Electricity and New Energy

Three-Phase AC Power Electronics

Courseware Sample
86362-F0
Order no.: 86362-10
First Edition
Revision level: 07/2016

By the staff of Festo Didactic

© Festo Didactic Ltée/Ltd, Quebec, Canada 2011

Internet: www.festo-didactic.com
e-mail: [email protected]

Printed in Canada
All rights reserved
ISBN 978-2-89640-500-8 (Printed version)
ISBN 978-2-89640-739-2 (CD-ROM)
Legal Deposit – Bibliothèque et Archives nationales du Québec, 2011
Legal Deposit – Library and Archives Canada, 2011

The purchaser shall receive a single right of use which is non-exclusive, non-time-limited and limited
geographically to use at the purchaser's site/location as follows.

The purchaser shall be entitled to use the work to train his/her staff at the purchaser’s site/location and
shall also be entitled to use parts of the copyright material as the basis for the production of his/her own
training documentation for the training of his/her staff at the purchaser’s site/location with
acknowledgement of source and to make copies for this purpose. In the case of schools/technical
colleges, training centers, and universities, the right of use shall also include use by school and college
students and trainees at the purchaser’s site/location for teaching purposes.

The right of use shall in all cases exclude the right to publish the copyright material or to make this
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access by a wide variety of users, including those outside of the purchaser’s site/location.

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Festo Didactic recognizes product names as trademarks or registered trademarks of their respective
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Festo Didactic disclaims any proprietary interest in trademarks and trade names other than its own.
 Safety and Common Symbols
The following safety and common symbols may be used in this manual and on
the equipment:

Symbol Description

DANGER indicates a hazard with a high level of risk which, if not

avoided, will result in death or serious injury.

WARNING indicates a hazard with a medium level of risk which,

if not avoided, could result in death or serious injury.

CAUTION indicates a hazard with a low level of risk which, if not

avoided, could result in minor or moderate injury.

CAUTION used without the Caution, risk of danger sign ,

indicates a hazard with a potentially hazardous situation which,
if not avoided, may result in property damage.

Caution, risk of electric shock

Caution, hot surface

Caution, risk of danger

Caution, lifting hazard

Caution, hand entanglement hazard

Notice, non-ionizing radiation

Direct current

Alternating current

Both direct and alternating current

Three-phase alternating current

Earth (ground) terminal

© Festo Didactic 86362-10 III

 Safety and Common Symbols

Symbol Description

Protective conductor terminal

Frame or chassis terminal

Equipotentiality

On (supply)

Off (supply)

Equipment protected throughout by double insulation or

reinforced insulation

In position of a bi-stable push control

Out position of a bi-stable push control

IV © Festo Didactic 86362-10

 Table of Contents
Preface ................................................................................................................. VII
About This Manual ................................................................................................ IX
To the Instructor .................................................................................................... XI

Introduction Three-Phase AC Power Electronics ........................................... 1

DISCUSSION OF FUNDAMENTALS ....................................................... 1

Exercise 1 Power Diode Three-Phase Rectifiers ......................................... 3

DISCUSSION ..................................................................................... 3
Three-phase half-wave rectifier (positive-polarity output) ....... 3
Three-phase half-wave rectifier (negative-polarity output) ...... 6
Three-phase full-wave rectifier ................................................ 9
Dual-polarity dc power supply ............................................... 14
PROCEDURE .................................................................................. 14
Setup and connections .......................................................... 15
Three-phase half-wave rectifier (positive-polarity output) ..... 15
Three-phase half-wave rectifier (negative-polarity output) .... 20
Three-phase full-wave (bridge) rectifier ................................. 26
Dual-polarity dc power supply ............................................... 31

Exercise 2 The Single-Phase PWM Inverter with Dual-Polarity DC

Bus............................................................................................... 39
DISCUSSION ................................................................................... 39
Operation of a single-phase PWM inverter implemented
with a dual-polarity dc bus ..................................................... 40
PROCEDURE .................................................................................. 43
Setup and connections .......................................................... 44
Operation of a single-phase PWM inverter implemented
with a dual-polarity dc bus ..................................................... 46
Relationship between output voltage, input voltage, and
modulation index.................................................................... 48
Effect of a variation in frequency of the signal that
modulates the duty cycle of the switching control signals
on the amplitude and frequency of the load voltage.............. 49

Exercise 3 The Three-Phase PWM Inverter ................................................ 53

DISCUSSION ................................................................................... 53
Operation of the three-phase PWM inverter.......................... 53
Current in the neutral conductor ............................................ 55

© Festo Didactic 86362-10 V

 Table of Contents

PROCEDURE .................................................................................. 57

Setup and connections .......................................................... 58
Operation of a three-phase PWM inverter powered by a
dual-polarity dc power supply ................................................ 60
Effect of the neutral conductor on the voltage and current
waveforms at the output of the three-phase PWM inverter ... 65

Appendix A Equipment Utilization Chart ...................................................... 71

Appendix B Impedance Table for the Load Modules .................................. 73

Appendix C Circuit Diagram Symbols .......................................................... 75

Acronyms ............................................................................................................. 81

Bibliography ......................................................................................................... 83

VI © Festo Didactic 86362-10

 Preface
The production of energy using renewable natural resources such as wind,
sunlight, rain, tides, geothermal heat, etc., has gained much importance in recent
years as it is an effective means of reducing greenhouse gas (GHG) emissions.
The need for innovative technologies to make the grid smarter has recently
emerged as a major trend, as the increase in electrical power demand observed
worldwide makes it harder for the actual grid in many countries to keep up with
demand. Furthermore, electric vehicles (from bicycles to cars) are developed and
marketed with more and more success in many countries all over the world.

