A Single- to Three-phase Matrix Converter for a Vector-controlled Induction Motor

Makoto Saito
Shibaura Institute of Technology Dep. of Electrical Engineering 3-7-5, Toyosu, Koto-ku, Tokyo, JAPAN [email protected]

Nobuyuki Matsui
Nagoya Institute of Technology President Gokiso, Showa, Nagoya, Japan

Abstract - The present paper deals with a single- to threephase matrix converter with a power decoupling capability. This capability is available in not only the steady state but also the transient state. The proposed converter can then control induction motors without torque vibration. The proposed circuit and control diagrams and some important simulation results are described in the present paper.

single-phase and the three-phase and so they cannot easily remove the vibrations of the motor. On the other hand, the proposed converter can instantaneously decouple the single-phase power from the three-phase power by installing a small power capacitor in the conventional matrix converter. The size of this capacitor is less than 1/40 that of the conventional PWM rectifier/inverter system. To control the instantaneous power of this capacitor, the motor can be controlled without vibration in either the steady state or transient state. In the present paper, the configuration of the proposed system and the principle of operation are described. In addition, the control method of the system and the size of the capacitor for the power decoupling are described in detail. Finally, the operating characteristic of a 3.7-kW, 200-V induction machine is shown by simulation, and the characteristics of the proposed system are verified. II. PROPOSED SINGLE/THREE-PHASE MATRIX CONVERTER

I. INTRODUCTION A number of electric railroad trains and electric home appliances are contented to the single-phase utility and drive the three-phase motor. Generally, such systems have a rectifier and an inverter for controlling the three-phase voltage. The single-phase instantaneous power vibrates at twice the single-phase frequency. On the other hand, the three-phase instantaneous power becomes a constant value. To drive a motor without pulsation, it is important to compensate for the difference in this instantaneous power, a large-volume power decoupling capacitor or reactor is required for the rectifier. This capacitor or reactor obstructs the miniaturization and weight reduction of the system. For example, in the express trains, the power decoupling capacitor of the rectifier reaches approximately 10% of the conversion circuit weight and makes the reduction of the weight of the train difficult. In addition, the series connection of the rectifier and the inverter interferes with the electric power efficiency. For example, a 22.5-kW electric power loss per phase is caused by the 1.2-MW power-conversion circuit, which used a 1-kA, 4.5kV Class IEGT. If the conventional single-phase PWM rectifier and three-phase inverter system is assumed, for the most part, the electric power loss with the total power conversion circuit reaches 112.5 kW (=22.55 Regs). Therefore, the large-volume cooling system becomes indispensable. In the present paper, a single- to three-phase matrix converter is proposed for the express train drive. Several single/three-phase matrix converters have been proposed. However, none of these converters compensates for the instantaneous power unbalance that exists between the

A. System Configuration The configuration of the proposed system is shown in Fig. 1. This system is based on a conventional three/three-phase matrix converter (MC). The output side (terminal u,v,w) is connected to a three-phase induction motor through an LC filter (Lfm, Cfm). The input side (terminal r,s,t) is connected to a single-phase utility through an LC filter (Lfs, Cfs), and an AC capacitor (Cc). MC is composed of nine interactive power devices. The current always flows through three of the nine power devices. Generally, since the current always flows through five power devices in the alternative conventional PWM rectifier and inverter system, MC can reduce the power dissipation to less than 3/5 that of the conventional converter. A capacitor Cc compensates for the instantaneous power imbalance between the single-phase and three-phase converter, and its size is less than 1/40 that of the conventional PWM rectifier and inverter system. The LC filter (Lfs, Cfs) installed on the input side restrains the harmonic current, which flows from the MC to the utility. Another LC filter (Lfm, Cfm) installed on the output side absorbs the high-voltage PWM

978-1-4244-2279-1/08/$25.00 2008 IEEE

MC
S ur Svr S wr

iu u Lfm iv v iw w Cfm IM

Lfs

is

r vs s t

S us Svs Sws Sut Svt Swt

CC Power decoupling capacitor

Cfs

CC

Clamp Circuit

Figure 1. Proposed system configuration.

