IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-23. NO.

1, JANUARY/FEBRUARY 1987

71

Three-Phase Sinusoidal

AC/DC PWM AC

Currents and Minimum Filter Requirements

MEMBER, IEEE, AND

Converter with

LUIGI MALESANI,

PAOLO TENTI,

MEMBER, IEEE

Abstract-A pulsewidth modulation (PWM) control technique suitable for fully controlled three-phase ac/dc converters is analyzed, which gives sinusoidal input currents and ideally smoothed dc voltage. The technique allows four-quadrant operation and full-range control of the input power factor. An extension to a simplified converter scheme, capable of onequadrant operation, is also considered. Operation of the converter is analyzed under both ideal and actual conditions. Control implementation and design criteria are discussed and experimental results are reported.

U_ I

U~~~~11 SiS T . I
.

2
U3

zrzPz3IV0
.

I
,

Ld

-~~'

Ud

The PWM technique may be explained, in principle, with reference to Fig. 2, where the waveforms of the line voltages U], U2, U3 are shown assuming that they are sinusoidal and symmetrical. Fig. 2 also shows reference waveforms irI, ir2, ir3 of input currents il, i2, i3, which are assumed sinusoidal, symmetrical, and in phase with the corresponding line voltages. In the period six time intervals may be recognized, beginning at the crossings of the desired line currents, each corresponding to a different operating mode of the circuit. Consider first interval t, - t2. Here reference current irl is the greatest positive and ir2 the greatest negative among i4j. Assuming output current id is perfectly smoothed, switch S' may be operated according to a proper sinusoidal modulation law m' so that il meets the desired waveform irI in the lower part of its harmonic spectrum. Correspondingly, a suitable sinusoidal modulation law ma" may be adopted for operating switch S" to give current i2 the 2 desired waveform i,2. Whenever S ' is open, another switch of the upper half of the bridge must be closed to give the necessary path to current id; similarly, for the lower half of the PRINCIPLE OF OPERATION bridge when S" is open. For this purpose switches S' and S 3" bridewen " i 3 The general scheme of a fully controlled three-phase ac/dc are used, as they do not affect currents i, and i2. The desired converter is shown in Fig. 1. In addition to the six fully sinusoidal waveform of i3 results as a consequence of the fact controlled switches, it includes three capacitors for filtering that the sum of il, i2, i3 is zero at any time. the input voltages and a dc choke for smoothing the output The described mode of operation implies that some time current. intervals exist during which both S3' and S3, are closed (S' and S2' being open), thus giving a freewheeling path to id. Paper IPCSD 86-20, approved by the Static Power Converter Committee of Similar operating criteria are adopted for the other intervals, the IEEE Industry Applications Society for presentation at the 1985 Industry where suitable modulation laws are given to the switches Applications Society Annual Meeting, Toronto, ON, Canada, October 6-11. corresponding to the greatest positive and greatest negative This work was supported by the Italian Ministry for Public Education. Manuscript released for publication August 28, 1986. among the desired currents ij. In every interval, sinusoidal The authors are with the Department of Electrical Engineering, University waveforms are achieved for all input currents. of Padova, Via Gradenigo 6a, 35131 Padova, Italy. Let x(t) be the logic function describing the status of generic IEEE Log Number 8612027.

INTRODUCTION I NPUT and output performance of three-phase ac/dc converters may be greatly improved by using pulsewidth modulation (PWM) techniques. Significant benefits are obtained as regards ac power factor, line current distortion, and output ripple. This implies substantial reduction of the reactive power compensation and filter requirements on the ac and dc side. Among the converter configurations suitable for PWM operation, the scheme of Fig. 1. which employs six fully controlled switches, gives optimum performance. In fact, by using proper control techniques, it allows distortion-free input currents, perfectly smoothed dc voltage (neglecting the highfrequency harmonics produced by the modulation), and fullrange regulation to be simultaneously obtained. In this paper a control technique is analyzed, which gives the benefits mentioned while allowing input power factor regulation. If unidirectional switches are used, two-quadrant operation is obtained, while for four-quadrant operation bidirectional switches are needed. The control technique is also extended to a converter scheme using only three unidirectional switches, capable of one-quadrant operation and reduced power factor regulation.

s2

Fig. 1. Six-switch converter.

