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AbstractA control technique is developed for a three-phase There are generally two types of four-wire inverter topolo-
four-wire split dc bus inverter of a single distributed generation giesthree-leg with split dc bus and four-leg. A three-phase
unit working in island mode. The control technique combines three-leg inverter with split dc bus is one topology to implement
an inner discrete-time sliding mode controlled (DSMC) current
loop and an outer robust servomechanism controlled voltage
three-phase four-wire system with a neutral point seen by the
loop. The control algorithms are developed under stationary 0 load. Compared to a three-phase three-wire system, it does not
(Clarkes) reference frame and a modified space vector pulsewidth have the isolation transformer and provides three-dimensional
modulation (MSVPWM) is proposed to implement the algorithm control. Compared to a three-phase four-leg topology, it saves
under Clarkes reference frame. The proposed technique achieves two power switches and reduces control complexity. Therefore
voltage regulation with low steady state error and low total har- the control issues of the three-phase three-leg inverter with
monic distortion and fast transient response under various load
disturbances. Meanwhile the usage of MSVPWM in a stationary
split dc bus warrants detailed research for its best possible
0 reference frame yields better transient performance under performance.
limited dc bus voltage compared to conventional uniformly sam- Although a three-phase three-leg inverter with split dc bus
pled sine wave modulation in reference frame. In this paper, topology is a combination of three half bridge single-phase
besides the development and description of the algorithms, a series inverters and control techniques designed for single-phase
of discussions, analysis and studies are performed on the proposed inverters still work in the three-phase systems, new control
control technique, including the filter design issue, frequency
domain closed-current-loop and closed-voltage-loop responses, problems emerge after the three phases are combined together
and time domain simulations and experiments under various in that the reference frame issue and the PWM issue become
load conditions. All the analysis, simulations, and experiments problems. In this paper, a control technique to be performed
demonstrate the effectiveness of the proposed control solution. in stationary 0 reference frame is suggested together with a
Index TermsCurrent control, inverters, optimal control, power new modified space vector PWM scheme. Besides, the common
conversion, pulsewidth modulation (PWM), robustness, stability, control problems shared by both the three-phase system and
variable structure systems, voltage control. the single-phase half bridge topology will also be addressed by
presenting a new control solution with detailed analysis of its
performances.
I. INTRODUCTION Before being operated in grid-connected mode, a DG unit
N three-phase inverter interfaced distributed generation needs to work in island mode at the first place as a voltage source
I (DG) systems, the inverter can be interfaced with load,
which is typically a four-wire system where the neutral is
supplying local load with quality power. Many researches have
been conducted in this area, which can be categorized based on
grounded, in two different waysa three-wire inverter with a the control techniques usedPID control, model based linear
connected isolation transformer or a four-wire inverter control, robust control, sliding mode control, internal model
without the isolation transformer. Since the isolation trans- principle based control, and intelligent control.
former is bulky, heavy, and costly, it is not desired in many Conventional PI controls have been used in [1][4]. Due to
applications, especially mobile generations. In these cases, the inherent property of PI controls, steady state error cannot
the four-wire transformerless inverters are more preferable. be eliminated for non-dc signals, which limits the performance
of the technique, especially in harmonic load applications. Mul-
tiple rotating reference frames [5], [6] can solve the problem but
increase the complexity in the meantime.
Manuscript received December 2, 2006; revised May 1, 2007. This work was
supported in part by the National Science Foundation under Grants NSF ECS Some researchers use standard linear control theory to de-
0501349 and ECS 0105320. Recommended for publication by Associate Editor velop their controllers, such as [7][9], while the reported re-
P.-T. Cheng. sults were not satisfactory.
M. Dai and M. N. Marwali are with Liebert AC Power Systems, Emerson
Network Power, Delaware, OH 43015 USA. Lee et al. [10] have applied design procedure onto a
J.-W. Jung is with Samsung SDI Co., Ltd., Seoul, Korea. single-phase inverter to improve robust stability under model
A. Keyhani is with The Ohio State University, Columbus, OH 43210 USA uncertainty and load disturbance. However, the control perfor-
(e-mail: keyhani.1@osu.edu).
Color versions of one or more of the figures in this paper are available online
mance under nonlinear load is not satisfactory.
at http://ieeexplore.ieee.org. Discrete-time sliding mode control technique has also been
Digital Object Identifier 10.1109/TPEL.2007.911816 used in inverter control due to its robustness and overshoot-free
0885-8993/$25.00 2007 IEEE
DAI et al.: THREE-PHASE FOUR-WIRE INVERTER CONTROL TECHNIQUE 323
i.e., the tracking error, such that when the discrete-time sliding
mode exists, the output tends to the reference . Dis-
crete-time sliding mode can be reached if the control input u(k)
is designed to be the solution of
(3)
Fig. 3. Proposed control system block diagram. The control law satisfies (3) is called equivalent control [36] and
is given by
(5)
where , ,
, , and .