ripple emitted by MC and secures the insulation of the induction machine windings. To avoid a surge voltage caused by an emergency shutdown of the MC or an unexpected disconnection from the single-phase utility, a diode-clamp circuit is installed at both the input and output sides. B. Principle of operation Denoting the instantaneous power of Cc as Sc and ignoring the power attenuation of the main circuit in the proposed system shown in Fig. 1, a power equation for the entire system is given as follows: vs is = vu iu + vv iv + vwiw + Sc (1)

vs dq = vs e j vsd + jvsq is dq = is e j isd + jisq

(4)

Using the d-q coordinate value, vs , is are expressed as:

vs = vd cos is = isd cos isq sin

(5)

Then, vs is is replaced as follows:

vsis = 1 1 vsd isd (1 + cos 2 ) vsd isq sin 2 2 2

(6)

To maintain the power factor at one, isq is controlled to be zero, and Sc is controlled as follows:
Sc = 1 vsd isd cos 2 2

By using the single-phase instantaneous power control method by Hilbert transform[2] developed by the present authors, the single-phase instantaneous power vs is is defined by a new quantity. First, v s and is are extended to the following vector quantity by Hilbert transform H[ ]:
vs = vs + jH vs is = is + jH is

(7)

As a result, the three-phase instantaneous power po is uniquely defined by vs , is and becomes a constant value:
1 vsd isd = po = vu iu + vviv + vwiw 2

(8)
Rotation

(2)
q

Im j is

From Eq.(2), the instantaneous phase angle of vs , which is denoted as , is found as:
= tan 1
H vs vs

j isq

d vs vsd isd vs Re

(3)

isq sin is isd cos

Vectors of Eq.(2) can be changed into the d-q coordinate value for which the reference angle is selected as :

Figure 2. Single-phase d-q transformation.

Rectifire vdc
is vs
Cc

idc

Inverter

Srp r

Ssp

Stp

Sup u

Svp v

Swp

s t Srn Ssn Stn Sun

M w

Svn

S wn

Figure 3. Virtual AC/DC/AC circuit.

C.

Principle of control The AC/DC/AC conversion circuit, which is equivalent to the proposed matrix converter, is shown in Fig. 3. This circuit is composed of a PWM rectifier and a PWM inverter, which use interactive switches. The input/output voltage relation of the matrix converter shown in Fig. 1 can be defined by the following switching function:
vu Sur vv = S vr vw S wr Sus S vs S ws S ut Svt S wt vr vs vt

Therefore, the control system of the virtual rectifier and the virtual inverter are prepared to drive the MC. 1) Virtual rectifier control A virtual PWM rectifier is shown in Fig. 4. This is the three-phase rectifier composed of interactive switches. A single-phase voltage and a power decoupling capacitor Cc are connected to terminal (r - s) and terminal (s - t), respectively. Equivalently, the DC current source idc, which is connected to the DC bus (PN), indicates the virtual inverter of Fig. 3.

(9)

irt
vs vc

is

S rp r

Ssp

Stp

vdc idc
t

On the other hand, the same relation of the virtual AC/DC/AC conversion circuit is given by the following equation:
vu vr vv = [CI ][C R ] vs vw vt

isr
Cc

its
S rn S sn Stn

ic

(10)
Figure 4. Virtual PWM rectifier.

Here, [C I ] and [C R ] are switching functions of the virtual inverter and the virtual rectifier, respectively, and are given as follows:
S up [CI ] = Svp S wp S un Svn S wn S sp S sn Stp Stn
T T

Controlling this rectifier by PWM modulation ratio

rt , sr , and ts , each phase current is defined as:
idc rt 2 i isr = dc sr 2 idc its = ts 2 irt =

(11)

[ CR ] =

S rp S rn

(14)

(12)

Since [vu vv vw ] and [ vr vs vt ] of the MC are equal to those of the virtual AC/DC/AC circuit, the switching function of the matrix converter can be defined by those of the virtual rectifier and the virtual inverter, as follows:
S ur Svr S wr S us S vs S ws Sut S vt = [CI ][ CR ] S wt

From this relation, a single-phase current is and a capacitor current ic are defined as:
idc rt sr 2 i ic = its irt = dc rt ts 2 is = isr irt =

(13)

(15)

Here, a new parameter k

( 0 k 1) is defined, and

rt

where ts1 is given as:

and sr are controlled by this parameter.

