Anda di halaman 1dari 11

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO.

2, MARCH 1998

297

A Novel SVM-Based Hysteresis Current Controller


Bong-Hwan Kwon, Tae-Woo Kim, and Jang-Hyoun Youm

Abstract In this paper, a novel space-vector-modulation


(SVM)-based hysteresis current controller (HCC) is proposed.
This technique utilizes all advantages of the HCC and SVM
technique. The controller determines a set of space vectors from
a region detector and applies a space vector selected according
to the main HCC. A set of space vectors including the zero
vector to reduce the number of switchings is determined from
the sign of the output frequency and output signals of three
comparators with a little larger hysteresis band than that of the
main HCC. A simple hardware implementation is proposed, and
experimental results of the SVM-based HCC are also shown.
Index TermsHysteresis current controller, space-vector modulation.

I. INTRODUCTION

URRENT-CONTROL technique plays the most


important role in current-controlled pulse-widthmodulated (PWM) inverters, which are widely applied in
high-performance ac drives and reactive power compensation
systems [1][14]. Various techniques for current controller
have been proposed. However, among these techniques,
considering easy implementation, fast dynamic response,
maximum current limit, and insensitivity to load parameter
variations, the hysteresis current controller (HCC) is a rather
popular one. Nevertheless, due to lack of coordination among
individual HCCs of three phases, high switching frequency
may happen, and the current error is not strictly limited. Some
hysteresis current-control techniques applying the zero vector
to reduce the number of switchings were reported recently
[10][12]. However, these techniques require knowledge of
the load counter emf [10] or it does not still show how to
determine a set of space vectors including the zero vector
according to the region to reduce the number of switchings
[11], [12]. On the other hand, the space-vector-modulation
(SVM) technique has two excellent features [13], [14] such
that its maximum output voltage is 15.4% greater and the
number of switchings is about 30% less at the same carrier
frequency than the one obtained by the sinusoidal PWM
method. The SVM technique confines space vectors to be
applied according to the region where the output voltage
vector is located. To obtain the zero-output-current error,
the SVM technique requires a measurement of the counter
emf vector which is not practical. On the other hand, the

HCC can be utilized to make the output-current vector


track the command vector with almost negligible response
time and insensitivity to line voltage and load parameter
variations. However, the HCC generates other vectors
except space vectors required according to the region in the
SVM technique. If the zero vector is applied to reduce the
magnitude of the output-current vector, the line current is
decreased with slow slope and the switching frequency is
decreased. The utilization of nonzero vectors instead of the
zero vector for decreasing the output current increases the
switching frequency. Therefore, a SVM-based HCC utilizing
all features of the HCC and SVM technique needs to be
developed.
In this paper, a novel SVM-based HCC is proposed. This
technique utilizes all advantages of the HCC and SVM technique. This configuration reduces significantly the number of
switchings and at the same time gives the same space vectors
as those obtained from the SVM technique. The proposed
current controller confines space vectors from a region detector
and applies a proper space vector selected according to the
main HCC for better current shape. A set of space vectors
including the zero vector is determined from the sign of
the output frequency and output signals of three comparators
with a little larger hysteresis band than that of the main
HCC. A simple hardware implementation and experimental
results of the SVM-based hysteresis current controller are also
shown.

II. SVM-BASED HCC


Any three functions of time that satisfy
(1)
can be represented in a two-dimensional (2-D) space, where
the coordinates are chosen so that the vector
is placed
is by 120 , and
along the horizontal axis, the vector
the vector
is by additional 120 as shown in Fig. 1.
The arbitrary space vector
in complex notation is then
given by
(2)

Manuscript received July 26, 1996; revised May 21, 1997. Recommended
by Associate Editor, D. A. Torrey.
The authors are with the Department of Electronic and Electrical Engineering, Pohang University of Science and Technology, Pohang 790-784, South
Korea.
Publisher Item Identifier S 0885-8993(98)01949-8.

where
(3)
and 2/3 is a scaling factor. From (2) and (3), the coordinate
transformation from the axis to axis is obtained as

08858993/98$10.00 1998 IEEE

298

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 2, MARCH 1998

output space vector


, the conduction times of the selected
six switches are modulated according to the amplitude and
angle of
.
and
are the peak voltage and angular
frequency of the output voltage vector , respectively. The
determines a region among six regions in the
angle of
complex plane. The reference space vector
in Fig. 3(b) is
modulated as follows:
(11)
which is called the space-vector modulation. Then, the duty
cycles
and
of two space vectors
and
adjacent to
in a given region and the duty cycle
of the zero vector
are given by

