discussions, stats, and author profiles for this publication at: https://www.researchgate.net/publication/3219503
CITATIONS
READS
49
738
2 authors, including:
Fernando Botteron
National University of Misiones
20 PUBLICATIONS 193 CITATIONS
SEE PROFILE
2120
I. I NTRODUCTION
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
Fig. 1.
2121
hand, [20] proposes an odd-harmonic digital repetitive plugin controller to reject these kinds of disturbances in stationary
frame. This odd-harmonic repetitive controller does not have
a pole at z = 1, so it is suitable for operating with an output
transformer. However, a low-pass FIR filter must be included
in the periodic signal generator loop to reduce the repetitive
frequency gains, and this consequently increases the closedloop system robustness. As a result, this filter compromises
tracking and disturbance rejection.
On the other hand, it is important to emphasize that few
papers explore the UPS transient behaviors. Moreover, few
papers explore the controller transient behaviors using the
discrete-time internal model principle. Hence, to obtain output
voltages with reduced THD and an improved load transient,
this paper proposes a down-sampled internal-model-based controller in synchronous reference frame with a reduced number
of poles. This internal-model-based controller acts together
with a proportionalderivative (PD) predictive compensator,
which has the function to stabilize the closed-loop system. This
compensator results in a simple form for digital implementation
and only requires the measure of the UPS output voltage [15],
[23]. The main feature of the proposed internal-model-based
controller is that it is a straightforward solution for output
transformer saturation. In addition, the reduced number of poles
of the proposed internal model in synchronous frame improves
the transient performance for linear and nonlinear loads as well
as enhancing the stability margin of the closed-loop system.
Thus, it is demonstrated that the transient performance with
the proposed controller can be improved by satisfying the
rigorous output dynamic performance classification 1 of the
standard IEC 62040-3, which classifies UPS by performance.
To demonstrate the advantages claimed, the proposed discretetime controller structure is digitally implemented in a 16-bit
fixed-point digital signal processor (DSP), and experimental
results in steady state and transient conditions from a 10-kVA
prototype are given.
II. S YSTEM D ESCRIPTION
A typical double-conversion UPS power circuit is shown in
Fig. 1. Among the three-phase inverter configurations, the one
2122
shown is a strong candidate since: 1) it provides galvanic isolation to the load; 2) it allows the output voltage to be selected
according to customer needs; and 3) it provides a neutral by
the delta-star (Y) connection. The dc-bus voltage is almost
constant and supplied by a six-pulse three-phase uncontrolled
diode rectifier, which provides energy to the inverter in normal
operation mode. The dc-to-ac conversion is accomplished by
a space-vector-modulated three-phase three-leg inverter with
insulated-gate bipolar transistor. The high-frequency harmonics
introduced by the modulation are attenuated by the LC filter. It
is important to point out that the filter inductors are located at
the transformer primary side so as not to introduce distortions
in the output voltages that result from zero-sequence voltages
produced by unbalanced load currents, which will be shorted
on the delta connection at the transformer primary side [15].
Since this inverter is not capable of controlling zero-sequence
voltages, it is important to minimize the zero-sequence impedance to reduce the distortions in the output voltages. Hence,
the topology in Fig. 1 offers a degree of freedom to minimize
the zero sequence impedance.
III. T HREE -P HASE PWM I NVERTER , Y T RANSFORMER ,
F ILTER , AND L OAD M ODEL
A. Stationary Frame Model
From the circuit in Fig. 1, the dynamic equations of the
inverter, transformer, filter, and load can be obtained by applying Kirchhoffs laws. To simplify the system modeling, it
is considered that the leakage inductances of the primary and
secondary sides of the transformer are lumped at the secondary
side. The coil resistances are also neglected. The following
equations are then obtained:
M L
L
L
2L+ M+Ld
d
u12
d iab
ML
u23 =
2L+ M +Ld
L
ibc
L
dt
u31
ica
ML
L
L
2L+ M +Ld
d
van
M
+
(1)
vbn
M + Ld
vcn
ias
iab
vas
d
M
1
d
(2)
ibs =
i
vbs
bc
dt
M + Ld dt
M + Ld
ics
ica
vcs
v an
i
i
1 as
1 oa
v bn
= ibs iob .
