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10.1109/TPEL.2014.2365516, IEEE Transactions on Power Electronics
1
Abstract — This paper presents an integrated solution for fans, submersible pumps etc. Such loads can have the option of
PhotoVoltaic (PV) fed water-pump drive system, which uses an optimally using PV power whenever Sun power is available
Open-End Winding Induction Motor (OEWIM). The dual- [2].
inverter fed OEWIM drive achieves the functionality of a three- Further, when such loads are used in the stand-alone system
level inverter and requires low value DC bus voltage. This helps like water pumping application in domestic, agricultural and
in an optimal arrangement of PV modules, which could avoid
large strings and helps in improving the PV performance with
industrial sectors, solar PV powered system could be a good
wide band-width of operating voltage. It also reduces the voltage solution. It could meet the requirement during critical situation
rating of the DC-link capacitors and switching devices used in the i.e., during summer especially in tropical countries like India.
system. The proposed control strategy achieves an integration of This encourages the use of electric motor-pump with better
both Maximum Power Point Tracking (MPPT) and V/f control performance and efficiency with the PV system [3].
for the efficient utilization of the PV panels and the motor. The Some possible solutions given for PV fed water-pump
proposed control scheme requires the sensing of PV voltage and were based on usage of DC motor either directly coupled [4]
current only. Thus, the system requires less number of sensors. or via a DC-DC converter [5] with PV source. However, the
All the analytical, simulation and experimental results of this requirement of continuous maintenance and higher cost
work under different environmental conditions are presented in
restricts the use of DC motors for their application in PV water
this paper.
pumping systems [3]. Thus, there is a need of such a solution
Index Terms— Centrifugal Pump, Maximum Power Point that uses the PV power effectively, while using a low cost, low
Tracking, Dual-Inverter, Open-end Winding Induction Motor, maintenance, reliable and robust motor for pumping
Photovoltaic cell. application. The most suitable motor for such an application is
an Induction Motor (IM).
I. INTRODUCTION Some of the initial proposals for a PV fed IM, based on
two-stage system were given by various authors in the past.
E LECTRICAL motors constitute more than 40% of total
electric power consumption [1]. Modernization of human
society and growing applications of electric motors, have
exponentially increased the demand for electrical energy. This
forces an increase in the power generation capacity. However,
due to ecological concerns, restriction and constraints are
imposed on increasing the generation capacity of conventional
sources. So, contemporary research is focused towards an
effective utilization of non-conventional energy sources.
Among the available non-conventional sources PhotoVoltaic
(PV) technology seems to be the most promising and attractive.
This can be attributed to declining cost of PV modules, free
energy source, zero maintenance, and noise free operation.
Thus, employment of PV source for powering electric motor
could be a good solution especially for water-pumps, electric
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2
Most of them have used a DC-DC boost converter in the first level inversion [28]. It also lowers voltage rating of
stage and the second-stage comprises of a DC-AC inverter. semiconductor devices and input DC bus electrolytic capacitor
Boost converter amplifies and operates the low value PV input [17]. This can be attributed to the fact that DC bus voltage is
voltage near Maximum Power Point (MPP) while the inverter designed based on maximum value of phase voltage instead of
gives the required AC voltage to the IM. Also, the control line to line voltage. The decoupled PWM technique increases
techniques are based on either independent frequency control the apparent switching frequency of switching devices,
[2], or a V/f control [6]. Recently, a proposal based on closed reducing the ripple in the motor phase current. Unlike the
loop speed control to improve the performance and efficiency conventional three-phase Neutral Point Clamped (NPC) three-
of the system was given by Montiê Alves Vitorino et. al. [7], in level inverter, wherein the DC-link capacitor is constrained to
which the authors have presented a sensor-less speed control carry load current leading to large fluctuations of voltage of the
technique. However, two-stage power conversion, high voltage DC-neutral point, the DC-link capacitor of OEWIM carries
rating of semi-conductor devices and more number of sensors only the ripple current, thus resulting a negligible voltage
increase the power loss and cost of the system. fluctuations [23]. This increases the life and reliability of the
A typical PV pumping system with two power conditioning DC bus capacitor or in other words the reliability of the
stage is shown in Fig. 1(a). As discussed earlier, this system inverter system, which is of paramount interest for systems
results in poor performance and lesser efficiency. Therefore, a connected to PV source.
