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Multi-Functional Bidirectional AC/DC T-type

3-Level Converter for Super UPS


Ye Zhu, Binci Xu, LingLin Chen, Dezhi Dong, Ping Lin, Dehong Xu
College of electrical engineering, Zhejiang University
Hangzhou, China
Email: zhuye@zju.edu.cn

Abstract- Multi-Functional Bidirectional AC/DC T-type 3-


Level Converter for Super UPS is investigated in this paper. The
AC/DC converter is used as the interfaced between DC Bus and
Energy Source or Load. According to the components (grid, gas
turbines, AC loads) connected in AC side, The AC/DC converter
operates at AC voltage source mode, Power source mode or DC
voltage source mode. A control scheme for the Multi-Functional
Bidirectional AC/DC converter is studied. Finally the design of
the AC/DC converter is verified by experiment on a 100kW
AC/DC converter prototype.
I. INTRODUCTION
UPS has been widely used in Internet Data Center,
Telecom, hospitals, industries and so on [1]. With the
penetration of Information Technology in the society, the Fig. 1. Structure of a Super UPS system
continuously power providing to the critical loads is more
important than ever before. There is a need for UPS to be from PV. Thus converter 1 could operate in inverter and
much more reliable with its continually increasing capacity rectifier modes.
[2]. These authors proposed the concept of the Super UPS, 2. AC voltage source mode. When its AC side is
which is aim to increase the reliability, availability and connected with loads, the converter regulates the AC voltage
capability of the power supply [3]. Compared to traditional and frequency while drawing energy from DC bus. Converter
UPS, Super UPS is composed of multiple energy sources. 2 operates in stand-alone inverter mode and should follow the
Firstly, it is composed of two distinctive energy sources from guideline given in the IEEE standard 519-1992.
the common infrastructure, i.e., the electricity from the utility 3. Power source mode. When the AC side is connected
and the gas energy from the LPG pipelines. Since these two with energy source, and the DC bus voltage is already
systems are generally independent, it is complimentary and controlled by other converter, the converter 1 and 2 are
perfect redundant to the Super UPS. Besides, Super UPS have expected to control the power injecting to the DC bus.
other additional energy sources such as Li-ion Battery, Fuel Traditionally, these DC/AC or AC/DC converters, which
Cell (FC), and Renewable Energy Sources etc to further are connected with Grid, loads and Gas turbines, are
increase the redundancy of the energy source. In addition, developed independently because of different topologies and
redundancy is introduced to the power conversion system control strategies. This leads to a long products’ development
(PCS) in Super UPS to further increase the reliability. cycle time and much higher cost. It is anticipated that a
A typical Super UPS structure is shown in Fig. 1, which modular multi-functional bidirectional DC/AC converter
using multiple energy sources (Grid, Gas turbine (GT), FC, should be researched to adjust several operating modes.
Li-ion Battery (LB) and Photovoltaic (PV)) to boost the Bidirectional DC/AC converter is first developed for bi-
reliability of system and improve environmental friendliness. directional energy transfer, so that energy storage elements
The PCS for the Super UPS is composed of several DC/AC can be readily charged and discharged [4]. A multiple
converters (converter 1-3) and DC/DC converters (converter function bidirectional single phase converter is proposed to
4-7). The DC/AC converter is connected between the AC meet renewable energy system application [5]. The proposed
sources (such as Grid, GT and loads) and DC bus. The converter could operate at several modes; however, it
bidirectional DC/AC converter has several operating modes. couldn’t be used in three-phase system. The bidirectional
1. DC voltage source mode. When the AC side of power flow of converter could be achieved by utilizing a dc
converter is connected with Grid or Gas turbine, the converter bus voltage regulator [6]. A bidirectional AC/DC converter
may be expected to regulate the DC bus voltage. The power with high power factor is proposed [7]. Some bidirectional
flow between AC side and DC side should be bidirectional as converters consist of two stages and provide fast dynamic
grid can supply power to loads and also receive extra power response [8]. However, those bidirectional AC/DC converters
could be only applied in single operating mode. In this paper,
National Natural Science Foundation of China (51277163), National Natural
Science Foundation of China key project (51337009), the Specialized
Research Fund for the Doctoral Program of Higher Education of China
(20120101130010), Zhejiang Province Key Science and Technology
Innovation Team Foundation (2010R50021).