To answer the increasingly diversified needs for training in the wide field of
electrical energy, the Electric Power Technology Training Program was
developed as a modular study program for technical institutes, colleges, and
universities. The program is shown below as a flow chart, with each box in the
flow chart representing a course.

The Electric Power Technology Training Program.

© Festo Didactic 86362-10 VII

 Preface

The program starts with a variety of courses providing in-depth coverage of basic
topics related to the field of electrical energy such as ac and dc power circuits,
power transformers, rotating machines, ac power transmission lines, and power
electronics. The program then builds on the knowledge gained by the student
through these basic courses to provide training in more advanced subjects such
as home energy production from renewable resources (wind and sunlight), large-
scale electricity production from hydropower, large-scale electricity production
from wind power (doubly-fed induction generator [DFIG], synchronous generator,
and asynchronous generator technologies), smart-grid technologies (SVC,
STATCOM, HVDC transmission, etc.), storage of electrical energy in batteries,
and drive systems for small electric vehicles and cars.

We invite readers of this manual to send us their tips, feedback, and

suggestions for improving the book.

Please send these to [email protected].

The authors and Festo Didactic look forward to your comments.

VIII © Festo Didactic 86362-10

 About This Manual
This manual, Three-Phase AC Power Electronics, introduces the student to the
student to power electronic circuits (rectifiers and inverters) used to perform
ac/dc power conversion in three-phase circuits. The course begins with the study
of three-phase diode rectifiers. The student then becomes familiar with the
operation of the single-phase PWM inverter built with a dual-polarity dc bus. The
course continues with the operation of the three-phase PWM inverter built with a
single-polarity or dual-polarity dc bus. The course concludes with the study of the
three-phase PWM inverter.

The equipment for the course mainly consists of the IGBT Chopper/Inverter
module. The operation of the IGBT Chopper/Inverter module is controlled by the
LVDAC-EMS software. The Resistive Load, Filtering Inductors/Capacitors,
Three-Phase Filter, Power Supply, Rectifier and Filtering Capacitors, and the
Data Acquisition and Control Interface are also used to perform the exercises in
this manual

Safety considerations

Safety symbols that may be used in this manual and on the equipment are listed
in the Safety Symbols table at the beginning of the manual.

Safety procedures related to the tasks that you will be asked to perform are
indicated in each exercise.

Make sure that you are wearing appropriate protective equipment when
performing the tasks. You should never perform a task if you have any reason to
think that a manipulation could be dangerous for you or your teammates.

Prerequisite

As a prerequisite to this course, you should have read the manuals titled
DC Power Circuits, part number 86350, DC Power Electronics, part
number 86356, Single-Phase AC Power Circuits, part number 86358, Single-
Phase AC Power Electronics, part number 86359, and Three-Phase AC Power
Circuits, part number 86360.

Systems of units

Units are expressed using the International System of Units (SI) followed by units
expressed in the U.S. customary system of units (between parentheses).

© Festo Didactic 86362-10 IX

 To the Instructor
You will find in this Instructor Guide all the elements included in the Student
Manual together with the answers to all questions, results of measurements,
graphs, explanations, suggestions, and, in some cases, instructions to help you
guide the students through their learning process. All the information that applies
to you is placed between markers and appears in red.

Accuracy of measurements

The numerical results of the hands-on exercises may differ from one student to
another. For this reason, the results and answers given in this manual should be
considered as a guide. Students who correctly performed the exercises should
expect to demonstrate the principles involved and make observations and
measurements similar to those given as answers.

Equipment installation

In order for students to be able to perform the exercises in the Student Manual,
the Electric Power Technology Training Equipment must have been properly
installed, according to the instructions given in the user guide Electric Power
Technology Training Equipment.

© Festo Didactic 86362-10 XI

 Sample Exercise
Extracted from
the Student Manual
and the Instructor Guide
 Exercise 3

The Three-Phase PWM Inverter

EXERCISE OBJECTIVE When you have completed this exercise, you will be familiar with the three-phase
PWM inverter.

DISCUSSION OUTLINE The Discussion of this exercise covers the following points:

ƒ Operation of the three-phase PWM inverter

ƒ Current in the neutral conductor

DISCUSSION Operation of the three-phase PWM inverter

Basically, the three-phase PWM inverter consists of three single-phase

PWM inverters powered by a dual-polarity dc bus. As Figure 21 shows, the three-
phase PWM inverter contains three pairs of electronic switches (ܳଵ and ܳସ , ܳଶ
and ܳହ , and ܳଷ and ܳ଺ ), six free-wheeling diodes (‫ܦ‬ଵ to ‫) ଺ܦ‬, and a switching
control signal generator.

