Beruflich Dokumente
Kultur Dokumente
AC
DC
DC
3~ AC
Traction
motor
Mech.
Trans.
DC
DC
Battery
pack
Ultra
Capacitor
Figure 1: Configuration of electric vehicle [1]
Page 1 of 34
The switches S1 and S 2 are unidirectional, i.e. they conduct current in one
direction.
The switching sequence is so design (Figure 3) that switch S1 is on for the time duration
0 t T1 and the switch S 2 is on for the time duration T1 t T2 . When switch S1 is turned
(1)
Vin
(2)
2
The waveform of the output voltage and the switch currents for a resistive load is shown
in (Figure 3).
vo
i1
D1
Vin
S1
V0
i2
D2
S2
Page 2 of 34
T1
T2
Signal for S1
t
Signal for S 2
Vo
Vin
2
V
in
2
i1
Vin
2R
i2
Current through S1
Vin
2R
0 t T1
T1 t T2
Current through S 2
Vo,rms
1 T1 Vin2 Vin
dt
T1 0 4 2
(3)
ao
an cos(nt ) bn sin(nt )
2 n1
(4)
Due to the quarter wave symmetry along the time axis (Figure 3), the values of a0 and an
are zero. The value of bn is given by
bn
2V
V
1 0 Vin
2 in
d
(
t
)
d (t ) in
0 2
2 2
n
(5)
vo
2Vin
sin(nt )
n 1,3,5,... n
(6)
Page 3 of 34
iL
1 2Vin
sin(nt )
n 1,3,5,... R n
(7)
(8)
iL
1 2Vin
sin nt
2
n 1,3,5,... nL n
(9)
2Vin
n 1,3,5,...
n R n L
2
sin nt n
(10)
where
n L
n tan 1
Page 4 of 34
D1
C1
Vin
D1
C1
S1
Vin
V0
V0
i2
D2
C2
S1
iL
S2
D2
C2
S2
iL
D1
C1
Vin
S1
vo
Voltage (vo)
iL
Current (iL)
V0
C2
D2
S2
Page 5 of 34
The switches S1 , S2 , S3 and S 4 are unidirectional, i.e. they conduct current in one
direction.
When the switches S1 and S 2 are turned on simultaneously for a duration 0 t T1 , the
input voltage Vin appears across the load and the current flows from point a to b. If the
switches S3 and S 4 are turned on for a duration T1 t T2 , the voltage across the load is
reversed and the current through the load flows from point b to a. The voltage and current
waveforms across the resistive load are shown in Figure 9. The instantaneous output
voltage can be expressed in Fourier series as
vo
ao
an cos(nt ) bn sin(nt )
2 n1
(11)
Due to the square wave symmetry along the x-axis (as seen in Figure 9), both ao and an
are zero, and bn is obtained as
bn
4V
V
1 0 Vin
2 in
d
(
t
)
d (t ) in
0 2
2 2
n
(12)
vo
4Vin
sin(nt )
n 1,3,5,... n
(13)
iL
1 4Vin
sin(nt )
n 1,3,5,... R n
(14)
Page 6 of 34
S1
S3
D1
C1
i3
i1
Vin
D3
v0
C2
S2
D4
i2
S4
D2
i2
i4
iL 0 , S3 and S 4 start conducting and the load current iL builds up in opposite direction
(point b to a).
Case 2: At time t T2 , the switches S1 and S 2 are turned on and the pair of switches S3
and S 4 are turned off. Just as in case 1, the current takes time to become zero and diodes
D1 and D2 conduct as long as its non-zero. This condition is shown in Figure 10b.
The instantaneous current through the R L load is given by
iL
n 1,3,...
4Vin
n R L
2
sin nt n
(15)
where
n L
n tan 1
Page 7 of 34
The current and voltage waveforms for R L load are shown in Figure 11.In this figure
the conduction is divided into 4 distinct zones. In Zone I the diode D1 and D2 conduct
until iL becomes zero. Once, iL equals zero, the switches S1 and S 2 conduct and it is
marked as Zone II. At time t T2 , the diodes D3 and D4 conduct and this is marked as
Zone III in Figure 11. Finally, in Zone IV the switches S3 and S 4 conduct.