978-1-4799-6768-1/14/$31.00 ©2014 IEEE


Fig. 2: The control system of proposed multi-function converter

a multi-function bidirectional three-phase DC/AC converter is udc* is compared with the sum of positive bus DC voltage u+
proposed to meet the three introduced operating modes for and negative bus DC voltage u-, and the output of its PI
Super UPS. controller is the current reference of d axis component. In
II. THE CONTROL DESIGN OF PROPOSED CONVERTER order to minimize the error between the negative and positive
DC bus voltage, a DC bus error loop is applied. The error of
The block diagram of the proposed control system for the u+ and u- is compared with zero and its PI output is the
modular multi-function bidirectional three-phase DC/AC current reference of 0 axis component. The q axis component
converter is shown in Fig. 2. The proposed bidirectional reference of current can be rated at zero.
topology is a T-type three-level three-phase converter. The
III. THE CONVERTER MODELING AND CONTROL
DC side of T-type converter is connected to DC bus, while PARAMETERS’ DESIGN
the AC side of converter could be connected to grid, gas
turbine or AC loads separately, which is determined by the A. Mathematical model of T-type three-level converter
circuit breakers. The magnitude and phase of three-phase As Fig. 3 shown, the IGBT modules of T-type three-level
current (ia, ib, ic) and voltage sinusoidal signals (ua, ub, uc) can converter in Fig.2 can be simplified to three 3-pole single-
be transformed into DC components by Park transformations. throw switches Sa, Sb, Sc. Then the three switches compose a
The inner current loop is applied to regulate the ac line switching network which connects AC side and DC side. It is
inductor current iLa, iLb, iLc, in order to achieve a fast dynamic assumed that the parameters of the three-phase LC filter are
response. The references of inner current loop id*, iq*, i0* is symmetrical, L = La= Lb = Lc, C = Ca= Cb = Cc, and the
generated by chosen outer loop, which is depended on the capacitor value of positive and negative DC bus is equal,
three operating modes. CDC1 = CDC2 = CDC. In order to analyze the parameters’
Mode 1: AC voltage source mode. When the converter is relation of DC side and AC side, a switching function Sij is
connected to AC loads, the outer loop regulates the d, q, 0 defined as
axis components of AC side three phase voltages, which ⎧1, if i connects j
S ij ( s ) = ⎨ i ∈ {a , b, c}, j ∈ { p , o, n} (1)
represents the magnitude and phases information of voltage ⎩0, else
(ua, ub, uc). The error between reference (ud*, uq*, u0*) and Take Sap as example, if switch Sa is in position p, then Sap=1,
sampled value (ud, uq, u0) is regulated by PI controller. The if switch Sa is in other positions (o or n), then Sap=0. The
output of PI controller is the reference of inner current loop. switching functions of each phase should meet the constraint
Mode 2: Power source mode. When the converter is requirement
connected to the Gas turbine, the outer loop regulates the Sip +Si 0 + Sin = 1 i ∈ {a, b, c} (2)
value of real power and reactive power injected to the DC bus.
The error between reference (P*, Q*) and sampled value The duty cycle dij is the fraction of time that the switch
(ud*id, ud*iq) is regulated by the PI controller. And the 0 axis spends in position j, and its value can be calculated as the
component reference of current i0ref can be rated at zero. average period of switching function Sij. Regardless of the
Mode 3: DC voltage source mode. When the converter is switching frequency ripple component, the current and
connected to Grid or other energy storages, the outer loop voltage relations of AC side and DC side could be expressed
could regulate DC bus voltage. The DC bus voltage reference as
iˆd ω LiˆLq L
S1 S2
ωCuˆq Ddnuˆ− Ddp uˆ+ dˆd I Ld dˆq I Lq dˆo I Lo
uˆd R C iˆLd dˆd udc 2 2 2 Ddp iˆLd Dqp iˆLq Dop iˆLo iˆbp
iˆq ω LiˆLd L

