EE8407

Power Converter Systems

Topic 7

Multilevel Neutral Point Clamped (NPC) Inverters

Three-Level NPC Inverter Based MV Drive, Courtesy of ABB (ACS1000)

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7
Multilevel Neutral Point Clamped (NPC) Inverter

Lecture Topics
Three-level NPC Inverter
Space Vector Modulation Neutral Point Voltage Control High-level NPC Inverter

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Three-Level NPC Inverter

Inverter Configuration
S1
DZ 1
E

D1 D2

Cd 1

S2 A

iA
B

Vd

iZ
DZ 2 S3

iB
C

iC

Cd 2

D3

S4

D4

Clamping diodes:

DZ1 and DZ2 (Phase A)

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Three-Level NPC Inverter

Switching State

Switching State P O N

Device Switching Status

(Phase A)

Inverter Terminal Voltage

VAZ
E

S1

S2

S3

S4

On Off Off

On On Off

Off On On

Off Off On

0
E

Complementary Switch pairs: S1 and S3; S2 and S4;

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Three-Level NPC Inverter

Gate Signal Arrangements
O P O P O P O N O N O N O

v g1
vg 2

vg 3 vg 4
+E

v AZ
0

Inverter phase voltage

vAZ has three levels: E, 0 and E

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Three-Level NPC Inverter

Inverter Output Waveforms
v AZ
0

+E

2 t

vBZ
0

t t
+2 E

vCZ
0

v AB
+E 2 E
0

v AB = v AZ v BZ

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation (SVM)

Space Vectors
Three-phase voltages

v AO (t ) + v BO (t ) + vCO (t ) = 0
Two-phase voltages

(1)

2 v (t ) 2 cos 0 cos 3 v (t ) = 3 2 sin 0 sin 3 Space vector representation r V (t ) = v (t ) + j v (t )

cos

4 3 4 sin 3

v AO (t ) v (t ) BO vCO (t )

(2) (3)

(2) (3) r 2 V (t ) = [ v AO (t ) e j 0 + v BO (t ) e j 2 / 3 + vCO (t ) e j 4 / 3 ] 3 where e jx = cos x + j sin x

(4)

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Space Vectors (Example)
Switching state [POO] on-state switches: Phase A: upper two switches [P] Phase B: lower two switches [O] Phase C: lower two switches [O] from which

2 1 v AO (t ) = Vd , v BO (t ) = Vd 3 3
r 2 V1 = Vd e j 0 3

and

1 vCO (t ) = Vd 3

(5)

Substituting (5) to (4) gives a space vector (6)

Total switching states: 27 Total space vectors: 19

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Space Vectors Diagram

r V15

r V8
r V3 r V2 r V0

r 2 V14 = Vd e j / 3 3 r 3 V7 = Vd e j / 6 3
r 2 r V = V V1 = Vd / 3 13 3 d

r V9
r V4

r V16

r V10

r V5 r V17 r V11

r V6 r V18

r V12

19 space vectors: Zero vector: Small vectors: Medium vectors: Large vectors:

V0 V1 V6 V7 V12 V13 V18

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching States and Space Vectors
Space Vector
r V0

Switching State [PPP][OOO] [NNN] P-type [POO] [PPO] [OON] [OPO] [NON] [OPP] [NOO] [OOP] [NNO] [POP] [ONO] N-type [ONN]

Vector Classification Zero Vector (ZV)

Vector Magnitude 0

r V1 r V2 r V3 r V4 r V5 r V6

r V1P r V1N r V2 P r V2 N r V3P r V3 N r V4 P r V4 N r V5 P r V5 N r V6 P r V6 N

Small Vector (SV) P-type Small Vector (PSV) N-type Small Vector (NSV)
1 Vd 3

Redundancy:

Zero vector three switching states Small vectors two states per vector
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching States and Space Vectors
Space Vector
r V7 r V8 r V9 r V10 r V11 r V12 r V13 r V14 r V15 r V16 r V17 r V18

Switching State [PON] [OPN] [NPO] [NOP] [ONP] [PNO] [PNN] [PPN] [NPN] [NPP] [NNP] [PNP]

Vector Classification

Vector Magnitude

Medium Vector (MV)

