Matlab Simulink Modelling of a Single-Phase Voltage Controlled Voltage Source Inverter

M. C. Trigg Department of Electrical Engineering Curtin University of Technology GPO Box U1987 Perth 6845, Australia [email protected] ABSTRACT
This paper presents a Matlab Simulink model of a single-phase 2kVA Voltage Controlled Voltage Source Inverter. Load voltage RMS feedback control and openloop control are used to compare the standard Matlab Simulink and power system blocksets used for the inverter model design. Simulation and experimental results using linear and non-linear loads are used to validate the accuracy of the model developed.

C. V. Nayar Department of Electrical Engineering Curtin University of Technology GPO Box U1987 Perth 6845, Australia [email protected]
and Cf). The inductor filter resistance is represented as RLf with the LC filter-damping resistor being RCf. The load connected to the inverter (ZL) is considered arbitrary (linear and/or non-linear). The PWM generator provides the switching signals for the full-bridge with the load voltage RMS value used to regulate the load voltage. The RMS controller is a simple and standard

1. INTRODUCTION
Voltage controlled voltage source inverters (VCVSIs) are widely used in power supplies, power quality controllers, renewable energy, marine and military applications [1]. They are at the heart of applications requiring an AC supply from a DC source. Therefore it is important that they are designed to be robust and efficient, especially in remote areas and renewable energy applications where inverter failure can cause inconvenience and the available energy is limited. The design of inverters can be improved using software packages suitable for this application such as Matlab Simulink [2] and PSIM [3]. This can provide insight into the inverter performance and allows for the analysis of the design before it is implemented in hardware and software, which can lead to improved performance and reduced development and production costs. In this paper, Matlab Simulink is used to model a 2kVA single-phase full-bridge VCVSI [4-6]. This software package is designed for modelling, simulating and analysing dynamic systems. It supports linear and nonlinear systems modelled in continuous time, sampled time or a combination of both. Therefore it is well suited to modelling and simulating inverters and controllers in the analogue and digital domains. A system model showing the physical components of the single-phase VCVSI modeled using Matlab Simulink is shown in Figure 1. This inverter uses a low-voltage DC bus (24VDC), which is stepped up to 240VAC using a step-up transformer (Tx). The transformer provides galvanic isolation and is a simple solution for the stepping up of a low-voltage DC bus. The DC bus in the model comprises of the battery (Vbatt), lead wire and battery resistance (Rbatt), and DC filter capacitor (Cdc). The full-bridge uses MOSFET switching devices with the full-bridge output filtered using a low-pass LC filter (Lf

Figure 1. Physical components of single-phase VCVSI with load voltage RMS control

controller used for inverters only requiring load voltage RMS regulation. The prototype single-phase 2kVA inverter developed based on the system model in Figure 1 is shown in Figure 2 (a) with its housing shown in Figure 2 (b). From Figure 2 (a) the DC input and filter capacitors, MOSFETS, filter inductor and transformer modeled in Figure 1 are shown. In Figure 2 (b), the user interface, comprising of an LCD and buttons, status LEDs, on/off switches and AC output can be clearly seen.
MOSFETS Power Stage DC Input DC Filter Capacitors Filter Inductor Low-frequency Transformer
User Interface LED Status DC/AC on/off AC Output Aluminium Housing

(a)

(b)

Figure 2. Prototype 2kVA single-phase VCVSI (a) inverter (b) housing

This inverter in Figure 2 was designed for harsh environments [7] and to be reliable, efficient and lowcost. Modeling this inverter allowed for its design to be verified and advanced controllers simulated before they were implemented. The power of Matlab Simulink provided a suitable development tool for this application.

