Basic Principles of Power Electronics

312 Pages·1986·9.11 MB·English

by  Prof. Dr.-Ing. Klemens Heumann (auth.)

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Electric Energy Systems and Engineering Series
Editors: J. G. Kassakian . D. H. Naunin
Klemens Heumann
Basic Principles
of Power Electronics
With 242 Figures
Springer-Verlag Berlin Heidelberg New York
London Paris Tokyo
Prof. Dr.-Ing. Klemens Heumann
Institut fUr Allgemeine Elektrotechnik, Technische Universitat Berlin
Einsteinufer 19, D-1000 Berlin 10, Fed. Rep. of Germany
Series Editors:
Prof. J. G. Kassakian
Massachusetts Institute of Technology,
77 Massachusetts Ave., Cambridge, MA 02139, USA
Prof. D.H. Naunin
Institut fUr Elektronik, Technische Universitat Berlin,
Einsteinufer 19, D-1000 Berlin 10, Fed. Rep. of Germany
Exclusively authorized English translation of the original German book
"Grundlagen der Leistungselektronik", 3rd edition, B. G. Teubner, Stuttgart,
1985.
ISBN-13 :978-3-642-82676-4 e-ISBN-13 :978-3-642-82674-0
DOl: 10.1007/978-3-642-82674-0
Library of Congress Cataloging in Publication Data.
Heumann, Klemens. Basic principles of power electronics.
(Electric energy systems and engineering series)
Translation of: Grundlagen der Leistungselektronik.
Bibliography: p. Includes index.
1. Power electronics. I. Title. II. Series.
TK7881.15.H4813 1986 621.381 86-10231
ISBN-13:978-3-642-82676-4 (U.S.)
This work is subject to copyright. All rights are reserved, whether the whole or part of the
material is concerned, specifically those of translation, reprinting, re-use of illustrations,
broadcasting, reproduction by photocopying machine or similar means, and storage in
data banks. Under § 54 of the German Copyright Law where copies are made for other
than private use, a fee is payable to "Verwertungsgesellschaft Wort", Munich.
© Springer-Verlag Berlin Heidelberg 1986
Softcover reprint of the hardcover 1st edition 1986
The use of registered names, trademarks, etc. in this publication does not imply, even in the
absence of a specific statement, that such names are exempt from the relevant protective
laws and regulations and therefore free for general use.
Typesetting: With a system of the Springer Produktions-Gesellschaft, Berlin.
Dataconversion: Briihlsche Universitatsdruckerei, GieBen.
2161/3020-543210
Introduction to the
Electric Energy Systems and Engineering Series
Concerns for the continued supply and efficient use of energy have recently be
come important forces shaping our lives. Because of the influence which energy
issues have on the economy, international relations, national security, and indi
vidual well-being, it is necessary that there exists a reliable, available and accu
rate source of information on energy in the broadest sense. Since a major form
of energy is electrical, this new book series titled Electric Energy Systems and
Engineering has been launched to provide such an information base in this im
portant area.
The series coverage will include the following areas and their interaction and
coordination: generation, transmission, distribution, conversion, storage, utili
zation, economics.
Although the series is to include introductory and background volumes,
.special emphasis will be placed on: new technologies, new adaptations of old
technologies, materials and components, measurement techniques, control - in
cluding the application of microprocessors in control systems, analysis and
planning methodologies, simulation, relationship to, and interaction with, other
disciplines.
The aim of this series is to provide a comprehensive source of information
for the developer, planner, or user of electrical energy. It will also serve as a vis
ible and accessible forum for the publication of selected research results and
monographs of timely interest. The series is expected to contain introductory
level material of a tutorial nature, as well as advanced texts and references for
graduate students, engineers and scientists.
The editors hope that this series will fill a gap and find interested readers.
John G. Kassakian· Dietrich H. Naunin
Preface
Power electronics became an identifiably separate area of electrical engineering
with the invention of the thyristor about 30 years ago. The growing demand for
controllability and conversion of electric energy has made this area increasingly
important, which in turn has resulted in new device, circuit and control
developments. In particular, new components, such as the GTO and power
MOSFET, continue to extend power electronic technology to new applications.
The technology embodied by the name "power electronics" is complex. It
consists of both power level and signal level electronics, as well as thermal,
mechanical, control, and protection systems. The power circuit, that part of the
system actually processing energy, can be thought of as an amplifier around which
is placed a closed loop control system.
