IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) e-ISSN: 2278-1676 Volume 4, Issue 4 (Jan. - Feb.

2013), PP 38-47 www.iosrjournals.org

Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
Sudheer Kumar.K1, Narahari. B2,Hathiram. K3

Abstract: Matrix Converters (MC) have some advantages when compared to conventional back-to-back pulse
width modulation voltage converters. The MC may be considered more reliable and smaller because the bulky DC capacitor is eliminated from the topology. Therefore MCs are used in ac to ac power conversion, the size and weight of the whole generation system is reduced. To interface an MC-based generation system to an unbalanced three phase stand alone load a four leg MC is required to provide an electrical path for the zero sequence load current. Moreover to compensate for the voltage drops in the output filter inductances, nonlinearities introduced by four step commutation method and voltage drops in the semiconductor devices, closed loop regulation of the load voltage is required. In this paper the design and implementation of resonant control system for four leg MC is presented. The application of this control methodology when the four-leg MC is feeding an unbalanced load is also presented.

I.

Introduction

Matrix converters (MCs) have many advantages, which are well documented in the literature [1] [6]. The MC provides bidirectional power flow, sinusoidal I/O currents and controllable input displacement factor [1]. When compared to back-to-back converters, the MC also has additional advantages. For instance, due to the absence of electrolytic capacitors, the MC can be more robust and reliable [4], [5]. The space saved by a MC, compared to a conventional back-to-back converter, has been estimated as a factor of three [2], [3]. Therefore, it becomes feasible to integrate the power converter into the electrical generator, for example [2].

Fig. 1. Control system for a variable-speed diesel generation system. A comparison between back-to-back power converters and MCs is presented in [6].The advantages of variable-speed generation are also known [7][10]. For instance, a relatively new topology, suitable for wind diesel systems or variable-speed diesel generation to a stand-alone load, has been reported [8], [9]. In this case, a standard diesel generation system is operated (see Fig. 1), following an optimal power speed characteristic. For this topology, the efficiency is improved because diesel engines have high-fuel consumption when operated at light loads and relatively high speed [8], [10]. Moreover, a diesel engine operating at high rotational speeds can increase its power output well beyond that obtained at the synchronous velocity [8]. Therefore, a mobile generation system can be implemented using a relatively small variable-speed engine [8]. This allows for www.iosrjournals.org 38 | Page

Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
considerable weight and size reduction. Moreover, if a four-leg MC is used to feed the stand-alone unbalanced load, a further reduction in the size of the generation system is accomplished, because the bulky dc-link capacitors are eliminated from the topology [1].Control systems and modulation algorithms for four-leg MC have been recently reported in the literature [11][16]. Space vector modulation (SVM) algorithms are presented by the authors in [12][14] and a standard dq voltage control system has been reported in [12]. However, the control loop proposed in [12] supplies balanced voltages at the MC output, which is appropriate only for regulating the voltage of slightly unbalanced loads. When a standard dq control system is applied,the voltage drop in the output inductance has to be relatively small in order to give good performance. In [15], a resonant control system was presented by Cardenas et al.. However, in that publication, high-order, high-complexity resonant control systems were not addressed, control of a nonlinear load was not discussed and most of the results presented in [15] were obtained from simulations.

Fig. 2 also shows the star-connected stand-alone load fed from the four-leg MC. Resonant controllers have already been applied to several areas, for instance to distributed generation [15][17]; wind energy and photovoltaic applications [18], [19]; harmonic cancellation [20]; fuel cells [21], etc. In this paper, the design, implementation, and experimental verification of a control system based on resonant controllers, for four-leg MCs, is presented. As discussed in this paper, resonant controllers can be designed to significantly reduce the harmonic distortion of strongly nonlinear loads, to control highly unbalanced loads and to obtain variable frequency at the MC output. Fig. 2 shows the four-leg MC and filters used in the simulation and experimental work discussed in this paper. A second-order L-C filter is used at the MC input to improve the quality of the input currents [1]. The input filter capacitors also provide the essential decoupling to minimize the commutation inductance between phases. Usually, a resistor in parallel with the filter inductance improves the damping of the system [22], [23]. At the MC output a second-order L-C filter is provided to reduce the effects of the switching harmonic in the load voltages. Fig. 2 also shows the star-connected stand-alone load fed from the four-leg MC. The rest of this paper is organized as follows. In Section II, the proposed resonant control system is analyzed. In Section III, experimental results are presented. Finally, an appraisal of the proposed control system is presented in Section IV. The SVM algorithm used in this study is similar to that discussed for conventional voltage-source pulse width modulation (PWM) inverters [24][27]. SVM algorithms proposed for four leg MCs have been presented in [12][14], and [16] and the interested reader is referred to these publications for further information.

