PERFORMANCE INVESTIGATION OF A CURRENT-CONTROLLED

VOLTAGEREGULATED PWM RECTIFIER IN

ROTATING AND STATIONARY FRAMES

N A D R ZARGARI GEZA JOOS

Dept. of Elec. and Comp. Engineering, Concordia University
1455 De Maisonneuve Blvd. West, Montreal, Quebec
Canada H3G-lM8
Tel. No. (5 14) 848-3 116
Fax NO.(514) 848-2802
email: [email protected]

Abstmct; Active fmnt-end Ectifien with Educed input mains and clc source. Different control techniques have been
cunent harmonics and high input power factor M becoming discussed to control the input current waveforms of the PWM
a must in utility inteltaced applications. With fomed- rectifier [ 11-[8]. The current control techniques discussed in
commutated switches, the voltage soume inverterappmarhis these papers can be divided into (a) stationary frame methods,
supenorto the conventional cunent mume appmach, in terms (b) rotating frame methods. There are many methods in the
of number of components and conhol options. However, tbc stationary frame: (a) Hysteresis current control, whose major
straight-forwad delta conhol of the mctifier is c h t e n i z e d drawback is varying switching frequency within one load
by a slow ~ s p o n s eand potential stability pmblems. Thin cycle; this results in excessive stress on switching devices [I].
paper pmposes a cunent-conholled PWM Rctifier as an (b) Predictive current control with fixed switching frequency
d t e d v e . It provides near sinusoidal input cunents with which provides a good switching pattem but is very sensitive
unity powerfartorand alow output voltage ripple. Momover, to parameter variations and also needs knowledge of load
it pmduces a well-defured input cunent hnrmonic spectrum, parameters to derive the switching logic [2]. (c) Indirect
exhibits fast hPnsient msponse to load voltage variations and current control discussed in [3] that has a restricted stability
is capable of m g e n e d v e opedon. PWM pdtem generation region. The control in the rotating frame is suggested in [4]-
is b e d on a c a d e r technique and the cunent conholler in [ 5 ] . The methods presented in these references are more
implemented in the (a) stationary (abc) fnune, (b) mCPtlng complicatecl and the additional circuitrykomplexity may not
(dqo) "f. The design and the peltomwce of the two be justified in certain applications.
conholler option8 am investigated and compamd The purpose of this paper is:
- To propose a simple current-control technique in stationary
(abc) frame.
- To present the same type of controller in the rotating (dqo)
PWM rectifiers offer a better altemative to phase- frame.
controlled rectifiers with respect to power factor - To providr: a comparative evaluation of the two methods so
considerations and input current/output voltage harmonics. that the advantageddisadvantages of control in (abc) and
Also, more and more applications require bidirectional power (dqo) frames are summarized and. one can choose the
transfer with fast transient responses. PWM rectifiers based preferred method for a particular application.
on voltage source topology (Fig. 1) allow a full control over The paper proposes a simple current-controlled voltage-
both active and reactive power exchange between the ac regulated IWM rectifier using the error triangulation
technique [6]-[9]. The controller characteristics are:
(a) Fixed switching frequency which results in a well defined
input current harmonic spectrum. (b) Free-running camer
operation.(c) Fast dynamic response. (d) Simple control
circuitry.
A stand alone dc supply with fast transient response is
obtained by adding a voltage feedback to the current control
scheme (Fig;. 2). A complete analysis of the rectifier is given
and design equations are derived. The validity of the
theoretical results is examined using the power invariant d-q
Fig. 1 Voltage source type PWM rectifier. transformation. For purposes of comparison, control of the
PWM rectifier in the d-q frame is also presented and design