2. MATLAB SIMULINK SYSTEM MODELLING

Matlab Simulink comprises of a range of blocksets such as communications, control, power system and fuzzy logic etc. depending on application requirements. For inverter development, the power system blockset provides the required components such as a full-bridge, batteries, resistors, inductors, capacitors etc. and many more. Shown in Figure 3 (a) is the power system fullbridge block which is at the heart of the inverter. It comprises of the DC input (+ and -), PWM inputs (pulses) for each of the four switches, and the full-bridge output (A and B). In Figure 3 (b) are the full-bridge block parameters, which allow for the selection of key parameters such as number of bridge arms, switch device selection, on resistance etc. This window is common to most blocks to enable them to be customised for the required application. At the bottom of most block parameters window is a pull-down menu, which allows key voltages and currents to be easily measured for the selected device. This data can be displayed and/or sent to the Matlab workspace for further analysis.

disadvantage is that it requires the setting up of a Matlab M-file, which requires programming using the C programming language.
Multiplexer

Limiter

Scope

Multimeter (source selection)

(a)

(b)

(c) (a) (b) Figure 4. Matlab Simulink signal measurement (a) scope and inputs (b) scope signals (c) scope parameters

Figure 3. Matlab Simulink full-bridge (a) full-bridge block (b) block parameters

Shown in Figure 4 (a) is a scope block with its inputs taken from multimeter blocks. Multimeters allow for measurement points in a system to be selected based on a blocks measurements pull-down menu as shown in Figure 3 (b). They also allow for measurements of a system to be made without having to directly connect wires to the measurement point; therefore simplifying the layout. Also shown is a multiplexer, which allows for multiple signals to be displayed on the same scope axis. The limiter at the first scope input can be used to set the maximum and minimum y-axis limits if only a set amplitude of a signal needs to be displayed. In Figure 4 (b) are signal measurements taken with the scope in Figure 4 (a). The two signals multiplexed onto the single axis can be seen on the second axis of the scope. The scope parameters are shown in Figure 4 (c), which allow for the number of axes, time range, format etc. to be setup as well as an option to save the scope data to the Matlab workspace, which can be later used in custom plots or analysis. The advantage of sending data to the workspace is that it allows for more flexibility with plotting compared to the standard scope and enables more readable plots to be created. The

The inverter system modeled with Matlab Simulink was achieved using the power system and standard simulink blocksets. The system was analysed by sending the required signal to scopes and the workspace, which allowed for analysis and design of the inverter model.

3. MATLAB SIMULINK VCVSI

The Matlab Simulink model of the single-phase VCVSI in Figure 1 is shown in Figure 5. This model, developed using the Simulink power system blockset, comprises of components such as power electronic devices (fullbridge and rectifier) and elements such as inductors, capacitors and resistors. The DC model used comprises of the battery (Vbatt) and its respective resistance and lead wire resistance (Rbatt) as well as the filter capacitor (Cdc) and a DC bus current measurement resistor (Idc measure), which is of the order of micro-ohms as it is only used for DC bus current measurement using a multimeter block. The output from the full-bridge block (A and B) comprises of the filter inductor and its resistance (Lf, RLf) and filter capacitor with damping resistor (Cf, RCf). Also included is the step-up transformer (Tx) and a non-linear load used for analysis. The resistor Rmeasure is of the order of micro-ohms

and is only used for load current measurement the same as Idc measure. Shown in Table 1 are the specifications for the Matlab Simulink inverter model.
Table 1. Specifications of the 2kVA inverter
Parameter Rated Power Rated output frequency Rated output voltage Battery voltage Battery and lead wire resistance DC filter capacitance Inverter switching frequency Inverter output frequency Filter inductor Filter inductor resistance Transformer turns ratio AC filter capacitor LC filter damping resistance Label fLoad VLoad Vbatt Rbatt Cdc fsw 2x fsw Lf RLf N Cf RCf Value 2 50 240 24 30 88000 10 20 10 1 18 4 10 Unit kVA Hz V V m F kHz kHz H m F

digital RMS controller. The limiter at the output of the controller ensures that the command signal is limited (in this case to 0.99 = 99%) to prevent DC at the output of the inverter.
VREF

B A
Modulation Index Reference (ma-ref) Error Gain Scope

erms

k-erms

Modulation Index (ma)

VLoad RMS

Figure 6. Matlab Simulink model of a VCVSI analogue load voltage RMS feedback controller

The PWM signals for each of the power electronic devices in the full-bridge come from the PWM generator block. This block allows for the switching frequency and number of inverter legs to be selected with all PWM signal multiplexed on a single bus into the full-bridge block (pulses). The input to this block (signal(s)) is the sinusoidal reference for the inverter. The reference for this model is generated from a sinusoidal reference generator in Simulink with load voltage RMS feedback and open-loop (no feedback) control. 3.1. LOAD VOLTAGE RMS CONTROLLER

