Power Electronics and Motor Drive Systems Stefanos N. Manias School of Electrical and Computer Engineering National Technical University of Athens AMSTERDAM(cid:129)BOSTON(cid:129)HEIDELBERG(cid:129)LONDON NEWYORK(cid:129)OXFORD(cid:129)PARIS(cid:129)SANDIEGO SANFRANCISCO(cid:129)SINGAPORE(cid:129)SYDNEY(cid:129)TOKYO AcademicPressisanimprintofElsevier AcademicPressisanimprintofElsevier 125LondonWall,LondonEC2Y5AS,UnitedKingdom 525BStreet,Suite1800,SanDiego,CA92101-4495,UnitedStates 50HampshireStreet,5thFloor,Cambridge,MA02139,UnitedStates TheBoulevard,LangfordLane,Kidlington,OxfordOX51GB,UnitedKingdom Copyright©2017ElsevierInc.Allrightsreserved. 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LibraryofCongressCataloging-in-PublicationData AcatalogrecordforthisbookisavailablefromtheLibraryofCongress BritishLibraryCataloguing-in-PublicationData AcataloguerecordforthisbookisavailablefromtheBritishLibrary ISBN:978-0-12-811798-9 ForinformationonallAcademicPresspublications visitourwebsiteathttps://www.elsevier.com/ Publisher:JoeHayton AcquisitionEditor:LisaReading EditorialProjectManager:MariaConvey ProductionProjectManager:KiruthikaGovindaraju CoverDesigner:MarkRogers TypesetbyTNQBooksandJournals To my family About the Author Dr.StefanosN.ManiasreceivedtheB.Eng.,M.Eng.,andPhDdegreesinelectrical engineering from Concordia University, Montreal, Canada, in 1975, 1980, and 1984, respectively.In1975,hejoinedtheCanadianBroadcastingCorporation(CBC)where hewasresponsibleforthedesignofradioandtelevisionautomationsystems.In1980, he joined Northern Telecom of Canada where he was responsible for the design of power supplies, battery chargers and UPS for telecommunication applications, and otherpowerelectronicsconversiontopologies.In1989,Dr.ManiasjoinedtheElectri- calandComputerEngineeringDepartmentofNationalTechnicalUniversityofAthens (NTUA), and today he is holding the position of a full professor and director of the electrical machines and power electronics laboratory where he is teaching and conducting research in the area of Power Electronics and Motor Drive Systems. He is the author of more than 100 IEEE and IEE publications in Power Electronics and MotorDriveSystems(atleast1500citationsand30USpatentreferences).Dr.Manias is an IEEE Fellow and the Chapter Chairman of IEEE Greece section of the joint societies IAS-PELS-IES. His research interests include power electronics conversion topologies, battery energy storage systems, and motor drive systems. Dr. Manias is a registeredprofessionalengineerinCanadaandEurope. Preface Stefanos N. Manias This first edition of this textbook is designed specifically to facilitate teaching of the subject of power electronics and to provide information to electrical engineers who deal with different applications of power electronics. The book contains enough ma- terial to cover two undergraduate courses in power electronics. Selected sections from Chapters1e12covertopics for an introductory undergraduate course in power electronics, and selected sections from Chapters 7e12 cover topics for an advanced undergraduate oreven graduate course. Todayelectricalengineeringstudentsandelectricalengineersingeneralarefacing with some problems of understanding the subject of power electronics. The major reasonisthatsomeofthecurrentlyavailabletextbooksarefocusedonthebasicknowl- edgeortheso-calledearlygenerationofpowerelectronicstechnology,andsomeare focused on the so-called modern power electronics technology ignoring the basic