Fig. 1. Relation of coordinates and a space vector

u(t).
(12)

follows:
where the modulation index
(4)

For example, when the voltage source is a balanced threeand angular frequency
phase voltage with the magnitude
, the space voltage representation of the voltage source is
a vector of length
rotating with constant angular speed
. The voltage-source inverter (VSI) is shown in Fig. 2. The
switching function for switch
is defined
as
when switch
is on
when switch

is off.

or
( or
In the PWM inverter with voltage link, either
, , or ) is conducting, and only one of them is allowed
to conduct in any moment, i.e.,
(5)
(6)
(7)
In the PWM inverter, the space vector
follows:

is represented as

(8)
Substituting switching function, one or zero, of each phase
into (8), the following discrete space vectors are obtained:
(9)
(10)
The available space voltage vectors according to eight switch
states are shown in Fig. 3(a). Among these space voltage
vectors,
is the zero voltage vector, and it has two switching
patterns
(0 0 0) and
(1 1 1). To obtain the required

is defined as
(13)

Thus, the SVM technique utilizes three space vectors


,
, and
to generate the output voltage vector
in the
specified region. On the other hand, the following equation is
obtained from Fig. 2:
(14)
where is the output-line-current vector, is the counter emf
vector of the induction motor, and and are the equivalent
stator resistance and inductance, respectively. Using (14), a
differential equation of the current error vector is derived as
follows:
(15)
.
where is the output-current command vector and
has a time constant of
Thus, the line-current error
and is influenced by the current command, derivative of the
current command, counter emf, and output voltage. For zerocurrent error
, the desired output voltage vector
is
as follows from (15):
(16)
is modulated to generate the
Since the output voltage
in (16),
is represented by
desired output voltage vector
the quantized space vector
. Then (15) becomes as follows:
(17)
Thus, to coincide the output-current vector to the command
vector, the SVM technique requires the calculation of (16).

KWON et al.: NOVEL SVM-BASED HYSTERESIS CURRENT CONTROLLER

299

Fig. 2. Voltage-source inverter with the induction motor.

(a)

(b)

Fig. 3. Space vectors and voltage components of the VSI: (a) space vectors and (b) voltage components.

(a)

(b)

(c)
Fig. 4. Principle of the switching frequency reduction: (a) derivative vectors of the current error in Region I, (b) ioa and space vectors when the HCC does
not use the region information, and (c) ioa and space vectors when the HCC uses the region information.

300

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 2, MARCH 1998

(a)

(b)
Fig. 5. SVM-based HCC: (a) block diagram of the proposed current controller and (b) relation of voltage vectors and line-current errors.

(a)

(b)

Fig. 6. Operation of the region detector: (a) waveforms of the line current and (b) region determined by the region detector.

However, the calculation is not practical since it requires a


measurement of the counter emf vector. On the other hand,
the HCC can be utilized to make the output-current vector
track the command vector with almost negligible response time
and insensitivity to line voltage and load parameter variations.
However, due to lack of coordination among three individual HCCs, high switching frequency may happen and the
current error is not strictly limited. This problem in the HCC
can be solved using the space-vector concept. When the
is in Region I, the derivative
desired output space vector
vectors of the current error corresponding to the PWM phase
are shown in Fig. 4(a). The proper discrete space
voltage

vectors giving small derivative value of the current error for


in Region I are
,
, and
.
the space voltage vector
However, the conventional HCC generates other state-space
vectors including these vectors in Fig. 4(b). To reduce the
is the most important variable.
number of switchings,
In order to reduce the number of switchings, it is necessary
so that the corresponding
to choose a voltage vector
is small. If the zero vector is only applied to reduce
and
the magnitude of the current error vector except
in Region I, the line current varies with slow slope and the
number of switchings is decreased as shown in Fig. 4(c). In the
simulation of Fig. 4(c), the region was predetermined from the

KWON et al.: NOVEL SVM-BASED HYSTERESIS CURRENT CONTROLLER

301

TABLE I
SWITCHING TABLE FOR THE PROPOSED CURRENT CONTROLLER

Fig. 7. Control circuit for the proposed current controller.