Shown in Figure 7 are waveform measurements (A to E) taken for the load voltage RMS controller in Figure 6 with a 2kW linear load. It shows the sinusoidal reference (VREF), modulation index (ma), normalized load voltage RMS value (VLoad RMS), load voltage (VLoad) and the inverter command signal (V12h). It can be seen from the
(VREF)

B C D

The most common controller used in many inverters is load voltage RMS feedback control due to its low-cost and ease of implementation. For many applications, such as electronic loads, having a pure sinusoidal waveform is not critical and therefore load voltage RMS feedback control provides a cost effective and reliable solution for an inverter design. It is also easily implemented on lowcost 8-bit micro-controllers. The normalized Matlab Simulink model of the analogue equivalent load voltage RMS feedback controller for the inverter in Figure 2 is shown in Figure 6. It comprises of a sinusoidal reference (VREF), which provides the main command signal (V12h) for the inverter PWM generator. The amplitude of this reference is adjusted based on a modulation index (ma) and amplified error signal (eRMS), generated by comparing the ideal load voltage RMS value with the actual. The error gain has been selected based on a trial-and-error approach to achieve similar results to the prototype inverter controller, which uses a

Figure 7. Load voltage RMS feedback controller signal measurements for 2kW linear load

load voltage RMS value (plot C) and modulation index (plot B) that as the RMS value decreases the modulation index increases to compensate. The model in Figure 6 and waveforms measured in Figure 7 show the ease by which a standard inverter controller can be developed with Matlab Simulink and signal measurements taken. As the number of scopes in a system increases, multimeter blocks (Figure 4 (a)) can be used to eliminate the connecting wires from the system to the scope making the model easier to manage and
Non-Linear Load

Rcf Vbatt Cf

4mH

1000F

40

Sinusoidal Reference Generator and Controller

Figure 5. Matlab Simulink model of 2kVA Voltage Controlled Voltage Source Inverter with non-linear load

follow. Figure 6 also showed the use of a multiplexer, which allows for multiple signal to be displayed on the same axis as shown in Figure 7 for signals B and C.

4. SIMULATION AND EXPERIMENTAL RESULTS

Simulation results for the Matlab Simulink inverter model developed in Figure 5 were compared with experimental results for the 2kVA inverter in Figure 2. Two types of control methods were used to compare the Simulink model and prototype inverter: open-loop and load voltage RMS feedback control. Open-loop control allowed for the inverter model accuracy to be investigated without any effects caused by closed loop control. The load voltage RMS feedback control allowed for the accuracy of the compete system (power system and standard Simulink blocksets) to be investigated. For each of these two control methods, linear and non-linear loads were connected to the inverter to provide two cases to compare the model accuracy. The non-linear load (considered a worst-case scenario) is shown connected to the inverter model in Figure 5 and comprised of a full-bridge rectifier, choke (Lchoke), filter capacitor (CL) and load resistor (RL). The choke, or power factor correction (PFC) inductor was included as this is commonly used in power supplies to reduce the rate of change in load current (diload/dt), improving inverter performance. The DC ripple of the load was around 14%. The linear load comprised of only the load resistor (RL) without the full-bridge rectifier, choke or capacitor. Signals measured were load voltage (VLoad), battery current (ibatt), filter inductor voltage (VLf) and current (iLf). The load current can be found from the filter inductor current as iLoad=(iLf/N)-iCf. As iCf is generally much smaller than iLf, iLoad(iLf/N). For the experimental results only the DC bus voltage (Vdc) and battery current (ibatt) could be measured, and not the DC bus current (idc) as it was not accessible. 4.1. LOAD VOLTAGE OPEN-LOOP CONTROL

From the experimental results in Figure 8 (a) it can be seen that there is some distortion in the load voltage waveform at the zero crossing point. This is due to hardware dead-time used to provide a small time delay between the turning off of one switch and turning on of the other switch in the same full-bridge leg.
PLoad = 1404W

VLoad = 199VRMS (49.82Hz)