knowledgeofhowtoanalyzepowerelectronicscircuits.Moreover,mostofthesetext- booksdonotincludesome additional material, whichisneeded fortheanalysis, and thereaderhastorefertoothertextbooks.Tobeabletounderstandindepththepower electronicstechnology atextbook shouldprovidematerial thatcovers theanalysis of powerelectronicscircuitsandatthesametimetobeinformedonthestate-of-the-artof powerelectronicspowerconversiontechnology.Actually,thishasbeenthemotivation forwritingthistextbook.Thistextbookinitiallypresentsallnecessarybasicmaterialto beabletoanalyzepowerelectronicscircuitsindepth,i.e.,basicpowersemiconductor devices and basic power converters. Next, the state-of-the-art power semiconductor devices and the state-of-the-art power electronics converters are presented and analyzed. Thisbookisintendedtoaidelectricalengineeringstudentsinpowerelectronicsto overcomedifferentdifficultiesbysupplyingdetailedillustrationsofthepresentedthe- oryand106solvedproblems.Themainroleofthesolvedproblemsistoprovideways ofthinkingaboutproblems,presentmethodsofanalysis,anddevelopstrategiestocrit- icallyevaluatetheresults.Moreover,thetheoryisreinforcedbysimulationexamples usingthewell-knownandwidelyavailablesoftwareprograms,namely,SPICE,PSIM, and MATLAB/SIMULINK. The contentsof this textbook are divided into the followingeight parts: (cid:129) Part1,whichincludesChapter1,introducesthescopeandapplicationsofpowerelectronics technology. xviii Preface (cid:129) Part2,whichincludesChapters2and3,discussesthebasicanalysisofpowercircuitsand basicrectifiertopologiesthatemploydiodesandthyristors. (cid:129) Part3,whichincludesChapters4and5,discussesdiodeandSCRrectifiertopologies. (cid:129) Part4,whichincludesChapter6only,discussestwo-levelandmultilevelinvertertopologies including different state-of-the-art modulation and output voltage and current control techniques. (cid:129) Part5,whichincludesChapter7only,discussesthestate-of-the-artdctodcpowerconver- siontechniquesincludingresonantconverters. (cid:129) Part6,whichincludesChapters8,9,and11,discussespassiveandactivefiltering.More- over,includespulsewidthmodulationrectifiers. (cid:129) Part 7, which includes Chapter 10 only, discusses the state-of-the-art of power semicon- ductorswitchesprovidingalsosomeinformationofSiCsemiconductordevices.Thecharac- teristics andthe gating circuits of different power semiconductor switches suchas bipolar junctiontransistors,insulatedgatebipolartransistors,metaloxidesemiconductorfieldeffect transistors,integratedgate-commutatedthyristor,MOS-controlledthyristors,andgateturn- offthyristorsarepresentedandanalyzed.Moreover,theanalysisofswitchingpowerlossesis presentedtogetherwiththeselectionofaheatsink. (cid:129) Part8,whichincludesChapter12only,discussesthecontrolofdcandacmotors.Theac motor control techniques include V/f constant control, direct torque control, and field ori- entedcontrol. Finally,Tables1and2presentthesuggestedtopicsandthenumberof3-hlectures neededfor an introductoryand an advanced power electronics course,respectively. Table1 Suggested Topics for an Introductory Course in Power Electronics Chapter Topics Sections Lectures Chapter1 Introduction 1.0e4.0 1 Chapter2 Circuitswithswitchesanddiodes 2.1e2.11 1 Chapter3 Thyristorandsingle-phasehalf-waverectifiers 3.1e3.6 1 Chapter4 Dioderectifiers 4.1e4.7 2 Chapter5 Thyristorrectifiers 5.1e5.4 2 Chapter6 Inverters 6.1e6.5 2 Chapter7 dcedcconverters 7.1e7.4 1 Chapter8 acvoltagecontrollers 8.1e8.3 1 Chapter10 Powerswitchingdevices 10.1e10.3 2 Preface xix Table2 Suggested Topics for an