(16) As a result, is is controlled in phase with the single-phase voltage vs:

is = kidc cos
isd = kidc

rt = sr = k cos

ts1 = k cos 2

Cc vsd
isd

cos

(26)

To maintain vc ( 0 ) at zero, in case of deceleration of the motor, ts 2 is given as:

ts 2 = K pv ( vc vc )

(17)

Note that Eqs.(5) and (17) yield an important relationship: (18)

(27)

where K pv is a proportional controller gain, and vc is

where Sc is expressed as:

Sc = vcic
= ic 1 ic dt + vc ( 0 ) Cc

vc =

vsd isd sin + Cc 4

(28)

(19)

In case of deceleration of the motor, ts 2 is given as: ts 2 = K pv ( vc vc )

and vc ( 0 ) is the initial voltage of vc . In order to maintain the relationship defined in Eq.(7), vc ( 0 ) and ic should be controlled as follows:
vc ( 0) = 0

(29)

and vc is

vc =

(20)

vsd isd sin Cc 4

(30)

Cc vsd isd cos +

ic =

( acceleration ) ( deceleration )
(21)

Acceleration or deceleration can be judged by the polarity of isd using Eq.(18). 2) Virtual inverter control At the virtual AC/DC/AC circuit, since the rectifier acts as the DC voltage source, the virtual inverter is equivalently shown as Fig. 5.

Cc vsd isd cos

For this control, ts is divided into two new parameters ts 2 and ts1 as

ts = ts1 + ts 2

(22)
vdc

Sup u

Svp v

Swp

where ts1 and ts 2 are used to control ic and vc ( 0 ) , respectively.

M
w Swn

In the case of acceleration of the motor, ic is controlled as:

Sun

ic = Cc vsd isd cos + i = dc k cos ts1 2

Svn

(23)
Figure 5. Virtual PWM inverter.

where ts1 is given as:

In this circuit, the following equation for the DC bus power is obtained:
cos +

ts1 = k cos 2

Cc vsd
isd

(24)

vdc idc =

1 1 vsd isd = vsd kidc 2 2

(31)

In case of deceleration of the motor, the polity of idc is inverted. Then, ic is controlled as:
ic = Cc vsd isd cos = idc k cos ts1 2

Therefore, the DC bus voltage vdc can be controlled by the parameter k as:
vdc =

1 kvsd 2

(32)

(25)

Since the amplitude of the virtual inverter output voltages can be controlled by the parameter k, the phases of these voltages are controlled only by the virtual inverter, as follows:
u = 1.1547sin + 0.1667 sin3 v = 1.1547sin ( 2 3 ) + 0.1667 sin3 w = 1.1547sin ( 4 3 ) + 0.1667 sin3

Cc =

po ( MAX )

vsd 2

(36)

In a conventional rectifier/inverter system, the DC link capacitor Cdc is designed as:

Cdc = po ( MAX ) 2 Vdc Vdc

(33)

(37)

where rt , sr , and sr are the references of the virtual inverter.

where Vdc is the average DC link voltage vdc and Vdc is the fluctuation band of vdc, which is commonly equivalent to 0.05 Vdc . In order to obtain the amplitude of the line-to-line output voltage, denoted as Vo, in the proposed system requires vsd = 2Vo , because of Eq.(34). In the conventional system, this generally requires Vdc = Vo because of, for example, the use of vector moderation. As a result, the ratio between Cc and Cdc is given as:
p Cc = o ( MAX ) Cdc (2Vo) 2 po ( MAX ) 0.1Vo 2
=

As a result, the outputs of the virtual inverter are controlled as:

1 kvsd sin + 6 2 1 vvw = kvsd sin 2 3 + 6 2 1 vwu = kvsd sin 4 3 + 6 2
vuv =

) )

(34)

D. Size of Cc From Eq.(28) or Eq.(30), the relation between the parameters (three-phase output power po, Cc, and its voltage vc) is as follows:
vc = vsd isd 2 po = Cc Cc

1 40

(38)

The proposed system can reasonably reduce the size of the power decoupling capacitor to less than 1/40 that of the conventional system. III. CONTROL BLOCK FOR VECTOR-CONTROLLED INDUCTION
MACHINE

(35)

