Beruflich Dokumente
Kultur Dokumente
5, SEPTEMBER 2003
AbstractMost of the many reported control algorithms for phase delays caused by the LC filter at the output stage of the
uninterruptible power supplies (UPSs) use either filter inductor converter [5], [8][13]. The reference for this current loop is
or filter capacitor currents as feedback variables to regulate the generated by an outer voltage feedback regulation loop. Various
output voltage. This paper explores the fundamental performance
issues associated with the use of these quantities as feedback vari- state and command feedback/feedforward variants generally
ables, with a view to determining their contribution to the tran- referred to as disturbance input decoupling, have also been
sient system response and output harmonic compensation in any proposed by various authors to achieve improved steady-state
particular situation. A proportional plus resonant (P resonant) + tracking and transient response.
compensator is then added into the outer voltage regulation loop These multiloop schemes usually use either the output filter
to achieve zero steady error, to develop a high performance UPS
control algorithm, which is applicable to both single-phase and capacitor current [5], [8], [9] or the filter inductor current
three-phase systems. Theory, simulation, and experimental results [10][13] as the main feedback variable, with various authors
are presented in the paper. claiming merits of their choices. This paper presents a de-
Index TermsCurrent control, harmonic impedance, PID, tran- tailed investigation of the merits and shortcomings of these
sient analysis, UPS, THD, voltage control. alternatives, and concludes that capacitor current feedback is
the superior control variable. A P Resonant feedback system
[14] is then incorporated into the outer voltage regulation loop
I. INTRODUCTION to completely eliminate the fundamental steady-state error
and achieve a significantly improved, parameter insensitive
T HE PRIMARY role of an uninterruptible power supply
(UPS) is to maintain a constant voltage and frequency
supply for critical loads under any nonlinear load conditions and
transient and steady-state response compared to other reported
feedback schemes.
irrespective of variations in the input ac source. To achieve this
result, several high performance feedback control schemes such
as predictive control [1], [2], repetitive control [3], [4], optimal II. ALTERNATIVE CONTROL STRUCTURES FOR A
state feedback [5] and selective harmonic compensation [6], [7] LINE INTERACTIVE UPS SYSTEM
have been proposed for the optimal control of an UPS system.
Although most of these schemes give good results with low Fig. 1(a) shows the general layout of a three-phase line
THD and fast dynamic response, they usually require reasonable interactive UPS system. Fig. 1(b) shows the control system
knowledge of the system parameters, require high switching fre- block diagram representation of one phase, identifying in
quencies, and involve high computational overheads. particular the four main control state variables of: filter in-
Among the reported strategies, multiple PID feedback ductor current ; filter capacitor current ; load current ;
loop control strategies have drawn the most attention among and filtered output voltage . Most of the reported control
researchers due to its ease of implementation and excellent schemes for UPS systems use various combinations of these
performance. Multiloop systems usually include an inner cur- parameters, their derivatives and commanded references as
rent regulation feedback loop, that provides fast compensation feedback and/or feedforward control variables in an attempt to
for any input supply disturbances and corrects for harmonic achieve improved tracking performance compared to a simple
PI voltage feedback scheme. In particular, control schemes
Manuscript received July 12, 2001; revised March 16, 2003. This work was with all possible feedforward and feedback paths implemented,
presented at the 32nd Power Electronic Specialists Conference, University of have been reported in [5]. These control schemes are shown to
British Columbia, Vancouver, Canada, June 1722, 2001. Recommended by
Associate Editor F. Blaabjerg. achieve zero steady-state error only when all filter parameters
P. C. Loh is with the Center for Advanced Power Electronics, School of Elec- are accurately estimated.
trical and Electronic Engineering, Nanyang Technological University, Singa-
pore S639798 (e-mail: pcloh@ieee.org).
In this paper, the elimination of steady-state error is achieved
M. J. Newman, D. N. Zmood, and D. G. Holmes are with the Depart- by the inclusion of a P Resonant compensator [14] into the
ment of Electrical and Computer Systems Engineering, Monash University, outer voltage regulation loop. The P Resonant compensator
Clayton VIC3800, Australia (e-mail: email@michael-newman.com; daniel@
zmood.net; grahame.holmes@eng.monash.edu.au). can be mathematically derived by transforming an ideal
Digital Object Identifier 10.1109/TPEL.2003.816199 synchronous frame PI compensator to the stationary frame, as
0885-8993/03$17.00 2003 IEEE
LOH et al.: COMPARATIVE ANALYSIS OF MULTILOOP VOLTAGE REGULATION STRATEGIES 1177
(a)
(a)
(b)
Fig. 1. Three phase UPS system (a) general layout and (b) per phase block
diagram representation.