The goal of this book is to provide an easily understood exposition of the
principles of power electronics. Common features of systems and their behavior
are identified in order to facilitate understanding. Thyristor converters are
distinguished and treated according to their mode of commutation. Circuits for
various converters and their controls are presented, along with a description of
ancillary circuits such as those required for snubbing and gate drives. Thermal
and electrical properties of semiconductor power devices are discussed. The
line-converter and converter-load interfaces are examined, leading to some
general statements being made about energy transfer. Application areas are
identified and categorized with respect to power and frequency ranges. The many
tables presented in the book provide an easily used reference source. Valid IEC
and German DIN standards are used in examples throughout the book.
This book is designed to provide an overview of power electronics for students
as well as practicing engineers. Only a basic knowledge of electrical engineering
and mathematics is assumed. The list of references at the end of the book gives a
survey of the field as it has developed over time. Understandably, the majority are
cited from German publications.
This book was first published in German, and has been translated into
Japanese, Spanish, and Hungarian. The author is pleased that an English edition
has now been published.
Berlin, June 1986 Klemens Heumann
Contents
List of Principal Letter Symbols . XV
1 Introduction and Definitions . 1
1.1 Development History . 1
1.2 Basic functions of Static Converters 5
2 System components . . . . 7
2.1 Linear Components .. 7
2.2 Semiconductor Switches 8
2.3 Network Simulation. . 10
2.4 Non-linear Components 11
3 Power Semiconductor Devices 13
3.1 Semiconductor Diodes. 16
3.1.1 Characteristic Curve 16
3.1.2 Switching Behaviour 17
3.2 Thyristors . . . . . . . . 18
3.2.1 Characteristic Curve 18
3.2.2 Switching Behaviour 19
3.2.3 Thyristor Specifications 21
3.2.4 Types of Thyristor . . 22
3.2.4.1 Triac . . . . 23
3.2.4.2 Asymmetrical Silicon Controlled Rectifier (ASCR) 23
3.2.4.3 Reverse Conducting Thyristor (RCT) . 25
3.2.4.4 Gate-assisted-turn-off-thyristor (GATT) 25
3.2.4.5 Gate Turn-off Thyristor (GTO) . 26
3.2.4.6 Light-triggered Thyristor. . . . 27
3.2.4.7 Static Induction Thyristor (SITh) 27
3.3 Power transistors . . . . . . . . . . . . 28
3.3.1 Bipolar Power Transistors . . . . . 30
3.3.1.1 Construction of a Transistor 30
3.3.1.2 Basic Connections. . 30
3.3.1.3 Characteristic Curves 31
3.3.1.4 Switching Behaviour. 32
3.3.2 MOS Power Transistors . . . 33
x Contents
3.3.2.1 Construction of a MOSFET .. 33
3.3.2.2 Characteristic Curves . . . . . 34
3.3.2.3 Control and Switching Behaviour 34
3.3.3 Static Induction Transistor (SIT) . . . . 35
4 Snubber Circuits, Triggering, Cooling, and Protection Devices 36
4.1 Snubber Circuits . . . . . . . . . . . 36
4.1.1 Recovery Effect Snubber Circuits. . . . 37
4.1.2 Rate of Rise of Voltage Limitation . . . 38
4.1.3 Transformer and Load Snubber Circuits . 39
4.1.4 Series Connection. . . . . . . . . 40
4.1.5 Parallel Connection. . . . . . . . 41
4.1.6 Snubber Circuits for GTO-Thyristor. 42
4.2 Triggering. . . . . . 43
4.2.1 Triggering Area 43
4.2.2 Trigger Pulse. . 44
4.2.3 Trigger Pulse Generator 45
4.2.3.1 Trigger Pulse Generator for Thyristor 45
4.2.3.2 Trigger Pulse Generator for GTO 45
4.2.4 Trigger Equipment . . . . . . . . 48
4.3 Cooling. . . . . . . . . . . . . . . . 49
4.3.1 Operating and Limiting Temperatures 49
4.3.2 Losses. . . . . . . . . . 50
4.3.3 Thermal Equivalent Circuit 51
4.3.4 Heat Sinks. . . 55
4.3.5 Types of Cooling 55
4.4 Protection Devices . . 58
5 Switching Operations and Commutation . 62
5.1 Switching Behaviour of Electrical networks. 62
5.1.1 Switching an Inductance. 63
5.1.2 Switching a Capacitor . 64
5.2 Definition of Commutation 65
5.3 Natural Commutation. 66
5.4 Forced Commutation 67
5.5 Types of Converters. . 68
6 Semiconductor Switches and Power Controllers for AC 70
6.1 Semiconductor Switches for Single-phase and Three-phase AC 70