0-7803-0891-3/93$03.00 01993IEEE
1193
equations are derived. The performance of the PWM rectifier transform (1) to the rotating frame. Therefore, (I) can be
under the two control strategies are compared and design and transformed and rewritten in s-domain as:
control limitations are investigated. Finally a design example
is provided to prove the usefulness of the derived equations. = 51 + 4p9rri&J - (2)

where 9 denotes the laplace transform and [TI is the

A - Stationary f m e conttvller transfoxmation matrix (Appendix I).
The complete rectifier system includes a voltage-source
topology PWM rectifier, a current-control loop and a dc B- Rotating f m e cmmller
voltage loop (Fig. 2). The switching pattern of the rectifier is The rotating frame controller is depicted in Fig. 3. The
generated by means of the current control scheme depicted in three line currents are transferred to (dqo) frame and a similar
Fig. 2. The instantaneous current error is fed to a controller is used to provide the necessary gating signals.
proportional-integral (PI) regulator. The resulting error signal The magnitudes of the reference currents in (dqo) frame (I-
is compared to a triangular carrier. If intersections are ,IF) are regulated by a voltage feedback loop. To achieve
obtained, the error is forced to remain within the band unity power factor operation with the rotating frame
defined by the amplitude of the triangular waveform. All controller, it is necessary to have the following reference
three phases use a common modulating signal. The integral commands for the dq axis currents:
term improves the tracking by reducing the instantaneous
error between the reference and the actual current. The input Iw = 0, Iw = I& (3)
line impedance determines the slope of the current and
therefore the existence of the intersections required to create This is because the reference rotating frame is defined so that
the PWM pattern. The amplitude of the current reference is the d-axis component represents the reactive power. The
obtained from the dc voltage loop. The output dc voltage is modulating signals of the rotating frame controller are given
compared with a voltage reference and the error is fed to a PI by :
regulator to reduce the steady state voltage error. The output
of the PI regulator is then multiplied by a current waveform
template to provide! the three ac current refercnces with the
desirable input power factor and proper phase-si3 (Fig. 2).
To achieve unity power factor the current templates must be which can also be rewritten in the form of
in phase with the input voltages. The modulating signals can
be expressed by:

By comparing (2) and ( 5 ) it can be concluded that:

In order to compare the two controllers, it is necessary to - Equations (2) and ( 5 ) are identical if the integral part of the

Fig. 2 The pmposcd cumnt-controlled voltage-regulated PWM rect&r. Fig. 3 Current controlla in rotating (dqo) frrme.

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regulator is eliminated i.e. I( = 0).
- The amplitude and phase are the control variables in the
stationary frames. These variables are transformed into dc -
A Design of cumnt control loop
quantities (dqo components) in the rotating frame. The &sign of the current controller involves the choice
- The rotating frame controller eliminates the steady state Of:
error, since it operates on dc quantities. The stationary - The frequency of the carrier signal (switching frequency).
controller regulates ac signals (ac fundamental component) - the amplitude of the camer signal and,
and therefore, it results in amplitude/phase error. This error is - the compcinents of the PI regulator.
dependent on the input frequency and the input inductor, In order to guarantee intersections, the following condition
since the gain and phase of the controller are frequency must alwayis satisfy:
dependent. slope of the error slope of the triangular camer
- The behaviour of the converter with the rotating frame From the circuit equations, the slope condition is found to be:
controller is closer to the ideal case. For example, operation
with unbalanced input voltages results in a set of balanced
input currents and a higher second harmonic component in
the output dc voltage.
- The command signals are &coupled for the rotating frame V h = rectifier input voltage, V, = output dc voltage. f,, , V,
controller. This is especially useful in ac drive systems, where are the frequency and the amplitude of the triangular camer
the torque and speed are commanded independently and can be designed to satisfy (6). In obtaining (6),the effect
(converter operates as an inverter). of the integral part on the slope of the error was ignored.
- Since the transformation matrix ideally has no dynamics, the Since, without the integral part, both controllers are
response of the hvo controllers to transient conditions are essentially the same, the slope condition is identical for both
identical. controllers. It is assumed that the error-triangulation technique
- The stationary frame controller has the obvious advantage produces fimdamental line-to neutral voltages which are
of simplicity, however, for applications which require high proportional to the modulation index M. Therefore the
precision, the rotating frame controller is recommended. rectifier leg: is modelled as a constant gain. The block
diagram of the current loop with the above assumptions is
shown in Fi,g. 4. The transfer function of the current loop is
given by:

“Ip-1 PI IO

I I where L is input line inductor. K, denotes the voltage gain of

the controllex and is given by:

Fig. 4 Block diagram of the current loop.