S1 S2 Dqnuˆ− Dqp uˆ+ CDC
uˆq ωCuˆd
R C iˆLq dˆq udc

iˆ0 L C DC

S1 S2 D0 n uˆ− D0 p uˆ+ dˆd I Ld dˆq I Lq dˆo I Lo DdniˆLd DqniˆLq DoniˆLo iˆbn


û0 R 2 2 2
C iˆL 0 dˆ0udc
Fig. 3. The switching network of AC/DC converter
Fig. 4. Small signal model of the T-type three-phase converter

⎧ ip = dapiLa + dbpiLb + dcpiLc ⎧d dp (t ) = Dbp + dˆdp , d qp (t ) = Dqp + dˆqp , d op (t ) = Dop + dˆo


⎪i = −d i − d i − d i ⎪
⎪n an La bn Lb cn Lc ⎪d dn (t ) = Dbn + dˆdn , d qn (t ) = Dqn + dˆqn , d on (t ) = Dop + dˆo
⎪ ⎪
⎨ una = d u
ap + - d u
an − (3) ⎪< iLd (t ) >= I Ld + iˆLd , < iLq (t ) >= I Lq + iˆLq , < iLo (t ) >= I Lo + iˆLo (7)
⎪ u = d u -d u ⎨
⎪ nb bp + bn − ⎪< ud (t ) >= ud + uˆd , < uq (t ) >= uq + uˆq , < uo (t ) >= uo + uˆo
⎪⎩ unc = dbpu+ - dbnu− ⎪
⎪< u+ (t ) >= u+ + uˆ+ , < v− (t ) >= u− + uˆ−
The symbol < > represents the operation of state averaging ⎪< i (t ) >= I + iˆ , < i (t ) >= I + iˆ
⎩ bp bp bp bn bn bn
calculation, then the state equations of the converter can be SPWM modulation is applied by the converter, thus
derived.
dˆdp = −dˆdn = 0.5dˆd , dˆqp = −dˆdn = 0.5dˆq , dˆop = −dˆon = 0.5dˆo (8)
⎧ ⎡< iLa > ⎤ ⎡< ua > ⎤ ⎡ d ap ⎤ ⎡ d an ⎤
⎪ d ⎢ ⎥ = ⎢< u > ⎥ − ⎢ d ⎥ < u > + ⎢ d ⎥ < u >
The equations of small signal model can be expressed by
⎪ L < i >
⎢ Lb ⎥ ⎢ b ⎥ ⎢ bp ⎥ + ⎢ bn ⎥ − discarding the DC component and higher order non-linear
⎪ dt ⎢ < i > ⎥ ⎢ < u > ⎥ ⎢ d ⎥ ⎢ d ⎥ components of equation (5).
⎪ ⎣ Lc ⎦ ⎣ c ⎦ ⎣ cp ⎦ ⎣ cn ⎦
⎪ ⎧ ⎡ˆ ⎤ ⎡ dˆ ⎤ ⎡iˆLd ⎤
⎡ < u > ⎤ ⎡ < i > ⎤ ⎡ < i > ⎤ ˆ
⎪ d ⎢iLd ⎥ ⎡ud ⎤ ⎢ d ⎥
⎡ Ddp ⎤ ⎡ Ddn ⎤
⎪ d ⎢ a ⎥ ⎢ a ⎥ ⎢ La ⎥ ⎢ ⎥ ⎢ ⎥
⎪ L ⎢ iˆLq ⎥ = uˆq − ⎢ dˆq ⎥ ⋅ Vdc − ⎢ Dqp ⎥ uˆ+ + ⎢ Dqn ⎥ uˆ− − A ⋅ ⎢ iˆLq ⎥
⎢ ⎥
⎨C ⎢ < ub > ⎥ = ⎢ < ib > ⎥ − ⎢ < iLb > ⎥ (4) ⎪ dt ⎢ ˆ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎪ dt ⎢ < u > ⎥ ⎢ < i > ⎥ ⎢ < i > ⎥ ⎪ ⎣ iLo ⎦ ⎢⎣ uˆo ⎥⎦ ⎢⎣ dˆo ⎥⎦
⎢ Dop ⎥
⎣ ⎦ ⎢⎣ Don ⎥⎦ ⎢ iˆLo ⎥
⎣ ⎦
⎪ ⎣ c ⎦ ⎣ c ⎦ ⎣ Lc ⎦ ⎪
⎪ ⎡< i > ⎤ ⎪ ⎡uˆd ⎤ ⎡iˆd ⎤ ⎡iˆLd ⎤ ⎡uˆd ⎤ (9)
⎪ d ⎡< u+ > ⎤ ⎡ d ap d bp d cp ⎤ ⎢ La ⎥ ⎡< ibp > ⎤ ⎪ d ⎢ ⎥ ⎢ˆ ⎥ ⎢ˆ ⎥
C uˆ = i − i − A ⋅ ⎢ uˆ ⎥
C = ⎥ < iLb > ⎥ − ⎢ ⎨ ⎢ q ⎥ ⎢ q ⎥ ⎢ Lq ⎥ ⎢ q⎥
⎪ DC ⎢ ⎥ ⎢ ⎥
dt ⎣< u− > ⎦ ⎣ − d an − d bn − d cn ⎦ ⎢ <i > ⎪ dt
⎢⎣ uˆo ⎥⎦ ⎢ iˆo ⎥ ⎢ iˆLo ⎥ ⎢⎣ uˆo ⎥⎦
⎪ ⎢⎣ < iLc > ⎥⎦ ⎣ bn ⎦ ⎪ ⎣ ⎦ ⎣ ⎦