(a)
(b)
(1)
LOH et al.: COMPARATIVE ANALYSIS OF MULTILOOP VOLTAGE REGULATION STRATEGIES 1179
(2)
1180 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 5, SEPTEMBER 2003
V. EXPERIMENTAL RESULTS
A three-phase digitally controlled experimental UPS with
filter capacitor current feedback was constructed to verify the
conclusions of the simulation studies. The system configuration
and parameters are given in Fig. 6 and Table I, respectively.
(The grid connection, shown in Fig. 1(a), was not implemented
since the primary focus of this work was the influence of load
nonlinearities, and the grid contributes fundamental current
only provided the output voltage is essentially sinusoidal.) For
the experimental system, the dc supply was implemented using
a front-end diode rectifier, connected to a three-phase variac.
Fig. 8. Simulationvoltage error under a step change from no load to full load The current and voltage signals were measured and digitised
using load of Fig. 5(a) (filter capacitor current feedback). using A/D converters, and then input to the controller, imple-
1182 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 18, NO. 5, SEPTEMBER 2003
TABLE I
DETAILS OF EXPERIMENTAL SYSTEM
Fig. 10. Simulationvoltage error under a step change from no load to full load
using load of Fig. 5(a) (filter inductor current feedback).
(5)
where: .
This alternative compensator can be derived by transforming
a high-gain low-pass filter in the synchronous frame to the
stationary frame [14], and has a frequency response given
in Fig. 2(b) with rad/s and
rad/s. Note that the resonant peak now has a finite
gain of dB, which is satisfactory high for eliminating
the fundamental tracking error and justifying the analyses
presented in Sections III and IV. In addition, a wider bandwidth
is observed around the resonant frequency, which minimizes
the sensitivity of the compensator to slight resonant frequency
variations. At other harmonic frequencies, the response of the Fig. 12. Harmonic spectrum of line voltage using load of Fig. 5(a).
compensator remains relatively unchanged.
For digital implementation with a TI TMS320-F240 DSP, the After substituting (6) into (5), the discrete transfer function
discrete time transfer characteristics obtained through Tustin becomes
Transformation are
(7)
(6) where .
can be implemented with a fixed point arithmetic
where DSP in the form given as
LOH et al.: COMPARATIVE ANALYSIS OF MULTILOOP VOLTAGE REGULATION STRATEGIES 1183
Fig. 15. Harmonic spectrum of line voltage using load of Fig. 5(b).
TABLE II
Fig. 14. Experimental-Filter capacitor current feedback control using load of COMPARISON OF CONTROL TOPOLOGIES IN FIG. 3
Fig. 5(b).
in the real load elements. In particular, for the load of Fig. 5(a), compensation within individual UPS modules and equal load
the 160 mH dc inductor limits the rate of rise of current, while sharing among the parallel-connected modules.
for the load of Fig. 5(b), the 16 mH ac inductor and 2350 F Finally, to better show the similarities and differences be-
dc capacitor introduce a resonance into the system that causes tween the control schemes, the analysis presented in this section
a transient 25 A peak inrush current to be drawn from the is summarized in Table II for easy reference.
inverter, as shown in Fig. 16. But despite this large transient
current, the voltage error still has a negligible fundamental
component with an error waveform variation closely matching VII. CONCLUSION
that predicted from simulation.
Current control algorithms for UPS systems can essentially
be categorised as using either filter inductor or filter capacitor
current feedback. While many variations of these two alterna-
VI. PRACTICAL CONSIDERATIONS tives have been investigated, a direct comparison of the two al-
ternatives has not been previously reported. This paper presents
In a practical UPS, the choice of a particular feedback scheme
an evaluation of the fundamental differences between these two
depends also on other factors than the superiority of the control
classes of algorithms through load induced harmonic distortion
strategy, including issues such as the cost of the system, protec-
and voltage droop/surge analysis. The conclusion is that only
tion issues and the availability of suitable current sensors.
those algorithms, which effectively implement capacitor current
In principle, the filter capacitor current feedback scheme of
feedback, exhibit satisfactory steady-state and transient perfor-
Fig. 3(a) achieves the best performance and is the cheapest,
mance, particularly under nonlinear loads. This conclusion is
since it requires only one current measurement with a relatively
supported by extensive simulations, and experimental confirma-
low cost current sensor. However, this scheme cannot incorpo-
tion on a prototype three-phase line interactive UPS controlled
rate inverter overcurrent protection since the inverter output cur-
by a TMS320F240 DSP.
rent is not available to implement an overcurrent trip.
