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Asian Journal of Control, Vol. 1, No. 1, pp. 58-65, March 1999

MODELING OF A THREE-PHASE STEP UP/DOWN AC/DC CONVERTER

Jeng-Yue Chen, Ching-Tsai Pan and Yi-Shuo Huang ABSTRACT
In this paper, analytic duty cycle control laws for a three-phase step up/ down converter containing seven active switches are first derived to achieve a clean sinusoidal input current, adjustable power factor, bidirectional power flow capability and clean output DC voltage. Then a DC model and a small signal model are derived by means of coordinate transformation, perturbation and linearization. Finally, some simulation results are also presented to verify the validity of the theoretical results. KeyWords: Modeling, three-phase, AC/DC- converter.

I. INTRODUCTION
Recent AC/DC converter researches have focused on providing a good input power factor and low line current distortion in order to satisfy different harmonic standards, along with a possible regeneration capability [1-8]. However, most of the existing results are related to boost type converters. There are very few papers on three-phase step up/down converters. Basically, some buckboost type three-phase AC/DC converters [e.g., 6,7] have been proposed. However, the disadvantages of pulsating input and output currents still exist. Hence, recently, Pan and Shieh [9] proposed new space vector control strategies for a three-phase step up/down AC/DC converter in order to overcome the above disadvantages. They proposed an equivalent duty cycle for the generalized zero voltage space vector such that control of the AC and DC parts of the converter circuit can be integrated in order to achieve the ideal characteristics. In other words, the input current can be made purely sinusoidal with a unity power factor, and the output can be stepped up/ down with a clean DC voltage. However, the hardware circuit is implemented by using an EPROM without a dynamic model. Since the six active switches normally operate randomly so as to reduce the resulting error, it is very difficult to find an analytic dynamic model. However, based by the equivalent DC duty cycle for the generalized zero voltage space vector presented in [9], it is conjectured that it may be possible to derive the close form duty cycles of the active switches as in three-phase boost
Manuscript received March 2, 1999; Accepted April 14, 1999. The authors are with the Dept. of Electrical Engineering, National TsingHua University, Hsinchu 300, Taiwan.

AC/DC converters [5]. It turns out that the answer is positive if the unidirectional diode in [9] is replaced with a bidirectional active switch. The remaining contents of this paper may be outlined as follows. In Section II, open-loop closed form duty cycle control laws for the seven active switches are first derived by using the familiar state averaging technique. Then the small signal model of the proposed converter is derived in Section III by means of perturbation and linearization after coordinate transformation. Also, some numerical results are presented in Section IV for the purpose of verification. Finally, some conclusions are made in the last section.

II. DERIVATION OF THE CLOSED FORM DUTY CYCLE CONTROL LAWS

Figure 1 shows the proposed three-phase step up/ down AC/DC converter, where S1, S2, , S7 are the active switches and R1 is the ESR of L1. Unlike the six switches in three-phase boost AC/DC converters, where the upper

Fig. 1. Power circuit of the proposed step up/down AC/DC converter.

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and the lower switches of each bridge arm are not allowed to be shorted, the first six active switches in Fig. 1 can be operated independently. Based on the equivalent DC duty cycle presented in [9], Fig. 2 shows the conceptual gating signals of the seven switches for one switching period T s. From Fig. 2, one can see that during each switching period, there is one perod of time, namely d0Ts, when all six active switches of the bridge are closed such that vC1 in Fig. 1 can be discharged in order to supply an output and enable the DC stage to work as a Cuk converter. The purpose in turning on six switches, which corresponds to applying the V77 space voltage vector in [9], is to minimize the conduction loss. Also, to retain the function of the Cuk converter, S7 should operate in a complementary manner during the remainder of the switching period, namely (1 d0)Ts, when all six switches of the bridge function basically as a boost type converter [5] in order to charge C1. Assume that the switching frequency is much higher than the AC line frequency. Then, one can use the state space averaging technique [10] to get the following averaged equation:

di a dt di b dt di c dt = di L2 dt dvC1 dt dvo dt

R1 L1 0 0 0 d1 C1 0

0 R1 L1 0 0 d2 C1 0

0 0 R1 L1 0 d3 C1 0

0 0 0 0 (1 d 7) C1 1 C0

d1 0 L1 d2 0 L1 d3 0 L1 1 d7 1 L2 L2 0 0 0 1 RC 0

ia ib ic i L2 vC1 v0

ea 1 eb 1 e + 1 c 1 1 vNO . L1 0 L1 0 0 0 0 0

(1)