T1
T2
Signal for S1
Vo
Signal for S 2
Signal for S3
Signal for S 4
Vin
Vin
i1
Vin
R
i2
Current through S1
Vin
R
Current through S 2
Vin
R
t
Vin
R
0 t T1
T1 t T2
Current through S3
Current through S 4
Figure 9: Instantaneous voltage and current waveforms for full bridge DC-AC inverter
Page 8 of 34
S1
S3
D1
C1
Vin
D3
L
S1
S3
D1
C1
Vin
D3
L
b
i2
C2
S2
D4
D2
S4
C2
S2
D4
D2
vo
iL
II
III
IV
Page 9 of 34
S4
References:
[1] M. Ehsani, Modern Electric, Hybrid Electric and Fuel Cell Vehicles: Fundamentals,
Theory and Design, CRC Press, 2005
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007
Page 10 of 34
The frequency of the output voltage waveform depends on the switching rate of
the switches and hence can be varied over a wide range.
The direction of rotation of the motor can be reversed by changing the output
phase sequence of the inverter.
180o conduction
120o conduction
C1
S1
D1
S3
D3
Vin
S5
D5
C2
S4
D4
S6
D6
S2
D2
Page 11 of 34
In this mode of operation each switch conducts for 180o. Hence, at any instant of time
three switches remain on. When S1 is on, the terminal a gets connected to the positive
terminal of input DC source. Similarly, when S 4 is on, terminal a gets connected to the
negative terminal of input DC source. There are six possible modes of operation in a
cycle and each mode is of 60o duration and the explanation of each mode is as follows:
C1
S1
D1
S3
D3
S5
Vin
D5
C2
S4
D4
Ra
S6
D6
D2
S2
Rb
Rc
n
Figure 2: Three-Phase DC-AC Inverter with star connect resistive load
Page 12 of 34
Mode 1: In this mode the switches S5 , S6 and S1 are turned on for time interval 0 t .
3
As a result of this the terminals a and c are connected to the positive terminal of the input
DC source and the terminal b is connected to the negative terminal of the DC source. The
current flow through Ra , Rb and Rc is shown in Figure 3a and the equivalent circuit is
shown in Figure 3b. The equivalent resistance of the circuit shown in Figure 3b is
R 3R
Req R
2
2
The current i delivered by the DC input source is
V
2 Vin
i in
Req 3 R
(1)
(2)
ia ic
1 Vin
3 R
(3)
2 Vin
(4)
3 R
Having determined the currents through each branch, the voltage across each branch is
V
2V
van vcn ia R in ; vbn ib R in
(5)
3
3
ib i
Page 13 of 34
C1
D1
S1
S3
D3
S5
Vin
S4
D4
ia
C2
D5
ib
S6
D6
Ra
ic
D2
S2
Rb
Rc
n
Figure 3a: Current through the load in Mode 1
i
Ra
ic
ia
Vin
Rc
ib
Rb
b
Figure 3b: Equivalent circuit in Mode 1
Page 14 of 34
Mode 2: In this mode the switches S6 , S1 and S 2 are turned on for time interval t 2 .
