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DYNAMIC EVOLUTION BASED CONTROLLER FOR SINGLE PHASEINVERTER
\
NORMAZLINA BINTI MAT ISA
A project report submitted in partial fulfillment
of the requirements for the award of the Degree
of Master of Engineering (Electrical – Power)
Faculty of Electrical Engineering
Universiti Teknologi Malaysia
JANUARI 2013
i i i
With the name of Al-Mighty Allah
To my beloved the late mother,To my beloved father,
To my beloved husband and sonsFor their continues love, motivation, support and encouragement
iv
ACKNOWLEDGEMENT
In preparing this thesis, I was in contact with many people, researchers,academicians, and practitioners. They have contributed towards myunderstanding and thoughts. In particular, I wish to express my sincereappreciation to my main thesis supervisor, Dr Shahrin Md Ayob, forencouragement, guidance, critics and friendship. Without his continuedsupport and interest, this thesis would not have been the same as presentedhere.
I am also indebted to Universiti Teknologi Malaysia (UTM), librariansat UTM, also deserve special thanks for their assistance in supplying therelevant literatures.
Besides, my sincere appreciation also extends to my entire fellowpostgraduate friends who have provided assistance and sharing ideas during thisthesis implementation. Th e i r i d e a s a n d o p i n i o n s a r e u s e f u l i n de e d .U n f o r t u n a t e l y , i t i s i m p o s s ib l e t o l i s t a l l o f t h e m i n t h i sl i m i t e d sp a c e .
Last but not least, special thanks goes to my parent, family members,husband and sons on their supportive and encouragement during completing thistask.
v
ABSTRAK
Kajian ini dilakukan bertujuan mengkaji satu kaedah baru bagi
mengawal sebuah penyongsang satu fasa. Pendekatan yang digunakan
adalah berdasarkan kepada skala masa dinamik di mana ia
menggunakan pendefinisian algoritma matematik sebagai algoritma
kawalan bagi penyonsang satu fasa tersebut. Dengan menggunakan
hukum kawalan yang ditakrifkan daripada persamaan tidak linear
penyongsang satu fasa, model bagi litar penyongsang satu fasa dibina
dengan menggunakan perisian MATLAB SIMULINK. Selepas itu,
penilaian terhadap prestasi bagi penyongsang tersebut diuji menerusi
pelbagai nilai gangguan beban. Penilaian prestasi penyongsang diuji
dengan melalui proses simulasi di dalam perisian MATLAB
SIMULINK. Hasil daripada proses simulasi menunjukkan bahawa
teknik yang dikaji di dalam kajian ini adalah bersesuaian untuk
mengawal penyongsang satu fasa.
vi
ABSTRACT
This thesis proposes a new control method based on Dynamic
Evolution Control for a single phase inverter. A new approach for synthesis of
inverter controller theory presented as well as a control law algorithm for the
inverter is derived. By using the control law derived from the non-linear
equations, the model of single phase inverter with the proposed controller is
constructed in MATLAB SIMULINK. Then, the performance of the proposed
dynamic evolution control under various load disturbances is verified through
the simulation. Simulation progress and result show that the proposed
technique is suitable for controlling the power single phase inverter.
viii
TABLE OF CONTENTS
CHAPTER TITLE PAGE
DECLARATION ii
DEDICATION iii
ACKNOWLEDGEMENTS iv
ABSTRAK v
ABSTRACT vi
TABLE OF CONTENTS vii
LIST OF TABLES xii
LIST OF FIGURES xiv
LIST OF ABBREVIATIONS xix
LIST OF SYMBOLS xxi
1.0 INTRODUCTION1.1 Problem statement 11.2 Objective 21.3 Scope of work 3
2.0 LITERITURE REVIEW2.1 Introduction 42.2 DC to AC converter 5
2.2.1 Pulse Width Modulation (PWM) 82.2.2 Total Harmonic Distortion (THD) 12
2.3 Fundamental of Control System 132.4 Steady State Error 182.5 Previous Controller and their problems 18
viii
3.0 METHODOLOGY 233.1 Dynamic Evolution Control 233.2 Design of controller 27
3.2.1 Mathematical modeling 273.3 Duty Cycle 313.4 Design Parameters 33
3.4.1 References Voltages 343.4.2 State error Function 353.4.3 Others Parameters 36
3.5 Simulation Process 373.5.1 Circuit Construction 38
4.0 SIMULATIONS, RESULT AND ANALYSIS 454.1 Output of PWM circuit 464.2 Result and Analysis on Inverter Performance 48
4.2.1 Full Load and No Load 494.2.2 Small and Large Signal Disturbance 51
4.3 Finite Fourier Transform (FFT) Analysis 53
5.0 CONCLUSION 575.1 Discussion 575.2 Problem Occur 585.3 Further Recommendation 595.4 Conclusion 60
REFERENCES 62
viii
LIST OF TABLES
TABLE NO. TITLE PAGE
1 Transition of switches in an inverter 6
2 Value of parameters 37
3 Block construction for each part of control law 40
4 PWM block construction 70
xii
xiv
LIST OF FIGURES
FIGURE NO. TITLE PAGE
1.1 Circuit Diagram of Inverter 6