(3)
C
C
v cn
ics
ioc
In these equations, M is the mutual inductance, L is the filter
inductance, Ld is the equivalent leakage inductance, and C is
the filter capacitance. In addition, u12 , u23 , and u31 are the line
, vbn
, and
to-line PWM voltages produced by the inverter; van
vcn , and ioa , iob , and ioc are the phase-to-neutral voltages and
load currents referred to the transformer primary side; and iab ,
ibc , and ica are the phase current in the delta connection.
0 0
0
M/D
0
0
0
0
0
M/D
0 0
0
(3L+M )/D
0
Adq =
0 0
0
0
(3L+M )/D
0 0 1/C 0
0
0 0
0 1/C
(M + Ld )/D
0
0
(M +Ld )/D
M/D
0
Bdq =
0
M/D
0
0
0
0
0
0
0
0
0
0
Fdq =
.
0
0
1/C
0
0
1/C
(4)
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
2123
Fig. 2. Timing chart of DSP controller. Tpwm : switching period. T : sampling period and PD compensator computing period. Td : time delay. Tim : internalmodel-based controller computing period. Tim = 2T , and Td = T .
Adq (T Td )
H1 = A1
I Bdq
dq e
(6)
(7)
Gdq
Hdq
Cdq
G H0
=
0
0
H1
=
I
= [ 024 I22
Ddq = [022 ] .
022 ]
(8)
b0 z 4 + b1 z 3 + b2 z 2 + b3 z + b 4
z 5 a1 z 4 + a2 z 3 a3 z 2 + a4 z
g2 (z) =
c0 z 4 c1 z 3 c2 z 2 + c3 z + c4
.
z 5 a1 z 4 + a2 z 3 a3 z 2 + a4 z
(10)
Note that (9) shows that the system presents a cross coupling
given by the transfer functions g2 (z) and g2 (z). In order
to simplify the controller design, is useful to work with a
single-inputsingle-output (SISO) system. It is shown that the
influence of the cross transfer functions is negligible, or in
another words, the system is weakly coupled. It is possible to
see in Fig. 3 that for a large variation in frequency, the transfer
function g2 (z) significantly attenuates the output vq when an
input signal in ud is applied or vice versa. Hence, the system can
be treated as a SISO control problem with a transfer function
given by g1 (z) without significantly affecting the closed-loop
performance.
In order to define a proper discrete-time voltage controller for
the plant described by g1 (z), upon the internal model principle
foundation, it is important to show the impact that the zeros of
the plant have in the selection of the controller structure. Fig. 4
shows the zeros of g1 (z).
Fig. 4 shows that this plant presents a pair of zeros at the fundamental frequency in synchronous frame, which is associated
with the insulating transformer. These zeros indicate that the
transformer does not transfer the dc component to its output.
This means that an inadequate selection of the discrete-time
2124
Fig. 5.
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
2125
Fig. 6. Pole map. Internal model of the conventional repetitive controller [5].
T = 198.41 s, and 1/(z) = 1/(z N 1).
Fig. 8. Pole map. Internal model with poles at even multiples of 60 Hz.
T = 198.41 s, and 1/dq (z) = 1/(z N/2 1).
Fig. 7. Pole map. Internal model with poles at odd multiples of 60 Hz.
T = 198.41 s, and 1/(z) = 1/(z N/2 + 1).
2126
Fig. 10. Internal model with reduced number of poles and roundoff error in
coefficients. T = 198.41 s.
Nim (zim )
,
dq (zim )
N/2
(11)
1/(zim 1).
(12)
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
2127
Fig. 12. Control structure of the proposed closed-loop multirate SISO discrete-time voltage controller in synchronous frame for axis d. z = eT s , and
zim = eTim s .
Fig. 13. Closed-loop system. Tandem connection of the plant plus predictive PD compensator.
6
5
4
3
2
n1 zim
n2 zim
+ n3 zim
n4 zim
+ n5 zim
n0 zim
.