6.1.1 Semiconductor Switches. . 71
6.1.2 Switching Single-phase AC. . . . . . 74
6.1.3 Switching Three-phase AC. . . . . . 75
6.1.4 Switching Inductances and Capacitors . 79
6.2 Semiconductor Power Controllers for Single-phase and
Three-phase AC . . . . . . . . . . . . . . . . . 81
Contents XI
6.2.1 Controlling Single-phase AC . 81
6.2.2 Controlling Three-phase AC . 84
6.2.3 Reactive and Distortion Power 84
6.2.4 Control Techniques. . 86
7 Externally Commutated Converters . 88
7.1 Line-commutated Rectifiers and Inverters 88
7.1.1 Operation in the Rectifier Mode 89
7.1.2 Operation in the Inverter Mode. 90
7.1.3 Line Commutation .. 92
7.1.4 Load Characteristic. . 97
7.1.5 Converter Connections 100
7.1.6 Converter Transformer 112
7.1.7 Reactive Power. . . . 116
7.1.8 Half-controllable Connections 122
7.1.9 Harmonics. . . . . . . . 126
7.2 Line-commutated Cycloconverters. 134
7.2.1 Double Converters . 134
7.2.2 Cycloconverters . . . . . 139
7.3 Load-commutated Inverters . . . 142
7.3.1 Parallel Resonant Circuit Inverters 142
7.3.2 Series Resonant Circuit Inverters 144
7.3.3 Motor-commutated Inverters. 146
8 SeH-commutated Converters. . . . . 148
8.1 Semiconductor Switches for DC 148
8.1.1 Closing a DC Circuit . . 148
8.1.2 Opening a DC Circuit. . 149
8.2 Semiconductor Power Controllers for DC 152
8.2.1 Current and Voltage Waveforms . 152
8.2.2 Transformation Equations . . . . 153
8.2.3 Energy Recovery and Multi-quadrant Operation 154
8.2.4 Capacitive Quenching Circuits . . . . . . . . 156
8.2.5 Control Techniques. . . . . . . . . . . . . 158
8.2.6 Calculation of Smoothing Inductance and Smoothing
Capacitor Values. . . . . . . . . . . . 159
8.2.7 Pulse-controlled Resistance. . . . . . . . 160
8.2.8 Analysis of a Capacitive Quenching Process 162
8.2.9 Construction of an Energy Balance-sheet. 164
8.3 Self-commutated Inverters . . . . . . . . . 165
8.3.1 Single-phase Self-commutated Inverters 166
8.3.2 Multi-phase Self-commutated Inverters 168
8.3.3 Voltage Control . . . . . . . . . . 170
8.3.4 Pulse Width Modulated (PWM) Inverter. 172
8.3.5 Converter with Sector Control 173
8.4 Reactive Power Converters. . . . . . . . . . 178
XII Contents
9 Power Systems for Converters 181
9.1 Characteristics of Electrical Power Systems. 181
9.2 DC System ............ . 184
9.3 Single-phase and Three-phase AC Systems 185
10 Loads for Converters. . . . . . . . . . . . 192
10.1 Resistance, Inductance, and Capacitance as Load 194
10.2 Internal Impedance of the Converter 197
10.3 Motor Load . . 197
10.4 Battery Load. . . . . . .... 199
10.5 Distorting Load . . . . . . . . 199
10.6 Types of Duty and Classes of Load . 200
10.7 Service Conditions .202
11 Energy Conditions . . . .204
11.1 Energy Sources. . . 204
11.2 Waveform of Power against Time. . 205
11.3 Types of Converter . . . . . . . . 208
11.3.1 Converters with Commutation on the AC Side . 208
11.3.2 Converters with Commutation on the DC Side . 210
11.4 Coupling of Power Systems . . . . . . . . . . . . 212
11.4.1 Coupling of Single-phase AC and DC Systems . 214
11.4.2 Coupling of Three-phase AC and DC Systems . 217
11.5 Pulse Number . . . . . . . . . . . . . . . . . . 220
11.6 Pulse Frequency . . . . . . . . . . . . . . . . . 222
11.6.1 Pulse Converters with Commutation on the DC Side . 223
11.6.2 Pulse Converters with Commutation on the AC Side . 227
11.7 Reactive Power Compensation and Balancing of Unbalanced Load 230
11.7.1 Reactive Power Compensation . . 230
11.7.2 Balancing of Unbalanced Load. . 232
11.8 Losses and Efficiency . 234
12 Control Conditions. . . . . 238
12.1 Terms and Designations . 238
12.1.1 Open-loop Control . 238
12.1.2 Closed-loop Control . 239
12.2 Converters as Correcting Unit . 241
12.2.1 Open-loop Control with Converters as Correcting Unit . 241
12.2.2 Closed-loop Control with Converters as Correcting Unit . 242
12.3 Control System Elements . . . . . . . 243
12.3.1 Linear Control System Elements . 243
12.3.2 Dead Time Element. . . 245
12.3.3 Characteristic Element. . 245
12.3.4 Configuration Diagram . 246
12.4 Internal Closed-loop Controls . 247