For simplicity, ESR of C1, Co and L2 are neglected in the above derivation. From Kirchhoffs current law, ia + ib + ic = 0, and the upper half of equation (1), it is straightforward to get

vNO = 1 (d 1 + d 2 + d 3)vC1 . 3

(2)

As can be observed from Figs. 1 and 2, in order to preserve the dc Cuk converter operation principle, the full bridge is allowed to be short circuited with an equivalent DC duty cycle, 1 d7. Thus, for convenience, one can define the duty cycles as follows: d0 = 1 d7,

dk =

d 7 + m k(t) , 2 d 7 m k(t) , k = 1, 2, 3, 2
(3)

dk + 3 =

where mk(t), k = 1, 2, 3 are the time varying part modulation indices to be decided, and

0 m k(t) 1
d0 + dk + dk+3 = 1, k = 1, 2, 3. (4)

Then, by substituting equations (2) and (3) into (1), one has the following form:

dX = A 1 A 2 X + Bu , A3 A4 dt
Fig. 2. Conceptual gating signals of seven switches.

(5)

where

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Asian Journal of Control, Vol. 1, No. 1, March 1999

X = [i a i b i c i L2 vC1vo] T ,

A 1 = diag

R1 R1 R1 , L1 L1 L1

e s = 2 (e a + ae b + a 2e c) = E me jt , 3 i s = 2 (i a + ai b + a 2i c) = I me j(t ) , 3

(8) (9) (10)

m1 0 0 2L 1 m2 A2 = 0 0 , 2L 1 m3 0 0 2L 1

0 A3 = m1 2C 1 0

0 0 m2 m3 , 2C 1 2C 1 0 0

d s = 2 (m 1 + am 2 + a 2m 3) = d me j(t ) , 3

where

a ej 3 ,
1 L1 0 0 1 L1 0 0 0 0 0 0 1 L1 , 0 0 0

[e a e b e c] = Re{[1 a 2 a] e s} , [i a i b i c] = Re{[1 a 2 a] i s} ,
[m 1 m 2 m 3] = Re{[1 a 2 a]d s} .
Thus, application of the above notation to equation (5) yields

0 A4 = d0 C1 1 C0

d0 1 L2 L2 0 0 0 1 RC 0 ,
B=

0 0 0 0

U = [e a e b e c] T .
Next, assume that ea = Em cos t , ia = Im cos(t )

dis R v = 1 i s C1 d s + 1 e s , L1 L1 2L 1 dt
di L2 d 0 = vC1 1 v0 , L2 L2 dt dvC1 d * = 3 Re[ i s d s ] 0 i L2 , 4C 1 C1 dt
(6)

(11) (12) (13) (14)

eb = Em cos(t 1200), ib = Im cos(t 1200), ec = Em cos(t + 1200), ic = Im cos(t + 1200),

where a phase shift is included in the line currents for the purpose of generality. It follows from equations (5)-(6) and under steady state conditions that one can obtain the following solution:

dv0 1 = i 1 v , dt C 0 L2 RC 0 0

m k(t) = v1 [E mcos (t (k 1)120 0) 2 C1

where * denotes the complex conjugation and ia + ib + ic = 0 has been applied to obtain the above equation. Next, one can transform e s, i s, d s into the synchronously rotating reference frame, i.e., define
i s (I d + jI q)e jt ,
d s (d d + jd q)e jt ,

R 1I mcos (t (k 1)120 0) + L 1I msin (t (k 1)120 0)] , k = 1, 2, 3 . (7)

Therefore, the desired closed form duty functions of (3) can be obtained easily. Also, one can see that by using the above algebraic approach, coordination among the seven switches can be achieved automatically. Finally, it may be worth mentioning that for a desired output voltage the choice of d0, and hence d7, is not unique as will be shown in later sections.

where Id + jIq and dd + jdq are phasors in the new coordinate. Then, one can obtain the following equation:

III. LOW FREQUENCY DC AND AC MODELS

For simplicity, define the following space vectors first :

0 Id I1 d i 0 0 = 0 dt L2 vC1 3d d 3d q d 0 v0 4C 1 4C 1 C 1 1 0 0 C0

R1 L1 R1 L1

dd 0 2L 1 dq 0 2L 1 d0 1 L2 L2 0 0 0 1 RC 0

1 L1 Id Iq i L2 + vC1 v0 0 0 Em , 0 0
(15)

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where Id = Imcos, dd = dm cos, Iq = Im sin, dq = dm sin .