⎩ ⎪ ⎡iˆLd ⎤ ˆ ⎡ 0.5I Ld ⎤ ˆ
The equation (4) in static coordinate can be expressed in ⎪ d ⎡uˆ+ ⎤ ⎢ ⎥ ⎡ dˆ d q dˆo ⎤ ⎢ ⎡i ⎤
⎪CDC ⎢ ⎥ = D ⎢ iˆLq ⎥ + ⎢ d ⎥ 0.5 I Lq ⎥ − ⎢ bp ⎥
synchronous rotating coordinate ˆ ˆ ˆ ˆ ⎢ ⎥
⎪ ⎢ ˆ ⎥ ⎢⎣ d d d q d o ⎥⎦ ⎣⎢ 0.5 I Lo ⎦⎥ ⎣⎢ibn ⎦⎥
dt u
⎣ −⎦ ˆ
⎪ ⎣ iLo ⎦
⎧ ⎡ < iLd > ⎤ ⎡< ud > ⎤ ⎡ d dp ⎤ ⎡ d dn ⎤ ⎡ < iLd > ⎤ ⎩
⎪ d ⎢ ⎥ = ⎢ < u > ⎥ − ⎢ d ⎥ < u > + ⎢d ⎥ < u > − A ⋅ ⎢ < i > ⎥
⎪ L < i >
⎢ Lq ⎥ ⎢ q ⎥ ⎢ qp ⎥ + ⎢ qn ⎥ − ⎢ Lq ⎥ ⎡ Ddp Dqp Dop ⎤
⎪ dt ⎢ < i > ⎥ ⎢ < u > ⎥ ⎢ d ⎥ Where D=⎢ ⎥ (10)
⎣ ⎦ ⎣ ⎦ ⎢⎣ d on ⎥⎦ ⎢⎣ < iLo > ⎥⎦ − Dqn
⎪ Lo o ⎣ op ⎦ ⎢⎣ − Ddn − Don ⎥⎦
⎪ ⎡< u > ⎤ ⎡< i > ⎤ ⎡< i > ⎤ ⎡ < ud > ⎤ (5)
⎪ d ⎢ d ⎥ ⎢ d ⎥ ⎢ Ld ⎥ Fig. 4 shows the small signal model of the DC/AC converter.
C < u > = < i > − < i > − A ⋅ ⎢< u > ⎥
⎨ ⎢ q ⎥ ⎢ q ⎥ ⎢ Lq ⎥ ⎢ q ⎥ B. Inner current loop design
⎪ dt ⎢ < u > ⎥ ⎢ < i > ⎥ ⎢ < i > ⎥ ⎢ < uo > ⎦⎥ All the operating modes are built based on the common
⎪ ⎣ o ⎦ ⎣ o ⎦ ⎣ Lo ⎦ ⎣
⎪ ⎡< i > ⎤ inner loop, which should be design firstly. Specifically, for
⎪ d ⎡< u+ > ⎤ ⎡ d dp d qp dop ⎤ ⎢ Ld ⎥ ⎡< ibp > ⎤ the condition of AC side of converter connected to Grid or
C
⎪ DC ⎢ =
⎥ ⎢ ⎥ < iLq > ⎥ − ⎢ ⎥
dt ⎣< u− > ⎦ ⎣⎢ − d dn − d qn −d on ⎦⎥ ⎢ <i > GT (the switch S1 of Fig. 4 is closed and S2 is disconnected),
⎪ ⎢⎣ < iLo > ⎥⎦ ⎣ bn ⎦
⎩ the controlled transfer function of d axis, q axis and 0 axis
Where iLd, iLq, iL0 are the dqo components of inductor current, current can be derived by ignoring the coupling components
ud, uq, u0 are the dqo components of AC side voltage, id, iq, i0
are the dqo components of grid or loads current. And iˆLd iˆLq iˆLo udc
Gdi _ grid ( s ) = = = = (11)
⎡ 0 −ω L 0⎤ dˆd dˆq dˆo L ⋅ s
A = ⎢⎢ω L 0 0⎥⎥ (6) For the condition of AC side of converter connected to loads
(the switch S2 is closed and S1 is disconnected), the transfer
⎣⎢ 0 0 0⎦⎥
function of duty cycle to current can be derived
The small-ripple approximation can be used to get the
small signal model. The state averaging parameter consists of iˆLd iˆLq iˆLo ( RCs + 1)udc
DC component, plus a small ac component arising from the
Gdi _ load ( s ) = = = = (12)
ˆ ˆ ˆ 2
d d d q d o RLCs + L ⋅ s + R
switching harmonics.
^ ^
dd id û+
G pi _ u G pi _ i GPWM Gid Gui
iˆd
Hi
uˆdc Δuˆdc
HV
^ ^