Advanced Course in Power Electronics Chapter Topics Sections Lectures Chapter6 Multilevelinverters,STATCOM,andPQ 6.5,6.8.6,and 3 control 6.9 Chapter7 Resonantconverters 7.5e7.11 2 Chapter8 StaticVARcompensators 8.4 2 8.4.1e8.4.2 Chapter9 PWMrectifiersandmultilevelrectifiers 9.1e9.4 2 Chapter10 Powerswitchingdevices 10.4e10.6 2 10.8e10.9.4 Chapter11 Passiveandactivefiltering 11.1e11.4 2 11.5.1e11.5.5 Chapter12 Introductiontomotordrivesystems 12.1e12.3 3 12.4.1e12.4.9 12.5.1e12.5.2 Acknowledgments I would like to acknowledge the European 7th Framework Research Program “Anti-SiC09-SYN-32-1181SYNERGASIA-2009GSRT”forsupportingmetowrite the section on theSilicon Carbide semiconductor devices of Chapter 10. Also,IwouldliketothankthePhDStudentsE.Gati,G.Kampitsis,S.Mpatzelis, and Dr D.Tsangaris for proofreading some of thetextbookmaterial. List of Abbreviations AAC Alternate arm converter AC Alternating current AF Active filter AMCIC Asymmetrical multilevel cascaded inverter configuration APOD Alternative phase opposition disposition ARCP Auxiliaryresonant commutated pole ASD Adjustable speed drive BJT Bipolarjunctiontransistor CHBMI Cascaded H-bridge multilevel inverter CMV Common-modevoltage CONV-NPC-4L Conventional neutralpoint clamped-4 level CPWM Continuouspulse width modulation CSI Current source inverter DC Direct current DFOC Direct fieldorientedcontrol DPWMMAX Discontinuous pulse width modulation maximum DPWMMIN Discontinuous pulse width modulation minimum EMI Electromagnetic interference ETO Emitter turn-off thyristor FACTs FlexibleAC transmission systems FCMI Flyingcapacitors multilevel inverter FOC Field-oriented control FSOA Forwardbias safe operatingarea GMIT Generalized multilevel inverter topology GTO Gate turn-off thyristor HBCCPWM Hysteresisband currentcontrolpulse width modulation HF High frequency IFCO Indirect fieldeorientedcontrol HV High voltage HVDC High voltage directcurrent IGBT Insulated gate bipolartransistor IGCT Integrated gate commutated thyristor LV Low voltage M2C Modularmultilevel converter MCIC Multilevel cascaded inverter configuration xxiv ListofAbbreviations MCT MOS-controlledthyristor MINV Multilevel inverter MMC Modularmultilevel converter MOSFET Metaloxide semiconductor fieldeffect transistor MRCPWM Minimum ripple current pulse widthmodulation MTO MOS-turn off thyristor MV Middlevoltage NPC or NPCI Neutral point clamped inverter NPDCMI Neutral point diode-clamped multilevel inverter PCCMVSI Predictive currentcontrolfor multilevel voltagesource inverters PFC Power factor correction PD Phase disposition POD Phase opposition disposition PSCPWM Phase-shifted carrierpulse widthmodulation PSIM Power simulation PWM Pulse width modulation RCCC Ramp-comparison currentcontrol RDCL ResonantDC link RMS Rootmean square RBSOA Reverse bias safe operatingarea SCR Silicon-control rectifier SEPIC Single-ended primary-inductance converter SHEPWM Selected harmonic elimination PWM SPWM Sinusoidal pulse widthmodulation SPICE Simulation program with integratedcircuit emphasis SRM Switched reluctance motor SSSC Static synchronous series compensator STATCOM Static compensator SVC,SVG Static Var compensator/generator SVPWM Space vector pulse width modulation SWM Square-wave mode THD Total harmonic distortion TLI Three level inverter THIPWM Third-harmonic injection pulse width modulation UPFC Unifiedpower flow controller UPS Uninterruptible power supplies VC Voltage compensator VSI Voltage source inverter ZCS Zero currentswitching ZVS Zero voltageswitching