With the filter inductor current feedback scheme of Fig. 3(b),
the inductor current is measured directly. This allows overcur- REFERENCES
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[14] D. N. Zmood, D. G. Holmes, and G. Bode, Frequency domain analysis Daniel Nahum Zmood (S97) received the B.S.
of three phase linear current regulators, IEEE Trans. Ind. Applicat., vol. degree (with honors) in electrical engineering from
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[15] B. Lee and M. Ehsani, A simplified functional simulation model for where he is currently pursuing the Ph.D. degree in
three-phase voltage-source inverter using switching function concept, power electronics in the Department of Electrical
IEEE Trans. Ind. Electron., vol. 48, pp. 309321, Apr. 2001. and Computer Systems Engineering.
[16] U. B. Jensen, F. Blaabjerg, and P. N. Enjeti, Sharing of nonlinear load in In 1996, he was a Researcher for 12 months in
parallel-connected three-phase converters, IEEE Trans. Ind. Applicat., the Power Electronics Group, Monash University,
vol. 37, pp. 18171823, Nov./Dec. 2001. working on switch-mode power supply design and
[17] A. Tuladhar, H. Jin, T. Unger, and K. Mauch, Parallel operation of power cable field measurement and prediction. He
single phase inverter modules with no control interconnections, in Proc. has authored 11 papers published in international
IEEE APEC97, 1997, pp. 94100. conference proceedings and professional journals. His major fields of interest
include the modulation and control of PWM current-source inverters, current
regulation of sinusoidal converters, switch-mode power supply design and
control, and signal processing.
Poh Chiang Loh (S01) received the B.Eng. (with Mr. Zmood received the Prize Paper Award from the Industrial Power Con-
honors) and M.Eng. degrees from the National verter Committee, IEEE Industry Applications Society, in 1999. He is a member
University of Singapore, in 1998 and 2000, re- of the IEEE Industry Applications, IEEE Power Electronics, and IEEE Indus-
spectively, and the Ph.D. degree from Monash trial Electronics Societies.
University, Clayton, Australia, in 2002, all in
electrical engineering.
During the Summer of 2001, he was a Visiting
Scholar with the Wisconsin Electric Machine
and Power Electronics Consortium, University
of Wisconsin, Madison, where he worked on the
synchronized implementation of cascaded multilevel
inverters, and reduced common mode carrier-based and hysteresis control
strategies for multilevel inverters. From 2002 to 2003, he was a Project
Engineer with the Defense Science and Technology Agency, Singapore, Donald Grahame Holmes (M87) received the M.S.
managing major defence infrastructure projects and exploring new technology degree in power systems engineering from the Uni-
for intelligent defense applications. Since 2003, he has been an Assistant Pro- versity of Melbourne, Melbourne, Australia, in 1974
fessor with Nanyang Technological University, Singapore. His main research and the Ph.D. degree in PWM theory for power elec-
interests include power quality study, voltage sag mitigation, optimization and tronic converters from Monash University, Clayton,
control techniques, multilevel inverters, and hysteresis modulation and current Australia, in 1998.
regulation techniques. He worked for six years with the local power com-
pany developing SCADA systems for power trans-
mission networks, before returning to the University
of Melbourne as a faculty member. In 1984, he moved
Michael John Newman (S95) received the B.Sc. to Monash University to work in the area of power
degree in computer science and the B.E. degree electronics, where he is now a Senior Lecturer in this field. He currently heads
in electrical and computer systems engineering the Power Electronics Research Group, Monash University, where he manages
from Monash University, Melbourne, Australia, in graduate students and research engineers working together on a mixture of the-
1997 and 1999, respectively, where he is currently oretical and practical R&D projects. The present interests of the group include
pursuing the Ph.D. degree in power electronics. fundamental modulation theory, current regulators for drive systems and PWM
In 1997, he was an Intern with Siemens Australia, rectifiers, active filter systems for quality of supply improvement, resonant con-
and in 1998 he was an Intern with Australian Gas verters, current source inverters for drive systems, and multilevel converters. He
Light (AGL) working in electrical distribution sys- has a strong commitment and interest in the control and operation of electrical
tems. He is currently employed by Adrian Newman power converters. He has made a significant contribution to the understanding
and Associates and PowerCad Software, working on building services design of PWM theory through his publications and has developed close ties with the
and engineering software, respectively. His major research interests include ac- international research community in the area. He has published over 60 papers
tive filters and PWM rectifiers, Universal Power Quality Conditioners, quality at international conferences and in professional journals, and regularly reviews
of supply, digital control, and signal processing techniques. papers for all major IEEE TRANSACTIONS in his area.
Mr. Newman received the first prize from the 2000 IEEE Industry Applica- Dr. Holmes is an active member of the IPC and IDC Committees of the IEEE
tions Myron Zucker Student Design Awards for his work on active filters. Industrial Applications Society.