II.

Resonant Controllers For Four-Leg Mc

Unbalanced three-phase loads may draw currents with positive-, negative-, and zero-sequence components [28]. To regulate the line to neutral voltage in each phase, conventional dq control can be used. However, as mentioned earlier, standard dq controllers synthesize balanced MC output voltages, which are not appropriate to regulate the voltages of heavily unbalanced or strongly nonlinear loads.Vector control systems based on two revolving axis systems, rotating clockwise, and counter clockwise can be used to both regulate the positive-sequence voltage and to regulate (normally to zero) the negative-sequence voltage at the load [28]. However, this control methodology may have difficulty in eliminating the zero-sequence components, unless a zero-sequence voltage controller is added. However, it may be troublesome to apply this rather complex approach when the elimination of harmonic distortion created by non-linear loads is desired, since several dqaxes systems rotating at different speeds may be required .In this paper, the application of resonant controllers, for the generation topology shown in Figs. 1 and 2 is investigated. A resonant controller can be used to regulate the output voltage of each phase with respect to the neutral connection n. The controller has a couple of purely

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
imaginary poles (in the s-plane) with a resonant frequency of o , where o is the desired output frequency. In the s-plane, a typical resonant controller has the transfer function [15][17]

(1)
where Kc is the controller gain. In the numerator of (1),zeros located close to the resonant poles are used to improve the dynamic response. Considering Fig. 2 the transfer function, between the MC output and the line to neutral voltage of phase a, is as follows:

(2)
where is the load voltage, is the MC output voltage, is the load resistance, and and are the capacitance and inductance of the second-order output filter, respectively .A resistive load has been assumed in (2); however, the control system presented in this study can be used with both leading and lagging power factor loads.

Fig. 3. Poles and zeros of the resonant controller and output filter.

A transfer function similar to (2) can be defined for phases b and c. In the z-plane, the transfer function of the resonant converter may be obtained as follows [29]

(3)
In this case, the resonant poles are located along the unit circle with an angle with respect to the real axis of o Ts rads, where Ts is the sampling time and o is the output frequency. From the dynamic point of view, one of the worst ase situations is when no load is connected at the MC output (i.e., RL) and the damping coefficient of the output stage transfer function is zero (assuming lossless filter components for worst case). This is shown in Fig. 3. Notice that the output filter poles are located along the unit circle for the no-load case.

A. Control System Design:

The SVM algorithm used in this study is able to synthesize a set of independent voltages ( van , vbn , and vcn ) obtained at the output of the resonant controllers. Therefore, if it is required, three resonant controllers designed for different specifications can be used to regulated the load voltages. The control system proposed in this paper is shown in Fig. 4(a). Using the prism and tetrahedron selection algorithms discussed in [16], three active vectors are selected. The duty cycles corresponding to these three active vectors plus the duty cycles corresponding to three zero vectors are calculated using the procedure discussed in [12], [14], and [16]. Finally, the voltage is synthesized using a double-sided switching pattern modulation [16]. A simplified single-phase block diagram of Fig. 4(a) is shown in Fig. 4(b). For design purposes, the SVM algorithm may be represented by a sample time delay and a zero order hold device. In Fig. 4, the label RC stands for resonant controller. The resonant controller could be designed using conventional root locus in the z-plane (see Fig. 5). As mentioned earlier,the controllers should have an appropriate dynamic response in the worst case situation, i.e., with no load connected to the output. In this case, to improve the dynamic performance of the control system, a second-order lead-lag network is required. For instance, if Ts 100 s, o = 50 Hz, Cf = 40 F, and Lf =4 mH, a suitable controller is as follows

Cont(Z)

(4)

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads

Fig. 4. Proposed control system. (a) Resonant controllers, SVM algorithm, and plants. (b) Simplified single-phase diagram. The SVM algorithm is replaced by a plant delay and a zero-order hold device.