Dual-polarity Three-phase Three-phase

dc power supply PWM inverter filter

‫ܮ‬ଵ Phase 1

‫ܧ‬஻௨௦
1 ‫ܥ‬ଵ ܳଵ ‫ܦ‬ଵ ܳଶ ‫ܦ‬ଶ ܳଷ ‫ܦ‬ଷ ‫ܥ‬ଷ
ʹ

‫ܮ‬ଶ Phase 2
‫ܧ‬ௌ 2
‫ܥ‬஻௨௦

N
3 ‫ܧ‬஻௨௦
‫ܥ‬ଶ ܳସ ܳହ ܳ଺ ‫଺ܦ‬ ‫ܥ‬ସ
ʹ ‫ܦ‬ସ ‫ܦ‬ହ
‫ܧ‬஻௨௦
‫ܮ‬ଷ
Phase 3

‫ܥ‬ହ
Switching control
signal generator
‫଺ܥ‬

Neutral conductor Three-phase load

Figure 21. The three-phase PWM inverter consists of three single-phase PWM inverters.

© Festo Didactic 86362-10 53

Exercise 3 – The Three-Phase PWM Inverter  Discussion

The two signals that the switching control signal generator produces for each pair
of electronic switches are complementary rectangular pulses to ensure that when
one electronic switch in a pair is on, the other electronic switch in this pair is off,
and vice versa. Each of the three pairs of electronic switches operates the same
way: a positive voltage (൅‫ܧ‬஻௎ௌ Ȁʹሻis applied to the load when the upper electronic
switch (ܳଵ , ܳଶ or ܳଷ ) is on, whereas a negative voltage (-‫ܧ‬஻௎ௌ Ȁʹሻis applied to the
load when the lower electronic switch (ܳସ , ܳହ or ܳ଺ ) is on.

The voltage waveform at the outputs of the three-phase PWM inverter depends
on the waveform of the signal that modulates the duty cycle of the switching
control signals. When a sine-wave signal is used to modulate the duty cycle of
the switching control signals, the voltage waveform at the three-phase PWM
inverter outputs consists of three trains of rectangular bipolar pulses whose width
varies in accordance with the instantaneous voltage of the modulating sine-wave
signal. The average voltage of each on-off cycle of the rectangular bipolar pulse
trains at the inverter outputs thus also varies sinusoidally.

As for the single-phase inverter, a filter made of inductors and capacitors (see
example in Figure 25) is usually added at the outputs of the three-phase-PWM
inverter to smooth the voltage and current waveforms. This results in sinusoidal
voltage waveforms (when a sine-wave signal is used to modulate the duty cycle
of the switching control signals and ideal filtering is assumed) at the outputs of
the three-phase PWM inverter. The three-pairs of complementary switching
control signals used with the three pairs of electronic switches in the thee-phase
PWM inverter are phase shifted by 120° with respect to each other.
Consequently, the sinusoidal voltage waveforms at the outputs of the three-
phase PWM inverter are also phase shifted by 120° with respect to each other as
shown by voltage waveforms ‫ܧ‬௉௛௔௦௘ଵ , ‫ܧ‬௉௛௔௦௘ଶ , and ‫ܧ‬௉௛௔௦௘ଷ in Figure 22. Note
that ideal filtering at the PWM inverter outputs is assumed in Figure 22 as the
voltage waveforms shown are pure sine waves. The current waveforms are
similar to the voltage waveforms when the load is purely resistive as shown by
current waveforms ‫ܫ‬௅௜௡௘ଵ , ‫ܫ‬௅௜௡௘ଶ , and ‫ܫ‬௅௜௡௘ଷ in Figure 22. The outputs of the three-
phase PWM inverter are usually connected to loads that are both balanced and
similar in nature.

The amplitude of the sinusoidal voltages at the outputs of the three-phase PWM
inverter can be varied by varying the amplitude of the sine-wave signal
modulating the duty cycle of the switching control signals. The amplitude of the
voltage at each output of the three-phase PWM inverter ‫ܧ‬ைǡ௠௔௫ is the same as
with a single-phase PWM inverter with dual-polarity dc bus, it is proportional to
the modulation index.

The frequency of the voltages at the output of the three-phase PWM inverter can
be varied by varying the frequency of the sine-wave signal modulating the duty
cycle of the switching control signals.

54 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Discussion

 (V)

(‫ ͳܧܵܣܪܲܧ‬ǡ ‫ ʹܧܵܣܪܲܧ‬ǡ ‫) ͵ܧܵܣܪܲܧ‬

Inverter output voltages
‫ܧ‬௉ு஺ௌா ଵ ‫ܧ‬௉ு஺ௌா ଶ ‫ܧ‬௉ு஺ௌா ଷ

90 210 330 90 210 330 Phase

angle (°)
30 150 270 30 150 270

‫( ܫ‬A)
Inverter output currents

‫ܫ‬௅ூோ ଵ ‫ܫ‬௅ூோ ଶ ‫ܫ‬௅ூோ ଷ

(‫ܫ‬௅ூோଵ ǡ ‫ܫ‬௅ூோଶ ǡ ‫ܫ‬௅ூோଷ )

90 210 330 90 210 330 Phase

30 150 270 30 angle (°)
150 270

Figure 22. Voltage and current waveforms at the outputs of a three-phase PWM inverter (ideal
filtering is assumed).