0093-9994/87/0100-0071$01.00 1987 IEEE

72

IEEE TRANSACTIONS ON INDUSTRY

APPLICATIONS. VOL. IA-23. NO. 1, JANUARY/FEBRUARY 1987

Mr= 1 -im' = 1 -M sin (ct) 3

UI

U2
/
r

U3
/r3

(6b)
(6c)
(6d)

mr2[" =MIsin

(cot-21/3)1=

-M sin (ct-2II/3)

M3 -1-mrn'=I+Msin(wt-2II/3)
Im" =rm =0

(6e)

where M is the modulation index. In the following time interval t2 - (3, the conditions are
xf=0

(7a)

tI

t2

t3
Fig. 2.

t4

1-

tS

t6

I X2-Xl
,

x' -OV
=

x3

(7b)
,

(7c) (7d)

AC waveforms.

switch S. Correspondingly, a modulation law m(t) may be defined as a continuous function given by the lower harmonic contents of x(t). As x(t) assumes only 0 (low) or 1 (high) values, m(t) is limited between 0 and 1. As a path to output current id must be ensured while avoiding short circuits between the input terminals, one switch must be closed at every instant in each half of the bridge, keeping the others open. This is expressed by the condition that, for each half of the bridge, only one x(t) at a time takes high status, the others being low. Taking these conditions into account, operation of the bridge results in the following relationships:
il = (X{ -X'

w2 a while the modulation laws are

ml'= M sin (wt)

Mr'= 1-rm'= 1 -M sin (ct) 2
mr

(8a)

(8b)
(8c) (8d) (8e)

=MIsin (cot+2H/3)1 = -M sin (cot+2HI/3)

mrn = 1-mn' = 1+ Msin (wt+2/3)

mi 1 = mi 3 = 0.

)id

(la)

Similar relations may be derived for the successive time intervals. From the preceding relationships, by comparison with (3), the result for all intervals is

i2=(X2'

-X2[')id

(lb)
(Ic)
(2)

i3 = (X -X3")lid

Ud=(XI -X1)U1+(X2 -X2)U2+(X3 -X3)

il = idM sin (cot) i2 = idM sin (tt- 2II/3) i3 - idM sin (cot + 21I/3)

(9a) (9b) (9c)

Neglecting the high-frequency contents, these relationships become

il =(m' -I"')id

(3a)

which shows that, provided that id is perfectly smoothed, the desired current waveforms are obtained. In the same hypothesis, as regards dc voltage Ud, for all intervals the following may be derived:

i2=(Mr
Ud= (m I' -M t)UI + (M' m
-

-M2")id

(3b)
(3c)
(4)

Ud=M(Ul sin (GOt)+u2 sin (cot-2H/3)

+ U3 sin (cwt + 2H/3)).

i3=(m3 -M3")id
M' )U2 + (M3- m3')U3.

(10)

In time interval t, satisfied:

t2 the following conditions must be

x =O

In the hypothesis that the input voltages ul, U2, U3 are sinusoidal, symmetrical, and in phase with the line currents, the dc voltage given by (10) is constant and given by
Ud=3/ 2UM
(11)

(5a)

x2 =0

(5b)
(5c)

x3

=Xl'

X3'-2'

(5d)

and, to achieve the desired sinusoidal waveforms of the line currents,

m
'
=

where U is the rms value of the line voltage. Thus a dc voltage not affected by low-order harmonics is obtained, whose maximum value is only ten percent lower than that of an uncontrolled bridge. Modulation index M determines both the amplitude of the output dc voltage and of the input ac currents, according to the power balance.
REGENERATIVE OPERATION AND REACTIVE POWER CONTROL

M sin (cot)

Converter behavior remains substantially the same also if output voltage Ud and/or output current id are reversed with

