Model Predictive Control of High Power Converters and Industrial Drives

In this original book on model predictive control (MPC) for power electronics, the focus is put on high–power applications with multilevel converters operating at switching frequencies well below 1 kHz, such as medium–voltage drives and modular multi–level converters.

Consisting of two main parts, the first offers a detailed review of three–phase power electronics, electrical machines, carrier–based pulse width modulation, optimized pulse patterns, state–of–the art converter control methods and the principle of MPC. The second part is an in–depth treatment of MPC methods that fully exploit the performance potential of high–power converters. These control methods combine the fast control responses of deadbeat control with the optimal steady–state performance of optimized pulse patterns by resolving the antagonism between the two.

MPC is expected to evolve into the control method of choice for power electronic systems operating at low pulse numbers with multiple coupled variables and tight operating constraints it. Model Predictive Control of High Power Converters and Industrial Drives will enable to reader to learn how to increase the power capability of the converter, lower the current distortions, reduce the filter size, achieve very fast transient responses and ensure the reliable operation within safe operating area constraints.

Targeted at power electronic practitioners working on control–related aspects as well as control engineers, the material is intuitively accessible, and the mathematical formulations are augmented by illustrations, simple examples and a book companion website featuring animations. Readers benefit from a concise and comprehensive treatment of MPC for industrial power electronics, enabling them to understand, implement and advance the field of high–performance MPC schemes.