1.2 Single Phase Inverter with Dynamic Evolution Controller 7
1.3 Concept of PWM signal generation 9
1.4 The sampling process of PWM signal 9
1.5 Unipolar PWM switching scheme 10
1.6 Bipolar PWM switching scheme 10
1.7 Fundamental of control system description 14
1.8 Basic open loop system 16
1.9 Basic closed loop system 17
2.0 PID controller block 20
3.1
3.2
3.3
4.1
4.2
4.3
4.4
4.5
Dynamic Evolution Path
Circuit of Dynamic Evolution Controller for single phaseinverter in MATLAB SIMULINK
Subsystem circuit of Dynamic Evolution Controller forSingle Phase Inverter in MATLAB SIMULINK
Setting of triangular waveforms
Triangular waveform
PWM switching signal
Inversion output waveform of inverter
Steady state performance in no load condition
24
43
44
46
47
47
48
50
xiv
FIGURE NO. TITLE PAGE
4.6 Steady state performance in full load condition 50
4.7 Performance of proposed controller when subjected to smallload disturbance
51
4.8 Performance of proposed controller when subjected tolarge load disturbance for output voltage side
52
4.9 Output current when subjected to sudden large loaddisturbance
53
5.0 THD under full load condition 54
5.1 THD under no load condition 55
5.2 THD under large load condition 55
5.3 THD under small load condition 56
xix
LIST OF SYMBOLS
Ω - Ohm
m - mili
h - Henry
µ - micro
∞ - infinity
α - duty cycle
xix
LIST OF ABBREVIATIONS
PWM - Pulse Width Modulation
THD - Total Harmonic Distortion
1
CHAPTER 1
INTRODUCTION
The power inverter that functions as a converter is the heart of a DC-AC
conversion system whereby it’s well designed is based on its ability to provide
clean and stable ac output voltage regardless of the load type connected to it.
Besides, the power inverter should have the ability to recover from transients
caused by external disturbances as quickly as possible. Nowadays, with the
proliferations of power converters connected as loads, the inverter is required to
deliver non-linear output. This highly distorted currents may cause deterioration
in the quality of the output voltage.[1] Furthermore, the design of controllers for
power inverter systems presents the interesting challenges as for the past several
decades, many controller techniques have been proposed for power inverter
applications. Since power inverters are non-linear time varying system, therefore
the design of it controllers must have the capability to cover-up the none-linearity
and time-varying properties of the inverter system.
2
1.1 Problem Statement
Inverter which is known as dc to ac converter has its own characteristics in
order to provide the clean power output. The switches that constructed in the
inverter circuit must be well controlled in order to ensure the switching transition
operates in correct rules. As principle operation of inverter, the switching
transition time must be accommodate in the control of the switches. If there any
overlap of switch “ON” times will result the short circuit. Hence, the method of
controlling these switches in single phase inverter is proposed in this research
work as to enhance the existing control techniques.
1.2 Objective
The main objective of this research work is to propose and execute a new
control technique for the single phase inverter. The control method is named as
Dynamic Evolution Control (DEC) as some of dynamic characteristic of the
control part is considered in order to operate this new technique. Besides, the
objective is to perform the simulation process onto the proposed Dynamic
Evolution Control by using the software of MATLAB SIMULINK. The
importance of the simulation process is to observe and analyze the performance of
3
the proposed controller, Dynamic Evolution Control under resistance load
disturbances.
1.3 Scope of work
Single phase inverters that exist in the power electronics world need the
enhancement in their controller. The focus in this work research is emphasized on
the observation of the single phase inverter controller based on Dynamic
Evolution Control (DEC) where the parameters of DEC is designed referred to the
mathematical modeling of single phase inverter switching scheme. The
characteristic of control part which is begin with the steady state representation is
evaluated and followed by the error state of the controller is determined.
Furthermore, the duty cycle that used to control the switching scheme of the
inverter is obtained. The synthesize of the inverter controller and the analysis on
the non-linear equations models is done by using MATLAB SIMULINK
software. Hence, the observation on the inverter and the performance of controller
under resistance load disturbances is obtained.