1 0 0 0 0 E . m L1

(21)

Finally, to obtain the DC and small signal models, one can apply the following perturbations:
I d = I d0 + I d , I q = I q0 + I q ,

From the above DC model, one can understand the meaning of D0. Basically, it is not only related to Vo and VC1, but also dependent on the AC line currents, IL2 and the duty cycles of the first six active switches. In fact, from equations (16) to (20), one can obtain the following results:

vC1 = V C1 + vC1 , v0 = V 0 + v0 ,
dd = Dd + dd ,

i L2 = I L2 + i L2 ,

3 E I cos = V o + 3 I 2R , R 2 m 1 2 mm

(22) (23) (24)

E m = E m0 + E m ,
dq = Dq + dq ,

Dd =
Dq =

2D 0 (E R 1 I d + L 1 I q ) , V0 m
2D 0 ( R 1I q L 1I d) . Vo

d 0 =D 0 + d 0 .
Application of the above equations to equation (15) and neglect of higher order terms yield the following DC and small signal models:

D d = 2 (E m R 1I d + L 1I q) , V C1 D q = 2 ( R 1I q L 1I d) , V C1
D0 = 3(D dI d + D qI q) , 4I L2

(16) (17) (18) (19) (20)

Equation (22) actually represents the principle of conservation of power. From equations (23) and (24), one can see that for a given output voltage Vo, Dd and Dq can be obtained by choosing a proper value of D0 which satisfies the following inequality:
1 D0 > Dm Dd 2 + Dq 2

(25)

V 0 = D 0 V C1 ,
I L2 = V0 , R

as can be seen from equation (3) in order to guarantee a positive value duty cycle. Similarly, from the state equation of (21), one can use Laplace transform to get the desired transfer functions. For example, the duty cycle control used to output transfer functions take the following forms:

R1 L1

R1 Id 0 L1 Iq d i 0 0 = 0 dt L2 vC1 3D d 3D q D 0 v0 4C 1 4C 1 C 1 1 0 0 C0

Dd 0 2L 1 Dq 0 2L 1 D0 1 L2 L2 0 0 0 1 RC 0

Td(s)
Id Iq i L2 vC1 v0

vo(s) 1 V C1 3I = ( b 1 + do b 4) , 4C 1 d d(s) 2L 1

Tq(s)
T0(s)
where

3I qo vo(s) 1 V C1 = ( b2 + b ), 2 L 4 C1 4 d q(s) 1
vo(s) 1 V C1 I = ( b 3 + L2 b 4 ) , L C1 d 0(s) 1

= s 5 + a 4s 4 + a 3s 3 + a 2s 2 + a 1s + a 0 ,

V C1 2L 1 0 + 0 3I d0 4C 1 0

0 V C1 2L 1 0 3I q0 4C 1 0

0 0 V C1 L2 I L2 C1 0 dd dq d0

2R a4 = 1 + 1 , RC 0 L 1
a3 = a2 =
2 2 2 2 1 + 2R 1 + R 1 + 2 + 3(D d + D q ) + D 0 , L 2C 0 RL 1C 0 L 1 2 8L 1C 1 L 2C 1 2 3(D d 2 + D q 2) 2R 1 R1 2 + + + 2 L 1L 2C 0 RC 0L 1 RC 0 8RL 1C 1C 0

3R 1(D d 2 + D q 2) D0 2 2R 2D 2 + + 1 0 , 2 RL 2C 1C 0 L 1L 2C 1 8L 1 C 1

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Asian Journal of Control, Vol. 1, No. 1, March 1999

a1 =

3(D d 2 + D q 2) 3R 1(D d 2 + D q 2) 2 R 2 + + + 21 2 8L 1L 2C 1C 0 L C 8RL 1 C 1C 0 2 0 L 1 L 2C 0

2R 1D 0 2 R 2D 2 2D 0 2 + 1 0 + , RL 1L 2C 1C 0 L 1 2L 2C 1 L 2C 1

a0 =

3R 1(D d 2 + D q 2) 2D 0 2 R 1 2D 0 2 + + , 2 2 RL 8L 1 L 2C 1C 0 RL 1 L 2C 1C 0 2C 1C 0
3D 0D d 3D 0 D dR 1 S+ ( 3D q) , 4L 2C 1C 0 4L 2C 1C 0 L 1
3D 0D 1 3D 0 D qR 1 S+ ( + 3D d) , 4L 2C 1C 0 4L 2C 1C 0 L 1

b1 =

b2 =

3(D d 2 + D q 2) 2 2R 1 2 R 2 b 3 = 1 S3 + S + ( 21 + + )S C0 L 1C 0 8L 1C 1C 0 C0 L 1 C0
+ 3R 1 ( D d 2 + D q 2 ) , 8L 1 2C 1C 0
2