Current in the neutral conductor

When ideal filtering at the outputs of a three-phase PWM inverter is assumed,

the line currents are pure sine waves that have the same amplitude, same
frequency, and are phase-shifted by 120° with respect to each other, and their
sum is null as shown in the phasor diagram of Figure 23. The neutral conductor
can thus be removed without disturbing the operation of the three-phase PWM
inverter.

© Festo Didactic 86362-10 55

Exercise 3 – The Three-Phase PWM Inverter  Discussion

90°

‫ܫ‬௅ூோ ଶ ‫ܫ‬௅ூோ ଷ ‫ܫ‬௅ூோଶ

180° 0°
‫ܫ‬௅ூோ ଵ

‫ܫ‬௅ூோ ଷ

270°

Figure 23. Phasor diagram showing that the sum of the line currents in a three-phase PWM
inverter is null (ideal filtering assumed at the PWM inverter outputs).

Actual filters used in the three-phase PWM inverters, however, are not ideal.
Consequently, the voltage and current waveforms at the three-phase PWM
inverter outputs are slightly distorted sine waves. This also causes a residual
current to flow into the neutral conductor. However, since the residual current in
the neutral conductor is useless from an operational point of view, this does not
prevent the neutral conductor from being removed. In fact, removing the neutral
conductor eliminates the residual current and improves the voltage and current
waveforms at the three-phase PWM inverter outputs.

Removing the neutral conductor also eliminates the need for a dual-polarity
dc power supply. Figure 24 shows a diagram of a three-phase PWM inverter
without a neutral conductor and powered by a single-polarity dc power supply.

56 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Procedure Outline

Single-polarity
dc power supply Three-phase PWM inverter Three-phase filter

‫ܮ‬ଵ
Phase 1

ܳଵ ‫ܦ‬ଵ ܳଶ ‫ܦ‬ଶ ܳଷ ‫ܦ‬ଷ ‫ܥ‬ଷ 

‫ܮ‬ଶ
Phase 2
‫ܧ‬ௌ ‫ܥ‬஻௨௦

‫ܥ‬ସ
ܳସ ‫ܦ‬ସ ܳହ ‫ܦ‬ହ ܳ଺ ‫଺ܦ‬

‫ܮ‬ଷ
Phase 3

‫ܥ‬ହ 
Switching control
signal generator

‫ ଺ܥ‬

Three-phase load

Figure 24. Three-phase PWM inverter without neutral conductor and supplied by a single-
polarity dc power supply.

PROCEDURE OUTLINE The Procedure is divided into the following sections:

ƒ Setup and connections

ƒ Operation of a three-phase PWM inverter powered by a dual-polarity dc
power supply
ƒ Effect of the neutral conductor on the voltage and current waveforms at
the output of the three-phase PWM inverter

PROCEDURE
High voltages are present in this laboratory exercise. Do not make of modify any
banana jack connections with the power on unless otherwise specified.

© Festo Didactic 86362-10 57

Exercise 3 – The Three-Phase PWM Inverter  Procedure

Setup and connections

In this part of the exercise, you will set up and connect the equipment.

1. Refer to the Equipment Utilization Chart in Appendix A to obtain the list of

equipment required to perform the exercise.

Install the equipment in the Workstation.

2. Make sure that the ac and dc power switches on the Power Supply are set to
the O (off) position, then connect the Power Supply to a three-phase
ac power outlet.

3. Connect the Power Input of the Data Acquisition and Control Interface to
a 24 V ac power supply.

Connect the Low Power Input of the Chopper/Inverter to the Power Input of
the Data Acquisition and Control Interface. Turn the 24 V ac power supply
on.

4. Connect the USB port of the Data Acquisition and Control Interface to a
USB port of the host computer.

5. Turn the host computer on, then start the LVDAC-EMS software.

In the LVDAC-EMS Start-Up window, make sure that the Data Acquisition
and Control Interface is detected. Make sure that the Computer-Based
Instrumentation and Chopper/Inverter Control functions for the Data
Acquisition and Control Interface are available. Select the network voltage
and frequency that correspond to the voltage and frequency of your local
ac power network, then click the OK button to close the LVDAC-EMS
Start-Up window.

6. Set up the circuit shown in Figure 25. Use the diodes and capacitors in the
Rectifier and Filtering Capacitors to implement rectifier and capacitors ‫ܥ‬ଵ
and ‫ܥ‬ଶ . Use the IGBT Chopper/Inverter to implement the Three-phase
inverter. Use the inductors and capacitors of the Three-Phase Filter to
implement inductors ‫ܮ‬ଵ , ‫ܮ‬ଶ , and ‫ܮ‬ଷ as well as capacitors ‫ܥ‬ଷ , ‫ܥ‬ସ , ‫ܥ‬ହ , and ‫ ଺ܥ‬.
Resistors ܴଵ , ܴଶ , and ܴଷ are implemented with the Resistive Load module.
The resistance value to be used for these resistors depends on your local
ac power network voltage (see table in diagram).