The first term after the gain is the resonant controller and the last term is the lead-lag network. In Fig. 5, the resonant controller is shown inside the dashed box. The controller of (4) has been designed considering a damping coefficient of at least 0.3 for the closed-loop poles shown in Fig. 5. Beside of the root locus shown in Fig. 5, tuning of the controllers is improved using a numerical model of the system, where the performance of a given resonant controller is evaluated through simulation before being experimentally tested. B.Design of the Resonant Controller to Eliminate Harmonic Distortion: A resonant control system can be also used to eliminate harmonic distortion from the load. In a parallel implementation ,the controller has the following transfer function

+ + +
(5)

where the poles of each transfer function are tuned to track a particular frequency. The block diagram of the controller, for a single phase, is shown in Fig. 6. In this graphic, the demand signal for the fundamental frequency is , a sinusoidal signal of the desired frequency, amplitude, and phase. To eliminate the unwanted harmonics, the additional reference signals are set to zero. In order to obtain a good dynamic performance, lead-lag networks also have to be included in the transfer function of (5).

Fig. 5. Root locus of the proposed control system.

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
For simplicity, the control system depicted in Fig. 6 corresponds to a parallel representation of the controller. In the practical rig, the control system is implemented using a state-space matrix representation, which simplifies the control code. The root-locus design of a resonant control system, designed to track a 50 Hz reference signal and to eliminate the components of 0, 100, 150, 200, and 250 Hz, is shown in Fig. 7. Considering Ts 200 s, o = 50 Hz, the RC of Fig. 7 has the following transfer function

(6)

Fig. 6. Proposed control system.

In Fig. 7, the high-order resonant controller is shown inside the dashed box at the right side. In Fig. 8, the gain plots of the resonant controllers [corresponding to (4) and (6)] are shown. These frequency responses are calculated using the same numbers and resolution as the final DSP implementation. For the controller of (4), it is relatively simple to achieve a high gain in the frequency response of the controller [see Fig. 8(a)]. For the controller topology of (6),the numerical resolution of the DSP implementation [29], [30] as well as the interaction between the poles and zeros located at different frequencies, produce gains, which are smaller [see Fig. 8(b)].However, according to the experimental results shown in the next section, the controller gains obtained from (8) are demonstrated to be adequate for the control of unbalanced and nonlinear loads.

Fig. 7. Root locus for a high-order resonant controller topologies

Fig.8 Bode plots showing frequency versus gain for two topologies of resonant controller .(a)Bode plot of the resonant Controller (4) including a lead-lag network (b) The bode plot of a resonant Controller with the topology of (6). The lead-lag terms are also Included

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads III. Experimental Results
The control methodology discussed in this study, has been validated using the 2.5 kW experimental system shown in Fig. 9. The SVM algorithm and proposed resonant control systems are implemented using a DSP-based control board and an field programmable gate array, the latter implementing the four-step commutation method [1] and the switching signals for the insulated gate bipolar transistor gate drivers. The DSP board used in this application is a high-performance TI TMS320C6713, capable of a peak performance of 1350MFLOPS. For data acquisition purposes, an external board with ten ADC channels of 14 bits, 1 s conversion time each, is interfaced to the DSP. This board also has four digital to analog (D/A) channels available .Hall-effect transducers are used to measure the input currents, input voltages, and output currents. Antialiasing filters are applied to the signals before being sampled by the ADCs .

For the experimental tests involving frequency and voltage variations at the MC input, a 5.5 kW, 2000 r/min permanent magnet generator (PMG) is connected to the four-leg MC input. A commercial inverter and a speed-controlled cage machine are used to drive the PMG. A high-resolution position encoder of 10,000 pulses per revolution is used to measure the generator speed. At the MC output, a star-connected three-phase load and a second-order power filter are connected. This output filter is used to reduce the harmonic content in the voltages and currents. A nonlinear load is implemented using a rectifier diode connected in series with the load of a particular phase. Unless otherwise stated, the sampling time used by the SVM and control algorithm is 100 s. Further information about the parameters of the experimental rig, are presented in the Appendix. In Fig. 10, the response of the control system to a balanced step change in the output voltage demand is shown. At t 0.4 s, the reference voltages are stepped from 7 to 100 V peak. At t 1.6 s, the reference voltages are stepped from 100 to 30 V. For both steps, the four-leg MC feeds a resistive balanced load (RL 7 ). For simplicity, the magnitude of the voltage vector is shown in Fig. 10. This value is calculated from (7)