(a)

b4 =

D 0 2 2D 0R 1 D0 R1 S + S+ ( + 2) . L 2C 0 L 1L 2C 0 L 2C 0 L 1 2

IV. SOME NUMERICAL RESULTS

To aid the readers understanding of the above theoretical results, some simulation results are given below. The parameters of the converter in Fig. 1 are listed below for reference: L1 = L2 = 7.5 mH, C1 = Co = 820 F, R1 = 0.45, V 2 output power o = 4 KW, R AC line frequency 60 Hz, phase voltage amplitude 220 2 volts, 3 power factor = 1.0. The seven active switches are considered to be ideal in the simulation process. The sawtooth wave frequency is 3 kHz. It may be worth mentioning that the duty ratio of d0 is generated through comparison with a negative slope sawtooth wave. Thus, the duty ratio of S7 is obtained by inverting the output again. As for the duty ratios of S1, S2, , S6, each one is the sum of two parts. The first part is obtained by comparing mk(t) with a positive slope sawtooth wave. The second part is the same as that obtained from d0. Fig. 3 shows some results obtained using the converter for Vo = 500V, d0 = 0.58, and Po = 4KW. In Fig. 3(a), one can see the duty cycle controls. Figs. 3(b) and 3(c) show the waveforms of the a-phase voltage and current as well as the output voltage. Similarly, Fig. 4 shows the corresponding step down case, where Vo = 48V, d0 = 0.11

(b )

(c)
Fig. 3. (a) Waveforms of the gating signals of all the switches under a step up operation. (b) Waveforms of the phase voltage ea(t) and phase current 5ia under a step up operation. (c) Waveforms of the output voltage o(t) under a step up operation.

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Finally, the duty cycle control used to output voltage transfer functions for the step-up case are given as follows:

Td(s) =

1.332 10 9(s 1431)(s + 60) , u(s)

Tq(s) =
T0(s) =
where

5.022 10 11(s 1431) , u(s)

1.402 10 8(s 2.133)(s 2 + 115.6s + 1.556 10 5) , u(s)

u(s) = (s + 7.75) (s2 + 111.1 s + 1.488 105) (a) (s2 + 20.73 s + 2.236 105). Similarly, the corresponding transfer functions for the step-down case with Vo = 48 V, D0 = 0.11 and Po = 4 KW are listed below:

Td(s) = Tq(s) = Td(s) =

where (b)

2.526 10 8(s 1431)(s + 60) , d(s) 9.5243 10 10(s 1431) , d(s) 7.0953 10 7(s 7.038)(s 2 + 101.4s + 1.84 10 5) , d(s)

d(s) = (s + 2073) (s2 + 93.1 s + 2657) (s2 + 106.6 s + 1.854 105). For convenient reference, Figs. 5 and 6 show the Bode plots for the two cases, respectively. From the above results, it is very interesting to see that a right half plane zero also exists in the transfer functions of the proposed AC/DC converter. This implies that the converter dynamic has a time delay from the control to the output.

V. CONCLUSIONS
In this paper, closed form duty cycle control laws for the active switches of a three phase step up/down converter were first derived by using the familiar state averaging technique. These analytic duty cycle controls are very useful for analysis and simulation, and for obtaining engineering insight into the operation of switched circuits. Application of the control laws to the proposed converter can achieve a clean sinusoidal input current, controllable power factor, adjustable DC voltage and bidirectional power flow capability. Next, after a coordinate transformation, a low frequency DC model and a small

(c)
Fig. 4. (a) Waveforms of the gating signals of all the switches under a step down operation. (b) Waveforms of the phase voltage ea(t) and phase current 5ia under a step down operation. (c) Waveforms of the output voltage o(t) under a step down operation.

and Po = 4KW. One can see that application of the derived open loop duty ratio control laws indeed works very well as expected.

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Asian Journal of Control, Vol. 1, No. 1, March 1999

(a)

(a)

(b)

(b)

(c)
Fig.5. (a) Bode plots of Td(s) under a step up operation. (b) Bode plots of Tq(s) under a step up operation. (c) Bode plots of T0(s) under a step up operation.