58 © Festo Didactic 86362-10

 Exercise 3 – The Three-Phase PWM Inverter  Procedure

Dual-polarity
dc power supply Three-phase inverter Three-phase filter

‫ܮ‬ଵ

2 mH
ܴଵ
1 ‫ܥ‬ଵ ܳଵ ‫ܦ‬ଵ ܳଶ ‫ܦ‬ଶ ܳଷ ‫ܦ‬ଷ ‫ܥ‬ଷ
5 ߤ
‫ܮ‬ଶ
2
‫ܧ‬ௌ ‫ܥ‬஻௨௦
2 mH
ܴଶ
N 3
‫ܥ‬ଶ ‫ܥ‬ସ
ܳସ ‫ܦ‬ସ ܳହ ‫ܦ‬ହ ܳ଺ ‫଺ܦ‬
5 ߤ
‫ܮ‬ଷ

2 mH
‫ܥ‬ହ ܴଷ
5 ߤ
Switching control
signals from DACI ‫଺ܥ‬
5 ߤ

Local ac power network

ࡾ૚ ǡ ࡾ૛ ǡ ࡾ૜
Voltage Frequency (ȍ)
(V) (Hz)

120 60 171
220 50 629
240 50 686
220 60 629

Figure 25. Three-phase PWM inverter.

7. Connect the Digital Outputs of the Data Acquisition and Control

Interface (DACI) to the Switching Control Inputs of the Chopper/Inverter
using a DB9 connector cable.

Connect Switching Control Inputs 1 to 6 of the Chopper/Inverter to Analog

Inputs 1 to 6 of the Data Acquisition and Control Interface using miniature
banana plug leads. These connections allow the observation of the switching
control signals of the electronic switches in the Chopper/Inverter.

Connect the common (white) terminal of the Switching Control Inputs on the
Chopper/Inverter to one of the two analog common (white) terminals on the
Data Acquisition and Control Interface using a miniature banana plug lead.

© Festo Didactic 86362-10 59

Exercise 3 – The Three-Phase PWM Inverter  Procedure

On the Chopper/Inverter, set the Dumping switch to the O (off) position. The
Dumping switch is used to prevent overvoltage on the dc bus of the
Chopper/Inverter. It is not required in this exercise.

Operation of a three-phase PWM inverter powered by a dual-polarity dc

power supply

In this part of the exercise, you will use the circuit shown in Figure 25 to observe
the operation of a three-phase PWM inverter powered by a dual-polarity
dc power supply. You will observe the switching control signals of the electronic
switches, and the waveforms of the voltages and currents at the output of the
inverter with and without the neutral conductor.

8. In the Chopper/Inverter Control window of LVDAC-EMS, make the following

settings:

 Set the Function parameter to Three-Phase, PWM Inverter. This

setting allows the Data Acquisition and Control Interface to generate
the switching control signals required by a three-phase
PWM inverter.

 Set the Switching Frequency parameter to 400 Hz. This will allow
observation of the switching control signals in the three-phase
PWM inverter, using the Oscilloscope.

 Set the Phase Sequence parameter to Fwd (1-2-3). This parameter

sets the phase sequence [Fwd (1-2-3) or Rev (1-3-2)]. The phase
sequence Fwd (1-2-3) causes a three-phase motor supplied by the
three-phase PWM inverter to rotate in the forward direction.

 Set the Frequency parameter to the frequency of your local ac power

network.

 Set the Peak Voltage parameter to 90%. This parameter sets the
modulation index, i.e., it sets the amplitude of the signal that
modulates the duty cycle of the switching control signals. When the
Peak Voltage parameter is set to 90%, the amplitude of the
modulating signal is set to make the duty cycle vary to obtain a peak
output voltage corresponding to 90% of the half dc bus voltage (45%
of ‫ܧ‬஻௎ௌ ).

 Make sure that parameters Q1 to Q6 are set to PWM.

9. Turn the Power Supply on.

a If the breaker of the Power Supply trips when you turn it on, set its power
switch to on another time (to let the DC bus voltage charge).

In the Chopper/Inverter Control window of LVDAC-EMS, start the Three-

Phase, PWM Inverter.

60 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Procedure

10. In LVDAC-EMS, open the Oscilloscope window and use channels 1

through 6 to display the switching control signals of electronic switches
ܳଵ (AI-1) to ܳ଺ (AI-6).

Select the Continuous Refresh mode, set the time base to 5 ms/div, and set
the trigger controls so that the Oscilloscope triggers on the rising edge of the
switching control signal of electronic switch ܳଵ (Ch1).

Select convenient vertical scale and position settings to facilitate observation

of the waveforms.

Finally, set the Oscilloscope so that the waveforms are displayed on the
screen using staircase steps (squared display mode).