7
6
5
4
3
2
zim d1 zim d2 zim + d3 zim + d4 zim d5 zim + d6 zim d7
(13)
The closed-loop stability of the tandem connection of
Gim (zim ) with GMF (zim ) can be proved using the Nyquist
criterion plots of the open-loop transfer function, i.e.,
Gim (zim )GMF (zim ). Fig. 16 shows the Nyquist plot for
N = 42, kim = 1, and d = 1. It can be seen that the closed-loop
system with an internal-model-based controller remains stable
with a significant gain and phase margin.
To demonstrate the benefit of performing the proposed
discrete-time down-sampled internal-model-based controller,
2128
From Fig. 12, we can see that the control law applied to the
plant is given by
ud (kT ) = ucd (kT ) + uimd (mTim ).
Fig. 16. Nyquist plot of G(zim ) = Gim (zim )GMF (zim ). N = 42, and
Tim = 396.82 s.
(16)
the Nyquist plot of the closed-loop system in Fig. 12, which operates with a single rate at lower sampling frequency, is shown
in Fig. 17. It can be seen that the gain margin stays almost
the same if compared with the gain margin in Fig. 16, but the
phase margin decreases significantly when the system operates
at a single rate. Therefore, the stability margin of the proposed
multirate system in Fig. 12 is significantly bigger than the
single-rate system at lower sampling frequency, which therefore
represents the benefit of the proposed multirate controller.
Concerning digital implementation, by applying the inverse
Z-transform to (12) and (11), we can obtain the respective recursive difference equations of the predictive PD controller and
the proposed down-sampled internal-model-based controller as
ucd (kT ) = k1 ed (k 1) + k2 ed (k 2)
(14)
(15)
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
2129
TABLE I
SETUP PARAMETERS
Fig. 20. Experimental result. Line current ia at the transformer primary side
with dc component. With the internal model of the conventional repetitive
controller. Output phase-to-neutral voltages. Voltage scale: 50 V/div. Current
scale: 10 A/div. N = 84, and T = 198.41 s. (z) is in Fig. 6.
2130
Fig. 21. Transformer primary side line current harmonics spectrum with dc
component. With the internal model of the conventional repetitive controller.
Fig. 24. Experimental result. Unbalanced linear load. With the proposed controller. Output phase-to-neutral voltages van , vbn , and vcn , and
load current ia . THD = 0.7%. Unbalance factor = 0.6%. Voltage scale:
50 V/div. Current scale: 20 A/div.
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
2131
This represents the worst case with the phase-rated unbalanced nonlinear load. It can be seen from these experimental
results that the THD of the output voltages is very low, which is
around 1%, even with this severe operational condition. Also,
with the proposed controller, the unbalance factor has been
reduced below 1%. The THDs of the UPS output voltages
presented in Figs. 24, 27, and 28 are well below the limits
of IEC 62040-3. In addition, the individual odd and even
harmonics does not exceed the limits of this standard, as shown
in Fig. 29 and Table III.
B. Transient Performance
Fig. 27. Experimental result. With the proposed controller. Three-phase uncontrolled rectifier at 10 kVA. Output phase-to-neutral voltages van , vbn , and
vcn , and load current ia . THD = 0.8%. Voltage scale: 50 V/div. Current scale:
20 A/div.
Fig. 28. Experimental result. With the proposed controller. Unbalanced load.
Single-phase uncontrolled rectifier at 3.3 kVA. Output phase-to-neutral voltages van , vbn , and vcn , and load current ia . THD = 1.2%. Unbalance
factor = 0.92%. Voltage scale: 50 V/div. Current scale: 50 A/div.
2132
Fig. 29. Levels for individual harmonics UPS output voltages with the proposed controller and IEC 62040-3.
TABLE III
LEVELS FOR INDIVIDUAL HARMONICS UPS OUTPUT VOLTAGES WITH THE PROPOSED CONTROLLER
Fig. 30. Output dynamic performance characteristics of the three-phase UPS. Step reference nonlinear loading from 33% to 66% and from 66% to full load.
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
Fig. 31. Output dynamic performance characteristics of the three-phase UPS. Step reference nonlinear removal from 100% to 66% and from 66% to 33%.