Fig. 11. Instantaneous voltages corresponding to the step transient. reconnection of (a)Step response from 7 to 100V. (b)Step response from 100 to 30V

Fig. 12. Output currents for disconnection and the load in two phases (a)Phase a current
(b)Phase b current (c) Phase c current

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
In Fig. 11, the instantaneous voltages corresponding to the step transients in Fig. 10 are shown. Fig. 11(a) shows the step variation from 7 to 100 V (peak). The settling time for the step change is about 30 ms (1.5 cycles), which is considered adequate for this application. Fig. 11(b) shows the step variation from 100 to 30 V, again the performance of the control system is relatively fast with a settling time of about 30 ms. .Fig 12 shows the performance of the control system considering load step variations in two of the phases. At t 0.16 s, the loads in phases a and b are disconnected using a solid-state relay fired from a D/A output. After the load step ,only the second-order power filter remains connected between phases a, b, and the neutral connection. The performance of the system is good considering that the load damping coefficient is almost zero in two of the phases.

Fig. 13. Neutral current and load voltages corresponding to the test Of Fig. 12. (a) Neutral current. (b) Phase to neutral (b) Load voltages

Fig.14.Performance of the system for a load step variation in the three phases (a) MC output currents (b) load voltages

. Fig. 15. Performance of the control system for an inductive load variable step in one of the phases. (a) Phase to neutral voltage. (b) MC output current. (c) Phase angle between the load voltage and current. (d) MC output voltage Fig.16 Performance of the control system for a Speed operation of phase modulation(PM) generator (a)Rotational speed (b)input voltage (c) MC current

Fig. 13 shows the neutral current and the load voltages corresponding to the test shown in Fig. 12. Because of the unbalanced load, the neutral current is relatively high. Fig. 13(b) shows the load voltages. As shown inside the dashed box, the variation in the phase voltages is controlled in less than 20 ms. Fig. 14 shows www.iosrjournals.org 44 | Page

Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
the performance of the control system when the load is disconnected, and then reconnected in all the phases This is the most drastic change from the control viewpoint, because the transfer function between the MC output voltage and the load voltage has a damping coefficient of 0 for all the phases during the no-load condition. However, the performance of the control system is very good with a relatively small overshoot (disconnection) and dip (reconnection) in the load voltage [see Fig. 14(b)]. Fig. 15 shows the performance of the control system when a capacitive load step is applied to phase a. In this graphic, the magnitudes of the voltages and currents are calculated using the components. Fig. 15(a) shows the phase to neutral voltage, which is little affected by the load step. Fig. 15(b) shows the phase current and Fig. 15(c) shows the phase angle between the load voltage and MC output current. Finally, Fig. 15(d) shows the MC output voltage for phase a. Because of the capacitive nature of the load, the voltage shown in Fig. 15(d) is decreased between t 1.1 and 2.4 s. As shown in Fig 15, the resonant control system proposed in this study can be used to regulate the voltage of unbalanced loads with non-unity power factor

A. Control System Performance for Variable Frequency/Variable Voltage at the MC Input:

The control system has been tested feeding the MC input with a variable-speed PMG operating between 1060 to 1940 r/min , corresponding to a relatively large acceleration of235 r/min/s .For this speed range, the approximate frequency range is 70 Hz to 130 Hz. In t 2.5 to 5 s, a step variation is applied changing the three-phase resistive load from R = 7.4 to 5.4 per phase. Fig. 16 shows the magnitude of the voltage and current vectors at the MC input side. Fig. 16(a) shows the speed of the PMG. The speed variation is obtained by controlling the commercial inverter shown in Fig. 9. Fig. 16(b) and (c) show the magnitude of the input voltages and currents calculated from the components [see (7)]. When the voltage increases, the current decreases in order to maintain the power demanded by the output load approximately constant.

Fig 18 Instantaneous phase to neutral output voltage corresponding to one phase.

Fig.17 Performance of the control system for variable-speed in one phase. Operation of the PMgenerator. (a) Load output voltage. (b) Load current. (c) Voltage transfer ratio.