G pi _ u G pi _ i GPWM
d0
Gid
i0
Gui
û−
Fig. 5. Control block diagram for inner inductor current loop iˆq
Hi
60

HV
40
Fig.8. The control block diagram of DC source mode
gain_Gi_open2f
( )
20 50
gain_Gm2( f )
40
gain_Gc2( f ) 0 30
20
gain_Gv_open ( f )
− 20 10
gain_Gv_open1 ( f )
0
gain_Gc ( f ) − 10
− 40
3 4 − 20
1 10 100 1×10 1×10
− 30
f
− 40
− 50
3 4
180 0.1 1 10 100 1×10 1×10
f

180
90
phase_Gi_open2
( f)

phase_Gm2
(f ) 90
0
phase_Gv_open ( f )
phase_Gc2
(f)
phase_Gv_open1 ( f ) 0
− 90 phase_Gc ( f )

− 90
− 180
3 4
1 10 100 1×10 1×10
− 180
f 3 4
0.1 1 10 100 1×10 1×10
Fig. 6. Bode plot of open loop current transfer fucntion in AC loads mode f

Fig.9. Bode plot of DC voltage loop


100
where udc is the voltage of DC bus, R is AC side resistive
72
loads. Fig. 5(a) shows the control block diagram for inner
inductor current loop (Take d axis component for example).
gain_Gi_open
(f)
44
The PI compensator controller of inner loop should be
gain_Gmf
() designed based on (11), (12). The switch of Fig. 5 determines
gain_Gcf
() 16 which transfer function is applied. For S1, the transfer
function is derived under Grid or GT modes. For S2, the
− 12 transfer function is derived under AC loads condition.
For proposed T-type converter with parameters given in
− 40 Appendix, the Bode plots of Fig. 6 shows that for the
3 4
1 10 100 1×10 1×10 condition of AC side connected to loads, the PI controller can
f
increase the amplitude gain under low frequency and the
phase margin is large enough for system stability. The open
180
loop bandwidth with PI controller is set to 500Hz and the PI
corner frequency is set to be 100Hz. Then the current PI
90 regulator can be selected as follows: kp_i = 0.5, ki_i = 324.
phase_Gi_open
(f) The Bode plots of Fig. 7 shows the amplitude and phase
phase_Gmf
( )
0 margin of current loop during condition of AC side connected
phase_Gcf
( ) to Grid or GT. The PI regulator is the same of Fig. 6. The
Bode plots shows that the amplitude gain is increased under
− 90
low frequency and the gain of resonance frequency is
decreased. The phase margin is large enough for control
− 180
3 4
stability. As Fig. 6 and Fig. 7 shows, the same bandwidth and
1 10 100 1×10 1×10
phase margin can be achieved for all modes in the middle to
f
high frequency range. The filter of converter (both AC filter
Fig.7. Bode plot of open loop current transfer fucntion in Grid or GT mode
Fig. 10. The prototype of 100kW bidirectional DC/AC converter