Fig. 32. Output dynamic performance characteristics of the three-phase UPS. Step linear loading from 20% to 80% rated active power load.
Fig. 33. Output dynamic performance characteristics of the three-phase UPS. Step linear removal from 80% to 20% rated active power load.
2133
2134
frame, which is adequate for three-phase three-leg PWM inverters that operate with an insulating transformer, for UPS
applications. The proposed discrete-time control system results
1
1/2 1/2
3/2 3/2
Tabc_0 =
0
3
1/ 2 1/ 2 1/ 2
T _dq =
cos(t) sin(t)
.
sin(t) cos(t)
(17)
BOTTERN AND PINHEIRO: THREE-PHASE UPS THAT COMPLIES WITH THE STANDARD IEC 62040-3
b1 = 0.7325
b3 = 0.2166
b4 = 0.03064
c0 = 0.01096
c1 = 0.111
c3 = 0.03678
c4 = 0.001553
a1 = 0.2007
b2 = 0.08777
xc (k + 1)T = Gc xc (kT ) + Hc ed (kT )
0 0
1
, Hc =
, and ed (kT ) is the sampled
where Gc =
1 0
0
voltage error of axis d given by
ed (kT ) = rd (kT ) yd (kT ).
a4 = 0.09056.
n1 = 0.274
n2 = 0.0366
n5 = 2.99 105
n4 = 0.0010
d1 = 0.12
d2 = 0.103
d4 = 0.0037
d5 = 0.00079
d6 = 5.23 105
(i,1)
Hdq ud (kT )
(18)
(i,1)
where Gdq is given in (8), and Hdq is the first column of the
Hdq matrix in (8), where i = 1, 2, . . . 8. The output of the plant
is given by
(1,j)
xp (k + 2)T
=
(i,1)
(19)
(1,j)
(i,1)
(22)
where Cc = [k1 k2 ], Dc = 0, uim (mTim ) is the internalmodel-based control action at sampling rate Tim , and xc (kT ) =
[ed (k 1) ed (k 2)]T . In order to obtain an equivalent
slow-rate state-space representation of the plant plus a PD
compensator at 2T , we can write (18) and (20) as
xp (k + 2)T
xc (k + 2)T
(21)
d3 = 0.012
d7 = 1.36 106 .
(20)
c2 = 0.008563
n3 = 0.013
(1,j)
where Cdq is the first row of the Cdq matrix in (8), and
j = 1, 2, . . . 8. The state variable representation of the PD is
given as
a2 = 0.5854
a3 = 0.06041
n0 = 1.01
2135
=
(i,1)
G2dq
Hdq Cc Gc
xp (kT )
(1,j)
xc (kT )
Hc Cdq Gdq
G2c
(i,1)
(i,1)
Hdq Cc Hc
Gdq Hdq
+
(1,j) (i,1)
Gc Hc
Hc Cdq Hdq
(i,1)
ed (kT )
Hdq
rd (k + 1)
+
+
ud (kT )
Hc
(i,1)
Hdq
uim (mTim ).
+
(23)
0
(i,1)
(25)
1 015 ].
xp (kT )
(1,j)
(1,j)
(1,j) (i,1)
xc (kT )
Hc Cdq Gdq Gc Hc Cdq
G2c Hc Cdq Hdq Cc
(i,1)
(i,1)
(i,1)
(i,1)
(i,1)
Hdq Cc Hc + Gdq Hdq
Hdq + Gdq Hdq
Hdq
+
rd (k) +
rd (k + 1) +
uim (mTim )
(1,j) (i,1)
(1,j) (i,1)
Hc
Gc Hc Hc Cdq Hdq
Hc Cdq Hdq
xp (k + 2)T
xp (kT )
(24)
= Gsr
+ Hr rd (k) + Hrr rd (k + 1) + Hsr uim (mTim )
xc (k + 2)T
xc (kT )
xc (k + 2)T
2136
R EFERENCES
[1] Uninterruptible Power Systems (UPS)Part 3: Method of Specifying the
Performance and Test Requirements, First Edition 199903, International
Standard IEC 62040-3.