3
The current flow and the equivalent circuits are shown in Figure 4a and Figure 4b
respectively. Following the reasoning given for mode 1, the currents through each branch
and the voltage drops are given by
1V
2V
ib ic in ; ia in
(6)
3 R
3 R
V
2V
vbn vcn in ; van in
(7)
3
3
C1
S1
D1
S3
D3
S5
Vin
S4
D4
Ra
ia
C2
D5
ib
S6
D6
ic
D2
S2
Rb
Rc
n
Figure 4a: Current through the load in Mode 2
Page 15 of 34
Rb
Vin
Rc
ic
ib
i
ia
Ra
a
Figure 4b: Equivalent circuit in Mode 2
Mode 3: In this mode the switches S1 , S 2 and S3 are on for 2 t . The current flow
3
and the equivalent circuits are shown in Figure 5a and figure 5b respectively. The
magnitudes of currents and voltages are:
1V
2V
ia ib in ; ic in
(8)
3 R
3 R
V
2V
van vbn in ; vcn in
(9)
3
3
Page 16 of 34
C1
D1
S1
S3
D3
S5
Vin
S4
ia
C2
D5
ib
D4
S6
D6
Ra
ic
D2
S2
Rb
Rc
i
Ra
ib
ia
Vin
Rb
ic
Rc
c
Figure 5b: Equivalent circuit in Mode 3
Page 17 of 34
For modes 4, 5 and 6 the equivalent circuits will be same as modes 1, 2 and 3
respectively. The voltages and currents for each mode are:
1 Vin
2 Vin
; ib
3 R
3 R
for mode 4
Vin
2Vin
van vcn ;Vbn
3
3
(10)
1 Vin
2 Vin
; ia
3 R
3 R
for mode5
Vin
2Vin
vbn vcn ;Van
3
3
(11)
1 Vin
2 Vin
; ic
3 R
3 R
for mode 6
Vin
2Vin
van vbn ;Vcn
3
3
(12)
ia ic
ib ic
ia ib
The plots of the phase voltages ( van , vbn and vcn ) and the currents ( ia , ib and ic ) are shown
in Figure 6. Having known the phase voltages, the line voltages can also be determined
as:
(13)
n
n
n
n
2n
van
4Vin
n 1,3,5,... 3n
vbn
4Vin
n 1,3,5,... 3n
vcn
4Vin
n 1,3,5,... 3n
n
n
4n
4Vin
n
n
n
sin
sin
sin nt
2
3
6
n 1,3,5,... n
4Vin
n
n
n
2
3
2
n 1,3,5,... n
vab van vbn
(14)
(15)
4Vin
n
n
7n
sin
sin
sin nt
2
3
6
n 1,3,5,... n
Page 18 of 34
Signal for S1
t
Signal for S 2
3
2
3
Signal for S3
Signal for S 4
Signal for S5
t
Signal for S 6
2Vin / 3
Vin / 3
Vin / 3
2Vin / 3
Voltage van
2Vin / 3
Vin / 3
Voltage vbn
Vin / 3
2Vin / 3
2Vin / 3
Vin / 3
Vin / 3
2Vin / 3
Voltage vcn
Vin
Voltage vab
Vin
Vin
Voltage vbc
Vin
Vin
Voltage vca
Vin
Page 19 of 34
C1
S1
D1
S3
D3
S5
Vin
S4
D4
ia
C2
D5
ib
S6
Ra
La
D6
ic
D2
S2
Rb
Rc
Lb
Lc
Page 20 of 34
ia
ib
ic
n 1,3,5,...
R 2 n L
n 1,3,5,...
R 2 n L
n 1,3,5,...
R 2 n L
4Vin
3n
n
n
4Vin
3n
n
n
2n
4Vin
3n
n
n
4n
(16)
where
n L
n tan 1
c
Rc
ic
Lc
Vin
n
Ra
Rb
ia
La
ib
Lb
Page 21 of 34
C1
S1
D1
S3
D3
S5
Vin
S4
D4
ia
C2
D5
ib
S6
Ra
La
D6
ic
D2
S2
Rb
Rc
Lb
Lc
n
Figure 7d: Current through the load during transition from Mode 6 to Mode 1
Page 22 of 34
Ra
Rc
ia
Vin
ic
Lc
La
n
Rb
ib
Lb
b
Figure 7e: Equivalent circuit during transition from Mode 6 to Mode 1
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007
Page 23 of 34
Torque
Powe r
Speed
Figure 1: Ideal performance characteristics for a traction motor
Page 24 of 34
(1)
4Vin
n
n
sin
sin
sin nt
2
2
n 1,3,5,... n
(2)
1/2
2
Vin d (t )
2
2
Vin
(3)
(4)
(5)
4Vin
n
n
sin
sin
sin nt
2
2
n 1,3,5,... n R
(6)
4Vin
n
n
iL
n 1,3,5,...
n R 2 n L
sin
sin
sin nt n
(7)
where
L
n tan 1
Page 25 of 34
The currents for both R and R-L loads are also shown in Figure 3.