voltage vector . The utilization of nonzero vectors instead


of the zero vector gives steep slope for the current error due to
. Thus, a set of space vectors
large voltage difference
to be applied according to the sector depends on the position
in (16).
of the desired space voltage vector
A region detector is proposed to detect the position of the
. A region is detected from output
output space vector
and
) of three comparators with a little
signals (
larger hysteresis band than that of the main HCC and the sign
of the output frequency . The proposed SVM HCC is

shown in Fig. 5(a), where a region detector is utilized without


information of the back emf, and it confines the same space
voltage vectors as the SVM technique generates.
denotes the positive frequency of the output and
the negative frequency.
denotes a status of the inner bound
of the -axis current error, and
denotes a status of the
outer bound of the -axis current error with a wider band than
that of the inner bound. A set of space voltage vectors to be
applied is determined according to the region. If a voltage
vector is properly applied at a correct instant, the current error
will remain inside the band. On the other side, if a voltage
vector which is not correct is applied, the current gets out of
the hysteresis band. From this appearance, the region of the
can be detected using the
desired output voltage vector
outer hysteresis comparator with wider band than that of the
inner one. The relation of space vectors and outer band signals
is shown in Fig. 5(b), where two regions are determined by the
outer band signals. Recently recorded outer band information
becomes the region of the desired voltage vector . Thus, the
region of the desired voltage vector
is determined between
two regions according to the sign
as shown in Table I.
When the sign
of the output frequency varies, Fig. 6
shows that the region of the desired output voltage vector
is uniquely determined by the region detector. Therefore, the
region detector determines a set of space vectors to be applied
according to the outer band signals and the sign of the output
frequency. For an example,
,
, and
indicate Region I for
and Region VI for
.
The inner three hysteresis comparators with narrow band are
used to track the reference current and limit the current error
within the specified bound. Fig. 5(b) shows Region I, where
the space vectors
,
, and
are utilized like the SVM
technique. When the current error of the axis hits the inner
upper bound of the hysteresis comparator and the current error
and
.
of the axis hits the inner lower bound,
The voltage vector
is applied to decrease the -axis current
and -axis current
simultaneously when
and

302

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 2, MARCH 1998

(a)

(b)

(c)
Fig. 8. Space vectors and region generated by current controllers: (a) space vectors by the HCC, (b) space vectors by the SVM HCC, and (c) region
generated by the SVM HCC.

(a)

(b)

(c)
Fig. 9. Waveforms of the line currents by the HCC and SVM HCC: (a) ioa by the HCC with the outer band, (b) ioa by the HCC with the inner
band, and (c) ioa by the SVM HCC.

. On the other hand,


is applied to increase
and
simultaneously when
and
. In the other
is applied. Whenever the outer
cases, the zero vector
hysteresis bound is hit due to incorrect regions, a proper
nonzero space vector is always triggered to reduce the current

error magnitude, and the correct region is then recorded.


Hence, due to automatic updating of the region, an initial
region can be arbitrary assigned. The switching table for all
regions is shown in Table I. Fig. 7 shows a control circuit for
the proposed current controller. Therefore, the gate logic of

KWON et al.: NOVEL SVM-BASED HYSTERESIS CURRENT CONTROLLER

303

(a)
Fig. 10.

Number of switchings for

S1 , S3 ,

(b)
and

S5 :

(a) HCC and (b) SVM HCC.

the programmable array logic (PAL) device is given by

III. SIMULATION AND EXPERIMENTAL RESULTS


To verify the validity of the proposed current controllers,
simulation and experiment are made for an induction motor.
The nameplate data and parameter values of the induction
motor used in the experiment are given as follows:
Nameplate data:
squirrel-cage induction motor
[hp]
[V]
[A]
[rpm]
[Hz] three-phase, four poles
Parameter values:
stator resistance
rotor resistance
stator leakage inductance
rotor leakage inductance
magnetizing inductance

where

is the logical NOT operator.

[mH]
[mH]
[mH]

The dc-link voltage of the VSI is 280 V. The computer


simulation was done for the induction motor as shown in

304

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 2, MARCH 1998

(a)

(b)

(c)

(d)

Fig. 11. Number of switchings when the peak output current is 30 A: (a) for the peak emf voltage 10 V, (b) peak emf voltage 50 V, (c) peak emf
voltage 100 V, and (d) peak emf voltage 150 V.

(a)

(b)

(c)

(d)

Fig. 12. Dynamic characteristics of the SVM HCC: (a) step response of the current ioa at fo 60 Hz, (b) waveform of the current command ica at fo = 60
Hz, (c) step response of the current ioa at fo = 0:033 Hz, and (d) waveform of the current command ica at fo = 0:033 Hz.