single-stage system with simpler control as shown in Fig. 1(b), Thus, OEWIM coupled with PV source could be a good
could be a better choice [8-13]. One of such a system was proposition. This paper presents one such solution for a simple
proposed by Eduard Muljadi [14], in which the author have water-pump application as depicted in Fig. 1(c). The proposed
used a six-step quasi square wave inverter, which can take care system has the following features:
of DC-AC inversion as well as Maximum Power Point 1. It is an economical system as it uses a single power
Tracking (MPPT) for the PV source. It is a better proposition conditioning stage.
since the author has given an integrated single-stage power 2. It has inherent low DC bus voltage requirement with V/f
conversion solution. But the drawback of this system is that, control integrated with MPPT and uses three-level (DC-
the six-step quasi-square inverter deteriorates the motor AC) inversion for better performance of motor.
performance and hence the efficiency. It also requires filters, 3. Low input DC bus voltage requirement reduces the voltage
which are bulky and expensive. Further, this system requires a rating of DC-link capacitor and increases bandwidth of PV
higher voltage rating for the input DC-link capacitor and semi- operating voltage. It also reduces the voltage rating of the
conductor devices. All these may increase the cost, weight, size semi-conductor devices used in the inverter.
and power loss of the system. 4. It optimally uses PV source for all environmental
Recently, Messaoud Makhlouf et. al. [15] have suggested conditions by operating at MPP. Also, it employs V/f
the closed loop vector control for PV pumping system using a control integrated in MPPT algorithm which improves the
single-stage multi-level Pulse Width Modulation (PWM) performance of the motor and requires less number of
converter. While this system results in low motor losses, it is sensors for its operation.
more complex with more number of control variables and 5. Three-level output with Decoupled Sample-Averaged Zero-
sensors. Most recently, Tomás Perpétuo Corrêa et. al. [16] sequence Elimination (DSAZE) algorithm [24] further
have published a paper with a stand-alone PV pumping system. improves the performance with reduced motor current
It is also a single-stage system, wherein the authors have ripple.
proposed MPPT and Minimum Losses Point Tracking (MLPT) Rest of the manuscript is divided into four sections. Second
methods of control. However, this system requires more section gives details of modeling of the proposed system. Third
number of sensors, and results in low band-width for PV section describes the operation and analysis of the proposed
operating voltage. system. Fourth section describes the control strategy and
Thus, from the above discussion, it is evident there is a algorithm proposed. Fifth section depicts the simulation and
requirement for a low-cost, low-voltage single-stage power experimental results obtained. It also gives the detailed cost
conversion PV water pumping system with wide bandwidth of analysis and comparison for the proposed system with the
PV operating voltage. Also, the three-level/multi-level inverter existing system(s).
with a low DC bus voltage could be a better solution as the
performance of this system improves with the increased II. MODELING OF THE PROPOSED SYSTEM
number of levels/steps in the inverter output voltage. Also, A proposed configuration of the solar PV powered pumping
many investigations on Open-End Winding Induction Motor system is shown in Fig. 2, which comprises of 1) solar PV
(OEWIM) with multilevel inverters are documented in the array; 2) dual-inverter namely inverter-I and inverter-II; 3)
literature [17-21]. Further various PWM techniques and three-phase open-end winding induction motor with pump load;
control schemes [22-27] for OEWIM drive have been analyzed 4) controller block which consists of MPPT and DSAZE PWM
by various researchers. In short, OEWIM promises to provide algorithm. These components are described in detail in the
effective solutions for drive application as compared to following sub-sections.
common neutral IM [20]. Apart from high reliability and
redundancy [23, 27] OEWIM has many good features as A. PV source Model
discussed in the next paragraph. The PV source was modeled by using PV cell current-
One of the most important feature of OEWIM is it uses two voltage characteristic equation as furnished below [29]:
two-level Voltage Source Inverters (VSIs) to achieve three-
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V pv ⎡ 2 1 ⎤
v aa ' = ( S A − S A ' ) − (( S B − S B ' ) + ( S C − S C ' ) )⎥ (5)
2 ⎢⎣ 3 3 ⎦
Similarly the other phase voltages vbb’, vcc’ of the inverter
output can be derived for the system.