-9 h n4/r
Fig. 6 Bode plot of the current loop (simulation VI theoretical multa).

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where M is modulation index. PI&) in (7) is a typical Fig. lO(a) shows the operation of the PWM rectifier in the
representation of PI regulators consisting of a g a e K and a steady state. The input currents are sinusoidal and the input
time constant T. The variation of the damping factor of the power factor is unity, however there is a small
current loop as a function of time constant of the current loop phase/amplitude error in the steady state which is depicted in
PI regulator is shown in Fig. 5.The current controller can then Fig. IO@). Fig. 11 shows the results for the rotating frame
be &signed to obtain a desirable (%5) overshoot to step controller under the same conditions. It can be seen that in
change in the amplitude of the current reference. This design this case, there is no phasdamplitude error in the steady state,
procedure is o o d i by simulation results, (current Fig. 1 ]@).The dc output voltage is changed by 25% and the
waveforms transformed to dq frcune shown in Fig. 12). The results are depicted in Fig. 12. The current waveforms are
bode plots for the close loop current transfer function are transformed to rotating frame (Id,IJ for a better presentation
depicted in Fig. 6. Tbe model behaves very similar to the of the transients. The damping factor of the current loop as
actual system (results obtained from simulation).

B - Design of voltage loop

The instantaneous power equation at the inputloutput
terminals of the rectifier is given by:

Fig. 7 Block di.gnm of the o v d I ~ ~ M I .

The converter is assumed to be ideal (no losses, no energy
storage element, high frequency switching). Linearizing the
power equation around the operating point ordoo.
IJ and
considering unity power factor operation (4 = 0) yields:
3
- -4,s v,

-1
+
AV& 2
g4 - = (10)
-20 db
R

The right hand zero of (IO) shows the non-minimum phase

characteristic of the system. The overall transfer function is
as follows: Fig. 8 Bode plot of tbc o v d a y d m q incMing the vottrgS loop
(IimULtiOn VI thconticll reruL).
&P&) = ~J&)qwI(s) (11)

where Gi (s) is the close loop current transfer function. The

block diagram of the voltage loop is shown in Fig. 7. The
components of the PI regulator are designed with the help of
(11) to obtain proper specification and a stable overall
system. The bode plots for the overall system transfer
function are shown in Figs. 8,9 and compared with the
corresponding simulation results. The models &scribe the
converter properly, although the real break frequency appears
to be somewhat far from the predicted one.

Iv. RESULTS

The complete system operating with 3.1 KHz switching Fig. 9 P h u e nrporw of the o v d l system.
frequency is simulated and the following results are obtained.

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 A high performance three phase current-controlled
voltage-regulated rectifier is presented. A camer comparison
type currentcontrol technique produces the switching pattern
for instantaneous control and waveshaping of the input
currents. The control technique operates with fixed switching
frequency and has a fast response to system transients. The
I control scheme is rugged and has a simple circuitry. The
2ol current controller is presented in both stationary and rotating
frames. The performance and design considerations of the two
controller options are compared. A complete analysis of the
overall system with design equations for control circuits is
given. The theoretical results obtained are verified through

--
simulation.

