The trajectory tracking approach-a new method for minimum distortion PWM in dynamic high-power drives

Feedforward pulsewidth modulators generate volt·second differences between the controlling reference signal and the switched output waveform during transient operation. This dynamic modulation error is particularly pronounced at low switching frequency, e.g. with modern high-power GTO inverters. The compensation of this error is a key requirement when designing an optimal pulsewidth modulator for these applications. The trajectory tracking approach uses the steady-state trajectories of the current vector, computed from the optimal switching sequences, as templates. A tracking controller counteracts if the actual current vector deviates from this given path at transient operation. A decomposition of the current vector trajectory into its components enables, in addition, the identification of the instantaneous fundamental current, permitting the implementation of a fast current control system. Oscillograms from a 30 kW model induction motor drive demonstrate the high quality in terms of dynamic performance and minimum harmonic distortion obtained with a three-level inverter at only 200 Hz switching frequency