Further the input inverter current iinv can also be derived
using switching functions.
Current flowing through inverter-I is given by
1 1 1
iinv 1 = ( S A + 1)i aa ' + ( S B + 1)ibb ' + ( S C + 1) icc ' (6)
2 2 2
Current flowing through the inverter-II is given by
1 1 1
i inv 2 = ( S A ' + 1)( − i aa ' ) + ( S B ' + 1)( − i bb ' ) + ( S C ' + 1)( − i cc ' ) (7)
2 2 2
The net current flowing through the dual-inverter is
1 1 1
iinv = iaa ' ( S A − S A ' ) + ibb ' ( S B − S B ' ) + icc ' ( S C − S C ' ) (8)
Fig. 2. Schematic circuit diagram of proposed system. 2 2 2
Thus the above values of phase voltage and current can be
⎛ ⎞ (
q v pvcell + i pvcell R s ) used by Simulink model of OEWIM, which is discussed in the
i pvcell = i L − i0 ⎜ e nkT
− 1⎟ (1) next section.
⎜ ⎟
⎝ ⎠
where ipvcell : PV cell current; iL : photo-current; i0 : Diode C. Open-End Winding Induction Motor model
saturation current; n : Diode quality or ideality factor; k : An Open-End Winding Induction Motor [28] is obtained by
Boltzmann constant; q: electron charge; T : panel operating opening the neutral point of the star connected stator windings
temperature in Kelvin; Rs : PV cell series resistance; vpvcell : PV of a normal three-phase Induction motor. The winding diagram
cell voltage (V). of three-phase OEWIM is shown in Fig. 3.
The output of PV source is connected to inverter with DC For modeling and analysis the decoupled form of OEWIM
bus capacitance Cpv. By applying KCL at input of inverter is considered. For transforming the stator (ϕ=θ) and the rotor
(from Fig. 2) parameters (ϕ=β) to decoupled form, the transformation matrix
dv pv used is given in (9).
i pv = ic + iinv ⇒ i pv = C pv + iinv (2)
dt ⎡ cos φ cos(φ − 2π ) cos(φ + 2π ) ⎤
⎡ x qy ⎤ ⎢ 3 3 ⎥ ⎡ x aa ' ⎤
Integral solution of (2) is the voltage vpv across capacitance ⎢ ⎥ 2⎢
⎢ ⎥ 3 ⎢ sin φ
x = sin(φ − 2 π ) sin(φ + 2 π )⎥ ⎢x ⎥ (9)
Cpv, which is used by the PV model to calculate the PV source dy 3 3 ⎥ ⎢ bb ' ⎥
current. The inverter current iinv is the current drawn by ⎢ x 0y ⎥ ⎢ 1 ⎥ ⎢⎣ x cc ' ⎥⎦
⎣ ⎦ 1 1
⎢⎣ 2 2 2 ⎥⎦
inverters I and II. Further dual-inverter has two series
connected equal value capacitors across the DC-link. These where, θ is the angle between the stator as-axis and the
capacitors share equal voltage with respect to the common quadrature (q) axis, β is the angle between rotor ar-axis and the
point ‘o’ as shown in Fig. 2. q-axis, also β = θ − θ r , θr is the angle between rotor ar-axis and
stator as-axis (Fig. 3), parameter x can be either voltage ‘v’ or
B. Modular three-level dual-inverter model:
current ‘i’ or flux linkage ‘λ’ and subscript parameter y can be
Dual-inverter used in the proposed configuration is ‘s’ or ‘r’. The subscript ‘s’ denotes the parameters of stator and
modeled using switching functions [30]. To model dual- the subscript ‘r’ denotes the parameters of rotor.