MALESANI AND TENTI: PWM CONVERTER WITH SINUSOIDAL AC

73

respect to the polarities considered in Fig. I. Considering first the reversing of Ud, it may immediately be verified that this also implies the reversing of input voltages ui, while line currents i, and modulation laws Mi, which are related to current reference waveforms i4,j remain unchanged. Correspondingly, (I)-(10) maintain their validity, but in (4) and (10) the voltages assume a negative sign. Equation ( 11) also maintains its validity if a minus sign is applied to rms value U to take into account the reversing of the ac voltages. On the contrary, if output current id is reversed while maintaining the same reference currents iri and modulation laws mi, the resulting input currents ii turn out to be of opposite polarity with respect to ij. The resulting behavior is described again by (l)-(10), where id assumes a negative value. As the reversing of the polarity of Ud does not require reversing the currents in the switches, two-quadrant operation may be achieved by using unidirectional switches in the converter of Fig. 1. On the contrary, reversing current id for four-quadrant operation is possible only by employing bidirectional switches. In all cases no changes are required in the modulation technique. The control technique described may be extended to vary the phase between the input voltages and currents, thus achieving the absorption of a controllable amount of reactive power. For this purpose, current reference waveforms iri with a proper phase k with respect to input voltages ui must be generated. The resulting modulation laws and converter behavior do not change and are described by (l)-(10). However, ( 1) is no longer valid. Taking into account the phase displacement between ui and ii, (10) gives

Fig. 3.

Three-switch converter.

switch S3 must be closed whenever SI or S2 are open, thus ensuring a path to current id while giving the desired sinusoidal waveform of i3. Due to the presence of the diodes and relative polarities of the input voltages, S3 may actually be kept closed during the whole interval without affecting circuit performance. This gives simpler control and avoids the need for precise synchronization of the commutations of the switches. Similar operating criteria are adopted for the other time intevals. The foregoing considerations show that in every interval the low-frequency components of the input currents satisfy (9), output voltage Ud again being expressed by ( 11) and not affected by low harmonic contents. If a phase displacement between input currents and voltages is required, due to the presence of the diodes a control criterion different from that of the converter of Fig. 1 must be adopted. Consider the operating intervals during which switch SI modulates current id to produce current il. This operation can be performed only if the corresponding input voltage ul is the (12) maximum positive or negative among the input voltages. Ud=3/ 2UMcos. This equation shows that the absorption of a reactive power Otherwise, operation of the other switches can divert current id reduces the maximum dc voltage obtainable by the converter. from SI even when it is closed, thus affecting the modulation law. Similar considerations apply for the other switches. ONE-QUADRANT CONVERTER It turns out that the operating intervals are determined by the If only one-quadrant operation is required, the scheme of crossings of the input voltages rather than those of the input Fig. 3, which uses only three unidirectional switches, may be currents. During each of these intervals, the two switches employed. It allows modulation of current id to obtain three corresponding to the higher positive and negative line voltages sinusoidal input currents, giving performance similar to that perform the modulation, the third switch being kept closed. The modulation laws, however, are determined by referdescribed earlier. However, some limitations arise from the presence of the diodes and the reduced number of switches ence currents i,j and are not in phase with the input voltages, as which involve a lower degree of freedom in operating the shown in Fig. 4. This involves a limitation of 30 to the maximum phase displacement 0 obtainable with this scheme. converter. In fact, if these limits are exceeded, in each operating interval To describe the operation, consider first the case of Fig. 2, in which the desired current waveforms i,j are in phase with one reference current corresponding to a modulating switch input voltages ui. In time interval t1 - t2 voltage ul is the most changes its polarity and converter operation fails. In this case, too, the output voltage is given by (12) and positive among u;, thus ensuring that current id flows through D' and D' when switch SI is closed. As a conse- does not exhibit low harmonic contents. This may easily be diodes at quence, SI may be operated according to a proper sinusoidal derived from instantaneous power balance considerations, modulation law (which coincides, in this interval, with ml' assuming id to be perfectly smoothed. given by (6a)) to obtain input current it to correspond to ACTUAL OPERATION AND CONTROL IMPLEMENTATION reference waveform irl. In actual operation, the hypotheses of sinusoidal and Similarly, input voltage U2 is the most negative, so that switch S2 may be operated with a proper modulation law symmetrical input voltages and perfectly smoothed output (which coincides, in this interval, with m ' given by (6c)) to current are met only with a certain degree of approximation. produce the desired input current i2. During this interval, The above approach, however, may easily be extended to the