Fig. 1. The current command is 30 A, and the inner and outer


bands are 0.8 and 1.2 A, respectively. The proposed SVMbased HCC (SVM HCC) gives less changes of space vectors
and more regular pattern compared with the conventional
HCC as shown in Fig. 8(a) and (b). The proposed algorithm
has switchings between adjacent space vectors and the zero

vector. Thus, PWM pulses have similar waveform to those of


the SVM scheme. In the proposed current controller, the zero
vector is more used than in the HCC. Signals
and
give six different regions. According to the region,
a set of space vectors to be applied to the induction motor
is determined as shown in Table I. Fig. 8(c) shows the

KWON et al.: NOVEL SVM-BASED HYSTERESIS CURRENT CONTROLLER

305

(a)

(b)

(c)
Fig. 13.

(d)

Gate signals and waveform of the line current by the HCC: (a)

S1 ,

(b)

S3 ,

(a)

(a)

(b)

(b)

(c)

(c)

(d)

(d)

(e)

(e)

(f)

(f)

(g)

(g)

Fig. 14. Waveforms by the SVM HCC in the case of S (!o ) = 1: (a)
(b) Bbo , (c) Bco , (d) S1 , (e) S3 , (f) S5 , and (g) ioa .

Bao ,

region changes determined from the outer hysteresis band.


Each state remains for 60 and the outer vector varies six
times every period, i.e., the outer band plays as a region

(c)

S5 ,

and (d) ioa .

Fig. 15. Waveforms by the SVM HCC in the case of S (!o ) = 0: (a)
(b) Bbo , (c) Bco , (d) S1 , (e) S3 , (f) S5 , and (g) ioa .

Bao ,

detector of the output voltage vector. The case that the line
current hits the outer band occurs only two times every period
per phase. Except this case, the line current remains always

306

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 13, NO. 2, MARCH 1998

(a)

(a)
(b)

(c)
(b)

(d)

(c)
(e)

(f)
(d)
Fig. 16. Waveforms by the HCC in pulse-dropping region: (a)
(c) S5 , and (d) ioa .

S1 , (b) S3 ,
(g)

in the inner band. In the case of the HCC with the outer
as shown in Fig. 9(a) has a larger
band, the line current
ripple than that of the SVM HCC. Fig. 9(b) and (c) shows
the line-current waveforms generated by the HCC and the
proposed current controller with the same inner hysteresis
band, respectively. In simulation results of Figs. 8 and 9, an
external three-phase inductance of 5 mH is included to show
detail current waveforms and switchings of space vectors. The
and
by the HCC are happened on
switchings of
all regions as shown in Fig. 10(a). However, the switchings
and
by the SVM HCC are similar to those
of
of the SVM technique as shown in Fig. 10(b). Fig. 11 shows
the number of switchings for the SVM HCC and HCC with
the same inner band. The number of switchings or switching
frequency generated from the SVM HCC is significantly
reduced compared to the HCC in various kinds of emf voltage.
The test results of the presented SVM HCC are shown
in Figs. 1217. Fig. 12 shows good step responses of the
proposed current controller. Fig. 12(a) and (b) shows the
waveforms of the line current and current command with 60Hz output frequency and Fig. 12(c) and (d) shows the current
waveforms in case of 0.033-Hz output frequency. Figs. 1315
show gate signals and the line-current waveform generated
from the HCC and SVM HCC with the same inner hysteresis
band, respectively. One can see that the proposed algorithm
reduces dramatically the number of switchings compared with

Fig. 17. Waveforms by the SVM HCC in pulse-dropping region: (a)


(b) Bbo , (c) Bco , (d) S1 , (e) S3 , (f) S5 , and (g) ioa .

Bao ,

the HCC. Figs. 14 and 15 show switching patterns by the SVM


HCC in cases of
and
, respectively. The
SVM HCC works good in the pulse-dropping region compared
with the HCC as shown in Figs. 16 and 17.
IV. CONCLUDING REMARKS
In this paper, a novel SVM-based HCC has been presented.
This technique utilizes all advantages of the HCC and SVM
technique. This configuration reduces significantly the number
of switchings than the conventional HCC and at the same
time gives the same space vectors as those obtained from
the SVM technique. The proposed current controller gives
the same maximum output voltage as the SVM technique,
almost negligible response time of the current error, and
insensitivity to line voltage and load parameter variations. The
current controller confines state-space vectors from the region
detector and applies a proper space vector selected according
to the main HCC for better current shape. A simple hardware
implementation of the SVM-based HCC has been presented.