(c)
Fig.6. (a) Bode plots of Td(s) under a step down operation. (b) Bode plots of Tq(s) under a step down operation. (c) Bode plots of T0(s) under step down operation.

signal model are derived by using a small perturbation and linearization process. Depending on the output variable and input variable, of interest, one can apply Laplace

transform to obtain the desired transfer functions. Finally, some numerical simulation results were presented to show the validity of the theoretical results. It is

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interesting to see that a right plane zero also exists in the duty cycle control to output transfer function.

REFERENCES
1. Pan, C.T. and T.C. Chen, Modeling and Design of a Three-phase AC-to-DC Converter, J. Chinese Inst. Electr. Eng., Vol. 1, No.1, pp. 1-11 (1994). 2. Mao, H., F.C. Lee, Y. Jiang and D. Borojevic, Review of power factor correction techniques, Proc. 2nd Int. Power Electron. Motion Contr. Conf., Hangzhou, China, pp. 9-21 (1997). 3. Oishi, H., H. Okada, K. Ishizaka and R. Itoh, Singlephase Step Up/down Rectifier with Improved Supply Current Waveform, IEE Proc. Electr. Power Appl., Vol. 44, No. 1, pp. 6-12 (1997). 4. Shieh, J.J. and C.T. Pan, Rom-based Current Controller for Three-phase Boost-type AC/DC Converter, IEE Proc. Electr. Power Appl ., Vol. 145, No. 6, pp. 544-552 (1998). 5. Pan, Ching-Tsai and Jenn-Jong Shieh, A Family of Closed-form Duty Control Laws for Three-phase Boost AC/DC Converter, IEEE Trans. Ind. Electron., Vol. 45, No. 4, pp. 530-543 (1998). 6. Itoh, R. and K. Ishizaka, Three-phase Flyback AC/DC Converter with Sinusoidal Supply Currents, IEE Proc. Part B, Vol. 138, No 3, pp. 143-151, May (1991). 7. Pan, C.T. and T.C. Chen, Step Up/Down Three-phase AC to DC Converter with Sinusoidal Input Currents and Unity Power Factor, IEE Proc. Electr. Power Appl., Vol. 141, No. 2, pp. 77-84 (1994). 8. Pan, C.T. and J.J. Shieh, A Single Stage Three-phase Boostbuck AC/DC Converter Based on Generalized Zero Voltage Space Vectors, accepted, IEEE Trans. Power Electron., (1999). 9. Pan, Ching-Tsai and Jenn-Jong Shieh, New Space Vector Control Strategies for Three-phase Step Up/ Down AC/DC Converters, accepted, IEEE Trans. Ind. Electron., (1999). 10. Middlebrook, R.D. and S.M. Cuk, A General Unified Approach to Modeling Switching Convertor Power Stages, Proc. IEEE Power Electron. Specialists Conf., pp. 18-34 (1976).

Jeng-Yue Chen was born in Tainan, Taiwan, Republic of China, in June 1963. He received the B.S. degree in electrical engineering from the National Taiwan Institute of Technology, Taipei, Taiwan, in 1988, and the M.S. degree from National Tsing Hua University, Hsinchu, Taiwan, in 1990. He is currently a Ph.D. student at the National Tsing Hua University. His research interests are in power electronics and motor control.

Ching-Tsai Pan was born in Taipei, Taiwan, Republic of China, in October 1948. He received the B.S. degree in electrical engineering from the national Cheng Kung University, Tainan, Taiwan, in 1970, and the M.S. and Ph. D. degrees from Texas Tech University, Lubbock, in 1974 and 1976, respectively, all in electrical engineering. Since 1977, he has been with the Department of Electrical Engineering, National Tsing Hua University, Hsinchu, Taiwan. From 1986 to 1989 and from 1989 to 1992, he was the Director of the University Computer Center and the Computer Center of Ministry of Education, respectively. From 1994 to 1997, he served as the chairman of the Department of Electrical Engineering. He has been the recipient of outstanding teaching award and outstanding research award for several times. He is a member of IEEE, ICE, IEE, ACS, ICS, Phi Tau Phi, Eta Kappa Nu, and Phi. Kappa Phi. His research interests are in the areas of power electronics, motor control and numerical analysis.

Yi-Shuo Huang was born in Hualien, Taiwan, Republic of China, in March 1974. He received the B.S. degree in electrical engineering from the National Sun Yat-Sen University, Kaohsiung, Taiwan, in 1996. He is currently working toward the Ph.D. degree at the National Tsing Hua University. His research interests are in three-phase AC-DC converters.