Due to the existence of , it is reasonable to convert the
plant model in (5) into standard state space format as
(6)
where ,
and .
After the dynamics of the DSMC shown in (4) is included, for 1, 3, 5, and 7.
the overall plant for the RSC becomes The transfer function representation of the servo compensator
is illustrated in Fig. 4, which shows that the servo compensator
consists of a series of resonant filters with their resonant fre-
(7) quencies equal to the specified tracking or rejecting frequencies.
The servo compensator needs to be discretized in practice.
where the new control signal is Given the same sampling period as above, the discrete-time
servo compensator is
(9)
(10)
Given the above plant, the RSC design includes two partsa
servo compensator and a stabilizing compensator. where the reference input is , the state vector
The servo compensator can be designed as follows. If the is , and the coefficient matrices are
tracking/disturbance poles to be considered are , ,
, and , the servo-compensator is
(8)
where , ,
and
, where
The task of the stabilizing compensator is to stabilize the aug-
mented system in (10). To achieve this goal, the discrete-time
optimal control technique can be used, which guarantees
326 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 23, NO. 1, JANUARY 2008
TABLE I
where is a symmetrical positive-definite matrix to be chosen OUTPUT VOLTAGE PATTERNS OF BASE VECTORS
IN THE FOUR-WIRE SPLIT DC BUS TOPOLOGY
and 0 is a small number to reduce the weight of the control
force in the optimization. In practice, is typically chosen as
diagonal where the weights on the servo states are significantly
greater than those on the plant states for the best performance.
Moreover, the selection of also affects the robustness of the
stability when the plant parameters have variation from their
nominal values [39].
Obtaining the state feedback gain minimizing requires
solving the algebraic Riccati equation
(12)
(13) same plane rotating from one sector to another with a constant
speed. In each sector, the reference vector can be achieved by
Then the control input can be obtained as time-averaging the two boundary base vectors and two zero vec-
tors with proper weights, as illustrated in Fig. 6(b) showing the
(14) case of Sector I, where is half of the PWM period, is the
duration of Vector 1 and is the duration of Vector 2 in a half
PWM period. The remaining time is the dura-
The block diagram of the RSC is shown in Fig. 5. tion for the zero vectors. The values of and are calculated
In practice, the discrete-time algebraic Riccati equation can based on the values of and .
be solved using the Matlab function . Since the system In three-phase three-wire systems, the three phases are not
is linear time-invariant, the feedback gain is a constant value independent, i.e., there exist only two independent degrees
calculated in advance and does not change in operation. There- of freedom and the conventional SVPWM only provides
fore, online updating of is unnecessary. two-dimensional control. However, in a three-phase four-wire
system with split dc bus topology, the neutral of the load is
C. A Modified Space Vector PWM
grounded, which yields three independent phases and calls for
The SVPWM is a specially designed switching sequence for three-dimensional control. In this topology, Vectors 7 and 8
the power switches in a three-phase inverter using base space are no longer zero vectors in terms of line-to-neutral voltages.
vectors to generate three-phase 120 apart sinusoidal line-to- The output voltages of the split dc bus inverter are shown in
line output voltages. This technique treats the sinusoidal refer- Table I. From Table I, it can be observed that Vectors 7 and
ence voltage as a constant amplitude vector rotating at a certain 8 provide non-zero line-to-neutral voltages which is the third
frequency. There are eight base vectors, i.e., Vectors 1 to 8, cor- dimensionthe 0-axis quantity.
responding to eight possible switching patterns of the inverter. A modified space vector PWM technique (MSVPWM) has
Vectors 1 to 6 generate non-zero output voltages and Vectors 7 been developed to take advantage of the Vectors 7 and 8 to
and 8 generate zero output voltage by connecting all three out- achieve three-dimensional control in an 0 system.
puts to the upper or bottom rail of the dc bus. In conventional SVPWM, the durations of Vectors 7 (000)
The base vectors can be depicted geometrically as shown in and 8 (111) are equal in a half PWM period and there is no 0-axis
Fig. 6(a), where the consecutive non-zero vectors on a plane control capability. However, in MSVPWM, unequal durations
form six 60 sectors representing a full sinusoidal period. A si- of Vectors 7 and 8 cause uneven 0-axis average voltage in a
nusoidal reference signal can be represented by a vector on the PWM period and allow 0-axis current to flow, which enables
DAI et al.: THREE-PHASE FOUR-WIRE INVERTER CONTROL TECHNIQUE 327
for
for (20)
for
and
for
for , (21)
for .