11. Print or save the waveforms displayed on the Oscilloscope screen for future
reference. It is suggested that you include these waveforms in your lab
report.

The resulting waveforms are shown below.

Oscilloscope Settings
Channel-1 Input ............................ AI-1
Channel-1 Scale ....................... 5 V/div
Channel-1 Coupling ........................DC
Channel-2 Input ............................ AI-2
Channel-2 Scale ....................... 5 V/div
Channel-2 Coupling ........................DC
Channel-3 Input ............................ AI-3
Channel-3 Scale ....................... 5 V/div
Channel-3 Coupling ........................DC
Channel-4 Input ............................ AI-4
Channel-4 Scale ....................... 5 V/div
Channel-4 Coupling ........................DC
Channel-5 Input ............................ AI-5
Channel-5 Scale ....................... 5 V/div
Channel-5 Coupling ........................DC
Channel-6 Input ............................ AI-6
Channel-6 Scale ....................... 5 V/div
Channel-6 Coupling ........................DC
Time Base .............................. 5 ms/div
Trigger Type ..........................Software
Trigger Source .............................. Ch1
Trigger Level ...................................... 0
Trigger Slope ............................. Rising

Waveforms of the switching control signals of the three-phase PWM inverter.

12. Do your observations confirm that the switching control signals in each pair
of electronic switches ܳଵ -ܳସ , ܳଶ -ܳହ , and ܳଷ -ܳ଺ are complementary?

‰ Yes ‰ No

Yes

© Festo Didactic 86362-10 61

Exercise 3 – The Three-Phase PWM Inverter  Procedure

Do your observations confirm that the switching control signals of

consecutive pairs of electronic switches seem to be phase shifted by 120°?

‰ Yes ‰ No

Yes

13. In the Chopper/Inverter Control window of LVDAC-EMS, make the following

settings:

 Set the Switching Frequency parameter to 20 000 Hz

 Set the Peak Voltage parameter to 100%.

14. In the Oscilloscope window, set channels 1 through 3 to display the phase
voltages at the three-phase PWM inverter outputs (E1, E2, and E3),
channel 4 to display the dc bus voltage (E4), channels 5 through 7 to display
the line currents at the inverter outputs (I1, I2, and I3), and channel 8 to
display the current in the neutral conductor (I4).

Set the trigger controls so that the Oscilloscope triggers when the load
voltage waveform (Ch1) passes through 0 V with a positive slope.

Make sure that the Continuous Refresh mode is selected. Select convenient
vertical scale and position settings to facilitate observation of the waveforms.

Finally, set the Oscilloscope so that the waveforms are displayed as usual
(normal display mode).

62 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Procedure

15. Print or save the waveforms displayed on the Oscilloscope screen for future
reference. It is suggested that you include these waveforms in your lab
report.

The resulting waveforms are shown below.

Oscilloscope Settings
Channel-1 Input .............................. E1
Channel-1 Scale ................... 200 V/div
Channel-1 Coupling ........................DC
Channel-2 Input .............................. E2
Channel-2 Scale ................... 200 V/div
Channel-2 Coupling ........................DC
Channel-3 Input .............................. E3
Channel-3 Scale ................... 200 V/div
Channel-3 Coupling ........................DC
Channel-4 Input .............................. E4
Channel-4 Scale ................... 200 V/div
Channel-4 Coupling ........................DC
Channel-5 Input ................................ I1
Channel-5 Scale ....................... 1 A/div
Channel-5 Coupling ........................DC
Channel-6 Input ................................ I2
Channel-6 Scale ....................... 1 A/div
Channel-6 Coupling ........................DC
Channel-7 Input ................................ I3
Channel-7 Scale ....................... 1 A/div
Channel-7 Coupling ........................DC
Channel-8 Input ................................ I4
Channel-8 Scale .................... 0.5 A/div
Channel-8 Coupling ........................DC
Time Base .............................. 5 ms/div
Trigger Type ..........................Software
Trigger Source .............................. Ch1
Trigger Level ...................................... 0
Trigger Slope ............................. Rising

Waveforms of the voltages and currents at the output of the three-phase PWM
inverter (with neutral conductor).

16. Are the waveforms of the phase voltages at the output of the three-phase
PWM inverter sinusoidal, balanced, and phase shifted by 120° with respect
to each other?

‰ Yes ‰ No

Yes

17. In the Chopper/Inverter Control window, use the Peak Voltage control knob
to slowly vary the Peak Voltage parameter from 10% to 100% while
observing the phase voltages at the three-phase PWM inverter output.

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Exercise 3 – The Three-Phase PWM Inverter  Procedure

Do your observations confirm that the Peak Voltage parameter (i.e., the
modulation index m) controls the amplitude of the phase voltages at the
output of the three-phase PWM inverter?

‰ Yes ‰ No

Yes

18. In the Chopper/Inverter Control window, set the Peak Voltage parameter
to 40% of half the dc bus voltage (modulation index ൌ 0.4).

Using the Frequency control knob, slowly vary the Frequency parameter from
10 Hz to 120 Hz while observing the phase voltages at the output of the
inverter.

