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F. Z. Peng: Slide 1August 1, 2004
Introduction to Power Electronics
Fang Z. PengDept. of Electrical and Computer Engineering
Michigan State UniversityPhone: 517-432-3331, Fax: 517-353-1980
Email: [email protected]
F. Z. Peng: Slide 2August 1, 2004
Contents
• Chapter 1: Introduction of Power Electronics
• Chapter 2: Power Converter Basic Circuits and Operating Principles
• Chapter 3: Control of Power Converters
• Chapter 4: Power Converter System Control, Analysis, and Design
• Chapter 5: Circuit Models and Simulation
• Chapter 6: Power electronic systems and applications
• Chapter 7: Automotive Applications: HEV and FC HEV SystemConfigurations and Their Power Electronic Circuits
• Chapter 8: Utility Applications: DG grid interconnection, Statcom, active filter, UPFC, and FACTS devices
F. Z. Peng: Slide 3August 1, 2004
Chapter 1
Introduction of Power Electronics
• What is Power Electronics?• Power Conversion and Basic Principle• Switching Power Devices in General• Diode, Thyristor and Power Transistor• Power MOSFET and IGBT• GTO and MCT• Power IC
F. Z. Peng: Slide 4August 1, 2004
What is Power Electronics?Power Electronics is power conversion and control from one form of power (energy) source to a desired form by using electronic means. Example: An electric vehicle drive must convert dc input to ac output that has variable voltage and variable frequency.
Power Electronics
Circuitac
Motordc
input(battery)
acoutput
Controltheory, analog&digital (DSP), etc
! Power electronics is power processing circuits and control
F. Z. Peng: Slide 5August 1, 2004
What is Power Electronics? Cont.
Power Processor(PE Circuits)
Raw power inDesired power out(V, I, P, F)
To loads:MotorUtility lineComputerEquipmentProcessControl
BatteryFuel CellUtilitySolarWindCapacitor/InductorDc or ac
F. Z. Peng: Slide 6August 1, 2004
Multi-disciplinary Nature of Power Electronics
Power Electronics
Circuittheory Systems &
Control theory
Comm. & Signalprocessing
ElectronicsDSP, FPGA
ElectromagneticsEMI
Power systems
Electricmachine
Simulation &computing
Solid-statephysics
DSP Control Board
F. Z. Peng: Slide 7August 1, 2004
Principle of Power Control Using Switch
Vd
RV
RL
iL
Vd/RL
iL
0t
Vd
S
DF
LFRL
vDF
Vd
vDF
t
TON TOFF T
t
Vd/RL
iL
• Current Control Using Variable Resistor
• Current Control Using Switching Device
F. Z. Peng: Slide 8August 1, 2004
Category of Power Conversion
• AC-DC Converter (Rectifier)
• AC-AC Converter (Power Controller, Cycloconverter, Matrix converter)
• DC-AC Converter (Inverter)
• DC-DC Converter (DC Chopper - Buck/Boost/Buck-Boost Converter)
F. Z. Peng: Slide 9August 1, 2004
Principle of AC-DC Converter (Rectifier)
Load
S1
S2 S4
S3
v1v2
v1
S1, S4
S2, S3
v2
ONOFF
Average t
t
t
t
V1 - AC SourceV2 - DC Load Waveforms of AC-DC Converter
F. Z. Peng: Slide 10August 1, 2004
Principle of AC-AC Converter
(AC Power Controller)
S
Loadv1 v2
V1 - AC SourceV2 - AC LoadS - AC Switch
v1
S
v2
ON
OFF t
tResistor Load
t
Waveforms of AC Power Adjuster
F. Z. Peng: Slide 11August 1, 2004
Principle of AC-AC Converter
(Cycloconverter or Frequency Changer)
V1 - AC SourceV2 - AC LoadS - AC Switch
Waveforms of Cycloconverter
Load
S1
S2 S4
S3
v1v2
v1
S1, S4
S2, S3
v2
ONOFF
Fundamental t
t
t
t
F. Z. Peng: Slide 12August 1, 2004
Principle of DC-AC Converter (Inverter)
Voltage-Source Inverter Waveforms of Inverter
Load
S1
S2 S4
S3
vdcvac
vdc
S1, S4
S2, S3
vac
ONOFF
Fundamental t
t
t
t
tvac
(PWM)
F. Z. Peng: Slide 13August 1, 2004
Why Switching?
Vdc
LightBulbRL
iL
iB
iC vCE+ -
Vdc
LightBulbRL
iLr
Vr R
rdc
L+
2
Power Loss:
Power Consumption: Vr R
Rdc
LL+
2
Vdc
LightBulbRL
iLS
Vdc
Ileak
iCVdc/RL
Vsat
t
POFF
Ic
PON
t
PSW
PLoss=vCE iC
F. Z. Peng: Slide 14August 1, 2004
Switching DevicesCurrent Uncontrollable On -
ControllableOn and OffControllable
Uni-Direction
+ v -
iDiode
i +
-v
iGThyristor
Transistor
MOSFET*
GTO
IGBT
SIT, SITh, MCT,MTO, etc.