inverter, switching function SW (where W can be A, B, C, A', B' The dynamic d-q model of an OEWIM is described by in
or C' depending on the phase and number of inverter) requires (10) to (13).
the logic generated from PWM controller. It has value 1 and
-1 which represents turn ON of top and bottom switch vqs = Rs iqs + ω ( Lls ids + Lm (ids + idr' )) + p λ qs (10)
respectively for the given leg or phase of the inverter. The
vds = Rs ids − ω ( Lls iqs + Lm (iqs + iqr' )) + p λds (11)
modular dual-inverter shown in Fig. 2 consists of six poles (a,
b, c, a', b', and c') and twelve switches (two switches per vqr' = Rr' iqr' + (ω − ω r )( L'lr idr' + Lm (ids + idr' )) + p λ'qr (12)
pole). The value of the pole voltages in a particular phase can
be ±Vpv/2 depending on the switch (whether top or bottom) is v dr' = Rr' idr' − (ω − ω r )( L'lr iqr' + Lm (iqs + iqr' )) + p λ'dr (13)
turned ON. If top switch of phase ‘a’, S1 is turned ON, the
pole voltage vao is +Vpv/2 and when bottom switch of phase where, Rr – rotor resistance, Rs – stator resistance, Lls – stator
‘a’, S4 is turned ON then the pole voltage vao is –Vpv/2. Thus, leakage inductance, L'lr – rotor leakage inductance, Lm –
pole voltage of inverter-I can be given as mutual inductance between stator and rotor winding, ω is the
V pv V pv V pv synchronous speed, ωr is the electrical speed of motor, p
v ao = S A ; v bo = S B ; v co = S C (3)
2 2 2 denotes the time derivative. Also, here vqr' = vdr' = 0 , since rotor
Similarly, pole voltage of inverter-II can be given as bars are short-circuited.
V pv V pv V pv The expression for the electromagnetic torque Tem is given by
v a 'o = S A ' ; v b 'o = S B ' ; v c 'o = S C ' (4)
2 2 2 3 P
Tem = L m [ iqs idr' − ids iqr' ] (14)
The motor phase voltage vaa’ is given by 2 2
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bs-axis
b’s
Air gap
bs Stator
q-axis
br-axis
Rotor
ar-axis
β
θ
as as-axis
θr
a’s
c’s
cs
cr-axis d-axis
cs-axis
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10
Phase "a" [A]
5
0
-5
-10
3 3.05 3.1 3.15 3.2 3.25
Time (s)
6
Current spectrum
5
THD = 11.94% Fig. 9. DSAZE PWM modulating waveforms for leg a & a' of Inverter –I
(A peak)
4
3 and Inverter-II (a) from simulation (Vpv≈320V and ma=0.64) (b) from
2 experimental setup (Vpv≈110V and ma=0.5) (x-axis: simulation time (s); y-
1 axis: gate time (s)).
0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Frequency (Hz)
120
(a) 400
15 80
Phase "a" [A]
10 200 Change in ma
after completion 40
5
0 0 every cycle 0
-5
-40
-10 -200
-15 -80
13 13.01 13.02 13.03 13.04 13.05 13.06 13.07 13.08 -400
Time (s) -120
10
Current spectrum
6 (a) (b)
4 Fig. 10. α-β plot of 3-phase vo1tage input to OEWIM obtained from (a)
2 simulation (Vpv≈320V and ma=0.64) (b) experimental setup (Vpv≈110V and
0 ma=0.5).
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Frequency (Hz)
(b) result in a poor performance of the system. This can be taken
15
10
care of by assuring proper synchronization between MPPT
Phase "a" [A]
5 and V/f control under all field conditions. The other drawback
0
-5
in the field may be the inverter failure. If an inverter fails, a
-10 rewiring would enable the healthy inverter to deliver partial
-15
18 18.01 18.02 18.03 18.04 18.05 18.06 load. In other words, the fault tolerance with OEWIM is more
Time (s)
12
compared to the conventional two-level VSI drive. Also, the
Current spectrum
8 THD = 3.77%
6
double compared to the conventional two-level VSI drive.