(d)

(a)

(e)
Fig. 11 Experimental results of proposed converter (a) AC voltage source
mode (b) Power source mode (c) DC voltage mode (d) bidirectional power
flow process progressively (e) DC voltage loop dynamic testing result

and DC bus capacitor) determines the characteristic of bode


plots under middle to high frequency range. And system can
be optimized easily for minimum current harmonic
distortions and good dynamics with PI controller.
C. Outer current loop design
Take the DC voltage loop design as example to design
outer loop. Fig. 8 shows the control model for DC voltage
(b) loop control. The transfer function from control to DC sum
voltage udc is obtained directly from average model.
D
10ms/div
Gui ( s ) = d (13)
u+ (200V/div) 376.6V CDC s
u- (200V/div) 376.0V
where Dd is the d axis component of modulation ratio, CDC is
the value of ac capacitor filter.
The transfer function from dd(s) to udc(s) is shown in Fig.
ua (200V/div) 3(d) with blue line. The open loop bandwidth with PI
ia (200A/div)
controller is set to 100Hz, and the PI’s corner frequency is set
to 10Hz. The Bode plot of open loop transfer function under
PI controller is the red line in Fig. 9.
IV. EXPERIMENTAL RESULTS
A 100kW multi-function bidirectional converter is built to
(c) verify the control strategy. The parameters of the proposed T-
type converter are given in Appendix. And the system is
controlled by a fixed-point DSP 2808. The proposed control APPENDIX
scheme for multi-functional bi-directional AC/DC converter The parameters of the 100kW T-type three-phase three-
is implemented in DSP via CCS2.1 software. Fig. 10 shows level DC/AC converter in analysis and experiments are given
the experimental setup of a 100kW bi-directional AC/DC as:
converter. Inductors: L =380 μH.
Fig. 11 shows the experimental results of prototype during Capacitors of AC filter: C=220μF.
different control strategies. Fig. 11(a) shows the DC voltage, DC bus Capacitors: Cdc=7500μF.
AC voltage and current of phase A on AC voltage source Inverter DC side voltage: Vdc=750 V.
mode. The RMS value of AC voltage is 219.9V and THD is Grid voltage: AC 380 V/50 Hz.
2.33%. On the Power source mode, the real reactive power Switching frequency: 10 kHz.
references are rated at 100kW (Rectifier mode) and zero. Fig.
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This paper proposed the control strategy of a multi-
functional, bi-directional, three-phase T-type converter for
Super UPS. The proposed control strategy was used to cover
all of the required operating modes, such as AC voltage
source mode, Power source mode and DC voltage source
mode. The inner current loop can be used in each mode,
while the current reference is determined by operating modes
and outer loop. As shown in the experiment, the 100kW
prototype could operate at AC voltage source mode, power
source mode and DC voltage source mode with high control
accuracy and low THD.

ACKNOWLEDGMENT
This work was supported in part by the National High
Technology Research and Development Program of China
863 Program (2012AA053602, 2012AA053603), by the
National Natural Science Foundation of China (51277163),
by the National Natural Science Foundation of China key
project (51337009), by the Specialized Research Fund for the
Doctoral Program of Higher Education of China
(20120101130010), by Zhejiang Province Key Science and
Technology Innovation Team Foundation (2010R50021).

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