[2] R. Koffler, Transformer or transformerless UPS? Power Eng. J., vol. 17,
no. 3, pp. 3436, Jun./Jul. 2003.
[3] B. Francis, O. Sebakhy, and W. Wonham, Synthesis of multivariable
regulators: The internal model principle, Appl. Math. Optim., vol. 1,
no. 1, pp. 6486, 1974.
[4] M. Tomizuka, Zero phase error tracking algorithm for digital control,
Trans. ASME, J. Dyn. Syst. Meas. Control, vol. 109, no. 1, pp. 6568,
Mar. 1987.
[5] M. Tomizuka, T. Tsao, and K. Chew, Analysis and synthesis of discretetime repetitive controllers, Trans. ASME, J. Dyn. Syst. Meas. Control,
vol. 111, no. 3, pp. 353358, Sep. 1989.
[6] K. Chew and M. Tomizuka, Steady-state and stochastic performance of
a modified discrete-time prototype repetitive controller, Trans. ASME,
J. Dyn. Syst. Meas. Control, vol. 112, no. 1, pp. 3541, Mar. 1990.
[7] U. Borup, P. N. Enjeti, and F. Blaabjerg, A new space-vector-based
control method for UPS systems powering nonlinear and unbalanced
loads, IEEE Trans. Power Electron., vol. 37, no. 6, pp. 18641870,
Nov. 2001.
[8] A. Von Jouanne, P. N. Enjeti, and D. J. Lucas, DSP control of highpower UPS systems feeding nonlinear loads, IEEE Trans. Ind. Electron.,
vol. 43, no. 1, pp. 121125, Feb. 1996.
[9] K. Zhou and D. Wang, Digital repetitive learning controller for threephase CVCF PWM inverter, IEEE Trans. Ind. Electron., vol. 48, no. 4,
pp. 820830, Aug. 2001.
[10] H. Oshima and K. Kawakami, Large capacity 3-phase UPS with IGBT
PWM inverter, in Proc. IEEE PESC, 1991, pp. 117122.
[11] P. Mattavelli, Synchronous-frame harmonic control for highperformance AC power supplies, IEEE Trans. Ind. Appl., vol. 37,
no. 3, pp. 864872, May/Jun. 2001.
[12] P. Mattavelli, G. Escobar, and A. M. Stankovic, Dissipativity-based adaptive and robust control of UPS, IEEE Trans. Ind. Electron., vol. 48, no. 2,
pp. 334343, Apr. 2001.
[13] M. Li and Y. Xing, Digital voltage regulation with flux balance
control for sine wave inverters, in Proc. IEEE APEC, Feb. 2004, vol. 3,
pp. 13111314.
[14] H. Pinheiro, F. Bottern, J. R. Pinheiro, H. L. Hey, and H. A. Grndling,
A digital controller for single-phase UPS inverters to reduce the output DC component, in Proc. IEEE PESC, 2004, vol. 1, pp. 13111314.
[15] F. Bottern and H. Pinheiro, A new discrete-time voltage controller
based on the internal model principle for three-phase voltage source PWM
inverters with Y output transformer, in Proc. IEEE PESC, 2004, vol. 1,
pp. 25082514.
[16] P. Mattavelli, An improved deadbeat control for UPS using disturbance
observers, IEEE Trans. Ind. Electron., vol. 52, no. 1, pp. 206212,
Feb. 2005.
[17] J.-H. Choi, J.-M. Kwon, J.-H. Jung, and B.-H. Kwon, High-performance
online UPS using three-leg-type converter, IEEE Trans. Ind. Electron.,
vol. 52, no. 3, pp. 889897, Jun. 2005.
[18] F. Bottern, Controladores Discretos de Tenso Baseados no Princpio
do Modelo Interno Aplicados a Inversores Trifsicos PWM, Ph.D. dissertation, Universidade Federal de Santa MariaGEPOC, Santa Maria,
Brazil, Dec. 9, 2005.
[19] F. Bottern and H. Pinheiro, Synchronous frame half-period repetitive
controller for three-phase UPS, in Proc. 8th Brazilian Power Electron.
Conf.COBEP, 2004, pp. 444450.