3 Vd 3

Large Vector (LV)

2 Vd 3

No redundant switching states for medium or large vectors

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Sector Definition
r V15 r V3 r V4 r V0 r V8 r V2

r V14
r Vref

r V9 r V16

r V1

r V7 r V13 r V12

r V10

r V5

r V6 r V11

r V17

r V18

Vref : Reference vector, rotating in space at a certain speed

All other vectors are stationary
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

SVM Principle
For a given length and position in space, Vref can be approximated by three nearby stationary vectors; Based on the chosen stationary vectors, switching states are selected and gate signals are generated; When Vref passes through sectors one by one, different sets of switches are turned on or off; When Vref rotates one revolution in space, the inverter output voltage varies one cycle over time; The inverter output frequency corresponds to the rotating speed of Vref ; The inverter output voltage can be adjusted by the magnitude of Vref.

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Dwell Time Calculation
Dwell time is the duty-cycle time of selected switches during the sampling period Ts .
V2 V14 PPN Ta

4
r
PPO Tc OON

Sector I
r
V7 PON
Tb

Select three nearest stationary vectors r r r V1 , V2 and V7 Use volt-second balancing principle
r r r r V1 Ta + V7 Tb + V2 Tc = Vref Ts (a) Ta + Tb + Tc = Ts
Tb

Vref

1
39

2
Ta POO

3
Tc PNN

V0

V1 ONN

V13

Four Regions
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Dwell Time Calculation
From equation (a)
Ta = Ts [1 2 ma sin ] Tb = Ts [ 2 ma sin ( + ) 1] 3 Tc = Ts [1 2 ma sin ( ) ] 3

Ta , Tb and Tc dwell times for V1 , V7 and V2

ma =

Vref Vd

modulation index

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching Sequence (Seven-segment)
General Design Requirements a) The transition from one switching state to the next involves only two switches in the same inverter leg, one being turned on and the other turned off; and b) The transition for Vref moving from one sector (or one region) to the next requires no or minimum number of switchings. Note: The switching sequence design is not unique, but the above requirements should be satisfied for switching frequency minimization.

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching Sequence (Seven-segment)
Assuming Vref is in Region 4 of Sector I, three vectors are selected: V2 , V7 and V14
Voltage Vector Dwell Time Phase A Switching State Phase B Phase C
r V2 N r V7 r V14 r V2 P r V14 r V7 r V2 N

Tc 4

Tb 2

Ta 2

Tc 2

Ta 2

Tb 2

Tc 4

O O N

P O N

P P N

P P O

P P N

P O N

O O N

[ P ] = E , [ O] = 0 , [ N] = E .

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching Sequence (Seven-segment)
r V2 N
r V7 r V14
r V2 P

r V14

r V7

r V2 N

v AZ vBZ vCZ
E +E

+E
+E

v AB
Tc 4

Tb 2

Ta 2

Tc 2
Ts

Ta 2

Tb 2

Tc 4

Switching sequence requirement a) is satisfied

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching Sequence (Seven-segment)

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Switching Sequence (Seven-segment)
r V15
r V14

Device switching frequency:

r V16 r V13

f sw ,dev = f sp / 2 + f1 / 2
Sampling frequency:

r Vref

r Vref

f sp = 1 / Ts
f1

Fundamental frequency:

r V17

r V18

Switching sequence requirement b) is satisfied

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Simulated Waveforms (Seven-segment)
v g1 vg 4

2
3

v AZ
0

v AB
0

f1 = 60Hz, Ts = 1/1080 sec, ma = 0.8, fsw = 570Hz

vAB is not half wave symmetrical; and contains both even- and odd-order harmonics
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Simulated Waveforms (Seven-segment)
V AZn / Vd

V ABn / Vd

f1 = 60Hz, Ts = 1/1080 sec, ma = 0.8, fsw = 570Hz

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Harmonic Content (Seven-segment)
V AB n / Vd

ma
V AB n / Vd

ma

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Laboratory Prototype at Ryerson