Do your observations confirm that the Frequency parameter controls the

frequency of the phase voltages at the output of the three-phase PWM
inverter?

‰ Yes ‰ No

Yes

19. Set the Frequency parameter to the frequency of your local ac power
network.

Measure the average (dc) value of the dc bus voltage, i.e., the voltage
between the positive and negative terminals of the dc power supply.

DC bus voltage (‫ܧ‬஻௎ௌ ): V

DC bus voltage (‫ܧ‬஻௎ௌ ): 337 V

20. Measure the amplitude of phase 1 voltage (Ch1) at the output of the three-
phase PWM inverter (after filtering) and record the value.

a Since the phase voltages at the output of the three-phase PWM inverter are
identical, this observation can also be done using phase 2 and phase 3
voltages.

Amplitude of phase 1 voltage at the output of the three-phase PWM

inverter (after filtering): V

Amplitude of phase 1 voltage at the output of the three-phase PWM inverter

(after filtering): 63 V

64 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Procedure

21. Compare the amplitude of phase 1 voltage at the output of the three-phase
PWM inverter (after filtering) to the amplitude of the voltage at the output of
the single-phase PWM inverter (after filtering) measured in the previous
exercise when the modulation index is set to 0.4 (see Table 2). Do the values
confirm that the amplitude of the voltage at each output of the three-phase
PWM inverter is the same as the amplitude of the voltage at the output of a
single-phase PWM inverter with dual-polarity dc bus?

‰ Yes ‰ No

Yes

Effect of the neutral conductor on the voltage and current waveforms at the
output of the three-phase PWM inverter

In the next steps, you will compare the voltage and current waveforms at the
output of the three-phase PWM inverter with and without neutral conductor
between the load and the power supply.

22. In the Oscilloscope window, close channels 2, 3, 4, 6, and 7 to display one of

the phase voltage at the three-phase PWM inverter output and the
corresponding line current as well as the current in the neutral conductor.

Position and set the scale of channels 1 and 5 so that each waveform covers
approximately half of the Oscilloscope screen. Position channel 8 at the
bottom of the Oscilloscope screen. These settings facilitate the observation
of the waveforms at the inverter output in order to compare the effect the
neutral conductor may have on the phase voltages and line currents.

23. Print or save the waveforms displayed on the Oscilloscope screen for future
reference. It is suggested that you include these waveforms in your lab
report.

© Festo Didactic 86362-10 65

Exercise 3 – The Three-Phase PWM Inverter  Procedure

The resulting waveforms are shown below.

Oscilloscope Settings
Channel-1 Input .............................. E1
Channel-1 Scale ..................... 50 V/div
Channel-1 Coupling ........................DC
Channel-5 Input ................................ I1
Channel-5 Scale .................... 0.2 A/div
Channel-5 Coupling ........................DC
Channel-8 Input ................................ I4
Channel-8 Scale .................... 0.2 A/div
Channel-8 Coupling ........................DC
Time Base .............................. 5 ms/div
Trigger Type ..........................Software
Trigger Source .............................. Ch1
Trigger Level ...................................... 0
Trigger Slope ............................. Rising

Waveforms of the phase voltage and line current at the output of the three-phase
PWM inverter as well as the waveform of the current in the neutral conductor.

24. Are the voltage and current at the three-phase PWM inverter output pure
sine waves? Explain why some current flows through the neutral conductor?

The voltage and current at the three-phase PWM inverter output are not pure
sine waves. A residual current flows in the neutral conductor because the line
currents at the three-phase PWM inverter outputs are slightly distorted.

25. Turn the Power Supply off.

Remove the neutral conductor (represented by a red line in Figure 25)

between the load and the positive terminal of input I4 on the Data Acquisition
and Control Interface.

Turn the Power Supply on.

26. Print or save the waveforms displayed on the Oscilloscope screen for future
reference. It is suggested that you include these waveforms in your lab
report.

66 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Procedure

The resulting waveforms are shown below.

Oscilloscope Settings
Channel-1 Input .............................. E1
Channel-1 Scale ..................... 50 V/div
Channel-1 Coupling ........................DC
Channel-5 Input ................................ I1
Channel-5 Scale .................... 0.2 A/div
Channel-5 Coupling ........................DC
Channel-8 Input ................................ I4
Channel-8 Scale .................... 0.2 A/div
Channel-8 Coupling ........................DC
Time Base .............................. 5 ms/div
Trigger Type ..........................Software
Trigger Source .............................. Ch1
Trigger Level ...................................... 0
Trigger Slope ............................. Rising

Waveforms of the phase voltage and line current at the output of the three-phase
PWM inverter with the neutral conductor removed.

27. Compare the amplitude and frequency of the phase voltage and line current
at the output of the three-phase PWM inverter with and without the neutral
conductor. Do your observations confirm that the neutral conductor between
the load and the power supply can be removed without affecting the
amplitude and frequency of the phase voltages and line currents at the
output of the inverter?

‰ Yes ‰ No

Yes

28. Compare the waveforms of the phase voltages and line currents at the output
of the inverter with and without the neutral conductor. Describe how the
waveforms are affected when the neutral conductor is removed.