Fig. 10 Simulation nrub for stationary h e coatrollcr. (a) Output dc

voltage. input p h w voltage and m t . (b) Steady staic error.
B.T.Ooi, J.C. Salmon, and J.W. Dixon, "A three-phase controlled
cumcnt PWM converterwith leading power factor",in IEEE Trans. on
hd. Appl.. vol. IA-23, pp.78-84, J8dFeb. 1987.
k m g Wu, S.B. Dewan, and G.R Slemon, "A PWM AC to DC

I
V I
conver(er with fured switching frequency", in EEE-PESC 1989,
pp.706-711.
.-
'
' ''hi ' ' . J.W. Dixon and B.T. Ooi, "hdmct control of a unity power factor
rinuloidal current boost trpe three-phase nctifrer",in IEEE Trans. on
Ind. Elcc., vol. 35, No. 4. pp. S08-JlS. November 1988.
S. S&, P. Nonnon, R Le Doe&, and D. Escallier. "PWM force-
commutated GTO converter in four quadrant operation",in Cod.Rec.
IEEiE-IECON 1991. pp.6OO-6OS.
T.M. Rowan and RJ. Kerkm.n. "A new rynchronourcurrent-regulator
and an .nrlpL of m t - m g u l & d PWM i n ~ d e n "in , IEEE T r u ~ .
on Ind. App. Vol. U-22,No. 4. July/Augurt 1986, pp.678-690.
0. JDOS, P.D. Ziogaa. and D. Vmcmti, "A model nfmnce adaptive
PWIM technique", in Cod. Rcc. IEEE-PESC 1989, pp.695-703, June
1989.
L. Moran, P.D. Ziogas. and G. Joor, "A solid state high performance
"tive power c~mpmsrtor",in Cod. RCC.IEEE-APEC 1990, pp.
Fig. 11 Simulation muL for rotating h e controller. (a) Output dc G.loos. N.R Zargari, and P.D. Ziogas, "A new class of current-
voltage, input phase voltage and cumnt (b) Stedy state error. controlled suppressed-link AC to AC frequency changefa", in Cod.
R ~ c IEEE-PESC
. 1991, pp.
calculated by eqn. (7) is 0.65. The dq current components D.M. Brad, and D.W. Novotni, "Current control of VSI-PWM
inverters", in IEEE T m . on hd. Appl., vol. IA-21, No. 4, May/June
also show the characteristics of a sightly underdamped 19815, pp. 562-570.
system, (as predicted by equations). The transient response of
the rotating frame controller is shown in Fig. 13 and is almost
identical to the previous case. The transient response of the APPENDIX
rectifier with 6 control is. shown in Fig. 14. The results show
that 6 control has a very slow response. Design example:
Po= 25 ICW, V, = 120V, I, = 69.4A
AaMOWLEDGMENTS L = 1.83 mH. C = 250 pF
Current loop PI, K = 1, T = 0.0006
The support of National Science and Engineering Research Voltage loop PI, K = 1, T = 0.0007
Council of Canada (NSERC) and the Quebec Ministry of k =1
Education through a FCAR fund for the work presented in The rectifier can be described by the following matrix
this paper is appreciated equation

1197
where [V ,J = ac source voltages,
[i JJ = input line currents, and
[V J, = ac voltages at the rectifier terminal.
The converter equation can be transformed to dq frame as:

The conversion matrix is given by:

1
-fat aW(0t-120) coc(ot+120)
sio(0t-120) sin(ot+l20) Fig 13 T"t respoon f a rohiing h e controller. Output dc voltage
,V buh md q - d a cumnt8.
w w

1- :
.V& .
..... ....................

looy .............................
. . . . . . . . . . . . . . . . . .

1.- I .. .l d
f%---

-. :-- -.
I
I

Fig. 14 Tmmieotrapoarc of P W M ractifisr with 8 CODtrol Output &

Fig 12 Tmmkot rwponra f a d d o a q h e ooatrok. outpuldc vobge v, d-urh md q-UL cumcnls.
voltage v, d-UL md q-uh cumntr.

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