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Design of a current mode PI controller for a single-phase PWM inverter

Article · April 2011

DOI: 10.1109/IAPEC.2011.5779864

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 2011 IEEE Applied Power Electronics Colloquium (IAPEC)

Design of a Current Mode PI Controller for

a Single-phase PWM Inverter
S. M. Cherati1, N. A. Azli2, S. M. Ayob and A. Mortezaei
Power Electronics and Drive Research Group (PEDG), Energy Research Alliance
Universiti Teknologi Malaysia, 81310 UTM Johor Bahru, Malaysia
sam.mcherati@fkegraduate.utm.my1
naziha@ieee.org2

II. DYNAMIC MODEL OF SINGLE-PHASE INVERTER

Abstract- This paper presents the design of current mode PI
controller for single-phase PWM inverter. The controller is Fig. 1, shows the equivalent circuit of a single-phase full
comprised of inductor current as the inner loop and output bridge inverter with connected load. In this study, control
voltage as the outer feedback loop. The control design is carried based on the linear strategy theory is presented. Solid-state
out using Sisotool, which is provided in Matlab. By using this switches and connected rectifier are nonlinearity source of a
tool, users can examine the effects of changing the gain control
system, so for proper control design, the system must be
values to system’s transient response and stability,
simultaneously. Hence, simplify and speed up the control design linearized around its operating point. If the designed controller
process. To evaluate the performance of the designed controller, is robust enough, the system can work around its operating
the inverter is simulated under several types of load disturbances. point with high performance which means a wide range of
From the result, it is shown that the designed controller exhibits a bandwidth is required [2]. In this work, a nominal resistive
good transient response i.e. fast rising and settling time with load of 10 Ω is set as the operating point for linearization.
small overshoot when subjected to step load disturbance.

I. INTRODUCTION

Power inverter is an important part of many DC to AC

conversion equipments such as uninterruptible power supply
(UPS), induction motor drive and automatic voltage regulator
(AVR) systems. In these systems, it is the major requirement
for the power inverter to be capable of producing and
maintaining a stable and clean sinusoidal output voltage Fig. 1. Full bridge single-phase inverter
waveform regardless of the type of load connected to it. The
main key to successfully maintain this ability is to have a A. State-Space Model
feedback controller [1]. The resistive load and its related filter operate as a
Currently, there are various control methods that have been continuous time second-order system. The state variables of
proposed for inverter. Among the prevalent methods are the the system are capacitor voltage ( ) and inductor current ( ).
Voltage Mode Control (VMC) and Current Mode Control The dynamic model of Fig. 1, can be represented by the
(CMC). In VMC method, the control parameters design is following equations.
easy. The implementation can be considered as inexpensive
since it requires only one voltage sensor. However the main
′
drawback of VMC is that the system is prone to instability and (1)
very sensitive to large input variations. Moreover, VCM also ′
⁄ ⁄
0
does not control the current. Thus, power electronic switches
are vulnerable to over-current damage or overloads. To
achieve better performance, robustness and also immune to (2)
input disturbance and current protection, current mode (CMC)
is more preferable. Unlike VMC, CMC has an additional One of the important factors of load effect on the inverter is
inner loop. Usually, the inductor current is used as the inner output impedance which in this case as rectifier is a load with
loop. The inductor current is sensed and used to control the nonlinear nature; the output voltage will be highly distorted.
duty cycle. For determining the output impedance, circuit laws can be
In this paper, accurate design of PI parameter is discussed applied as shown in Fig. 2.
for voltage and current loop and their proper bandwidth and
phase margin are calculated. Both the transfer function and the
state-space models of the inverter are provided.

978-1-4577-0008-8/11/$26.00 ©2011 IEEE 180

 (b)

Fig. 2. Equivalent circuit of a single-phase inverter

(3)

and are ignored in many modeling since they are

generally very small but in this paper only is disregarded
( =0 ). By using ω and determining as output
(c)
impedance in ,
Fig. 3. Control schemes for a single-phase inverter. (a) Voltage feedback loop
ω control. (b) Current feedback loop control. (c) Outer voltage and inner current
(4) feedback loop control
ω ω

It can be clearly seen in (4) that, by increasing the switching Kv and KI of Fig. 3, represent voltage and current sensors
frequency, the output impedance will be reduced. This means gain respectively. Fig. 3(c), shows the overall current mode
that lower component values of the LC filter are required [3]. control structure. The variable KPWM is the PWM gain, which
is defined as . The controller for the loops can be either
By ignoring the internal resistance of the filter capacitor ( =
PI, Sliding mode, Fuzzy, Deatbeat etc. [6]-[9]. For this work,
0), (1) and (2) can be simplified as (5) and (6).
a conventional PI controller is used.