Bi-Direction Triac Module
* Metal Oxide Semiconductor Field Effect Transistor
F. Z. Peng: Slide 15August 1, 2004
Diode and Rectifier
+ v -
i
v
i
vac
vac
vO
Load
iL
vO
ωωωωtππππ 2ππππ
iL
F. Z. Peng: Slide 16August 1, 2004
Thyristor and Phase-Controlled Rectifier
i +
-v
iG
v
i
IG1=0IG2IG3
IG3>IG2>IG1
vac
vac
vO
Load
iL
vO iL
ππππ 2ππππ ωωωωtαααα
F. Z. Peng: Slide 17August 1, 2004
Power Transistor and Inverter
Load
S1
S2 S4
S3
vdcvac
tvac
(PWM)
RG
RG0VGE1
VGE0
IGBT
Gate Drive Circuit of IGBT
F. Z. Peng: Slide 18August 1, 2004
Safe Operating Area and Snubber Circuit
VCEIC
WithoutSnubber
WithSnubber
VCE
ICSafe Operating Area
WithoutSnubber
WithSnubber
InitialState
FinalState
Turn-off Waveform
SOA and Turn-off Trajectory
RCDSnubberCircuit
RCSnubberCircuit
Traditional Snubber Circuits
F. Z. Peng: Slide 19August 1, 2004
IGBT Technology
0.10 1.00.90.80.70.60.50.40.30.20
3.5
3.0
2.5
2.0
1.5
1.0
0.5
1st Gen.('85)2nd Gen.('89)
3rd Gen.('94)further curve
tf [us]
Satu
ratio
n V
olta
ge V
CE
[V]
F. Z. Peng: Slide 20August 1, 2004
Progress of Large VA Rated GTO
'65 '95'90'85'80'75'700
3.0
2.0
1.0
Year
Turn
-off
Cur
rent
[kA
]
'00
4.0
6.0
400V/5A 600V/200A
2.5kV/600A2.5kV/1kA
2.5kV/2kA
4.5kV/2.5kA
4.5kV/2.7kA
5kV/2.5kA6kV/2.5kA
6kV/3kA4.5kV/3kA
5kV/4kA
6kV/6kA
F. Z. Peng: Slide 21August 1, 2004
High-Voltage Power IC
• 220V/1A one-chip 3-phase inverter IC
• Smart power switching device module /Intelligent Power Module (IPM)
• Power Electronics Building Block (PEBB)
• etc.
F. Z. Peng: Slide 22August 1, 2004
Chapter 1
What We have Learned:
• What’s Power Electronics
• How to use ideal switches to do power conversion
• How to model and analyze PE circuits (basic principle)
• Real switching devices (D, Thy, IGBT, MOSFET, GTO, IGCT, etc)
• Snubber circuits for safer operation
• Combinations of transistor(s) and diode(s) for– Bi-directional current and unidirectional voltage switches
– Bi-directional current and bi-directional voltage switches (ac switch)
F. Z. Peng: Slide 23August 1, 2004
Chapter 2 Basic Circuits ofPower Conversion
Contents• Natural (Line, Load) Commutated Converter, Rectifier, and
Cycloconverter
• Self-commutated Converter– Voltage-Source (Voltage-Fed) Inverter
– Current-Source (Voltage-Fed) Inverter
• DC Chopper and DC/DC Converter
• AC Switch: AC Power Adjusting and Matrix Converter
• Multilevel inverters
F. Z. Peng: Slide 24August 1, 2004
Diode Rectifier
VRR
D
VS
VS
VR
VRR
D
VS
LF
VL
VS
VLVR
Half Bridge Rectifier
Half Bridge Rectifier withSmoothing Inductor
Diode rectifiers are the simplest power conversion circuit.They change ac to dc. The circuits are simple, however, the following pointsshould be understood:• how it works• how to smooth voltage/current to get a decent dc voltage/current• how to determine the output voltage from the input voltage
F. Z. Peng: Slide 25August 1, 2004
Diode Rectifier (Cnt’d)
VS
LF
VRRVL
VS
VL VR
VS
VL VRVRR
D
VS
LF
VLDF
With Free-Wheeling Diode
Full Bridge Rectifier
F. Z. Peng: Slide 26August 1, 2004
Diode Rectifier (Cnt’d)
VDC
VS
VSab
VDC VR
VSbc VSca
F. Z. Peng: Slide 27August 1, 2004
Diode Rectifier (Cnt’d)
VS
VDC
iSa
iSavSa
VSab
VDC
VSbc VSca
VSab VSbc VSca
-VSab -VSbc -VSca
F. Z. Peng: Slide 28August 1, 2004
Natural Commutated Converter
- phase-controlled rectifier (1 phase) -
VS
LF
VRRVL
S1
S4
S2
S2
VS
VL VR
α
S1, S4
S2, S3
F. Z. Peng: Slide 29August 1, 2004
VSab
VDC VR
α
VSbc VSca
Natural Commutated Converter
- phase controlled rectifier (3 phase) -
VS
LF
VRRVDC
F. Z. Peng: Slide 30August 1, 2004
Self-Commutated Power Converter
- voltage-source inverter -
S1
S2 S4
S3
vdcvac
DF1
DF4
DF2
DF3 iac
Vac
DF1
S1, S4S2, S3
DF4
DF2DF3
DF1DF4
iac
Single Phase Full Bridge Inverterand Freewheeling Diode orAntiparallel Diode Rec.