Dead-time Distortion

VLf

iLf = 127ARMS ibatt = 65.5ARMS

(a)
PLoad = 1397W

VLoad = 201VRMS iLoad = 6.95ARMS

VLoad THD = 2.69% iLoad THD = 2.69%

ibatt = 69ARMS

iLf = 125ARMS

(b) Figure 8. Single-phase VCVSI with open-loop control and 2kW linear load (a) experimental (b) simulation

Open-loop control was used to compare the simulation and experimental results for the 2kVA inverter without the effect of the load voltage RMS feedback controller. For the Matlab Simulink model and 2kVA inverter, the modulation index was set to obtain 240V at no-load. The linear and non-linear loads were then connected to the inverter for comparison. 4.1.1. LINEAR LOAD OPEN-LOOP CONTROL Shown in Figure 8 (a) and (b) are experimental and simulation results respectively of the VCVSI with openloop control and the 2kW linear load (RL=28.8). For both results it can be seen that the load voltage has reduced from 240V to around 199V (83%), resulting in a reduced load power of around 1375W (PLoad =VLoad2/RL=1992/28.8). This can also be confirmed by equation (1) as given at the top left corner of Figure 8 (a) and (b).

This prevents the DC bus being shorted resulting in current shoot-through. This dead-time was not implemented in the Matlab Simulink inverter model and therefore is not present in the simulation waveforms. It can be seen in Figure 8 that all voltage and current waveforms have a similar shape and RMS values. 4.1.2. NON-LINEAR LOAD OPEN-LOOP CONTROL Shown in Figure 9 (a) and (b) are experimental and simulation results respectively for the VCVSI with the non-linear load. From Figure 9 it can be seen that the load voltages from the experimental and simulation results have reduced from 240V to 200V (83%) and that the load voltage waveform is distorted. The distortion in the filter inductor voltage (VLf) can also be clearly seen in both experimental and simulation results. From the simulation results, the load voltage THD has increased from 2.69% to 8.89% while the load current THD has increased significantly from 2.69% to 60.4% due to the non-linear load. The results in Figure 8 and Figure 9 show the accuracy of the Matlab Simulink inverter model developed with the power system blockset for both linear and non-linear analysis. They also confirm the accuracy of the inverter model developed.

i PLoad = VLoad .iLoad VLoad . Lf N

(1)

PLoad = 1.35kW QLoad = 1.19Var SLoad = 1.80kVA PF = 0.75

VLoad = 199VRMS (49.98Hz) VLf

PLoad = 2.00kW QLoad = 0VAr SLoad = 2kVA PF = 1

VLoad = 235VRMS (50.15Hz) VLf

iLf = 168ARMS ibatt = 68.4ARMS ibatt = 93.8ARMS

iLf = 149ARMS

(a)
VLoad = 204VRMS iLoad = 8.30ARMS
VLoad THD = 8.89% iLoad THD = 60.4%

(a)
PLoad = 1884W

VLoad = 234VRMS iLoad = 8.05ARMS

VLoad THD = 6.34% iLoad THD = 6.34%

ibatt = 75ARMS

iLf = 149ARMS

ibatt = 96ARMS

iLf = 145ARMS

(b) Figure 9. Single-phase VCVSI with open-loop control and non-linear load (a) experimental (b) simulation

(b) Figure 10. Single-phase VCVSI with RMS feedback control and 2kW linear load (a) experimental (b) simulation

4.2.

LOAD VOLTAGE RMS FEEDBACK CONTROL

controller. This distortion can also be seen in Figure 7, which is due to the slow response of RMS control. 4.2.2. NON-LINEAR LOAD RMS CONTROL Shown in Figure 11 (a) and (b) are experimental and simulation results respectively for the VCVSI with RMS feedback control and the non-linear load. For both results it can be seen that the load voltage RMS value has increased from 240V to around 245V (102%). This is due to the distortion in the load voltage waveform causing the rectified DC value for the RMS feedback control to reduce and therefore for the modulation index to increase. The set-point used to set the load voltage is generally performed using a linear load and therefore the regulation for a non-linear load can be expected to be worse as is the case in Figure 11. Comparing the results in Figure 9 with those in Figure 11 with the non-linear load, it can be seen that the shape of all waveforms are almost identical with the only main difference being their RMS values. These results show that the RMS controller is only capable improving the regulation of the load voltage but is incapable of improving the shape of the waveform, especially when a non-linear load is present Comparing the experimental and simulation results for open-loop and load voltage RMS feedback control with the linear and non-linear loads, it can be seen that the Matlab Simulink inverter model developed in Figure 5 is an accurate model of the 2kVA prototype inverter