′
′ (5) III. CONTROL SYSTEM DESIGN
0
The design of PI controller can be done using several
methods. It can be designed using Ziegler-Nicholas, Pole-
0 1 (6)
placement method and Frequency response [10]. However,
the latter method will be used to design the controller. For
simplicity, Sisotool from MATLAB/SIMULINK is used to
tune the controller and evaluate the suitability of bandwidth
B. Analysis of multiple feedback loop control
and stability. As mentioned earlier, the control system is
A DC motor has some similarity to an inverter in terms of designed for a linear load (R = 10 Ω) and tested on a nonlinear
using cascade control (multi-loop control) [4]. In a DC motor load such as a rectifier. The simulation testing parameters are
system, the armature current and stator voltage are used as as given in Table 1.
current and voltage feedback loop for achieving sufficient
steady-state and good transient performance. A single-phase TABLE 1. SIMULATION TESTING PARAMETERS
inverter has the same scenario. The inductor current of the
215 V
filter acts as an inner loop parameter while the output voltage
is the outer loop parameter. Fig. 3 illustrates the voltage and 200 Vp-p
current loop [5]. 0.3 Ω
1.2 mH
13.2 µF
10 Ω
40 kHz
0.06
0.01
R = 100 Ω
(a) C = 500 µF

1V

181
 Fig. 4. The single-phase circuit with its control system

Fig. 5. The single-phase inverter simulation model

(9)
PI controllers are used as the voltage and current
controllers. The PI controller transfer function is
The complete transfer function by incorporating the PI
represented as:
controller can be expressed as in (10).
⁄
(7) ⁄
(10)

For obtaining accurate value of and , the Sisotool in

MATLAB/SIMULINK can be used. Since the voltage loop From (10), it can be shown that the controller adds a zero at
and current loop are decoupling, each PI controller can be the left side of s-plan and zero at the origin to compensate the
designed separately. In this work, the inner loop will be firstly second-order transfer function. Fig. 6 shows the resulting
designed. The control bandwidth for the inner loop should be bode-plot of the closed-loop current mode.
larger than the outer loop, since the inductor current has faster
response compared to the output voltage. Since the switching
frequency is 40 kHz, the control bandwidth for the current
loop should be within 4 kHz. The bandwith for the voltage
loop is set to be within 400 Hz. Both loops should be
designed with phase margins of within 65o.

The PI controller for the current loop can be designed by

using the transfer function between the inductor current and
the current reference. Based on Fig. 3(b), the transfer function
of can be obtained as follows:

(8)

Fig.6. Bode plot of current loop system

182
 Output Voltage

From Fig. 6, the bandwidth of the current loop is 3.62

100
10 while the phase margin is 65 , which are acceptable
values. To design the outer loop controller, it is assumed that
the inner loop is unity as illustrated in Fig. 7. Equation (11) 50
expresses the complete transfer function of Fig. 7 with PI

Voltage (Volt)
controller.
0

⁄
(11)
-50

It should be noted that the outer loop should have a bandwith

of 400 Hz. Fig. 8 shows the resulting bode plot and root locus -100
of the voltage loop.
0 0.005 0.01 0.015 0.02
Time Second

Fig. 9. Output voltage

Load Current
15

10
Fig. 7. Voltage loop block diagram with the designed current loop.
5
Current (Amp)

-5

-10

-15
0 0.005 0.01 0.015 0.02
Time (second)

Fig. 10. Load current

V. CONCLUSION
Fig.8. Bode plot and root locus of the voltage loop
In this paper a current mode PI controller for a single-
phase PWM inverter has been designed. The control structure
It can be clearly seen that, the bandwidth is lower than the is comprised of two loops and has been arranged in a cascaded
inner loop (942 Hz) while its phase margin is 63o. fashion. Two systems variables namely the inductor current
and the output voltage are sensed as the feedback variables.
IV. SIMULATION RESULTS The Sisotool from MATLAB/SIMULINK has been used to
tune and design the PI control parameters for both loops. The
The control system has been designed for a linear load (R performance is verified by subjecting the inverter system with
= 10 Ω). The following figures (Fig. 9 and Fig. 10) illustrate different types of load. The simulation results have shown
the voltage and current waveforms of the load when the that the controller is capable of producing good output voltage
system becomes no-load at t = 0.004. regulation.

183
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