About the companion website

Acknowledgements xi

List of Abbreviations xiii

Part One Introduction 1

1 Introduction 3

1.1 Industrial Power Electronics 3

1.2 Control and Modulation Schemes 7

1.3 Model Predictive Control 11

1.4 Research Vision and Motivation 18

1.5 Main Results 19

1.6 Summary of this Book 21

1.7 Prerequisites 24

References 25

References 25

2 Industrial Power Electronics 29

2.1 Preliminaries 29

2.2 Induction Machines 41

2.3 Power Semiconductor Devices 51

2.4 Multi–Level Voltage Source Inverters 54

2.5 Case Studies 67

References 74

References 74

3 Classic Control and Modulation Schemes 77

3.1 Requirements of Control and Modulation Schemes 77

3.2 Structure of Control and Modulation Schemes 84

3.3 Carrier–Based Pulse Width Modulation 85

3.4 Optimized Pulse Patterns 103

3.5 Performance Trade–Off for Pulse Width Modulation 117

3.6 Control Schemes for Induction Machine Drives 121

3.7 Appendix A: Harmonic Analysis of Single–Phase OPP 139

3.8 Appendix B: Mathematical Optimization 141

References 145

References 145

Part Two DirectModel Predictive Control with Reference Tracking 151

4 Predictive Control with Short Horizons 153

4.1 Predictive Current Control of a Single–Phase RL Load 153

4.2 Predictive Current Control of a Three–Phase Induction Machine 164

4.3 Predictive Torque Control of a Three–Phase Induction Machine 183

4.4 Summary 194

References 194

References 194

5 Predictive Control with Long Horizons 197

5.1 Preliminaries 197

5.2 Integer Quadratic Programming Formulation 203

5.3 An Efficient Method for Solving the Optimization Problem 206

5.4 Computational Burden 213

5.5 Appendix A: State–Space Model 215

5.6 Appendix B: Derivation of the Cost Function in Vector Form 215

References 217

References 217

6 Performance Evaluation of Predictive Control with Long Horizons 219

6.1 Performance Evaluation for the NPC Inverter Drive System 220

6.2 Suboptimal MPC via Direct Rounding 233

6.3 Performance Evaluation for the NPC Inverter Drive System with an LC Filter 236

6.4 Summary and Discussion 247

6.5 Appendix A: State–Space Model 250

6.6 Appendix B: Computation of the Output Reference Vector 250

References 252

References 252

Part Three Direct Model Predictive Control with Bounds 255

7 Model Predictive Direct Torque Control 257

7.1 Introduction 257

7.2 Preliminaries 259

7.3 Control Problem Formulation 264

7.4 Model Predictive Direct Torque Control 268

7.5 Extension Methods 279

7.6 Summary and Discussion 286

7.7 Appendix: Controller Model of the NPC Inverter Drive System 289

References 289

References 289

8 Performance Evaluation of Model Predictive Direct Torque Control 291

8.1 Performance Evaluation for the NPC Inverter Drive System 291

8.2 Performance Evaluation for the ANPC Inverter Drive System 302

8.3 Summary and Discussion 315

8.4 Appendix: Controller Model of the ANPC Inverter Drive System 318

References 319

References 319

9 Analysis and Feasibility of Model Predictive Direct Torque Control 321

9.1 Target Set 322

9.2 The State–Feedback Control Law 323

9.3 Analysis of the Deadlock Phenomena 335

9.4 Deadlock Resolution 340

9.5 Deadlock Avoidance 343

9.6 Summary and Discussion 350

References 351

References 351

10 Computationally Efficient Model Predictive Direct Torque Control 353

10.1 Preliminaries 354

10.2 MPDTC with Branch and Bound 355

10.3 Performance Evaluation 362

10.4 Summary and Discussion 371

References 372

References 372

11 Derivatives of Model Predictive Direct Torque Control 373

11.1 Model Predictive Direct Current Control 373

11.2 Model Predictive Direct Power Control 393

11.3 Summary and Discussion 406

11.4 Appendix A: Controller Model used in MPDCC 409

11.5 Appendix B: Real and Reactive Power 411

11.6 Appendix C: Controller Model used in MPDPC 413

References 414

References 414

Part Four Model Predictive Control based on Pulse Width Modulation

417

12 Model Predictive Pulse Pattern Control 419

12.1 State–of–the–Art Control Methods 419

12.2 Optimized Pulse Patterns 420

12.3 Stator Flux Control 426

12.4 MP3C Algorithm 430

12.5 Computational Variants of MP3C 436

12.6 Pulse Insertion 442

12.7 Appendix A: Quadratic Program 446

12.8 Appendix B: Unconstrained Solution 448

12.9 Appendix C: Transformations for Deadbeat MP3C 449

References 449

References 449

13 Performance Evaluation of Model Predictive Pulse Pattern Control 451

13.1 Performance Evaluation for the NPC Inverter Drive System 451

13.2 Experimental Results for the ANPC Inverter Drive System 467

13.3 Summary and Discussion 473

References 477

References 477

14 Model Predictive Control of a Modular Multi–Level Converter 479

14.1 Introduction 479

14.2 Preliminaries 480

14.3 Model Predictive Control 484

14.4 Performance Evaluation 491

14.5 Design Parameters 501

14.6 Summary and Discussion 505

14.7 Appendix A: Dynamic Current Equations 506

14.8 Appendix B: Controller Model of the MMC System 506

References 509

References 509

Part Five Summary 511

15 Summary and Conclusion 513

15.1 Performance Comparison of Direct Model Predictive Control Schemes 513

15.2 Assessment of the Control and Modulation Methods 525

15.3 Conclusion 529

15.4 Outlook 531

References 531

References 531

Index 533

Tobias Geyer, ABB Corporate Research Center, Switzerland
Tobias Geyer joined ABB′s Corporate Research Center as a deputy group leader and principal scientist in 2012. In this role, he is building up a dedicated research team focusing on Model predictive control (MPC) for power electronic systems. After obtaining his PhD at ETH Zurich, he spent three years in GE′s Corporate Research Center in Munich as a project leader for high–power electronics and drives. He subsequently worked at the intersection of academia and industrial research, fully funded by ABB and part of an ABB research team, whilst being employed by the University of Auckland as a Research Fellow. During this time, his focus was on the development of a new generation of drive control schemes that is intended to replace ABB′s currently used schemes in their medium–voltage drive portfolio. Tobias Geyer has been working on MPC for power electronics since 2002, and was one of the first researchers who began working in this field. During the past 12 years he has written approximately 100 peer–reviewed journal and conference publications and patent applications. He is also an Associate Editor of Transactions on Power Electronics and Transactions on Industry Applications.