74

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. VOL. IA-23. NO. Is

JANUARY/FEBRUARY 1987

U3

_X
U2

U: Ud~~~~2

5. Cnvert F_.
ti

c
1

t2

t3

t4

t5

t6

2 2

Fig. 4. AC waveforms with phase displacement.

mdltion law fo bot th upper oteward PWM Feed-fsrutre an lower hafbrde are
Gene rator

3udr
r i

study of converter behavior under nonideal conditions, starting from (3) and (4) which are valid in general. Assuming that, by means of a proper control circuit, sinusoidal and synmmetrical waveforms are ensured for the input currents, irrespective of the ripple of output currient id,
(3) gives
il = i sin (Wt)= id(M1' -m )

PLL

accordngto tatus Figs 5. ignal

in

e eratoi irval.

xf x,. Converterc X ecntrrl.

(13a)
(13b)

according to status signals x. Fig. 6 illustrates the structure of the feedforward PWM ij =Xsin (wt+2H/3)= id(m3' M 3) (I3c) generator in greater detail. The interval recogtiizer, whose where F is the peak value of the input currents and output inputs areosvlrence currents ij for the converter of Fig 1 or input voltages us for the converter of Fig. 3 produces logec currenit 4i is time-dependent. Together with the control criteria described for the con- signals which identify the operating interval. Accowicng to these signalsc theom dulatengwavemorm verter of Fig. I, in each operating interval (13) determine the chipse the modulation laws mi of all switches as a function of current id selectors apptopriate reference current wdavefornes r both the upper and lower half-bridgesshich are moduw and reference currents i. With obvious extensions the same relations may be used for determining the modulation laws of lated by the triangular carrier in the PWM modulators. The amplitude(f the carrier waveform is propomsional to the the switches of the converter of Fig. 3, of iCr thus From (4) and (13), the general expression of the output instantaneom(s value iurrent gpving the desired
-

i=i sin (wt -2H/3)= id(m -mn )

modulation laws for both the upper and lower half-bridges amd according to P generated refrenefurents 4aveformtecnetrsfFg ,o (c13)i. To take nto account the inpus ar dependence of the modulation laws on ipi toedftrward technique is used. The driver circuit operates the switches

voltage is obtained by

Ud= (I/id)(Ul sin (t) +u2 sin (cot- 21/ 3)

of the input voltages. From the above considerations a control scheme may be devised for-the converter of Fig. 1. Fig. 5 shows the general scheme of such a controller. The reference waveform generator produces reference current waveforms i,, 4.2, i which are synchronized with a controllable phase displacement 0 with the line voltages, by means of a phase-locked loop circuit. The amplitude of these waveforms is proportional to the output of an error amplifier, which controls the mean value of dc voltaged. d The feedforward PWM generator produces logic signals xi, which determine the status of the six switches of the bridge. In this block the operating intervals are recognized depending on the instantaneous relative amplitudes of i4. Correspondingly,

+u3 sin (cot+2H1/3)). (14) This equation shows how the time behavior of Uddepends on id. It also shows the dependence of Ud on the actual waveforms

msedfbrward action. Thes shown selectors of the upper and lower halfbridges choose the switches, dependtng on the operating interval signals which perfrm direct and complemented modulationa Actuat implementationaf these cunctions may be done either by discrete logic or by means of a microprocessor*.
DESIGNT CRITERIA The maximum dc vonltage the conveter may producets gimen by (I 1) and (12)t while the maximumrvls input currnt results from (9) and is be4 Correspondinglya the switches must be rated for a peak voltage o3f N/J_ and a peak current Id. As shown by (I 1), the output voltage does not exhibit low harmonic content, provided that the input voltages are sinusoidal and symmetrical. As a consequence, if the dc load does no cause additional output current harmonics, output and input fiters may be rated only to limuit the ripple due to the modulation. In this hypothesis, maximum voltage integral A on the dc inductance may be evaluated as

A=&(6/4U/If)

(15)