Fig. 7. Sector I on-off sequence of modified space vector PWM. IV. PERFORMANCES AND ANALYSIS
(19)
TABLE II
SIMULATION RESULTS OF STEADY STATE PERFORMANCES
OF THE PROPOSED CONTROL TECHNIQUE
C. Experimental Results
Experimental tests of the proposed control technique have
been performed on a 5 kVA prototype system with parameters
the same as above. The power converter uses SEMIKRON
SKM 50 GB 123D IGBT modules. A Texas Instruments
TMS320LF2407A digital signal processor (DSP) with a Spec-
with its frequency response shown in Fig. 9. It can be observed trum Digital evaluation module (EVM) has been used as the
that, with the existence of the RSC, all tracking/rejecting fre- digital controller.
quencies have unity gain and zero phase angle which are de- The steady state test results have been presented in Table III.
sired. It can be observed from the table that the three-phase output
voltages achieve satisfactory tracking accuracy and balancing
B. Time Domain Simulations
with THD lower than 1% for all types load except nonlinear.
Time domain simulations of the closed system have been The test waveforms have been shown in Fig. 11. It can be ob-
performed under various load scenarios, including both steady served from the plots that the experimental results resume their
DAI et al.: THREE-PHASE FOUR-WIRE INVERTER CONTROL TECHNIQUE 329
Fig. 10. Simulations under selected scenariosColumn 1: unbalanced resistive load; Column 2: nonlinear load with crest factor 3:1; Column 3: transient response,
load steps up from 0% to 100%; Column 4: transient response, load steps down from 100% to 0%; Trace 1: output voltages; Trace 2: load currents; Trace 3: inverter
currents; Trace 4: rms output voltages; Trace 5: ground current.
Fig. 11. Experimental results under selected scenariosColumn 1: unbalanced resistive load; Column 2: nonlinear load with crest factor 3:1; Column 3: transient
response, load steps up from 0% to 100%; Column 4: transient response, load steps down from 100% to 0%; Upper trace: output voltages, 43 V/div; Middle trace:
load currents, 5 A/div for Column 2 and 10 A/div for others; Lower trace: ground currents, 5 A/div for Column 2 and 20 A/div for others.
TABLE III
EXPERIMENTAL RESULTS OF STEADY STATE PERFORMANCES performance point of view. In other words, in linear modulation
OF THE PROPOSED CONTROL TECHNIQUE area, the control performances of the two modulation strategies
are comparable. If this statement is true again, it can be demon-
strated that the statement becomes untrue when the modulation
index approaches 1 due to the limited dc bus voltage or high
modulation references.
When the modulation index approaches 1, as shown by
the algorithm in Section III-C, approaches and the
space for 0-axis modulation tends to zero. This strategy implies
a higher priority for the modulation of axes than that of the
simulation counterparts respectively, so that the effectiveness of 0-axis when the dc bus voltage is limited. In other words, when
the proposed control technique has been further proved. the 0-axis modulation is saturated at , the modulation of
references can still be linear, which provides more linear control
D. Stationary 0 Reference Frame versus Reference on the fundamental and other non-zero axis harmonics. This is
Frame not the case in sine wave PWM, where the total modulation ref-
One simulation research has been performed comparing the erence is saturated as the modulation index approaches 1 given
performances of conducting the controls in stationary ref- the condition that over-modulation is not allowed due to its neg-
erence frame vs. reference frame. It is natural to use the ative impact on the modulation. The saturation affects all , ,
MSVPWM if the 0 reference frame is used and to use con- and 0 axis components since there is no priority among them.
ventional sine wave PWM if the reference is used. A simulation comparison has been conducted to demonstrate
As reported in [40], [41], mutual-transformable relation- that the above difference about the reference frames does matter
ship can be constructed between the conventional SVPWM in the control performance. In the simulations using two dif-
and USPWM, i.e., uniformly sampled sine wave PWM, in ferent reference frames, the same load, the same filter, the
three-phase three-wire system. It is imaginable that there exists same dc bus voltage 257.5 V, and the same controllers, are
a similar relationship between the MSVPWM and sine wave used for the comparison purpose. The comparison scenario is
PWM in three-phase four-wire system while the detailed proof nonlinear load walk-in transient where the output voltage in-
deserves further investigation. If this is true and the harmonic creases from 0 at time 0 with no load and reaches 100% at time
issues in the switching frequency and vicinity are ignored, 0.1 s and the nonlinear load current increases from 0 at time 0.1
conditional equivalence between the two modulation strategies s and its peak reaches full scale, i.e., 20 A, at time 0.2 s. Fig. 12
in linear modulation area can be conceivable in terms of control shows the transient output voltage THD performances of the two
330 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 23, NO. 1, JANUARY 2008
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mechanical Systems. Philadelpha, PA: Taylor & Francis, 1999. (OSU), Columbus. He serves as the Director of
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pp. 689702, Aug. 1987. control of distributed energy systems, design and
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WCB/McGraw-Hill, 1999. of power electronic systems, DSP-based virtual test
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voltage and current control for distributed generation systems, IEEE systems, modeling, parameter estimation, and failure detection systems.
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modulation and regular-sampled PWM, IEEE Trans. Ind. Electron., ENERGY CONVERSION and past Chairman of the Electric Machinery Com-
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