62
REFERENCES
1. K.Ogata, “Modern Control Engineering”,
2. Daniel w.Hart, “Power Electronics”
3. Norman Nise, “Control System Engineering”
4. Carl N.M. Ho and Henry S.H. Chung , “Fast Transient Control of Single-
Phase Dynamic Voltage Restorer (DVR) Without External DC Source” ,
Department of Electronic Engineering City University of Hong Kong.
5. Wei Yang , Chenghua Wang , Feng Hong , “A Novel Design Method of
Single-phase Inverter Controller Based on CPLD” , College of
Information Science and Technology, Nanjing University of Aeronautics
and Astronautics, Nanjing , China.
6. Ruian Liu Lei Wang Mimi Zhang , “Design of Single-Phase Inverter
controlled by DSC based on SVPWM technique” , Shengtao Ma College
of Physics and Electronic Information Science of Tianjin Normal
University, Tianjin, China.
7. W G Dunford , “An Integrated Controller for Current Source Inverter
Drives”, Dept of Electrical Engineering Imperial College, London SW7
2BT,UK
8. C. Rech, H. Pinheiro, H. A. Griindling, H. L. Hey, J. R. Pinheiro, “
Analysis and Design of a Repetitive Predictive-PID Controller for PWM
Inverters” , Federal University of Santa Maria,IEEE 2001.
63
9. Dong Dong, Timothy Thacker, , Rolando Burgos, , Fei Wang, , and
Dushan Boroyevich, “ On Zero Steady-State Error Voltage Control of
Single-Phase PWM Inverters With Different Load Types”, IEEE
transactions on Power Electronic, Vol.26,November 2011.
10. Ahmad El Khateb, Nasrudin Abdul Rahim, and Jeyraj Selvaraj,
“Optimized PID Controller for Both Single Phase Inverter and MPPT
SEPIC DC/DC Converter of PV Module”, IEEE International Electric
Machines and Drives Conference, 2011.
11. Wei Yang,Chenghua Wang, Feng Hong, “ A Novel Method of Single
Phase Inverter Controller Based on CPLD”, College of Information
Science and Technology, Nanjing University of Aeronautics and
Astronautics,China, 2010.
12. M.A Mahmud, M.J Hossain, H.R Pota M.S Ali, “Zero Dynamic Excitation
Controller Design for Power System with Dynamic Load”, School of
Engineering and Information Technology, University of New South
Wales,Canberra, Australia, 2011.
13. Wei Yao, Jingjing Chen, Zhaoming Qian, “An Improved for Paralel
Operation of Single Phase Inverters with No-control Interconnections”,
Power Electronics Institute, College of Electrical Engineering, Zheijang
University, China, 2007.
14. Yan Xiangwu, Gu Xiaobin, Zhang Bo, Zhang Lixia, “Analysis and Design
of Closed Loop Controller for Single Phase High Frequency Link Inverter
64
Based on Pole Assignment”, Proceeding of International Conference on
Electrical Machines and Systems 2007, Seoul , Korea,2007
15. Yasuhiro Kondo, Hisao Kubota, “ Design of Voltage Controller of Single
Phase Inverter for Harmonic Rejection” , Meiji Universiti, Japan
16. A.S Samosir and A.H.M Yatim , “Implementation of New Control Method
based on Dynamic Evolution Control with Linear Evolution Path for
Boost DC-DC Converter” , 2nd IEEE Conference on Power and Energy ,
Johor Bahru, Malaysia, 2008.
17. Wei Yao, Min Chen, Joe Matas, Josep M.Guerro, Zhao Ming Qian,
“Design and Analysis of the Droop Control Method for parallel Inverters
Considering the Impact of the Complex Impedance on the Power
Sharing”, IEEE Vol. 58, No 2, February 2011.
18. Goh Wei Kiat, “Design of Current Mode POrportional Integral (PI)
Controller for a PWM Inverter Using MATLAB/Simulink”, Faculty of
Electrical Engineering, University Technology Malaysia, Malaysia, 2011.
19. S.M Ayob, Z. Salam, N.A Azli, “ Control of Single Phase Inverter Using
Fuzzy Logic” ,IEEE 2009
20. Humberto Pinheiro, Fernando Botteron, Jose R.Pinheiro, Helio L.Hey, A.
Grunding, “ A digital Controller for Single Phase UPS Inverters to reduce
the Output DC Component”, IEEE 2004 .
65
21. IEC 61000-3-2:2001 ed. 2.1, idt), “MS IEC 61000-3-2:2003
Electromagnetic Compatibility (EMC)” – Part 3-2: Limits – limits for
harmonic current emissions (equipment input current < 16 a per phase)