The waveforms are improved (less distorted) when the neutral conductor is
removed.

29. Does removing the neutral conductor improve the waveforms of the phase
voltage and line current at the three-phase PWM inverter output?

‰ Yes ‰ No

Yes

© Festo Didactic 86362-10 67

Exercise 3 – The Three-Phase PWM Inverter  Procedure

30. Measure the average (dc) value of the dc bus voltage, i.e., the voltage
between the positive and negative terminals of the dc power supply.

DC bus voltage (‫ܧ‬஻௎ௌ ): V

DC bus voltage (‫ܧ‬஻௎ௌ ): 337 V

31. Measure the amplitude of phase 1 voltage at the output of the three-phase
PWM inverter (after filtering) and record the value.

Amplitude of phase 1 voltage at the output of the three-phase

PWM inverter (after filtering): V

Amplitude of phase 1 voltage at the output of the three-phase PWM inverter

(after filtering): 63 V

32. Compare the amplitude of phase 1 voltage at the output of the three-phase
PWM inverter (after filtering) measured with and without neutral conductor
(step 20 and step 31 respectively). Do the measured values confirm that the
neutral conductor can be removed without negatively affecting the operation
of the three-phase PWM inverter?

‰ Yes ‰ No

Yes

33. From the observations you made in this section of the exercise, can you
conclude that a dual-polarity power supply is not required to supply a three-
phase PWM inverter? Explain.

‰ Yes ‰ No

Yes, since the neutral conductor (common point of the dual-polarity power
supply) can be removed without negatively affecting the operation of the
three-phase PWM inverter.

34. Stop the voltage source and the Three-Phase, PWM Inverter.

Close LVDAC-EMS, turn off all equipment, and remove all leads and cables.

68 © Festo Didactic 86362-10

Exercise 3 – The Three-Phase PWM Inverter  Conclusion

CONCLUSION In this exercise, you observed that the switching control signals of each pair of
electronic switches in a three-phase PWM inverter are complementary and that
the switching control signals of one pair is phase shifted by 120° with respect to
those of the other pairs.

You observed that the waveforms of the phase (line-to-neutral) voltages at the
outputs of the three-phase PWM inverter are phase shifted by 120° from one
another. You also observed that when the load is purely resistive, the waveforms
of the line currents at the outputs of the three-phase PWM inverter are similar to
the phase voltage waveforms. You saw that the amplitude and frequency of the
voltages at the output of the three-phase PWM inverter can be varied by
respectively varying the amplitude (i.e., the modulation index) and frequency of
the sine-wave signal modulating the duty cycle of the switching control signals.

You saw that residual current flows in the neutral conductor when a three-phase
inverter is powered with a dual-polarity dc power supply. You also observed that
removing the neutral conductor improves the waveforms of the phase voltages
and line currents at the three-phase PWM inverter outputs (they become almost
pure sine waves) without affecting the operation of the three-phase
PWM inverter.

REVIEW QUESTIONS 1. What is the phase shift between the waveforms of the phase voltages at the
outputs of a three-phase PWM inverter?

The phase shift between the waveforms of the phase voltages at the outputs
of a three-phase PWM inverter is 120°.

2. What determines the voltage waveform at the outputs of a three-phase

PWM inverter (after filtration)?

The voltage waveform at the outputs of the three-phase PWM inverter

depends on the waveform of the signal that modulates the duty cycle of the
switching control signals.

3. How can the amplitude and frequency of the voltages at the output of a
three-phase PWM inverter be varied?

The amplitude and frequency of the voltages at the output of a three-phase

PWM inverter can be varied by respectively varying the amplitude (i.e., the
modulation index) and frequency of the sine-wave signal modulating the duty
cycle of the switching control signals.

4. Why is the sum of the line currents at the outputs of a three-phase PWM
inverter not null even when the load is balanced?

The sum of the line currents at the outputs of a three-phase PWM inverter is
not null because the line currents are slightly distorted.

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Exercise 3 – The Three-Phase PWM Inverter  Review Questions

5. Is it possible to remove the neutral conductor in a three-phase PWM inverter

powered by a dual-polarity dc power supply? If so, does this have any effect
on the waveforms of the phase voltages and line currents at the three-phase
PWM inverter outputs? Briefly explain.

Yes, it is possible to remove the neutral conductor in a three-phase PWM

inverter powered by a dual-polarity dc power supply because this does not
affect the operation of the inverter. In fact, removing the neutral conductor
slightly improves the waveforms (i.e., the waveforms become less distorted)
of the phase voltages and line currents at the three-phase PWM inverter
outputs.

70 © Festo Didactic 86362-10

 Bibliography
Jackson, Herbert W, Introduction to Electric Circuits, 8th ed. Oxford: Oxford
University Press, 2008, ISBN 0-19-542310-0.

Wildi, Theodore, Electrical Machines, Drives, and Power Systems, 6th ed. New
Jersey: Pearson Prentice Hall, 2006, ISBN 0-13-177691-6.

© Festo Didactic 86362-10 83