KWON et al.: NOVEL SVM-BASED HYSTERESIS CURRENT CONTROLLER

It has been also shown via simulation and experimental results


that the presented current controller gives the excellent features
of the HCC and SVM techniques.
REFERENCES
[1] T. A. Lipo, Recent progress in the development of solid-state ac motor
drives, IEEE Trans. Power Electron., vol. 3, no. 2, pp. 105117, 1988.
[2] B. K. Bose, Recent advances in power electronics, IEEE Trans. Power
Electron., vol. 7, no. 1, pp. 216, 1992.
[3] D. M. Brod and D. W. Novotny, Current control of VSI-PWM
inverters, IEEE Trans. Ind. Applicat., vol. IA-21, no. 4, pp. 562569,
1985.
[4] B. K. Bose, An adaptive hysteresis-band current controller technique
of a voltage-fed PWM inverter for machine drive system, IEEE Trans.
Ind. Electron., vol. 37, no. 5, pp. 402408, 1990.
[5] L. Malesani and P. Tenti, A novel hysteresis control method for current
controlled VSI PWM inverters with constant modulation frequency,
IEEE Trans. Ind. Applicat., vol. 26, no. 1, pp. 8892, 1990.
[6] A. B. Plunkett, A current controlled PWM transistor inverter drive,
in IEEE-IAS, Annu. Meet. Conf. Rec., 1979, pp. 785792.
[7] J. Holtz and E. Bube, Field-oriented asynchronous pulse-width modulation for high-performance ac machine operating at low switching
frequency, IEEE Trans. Ind. Applicat., vol. 27, no. 3, pp. 574581,
1991.
[8] A. Nabae, S. O. Wara, and Y. Iwagi, A novel current scheme for current
controlled PWM inverters, IEEE Trans. Ind. Applicat., vol. IA-22, no.
4, pp. 697701, 1986.
[9] M. P. Kazmierkowski and W. Sulkowski, A novel vector control
scheme for transistor PWM inverter-fed induction motor drive, IEEE
Trans. Ind. Electron., vol. 38, no. 1, pp. 4147, 1991.
[10] G. Pffaf, A. Weschta, and A. Wick, Design and experimental results
of a brushless AC servo-drive, in IEEE-IAS, Annu. Meet. Conf. Rec.,
1982, pp. 692697.
[11] M. P. Kazmierkowski, M. A. Dzieniakowski, and W. Sulkowski, Novel
space vector based current controller for PWM-inverters, IEEE Trans.
Power Electron., vol. 6, no. 1, pp. 158166, 1991.
[12] C. T. Pan and T. Y. Chang, An improved hysteresis current controller
for reducing switching frequency, IEEE Trans. Power Electron., vol.
9, no. 1, pp. 97104, 1994.
[13] B. H. Kwon and B. D. Min, A fully software-controlled PWM rectifier
with current link, IEEE Trans. Ind. Electron., vol. 40, no. 3, pp.
355363, 1993.
[14] S. Fukuda, Y. Iwaji, and H. Hasegawa, PWM technique for inverter
with sinusoidal output current, IEEE Trans. Power Electron., vol. 5,
no. 1, pp. 5461, 1990.

307

Bong-Hwan Kwon was born in Pohang, Korea,


on March 15, 1958. He received the B.S. degree
from Kyungbuk National University, Taegu, Korea,
in 1982 and the M.S. and Ph.D. degrees in electrical
engineering from the Korea Advanced Institute of
Science and Technology (KAIST), Seoul, Korea, in
1984 and 1987, respectively.
He has been with the Department of Electronic
and Electrical Engineering, Pohang University of
Science and Technology (POSTECH), Pohang, Korea, since 1987, where he is now an Associate
Professor. His research interests are system control theory, microprocessor/computer control, motor drives, and high-frequency converters.

Tae-Woo Kim was born in Pusan, Korea, on February 8, 1972. He received the B.S. degree from the
Pusan National University, Pusan, Korea, in 1995
and the M.S. degree in electronic and electrical
engineering from the Pohang University of Science
and Technology (POSTECH), Pohang, Korea, in
1997. He is currently working toward the Ph.D.
degree at POSTECH.
His current research interests include motor drives
and microprocessor applications.

Jang-Hyoun Youm was born in Pusan, Korea, on


October 7, 1969. He received the B.S. degree from
the Hanyang University, Seoul, Korea, in 1993
and the M.S. degree in electronic and electrical
engineering from the Pohang University of Science
and Technology (POSTECH), Pohang, Korea, in
1995. He is currently working toward the Ph.D.
degree at POSTECH.
His current research interests include motor
drives, ac choppers, and microprocessor applications.

Anda mungkin juga menyukai