4 However, this drawback in the field can be taken care by
2
0
minimizing the distance between inverter and the motor.
0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Frequency (Hz) Fig. 11 gives the experimental results for the parameters at
(c) the input side of inverter. Increasing value of modulation
Fig. 8. Harmonic spectrum of motor phase current (iaa') at steady state index and input power confirms the MPP tracking which can
obtained from simulation at different environmental conditions; (a) at 0.1
insolation and 25ºC; (b) at 0.6 insolation and 35ºC; (c) at 1.0 insolation and be seen in Fig. 11(a). Oscillations near MPP can be observed
55ºC. in Fig. 11(b). More number of oscillations in ma near MPP can
be attributed to sharp power-voltage characteristics of input
TABLE I source and the algorithm used. However, operation near MPP
SUMMARY OF SIMULATION RESULTS FOR THE PROPOSED SYSTEM.
can be observed in the waveform of source power. Also, to
PV O/P Slip Current
G T
Power Power
η Speed Torque Slip
Power THD emulate various environmental conditions in PV system the
o
Suns ( C) (%) (rpm) (N-m) (%) current limit of programmable power supply is changed from
(W) (W) (W) (%)
0.1 25 329 240 72.95 352 6.5 4.74 12 11.94 0.3A to 0.5A and again back to 0.3A. This would nearly
emulate the increasing and decreasing insolation in PV array
0.3 30 1040 895 86.06 740 11.6 3.62 33.5 8.58 system. Fig. 11(c) shows experimental results obtained from
0.6 35 2133 1902 89.17 1026 17.7 3.8 75.25 5.06 developed test set-up for this condition. The increasing and
0.8 45 2763 2465 89.21 1139 20.65 4.24 109.25 4.28 decreasing value of ma and source power shows MPP tracking
0.9 50 3072 2735 89.03 1187 22 4.46 128 3.97 for various environmental conditions. As fan type load has
1 55 3365 2990 88.86 1229 23.25 4.7 147.5 3.77 approximately similar characteristics to centrifugal water
pump load so nearly same performance is accepted with actual
simulation and experimental results were shown. Requirement water pump load systems.
of low DC bus voltage can be easily verified with the given Fig. 12 shows the experimental results for the parameters
input values of ma and input PV voltage of the inverter as at the inverter output. Implementation of V/f control can be
mentioned in Fig. 10(a) and (b). The synchronization of verified by variable frequency operation at starting and
change in ma after one complete cycle can be depicted from running condition. At starting when the value of ma is low, the
zoom-in part of Fig. 10(a). If this synchronization between operating frequency is kept low and near MPP when ma value
MPPT and V/f control is disturbed in the field, then it may becomes high frequency of phase voltage also increases. The
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TABLE II
motor ‘aa'’ phase current waveform along with its harmonic
COST COMPARISON BETWEEN THE PROPOSED SYSTEM WITH TWO BASIC
spectrum at starting and running conditions are shown in Fig. TOPOLOGIES AVAILABLE IN THE LITERATURE FOR PUMP APPLICATION
13(a) and (b) respectively. The harmonic spectrum at starting Using conventional induction Using
and running conditions is comparative with the harmonic motor OEWIM
spectrum of current at low and high insolation (see Fig. 8) Item / part no. 1-stage 3-
2-stage 2-level 1-stage 2-
level
respectively. Another important thing is the typical pattern of [3] level [14]
[proposed]
ripple in the current waveform shown in Fig. 13 is matching PWMs PWMs PWMs
with the simulation results given in Fig. 8. 4 3 6
Controller ADCs ADCs ADCs
C. Cost Analysis: requirements 3 2 2
A brief cost analysis has been carried out (Table II) for the Flash / RAM Flash / RAM Flash / RAM