ModeInv.Mode
F. Z. Peng: Slide 31August 1, 2004
Self-Commutated Power Converter
- current-source inverter -
S1
S2 S4
S3
vac
DB1
DB4DB2
DB3 iac
Idc iac
vac
F. Z. Peng: Slide 32August 1, 2004
Dual Relationship of PE Circuits
• Voltage-source• Voltage• Current• Parallel connection• Series connection• Inductive component• Capacitive component• Switch open• Switch close• Line-to-line voltage
• Current-source• Current• Voltage• Series connection• Parallel connection• Capacitive component• Inductive component• Switch close• Switch open• Line /or phase current
F. Z. Peng: Slide 33August 1, 2004
VS
VDC Motor
General Purpose Motor Drive System
• 70% electricity is used by motors. Energy saving and control are essential to many applications.
F. Z. Peng: Slide 34August 1, 2004
Voltage-Source Inverter (6-step)
E
E/2
E/2Gap
Gan
Gbp Gcp
GcnGbn
Va
VcVb
Va=(Gap−Gan)E/2Vb=(Gbp−Gbn)E/2Vc=(Gcp−Gcn)E/2
Vn
+
-
on=1off=0Gap
Gan
Gbp
Gbn
Gcp
Gcn
I+-+
II+--
III++-
IV--+
V-++
VI-+-
I+-+
Va
Vb
Vc
Vab
E/2−E/2
E
−E
Vn−E/6
E/6
Van2E/3
E/3−E/3
−2E/3
ia
modeabc
F. Z. Peng: Slide 35August 1, 2004
Voltage-Source Inverter (PWM)
E
E/2
E/2Gap
Gan
Gbp Gcp
GcnGbn
Va
VcVb
Va=(Gap−Gan)E/2Vb=(Gbp−Gbn)E/2Vc=(Gcp−Gcn)E/2
Vn
+
-
vab(PWM)
F. Z. Peng: Slide 16August 15, 2005
DC/DC Converter a) Buck Converter
Ein
L
CEout
+
-
D
S
iD
iLiT
Ein
L
CEout
+
-
D
S
iD
iLiT
Ein
L
CEout
+
-
D
S
iD
iLiT
i) Circuit
ii) S on
iii) S off
v
v
v
iv) waveforms
gate of S offonTon Toff
T
0iL
iT iTiD iD0
v EoutEinvoltage
current
Eout = 0 ~ Ein
F. Z. Peng: Slide 17August 15, 2005
DC/DC Converter b) Boost Converter
Ein
L
CEout
+
-
D
S
iDiL
iT
v
offonTon Toff
T
0iL
iT iTiD iD0
v EinEout
Ein
L
CEout
+
-
D
S
iDiL
iT
v
Ein
L
CEout
+
-
D
S
iDiL
iT
v
Eout = Ein ~
F. Z. Peng: Slide 18August 15, 2005
DC/DC Converter c) Buck/Boost Converter
Ein LC
Eout
-
+
DS iD
iL
iT
v
Ein LC
Eout
-
+
DS iD
iL
iT
v
Ein LC
Eout
-
+
DS iD
iL
iT
v
offonTon Toff
T
0
iLiT iTiD iD
0
v
Eout
Ein
Eout = 0 ~
F. Z. Peng: Slide 36August 1, 2004
DC/DC Converter
a) Buck Converter b) Boost Converter c) Buck/Boost Converter
Ein
L
CEout
+
-
D
S
iD
iLiT
Ein
L
CEout
+
-
D
S
iD
iLiT
Ein
L
CEout
+
-
D
S
iD
iLiT
i) Circuit
ii) S on
iii) S off
v
v
v
iv) waveforms
gate of S offonTon Toff
T
0iL
iT iTiD iD0
v EoutEinvoltage
current
Ein
L
CEout
+
-
D
S
iDiL
iT
v
offonTon Toff
T
0iL
iT iTiD iD0
v EinEout
Ein
L
CEout
+
-
D
S
iDiL
iT
v
Ein
L
CEout
+
-
D
S
iDiL
iT
v
Eout = 0 ~ Ein Eout = Ein ~
Ein LC
Eout
-
+
DS iD
iL
iT
v
Ein LC
Eout
-
+
DS iD
iL
iT
v
Ein LC
Eout
-
+
DS iD
iL
iT
v
offonTon Toff
T
0
iL iT iTiD iD0
v
−Eout
Ein
Eout = 0 ~
F. Z. Peng: Slide 37August 1, 2004
AC Switches: AC Power Regulator
S
Loadv1 v2
F. Z. Peng: Slide 38August 1, 2004
AC Switches: Matrix Converter
3-Phase Loador
Motor