Fig. 19 Load current considering a rectifier diode

In Fig. 17(a), the load voltage corresponding to the test of Fig. 16 is shown. The regulation is good with a low dip and overshoot produced when the load step is applied. Fig. 17(b) shows the MC output current, which is also well regulated.The voltage transfer ratio is defined using the input and output voltage magnitude [14], [23] as follows:

(8)

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Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
Fig. 17(c) shows the voltage transfer ratio q, which reduces when the input voltages increases. The instantaneous voltage waveform corresponding to phase a (for the experimental test of Figs. 16 and 17) is shown in Fig. 18. As shown in this graphic, the waveform has little distortion.

B.

Control of a Nonlinear Load:

To experimentally test the control topology proposed to eliminate harmonic distortion, a nonlinear load is implemented by connecting a rectifier diode in series with the resistive load of one of the phases (see Fig. 2). In Fig. 19, the open-loop phase current of the nonlinear load is shown. Notice that the current is highly distorted because of the half-wave rectification. Two controllers have been implemented and tested. The first one has a topology similar to that shown in Fig. 8(a) with a single-gain peak located at 50 Hz. The second controller was designed for multiple-gain peaks at dc 50, 100, 150, 200, and 250 Hz [see (6)]. This control system has been designed to regulate the 50 Hz component of the load voltage and to eliminate the zero, second, third, fourth, and fifth harmonics. Because of processing time constraints, the sampling period is increased to 200 s for this case.

Fig. 20. Load voltage for nonlinear operation. (a) Open-loop voltage. (b) Load voltage for a resonant controller with a single-gain peak. (c) Load voltage for a resonant controller with multiple-gain peaks

Fig.21 Spectra corresponding to the tests of /fig.20 (a)Voltage spectrum for open loop operation (b) Voltage spectrum for the waveform of fig 20(b) (c) Voltage spectrum for the waveform of fig 20(c)

Fig. 20(a) shows the voltage waveform corresponding to open-loop operation. In this case, the total harmonic distortion [14] (THD) is about 15%. As shown in Fig. 21(a), the spectrum has large components at dc and the second, fourth, and fifth harmonics. The dc component is about 9% of the fundamental value. To increase the resolution, the value of the fundamental component has been clipped at 15% in Fig. 21. Fig. 20(b) shows the performance of the single-gain resonant controller [see (4)]. In this case, the waveform is less distorted and the measured THD is about 10%. As shown in Fig. 21(b), the magnitude of the dc component and the second, fourth, and fifth harmonic components have been reduced. Fig. 21(c) shows the performance of the multi gain resonant controller of (6). In this case, most of the targeted harmonic components have been eliminated [see Fig. 21(c)], with only some harmonics barely noticeable. The THD for this test has been reduced to about 3%, which is about a 7% reduction when compared to that obtained with a single-gain resonant controller and a 12% reduction when compared to that obtained with open loop operation.

IV.

Conclusion

In this paper, resonant control systems for the regulation of unbalanced or nonlinear loads, fed by fourleg MCs, have been presented. Single-gain and multi gain resonant controllers have been discussed. As shown by the experimental results, single gain resonant controllers are appropriate to control the voltage of highly unbalanced linear loads, eliminating the negative- and zero-sequence voltages. Multi-gain resonant controllers have also been tested in this study. The performance of these high-order controllers is able to eliminate the most important harmonics in the load voltage. However, according to the experimental results, for the implementation of these controllers, the required processing time is likely to be increased. Therefore, a tradeoff between switching frequency and harmonic distortion has to be considered when a high-order controller is required. The control systems proposed in this study have been experimentally tested considering voltage steps, frequency steps, nonlinear loads, balanced, and unbalanced load steps. For most of the experimental tests presented in this study, the settling time is below 30 ms . For the nonlinear load case, a low THD of about 3% www.iosrjournals.org 46 | Page

Design of Resonant Controller for Four- Leg matrix Converter Feeding Non Linear Loads
has been achieved using a rather complex high-order resonant control system. The performance of the proposed control system has also been tested considering a fast variation of about 235 r/min/s in the speed of the PMG feeding the MC input. The results demonstrated that the proposed control system has a good performance with variable frequency/variable voltage at the MC input. Therefore, in all the cases, the performance obtained has confirmed the suitability of the proposed control methodology, when applied to generation systems based on four-leg MCs.

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