MALESANI AND TENTI: PWM CONVERTER WITH SINUSOIDAL AC

75

id

Fig. 7. Zero-phase first-quadrant input waveforms. Top: current, unfiltered; 10 A/div, 5 ms/div. Center: current, filtered; 10 A/div. Bottom: line voltage; 100 V/div.
Fig. 6.
Feedforward PWM generator.

where f, is the PWM carrier frequency. From (15) the output smoothing inductance may be determined as a function of the maximum permissible current ripple. Input filters, which may consist in capacitors placed across the input terminals, depend on the impedance of the ac supply and on the maximum voltage ripple allowed. As maximum current ripple integral Q at the input is

and correspondingly the maximum value of the dc voltage results from (14), where sinusoidal ac voltages ui are assumed: Ud= 3/1i2 U(Id-,AId)/Id= Ud0(l -AId/lId) (20)

where Ud, is the ideal maximum output voltage.

EXPERIMENTAL RESULTS

Q-Id/(4f),

(16)

the filter capacitor may be determined. A more realistic evaluation should take into account some distortion in the input voltage and the corresponding generation of a low-frequency ripple in the output voltage. Evaluation of this effect may be made from (14), which gives the relation between input and output voltage harmonics, assuming id to be perfectly smoothed. Let

u,=z%, sin (nut+,)

(17)

be the generic harmonic component of the input voltages. The resulting output harmonic is
ud,
=

3/214M cos (3kot + 4,),

if n= 3k 1
if n=3k.

(I8a)

Udn 0,
=

Additional increase in output filter size may result from. the need to smooth the current ripple caused by an active load, if
any.

The presence of an appreciable ripple AId involves a reduction in the maximum output voltage of the converter. In fact, in this case the maximum peak value allowed for the input current is
i=Id -AId

Two experimental prototypes were built according to the schemes of Figs. 1 and 3, both rated for 220-V ac voltage and 10-A dc current. Power transistors were used for both the bidirectional switches of Fig. 1 and the unidirectional switches of Fig. 3. In the scheme of Fig. 1, to avoid overlap in the conduction of the switches in the same half-bridge, suitable delays at turnon were adopted. Due to the presence of the output inductance, snubber circuits had to be placed across the switches to avoid voltage spikes. Thus a 5-kHz modulation frequency was used to keep losses in the snubbers within reasonable limits. The output inductance was 20 mH for adequate filtering of the current ripple resulting from the modulation. To limit the voltage ripple produced at the input of the converter by the modulated current, suitable capacitor filters were placed across the input lines. The size of these filters depends of course on the internal impedance of the ac supply. The prototype was tested in all quadrants and also with a phase displacement between the input voltages and currents. Circuit performance proved to be satisfactory in all conditions and well in accordance with the theoretical results. Fig. 7 shows the waveforms relative to one of the inputs in the case of first-quadrant operation at rated conditions and zero-phase displacement. Fig. 8 shows the harmonic spectrum of the same input current. For the same situation, Fig. 9 shows the instantaneous voltages produced by the upper and lower half-bridges, while Fig. 10 shows the resulting instantaneous output voltage.

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-23, NO. 1, JANUARY/FEBRUARY 1987

'1 A
-40,

A - AX

11

A
.

II 11M

._

__

,A A VAz
Fig. 11. Three-switch converter output voltage: 200 V/div, I ms/div, phase 20.

200

*00

000

'o0

I000

1200

1400

Fig. 8.

Input current spectrum: 10 dB/div, 200 Hz/div.

In the case of the scheme of Fig. 3, delays at turn-on are not required, so that much smaller snubbers were employed. This allowed increase of the modulation frequency to 10 kHz. Correspondingly, output and input filters were reduced. Circuit performance turned out to be similar to that of the previous converter, within the limitations already discussed. For this converter, Fig. 11 shows the instantaneous output voltage in case of a 20 phase displacement between input voltages and currents.
CONCLUSION

Fig. 9.

Partial output voltages: 200 V/div, 2 ms/div.