Medium Less Less
three topologies presented in Fig. 1. The cost values presented
MC56F8013 MC56F8013 MC56F8013
in the Table II are only for the inverter and converter. The Controller
$4 $4 $4
induction motor-pump and the PV panel costs are assumed to Voltage Sensors/ 2 1 1
be nearly similar (since the same power rating is considered) LV 25-P $ 120 $ 60 $ 60
for all the three topologies. When compared to a two-stage Current Sensors/ 1 1 1
LTSR 15-NP $ 23.68 $ 23.68 $ 23.68
system, the proposed one is a low cost because of the non-
Miscellaneous $ 20 $ 10 $ 20
requirement of an extra DC-DC converter. Also, the lower Sub-total $167.68 $97.68 $107.68
cost of the proposed system compared to the conventional INVERTER
single-stage two-level is because of the requisition of low- DC- link 4 4 2
voltage DC link capacitors and switching devices. capacitors
(2200uH, 400V)/
$ 155.84 $ 155.84 $ 77.92
ALS30A222MF4
VI. CONCLUSION 00
In this paper, an integrated single-stage solution of PV fed 6 (900V, 12 (400V,
6 (900V, 28A)/
Semiconductor 28A)/ 20A)/
pump drive is presented. The proposed system has the feature Switches*
IRG4PF50WPB
IRG4PF50WP IRGB14C40L
of low DC bus voltage requirement, MPPT integrated with V/f, F
(IGBT’s) BF PBF
$ 31.68 $ 31.68 $ 39.36
Driver circuit $ 26 $ 26 $ 52
Sub-total $213.52 $213.52 $169.28
FRONT-END CONVERTER
Inductor/ 1 NA NA
DLFL-0147-12D5 $ 25.6 --- ---
Capacitor/ 3 NA NA
ALS30A222MF4
$116.88 --- ---
00
Fig. 12. Experimental results for the proposed system at motor-pump side Semiconductor 1 NA NA
i.e., Motor phase voltage and current (a) at starting condition (b) at running switch*/
condition. IRG4PH40KDPB $ 5.44 --- ---
F
Motor phase Diode/ 1 NA NA
Motor phase
current (A) D22-25-12 $ 6.16 --- ---
current (A)
Driver circuit $5 NA NA
Sub-total $ 159.08 --- ---
Harmonic Harmonic TOTAL $540.28 $311.20 $276.96
spectrum spectrum * Switches are chosen with respect to the availability of the devices with nearest rating.
(a) (b)
Fig. 13. Motor aa' - phase current and its harmonic spectrum (a) at starting three-level inverter operation and low cost. Analytical proof
condition and (b) at running condition. for low DC bus voltage requirement in the proposed system is
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presented. Implementation of V/f with MPPT can be verified [18] B. Venugopal Reddy, V. T. Somasekhar, Yenduri Kalyan, “Decoupled
space-vector PWM strategies for a four-level asymmetrical open-end
with simulation and experimental results. Thus, a high-
winding induction motor drive with waveform symmetries”, IEEE
performance integrated solution is proposed. Low cost of the Trans. Ind. Elect., vol. 58, no. 11, pp. 5130-5141, Nov. 2011.
proposed system can be attributed to the requirement of low [19] Jaison Mathew, P. P. Rajeevan, K. Mathew, Najath Abdul Azeez and K.
voltage DC-link bus capacitor, low voltage rating switches and Gopakumar, “A multilevel inverter scheme with dodecagonal voltage
space vectors based on flying capacitor topology for induction motor
less number of sensors for the integrated control operation
drives”, IEEE Trans. Power Elect., vol. 28, no. 1, pp. 516-525, Jan.
which is presented in Table II. Thus in all, this paper presents 2013.
one of the effective and simple solutions for PV power fed [20] Jaison Mathew, K. Mathew, Najath Abdul Azeez, P. P. Rajeevan and K.
water-pump application. Gopakumar, “A hybrid multilevel inverter system based on dodecagonal
space vectors for medium voltage IM drives”, IEEE Trans. Power
Elect., vol. 28, no. 8, pp. 3723-3732, Aug. 2013.
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