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Measured Waveforms
v AZ

v AB

VAZn Vd

VAB n Vd

(a ) ma = 0.8

( b) ma = 0.9

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Space Vector Modulation

Measured waveforms (with even-order harmonic elimination)
v AZ

v AB

VAZ n Vd

VABn Vd

(a ) ma = 0.8

( b) ma = 0.9

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Neutral Point Voltage Control

Neutral Point Voltage Deviation
+

Cd1

A
B

Cd1

A B C
+

Vd

Vd
C

iZ
Cd 2

vZ
[PPP]

Cd 2

vZ

vZ not affected

[ POO]

vZ
Vd
+

Cd 1
Z B

Cd1

vZ
Cd1
A

Cd 2

Vd

iZ
Cd 2

Vd
C

[ PNN]

vZ not affected

vZ

vZ
[PON]

Cd 2

[ONN ]

vZ

vZ not defined

The neutral point voltage vz can be controlled by P- and N-types of small vectors
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

Neutral Point Voltage Control

Neutral Point Voltage Control
Ta = TaP + TaN

Ta TaP = 2 ( 1 + t ) T TaN = a ( 1 t ) 2
Neutral Point Deviation Level
(v d 1 v d 2 ) > Vd (v d 2 v d 1 ) > Vd
v d 1 v d 2 < Vd
V
id > 0

1 T 1

Motoring Mode

Regenerating Mode
id < 0

t > 0 t < 0

t < 0 t > 0

t = 0

t = 0

maximum allowed voltage deviation ( Vd > 0 ).

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Neutral Point Voltage Control

Neutral Point Voltage Control

vd 1 , vd 2

vd 1
Vd
Z A

(V )

vd 1

iZ

vd 2

v Z = vd 2
t (sec)

R is used on purpose to make the dc voltage unbalance.

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

Inverter Topologies
P

S1
E

S1
Cd

Cd
D2 2

D1

S2
X

D1
D2 2
E

S2

S3

S3
S4

D3 3

iA
Vd E
2 D1

iA
Vd
Y
E

3 D1

S1 S2 S3
S4
N

S1 S2 S3
N

v AN

Z
D3
E

2 D2

v AN

D2

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

Switching State
Switch Status
S1 S2

Four-level Inverter S3 S1 1 0 1 1 1 1 0 1 Five-level Inverter S3 S4 S1 S2 1 1 1 0 0 1 1 1 1 0 0 1 1 1 1 0 0 1 1 1

v AN
S2 S3

1 0 0 0

1 1 0 0

0 0 1 1

0 0 0 1

3E 2E E 0

S1
1 0 0 0 0

S2
1 1 0 0 0

S3
0 0 0 1 1

S4
0 0 0 0 1

v AN
4E 3E 2E E 0
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

Component Count
Voltage Clamping dc Switches Level Diodes* capacitors m 6(m-1) 3(m-1)(m-2) (m-1) 3 12 6 2 4 18 18 3 5 24 36 4 6 30 60 5 * The clamping diodes have the same voltage rating as other switches.
Note: The number of clamping diodes increases substantially with the voltage level.
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

IPD Modulation (four-level)
vcr1

vcr 2 vcr 3

v g1
vg 2 vg 3

v AN

v AB

VABn / Vd

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

Harmonic Content (four-level, IPD Modulation)
V AB n / Vd

ma

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

APOD Modulation (four-level)
vcr1
vcr 2

vcr 3
v AB

iA

2 3

V AB n / Vd

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7 Multilevel NPC Inverters

High Power NPC Inverters

Harmonic Content (four-level, APOD Modulation)
V AB n Vd
0.3

y x

= 0 .612

n=1
0.2

n=13,17 n =11
0.1

n=19
0 0 0.2 0.4 0.6 0.8

Ma
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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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EE8407

Topic 7 Multilevel NPC Inverters

Summary
The 3-level NPC inverter widely used in MV drives Main features - Low device count - Good harmonic profile - Suitable for medium voltage operation The practical use of 4- or 5-level NPC inverters not reported Main reasons - Difficulties in dc capacitor voltage control - Large number of clamping diodes

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

EE8407

Topic 7

Multilevel Neutral Point Clamped Inverters

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Textbook: Bin Wu, High-Power Converters and AC Drives, Wiley-IEEE Press, 2006

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