A PWM control technique is discussed, which allows optimum operation of a fully controlled three-phase ac/dc bridge converter. With this technique sinusoidal input currents and ideally smoothed dc voltage may simultaneously be obtained, resulting in significant reduction of both ac and dc filters. Input power factor control is also achieved together with full regulation of the output voltage. A simplified scheme using only three unidirectional switches is also studied, capable of similar performances in a reduced range of operation. The behavior of the converter is analyzed, even in nonideal conditions, and design criteria are derived. Control schemes are examined, giving full regulation of the output voltage while maintaining the desired input performance, even in the presence of a non-negligible ripple of the output current. Theoretical results were tested on transistor prototypes, showing excellent agreement between ideal and actual behavior. The results obtained demonstrate that the considered technique leads to flexible and reliable operation and allows considerable reduction in weight and size of converters.
ACKNOWLEDGMENT

Fig. 10.

Output voltage: 200 V/div, 2 ms/div.

The authors would like to thank Drs. S. Vampiri and M. Verde, whose dedicated activity made experimental work possible. Thanks are also due to Mr. R. Sartorello for his support in organizing experimental activity.

MALESANI AND TENTI: PWM CONVERTER WITH SINUSOIDAL AC

77
was born in Lonigo (Vicenza), Italy, in 1933. He received the Dr. degree (with honors) in electrical engineering from the State University of Padova, Italy, in 1962. He started working as a Researcher in the Centro Gas lonizzati of the CNR (National Research Council of Italy). In 1964 he become an Assistant Professor on electrical engineering and in 1968 an Associate Professor on electronic components in the University of Padova. Since 1976 he has been a Full Professor on electronics in the same university, working in the field of applied electronics and power electronics. Dr. Malesani is member of AEI (Italian Society of Electrical Engineers).

REFERENCES
[1] T. Kataoka, K. Mizumashi, and S. Miyairi, "A pulse width controlled ac-to-dc converter to improve power factor and waveforms of AC line current," IEEE Trans. Ind. App!., vol. IA-15, pp. 670-675, 1979. (2] H. Kawahira, T. Nakamura, S. Nakazawa, and M.' Namura, "Active power filter," in Proc. IEEJ-IPEC Conf., 1983, pp. 981-992. [3] H. Akagi, Y. Kanazawa, and A. Nabae, "Generalized theory of the instantaneous reactive power in three-phase circuits," in Proc. IEEJIPEC Conf., 1983, pp. 1375-1386. [4] H. Akagi, Y. Kanazawa, and A. Nabae, "Instantaneous reactive power compensators comprising switching devices without energy storage components," in Proc. IEEE Ind. Appl. Soc., Annu. Meeting, 1983, pp. 825-830. [51 D. M. Divan and T. H. Barton, "Considerations on the application of improved power factor converter structures," in Proc. IEEE Ind. Appl. Soc. Annu. Meeting, 1983, pp. 941-948. [6] L. Malesani and P. Tenti, "Dual chopper three-phase rectifier," Trans. IEEJ, vol. 104, pp. 149-152, 1984. [7] P. D. Ziogas, Y. Kang, and V. R. Stefanovich, "PXWM control techniques for rectifier filter minimization," Proc. IEEE Power Electronics Specialists Conf., 1984, pp. 353-362. 18] P. D. Ziogas, Y. Kang, and V. R. Stefanovic, "Optimum system design of a three-phase PWM rectifier-inverter type frequency changer," Proc. IEEE Ind,. Appl Soc. Annu. Meeting, 1984, pp. 908-919. [9] P. Tenti, "Feed-forward control of multilevel PWM converters," Proc. IEEE Ind. Appl. Soc., Annu. Meeting, 1984, pp. 760-765. [101 L Gyugyi and B. R. Pelly, StaticPowerFrequency Changers. New York: Wiley, 1976.

Luigi Malesani (M'63)

Electrical Engineers).

Paolo Tenti (M'85) was born in Boizano, Italy, in 1951. He received the Dr. degree (with honors) in electrical engineering from the State University of Padova, Italy, in 1975. He then joined the Department of Electrical Engineering, where he become a Contract Professor on power electronics in 1978. Since 1984 he has been an Associate Professor on the same discipline, working in the fields of static converters, power semiconductors, and electrical drives. Dr. Tenti is a member of AEI (Italian Society of