+ -
Control l ed Vol tage Source
Three-phase AC source
Controlled rectifier
Load
Firing circuit
scr_openloop_3phase.mdl
AC-DC controlled rectifier
Closed loop

firing
circuit
current
controller
controlled
rectifier
o
+

V
a



v
c

i
ref

+
-
v
+
-
v
+
-
v
+
-
v
+
-
v
A
B
C
pulses
+
-
Uni versal Bri dge
acos
alpha_deg
AB
BC
CA
Block
pulses
Synchroni zed
6-Pul se Generator
Step
Si gnal
Generator
Seri es RLC Branch
Scope2
Scope
PID
PID Control l er1
-K-
+
i
-
+
i
-
s
i g
n
a
l
+ -
5
Constant1
To control the current current-controlled converter
Torque can be controlled
Only operates in Q1 and Q4 (single converter topology)
+
-
v
+
-
v
+
-
v
+
-
v
+
-
v
A
B
C
pulses
+
-
Uni versal Bri dge
acos
alpha_deg
AB
BC
CA
Block
pulses
Synchroni zed
6-Pul se Generator
Step
Si gnal
Generator
Seri es RLC Branch
Scope2
Scope
PID
PID Control l er1
-K-
+
i
-
+
i
-
s
i g
n
a
l
+ -
5
Constant1
closed_loop_unipolar_4q_with_id.mdl
Open-loop system from previous simulation
Closed-loop elements