By varying Ar from 0 to Ac , the pulse width can be modified from 0o to 180o and the rms
voltage Vo,rms from 0 to Vin . The harmonic content for different harmonics for different
modulation indices is shown in Figure 4.
S1
S3
D1
C1
i3
i1
Vin
D3
v0
S4
D4
C2
b
i2
S2
D2
i4
i2
Page 26 of 34
Ac
Ar
Vin
Vin
iL
iL
Figure 3: Currents and voltages in single phase DC-AC inverter for single PWM
Harmonic Magnitude
1.4
1.2
1st Harmonic
3rdHarmonic
0.8
5th Harmonic
0.6
7th Harmonic
0.4
8th harmonic
0.2
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
Harmonic Number
Figure 4: Harmonic content for single pulse width modulation
Page 27 of 34
2 fr
2
np
(8)
where
fc
is frequency modulation ration
fr
mf
The instantaneous output voltage ( vo ) and the current for resistive and inductive loads are
shown in Figure 5. The output voltage in terms of Fourier series is given by
vo
n 1,3,5,...
Bn sin(nt )
where
2n p 1 n
4Vin
n
n
sin
sin
sin nt n m
2
2
2
m 1 n
where
n p is number of pulses in the half cycle
2np
Bn
M is modulation index
is width of each pulse
M
180
np
180(1 M )
2n p
m 2m 1 m 1
(9)
Page 28 of 34
n 1,3,5,...
An sin(nt )
where
2n p 1 n
4Vin 1
n
n
sin
sin
sin nt n m
n
2
2
2
m 1 n Z n
where
2np
An
Z n R 2 n L
(10)
n L
n tan 1
2n p
1/2
2
Vin d (t )
/2
2
/2
2
Vin
n p
(11)
Page 29 of 34
Ac
Ar
Vin
Vin
iL
iL
Figure 5: Currents and voltages in single phase DC-AC inverter for Multi-PWM
Page 30 of 34
4Vin
n 1,3,5... n
np
k 1,2,...
sin
n k
2
n k
cos nt 2 n k
where
n p is the number of pulses in the half cycle
(12)
Page 31 of 34
np
where
ma
ma sin k
(13)
Ar
is the modulation index
Ac
The value of the starting angle of the kth pulse ( k ) is given by numerically solving the
following equation
ma sin k
mf
k 2k 1
(14)
where
m f =2n p
The angles and for a sine PWM with 6 pulses per half cycle are calculated using
equations 13 and 14 and listed in Table 1. The waveforms of the voltage and current are
shown in Figure 7.
The r.m.s value of the output voltage is
vo Vin
2np
(15)
m 1
np
4Vin
n 1,3,5... n Z n
k 1,2,...
sin
n k
2
n k
cos nt 2 n k n
where
(16)
Z n R n L
2
n tan 1
Table 1: The starting angle and pulse width for Sine PWM with 6 pulses per half cycle
o
o
Pulse Number
1
Starting angle [ ]
12.98
Pulse Width [ ]
4.04
39.30
11.40
66.73
16.54
96.05
17.90
127.90
14.20
162.26
5.49
Page 32 of 34
vo
iL
Figure 7: Voltage and Current waveforms for Sinusoidal PWM with 6 pulses per half cycle
(12)
Page 33 of 34
The output voltage is generated by eliminating the condition that two switching devices
in the same arm cannot conduct at the same time.
Ac
Ar
Figure 8: Voltage and Current waveforms for three phase Sinusoidal PWM
Suggested Reading:
[1] M. H. Rashid, Power Electronics: Circuits, Devices and Applications, 3rd edition,
Pearson, 2004
[2] V. R. Moorthi, Power Electronics: Devices, Circuits and Industrial Applications,
Oxford University Press, 2007
Page 34 of 34