Practically, the maximum of vc is selected as vsd . Therefore, Cc is designed as:

The vector control system of the induction machine by the proposed MC is shown in Fig. 6. This is a slip frequency vector control system. Like the conventional vector control, the slip frequency is calculated from the torque current reference and the magnetizing current reference. The magnetic flux position
isd isq ab/dq H[ ]: Hilbert Transformer H[ ]

vsd PLL H[ ] vc Cc vs

vc (vc control)

ts ( FF )

is s r

eq

vc

ts* sr*
P W M

1/2

cos
limitter

-1

Eq. (13)

MC

iM iT

PI

dc

rt

PI

vT

MT

Pol

0 k 1.0

w = 1.1547 sin ( + 4 3 ) + 0.16667sin 3

v = 1.1547sin ( + 2 3) + 0.16667sin 3

u = 1.1547sin + 0.16667 sin 3

P W M

iM iT
uw

iw

iu

f
Slip Freq Cal

dt

dt

EC

IM

Figure 6. Control diagram for vector controlled induction motor.

is estimated from the motor speed and the slip frequency. Using this position, the motor currents iu and iw are converted to the M-T axis components, im and it, respectively. These currents are controlled by the PI controllers, and the MC output voltage references, v and v , are obtained through this current control. In order to control these voltages, the virtual DC link voltage vdc and the phases of the MC outputs are controlled to their references:
vdc = v2 + v2 v v

Table 1 Simulation parameters.

Parameter Line voltage/the frequency Induction-machine output, voltage/ poles Power decoupling capacitor Cc Symbol Values 400V/60Hz The 3.7kW/200V /4 pole 50uF 10Nm/0.1kgm2

vsd

(39) (40)

Machine-load/ moment of inertia MC switching frequency

= tan 1

20kHz

Here, vdc is controlled by the virtual rectifier based on Eq.(32), and is controlled by the virtual inverter based on Eq.(33). In order to control vdc and the instantaneous power of Cc, the d-q axis components of the utility voltage vs and current is, which are denoted as vsd and isd, respectively, are required, as shown in Eqs.(23)-(30) and Eq.(32). These d-q components are obtained through the Hilbert Transformation of vs and is and the d-q transformation, as shown in Eqs.(2)-(5). IV. SIMULATION RESULTS

[rpm]

1200

1000 30

The motor is accelerated by iT = 28 A for 3 s, and is then driven by iT = 20 A. This current reference changes stepwise, and iT follows its reference without vibration. In addition, iM * is controlled to its reference iM = 8.7 A in all situations. The motor is running at around 1,200 rpm, and its currents iu and iw are controlled to be sinusoidal. The utility current is is controlled to be sinusoidal and in-phase with the utility voltage vs. The decoupling capacitor voltage vc is controlled in proportion to the motor active power. These characteristics reveal the high stability of the proposed MC. In the case of isd = 8 A (po = 2.26 kW), vc becomes 490 V. Since this result is equivalent to Eq. (35), the required capacity can be designed using Eq. (36). V. CONCLUSIONS

iM , iT [A]

20 10 0

20

iw , iu [A]

0 -20

ic , is isd [A]

10 0 -10

500

In this paper, a single- to three-phase power conversion system using a matrix converter topology was proposed. The proposed system can instantaneously decouple the single-phase power from the three-phase power by installing a small power capacitor in the conventional matrix converter. The size of this capacitor is less than 1/40 that of the conventional PWM rectifier/inverter system. To control the instantaneous power of this capacitor, the motor can be controlled without vibration in either the steady state or the transient state. The operating characteristic of a 3.7-kW, 200-V induction machine was shown by simulation.
[1] [2]

vs , v c [V]

0 -500 2.8 3.0 3.2

Time [s]
Figure 7. Simulation waveforms

REFERENCES
M. Saitou, et al. "A single to three phase matrix converter with a power decoupling capability", Proc. on PESC'04, pp.2400-2405,(2004) M. Saitou, et al. "Generalized theory of instantaneous active and reactive powers in single-phase circuits based on Hilbert Transform", Proc. on PESC'02, pp. 1419-1424, (2002). M. Saitou, et al." A control strategy of single-phase active filter using a novel d-q transformation",Peoc. on IAS'03, Vol.2,pp.1222-1227,(2003)

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