As load voltage RMS feedback control is a standard control method used for inverters, simulation and experimental results were compared using this type of controller with the linear and non-linear loads. These results can then be compared with those obtained using open-loop control to show the effect of the load voltage RMS feedback control on inverter performance. While the Matlab Simulink RMS controller in Figure 6 is an analogue version of the digital RMS controller implemented in the prototype 2kVA inverter in Figure 2, it is shown to be an accurate model for both linear and non-linear loads. 4.2.1. LINEAR LOAD RMS CONTROL Shown in Figure 10 (a) and (b) are experimental and simulation results respectively for the VCVSI with load voltage RMS feedback control and a 2kW linear load (RL=28.8). For both results it can be seen that the load voltage RMS value has reduced from 240V to around 235V (98%) resulting in a reduced load power of around 1917W (PLoad =VLoad2/RL=2352/28.8). Comparing the results in Figure 8 and Figure 10 with the linear load for open-loop and RMS control respectively, it can be seen that the shape of the waveforms are almost identical. The main differences are in the magnitudes of the waveforms (due to open-loop and RMS control) and the slight load voltage distortion caused by the RMS

PF = 0.75 Q = 1.96kVAr P = 2.25kW S = 3kVA

VLoad = 246VRMS (49.97Hz)

REFERENCES
[1] N. Mohan, T. M. Undeland, and W. P. Robbins, Power Electronics - Converters, Applications, and Design, 2nd ed: John Wiley & Sons, Inc., 1995. "Matlab 6, Release 12.1." Natick, Massachusetts: The MathWorks (www.mathworks.com), 2006. "PSIM Version 7.0." Woburn, MA: Powersim Inc. (www.powersimtech.com), 2006. M. Trigg, "Digital Sinusoidal PWM Generation using a Low-cost Micro-controller Based Single-Phase Inverter," presented at ETFA 2005, Catania, Italy, 2005. M. C. Trigg, H. Dehbonei, and C. V. Nayar, "Digital Sinusoidal PWMs for a Microcontroller based Single-Phase Inverter. Part 1: Principles of digital sinusoidal PWM generation," IJE Power electronics and instrumentation hardware, 2005. M. C. Trigg, H. Dehbonei, and C. V. Nayar, "Digital Sinusoidal PWMs for a Microcontroller based Single-Phase Inverter. Part 2: Performance assessment - experimental," IJE Power electronics and instrumentation hardware, 2005. H. Dehbonei, M. Trigg, and C. Nayar, "A Novel Sinewave Inverter for Harsh Environment," presented at AUPEC 2005, Hobart, Tasmania, Australia, 2005.

VLf iLf = 210ARMS ibatt = 125ARMS

[2] [3] [4]

(a)
VLoad = 245VRMS

[5]

[6]
ibatt = 130ARMS iLf = 202ARMS

[7]
(b) Figure 11. Single-phase VCVSI with RMS feedback control and non-linear load (a) experimental (b) simulation

presented in Figure 2. The development of this model enables the prototype 2kVA inverter to be analysed and optimized as well as providing a solid platform for the development of more advanced controllers.

5. CONCLUSIONS
This paper presented a Matlab Simulink model of a single-phase 2kVA Voltage Controlled Voltage Source Inverter with load voltage RMS feedback control. The inverter model was developed with the Matlab power systems blockset while the load voltage RMS feedback controller was developed with the standard Simulink blockset. Open-loop control was used to show the accuracy of the model developed without the closed loop RMS feedback. The RMS feedback was then used to show the accuracy of the complete inverter system (inverter and controller). Linear and non-linear loads were used for the open-loop and RMS controllers to compare the accuracy of the model for two distinct load conditions. The inverter and RMS controller models developed with Matlab Simulink was shown to provide accurate results and provided valuable insight into inverter performance. Matlab Simulink was shown to be a powerful tool for the development of a single-phase VCVSI and load voltage RMS feedback controller.