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POWER ELECTRONICS Converters, Applications, and Design THIRD EDITION NED M O W Department of Electrical Engineering University of Minnesota Minneapolis, Minnesota TORE M. UNDELAND Department of Electrical Power Engineering Norwegian Uniuersity of Science and Technolom, NTNU Trondheim, Norway WILLIAM P. ROBBINS Department of Electrical Engineering University of Minnesota Minneapolis, Minnesota JOHN WILEY & SONS, INC.

E!XECUIIVE EDROR SENIOR EDlTORIAL ASSISTANT MARI

PREFACE MEDIA-ENHANCED THIRD EDITION The first edition of this book was published in 1989 and the second edition in 1995. The basic intent of this edition, as in the two previous editions, is to provide a cohesive presen- tation of power electronics fundamentals for applications and design in the power range of 500 kW or less where a huge market exists and where the demand for power electronic en- gineers is likely to exist. This book has been adopted as a textbook at many universities around the world; it is for this reason that the text in this book has not been altered in any way. However, a CD-ROM has been added, which both the instructors and students will find very useful. This CD-ROM contains the following: 1. A large number of new problems with varying degrees of challenges have been added for homework assignments and self-learning. 2. PSpice-based simulation examples have been added to illustrate basic concepts and help in the design of converters. PSpiceB is an ideal simulation tool in power electron- ics education. 3. A newly developed magnetic component design program has been included. This program is extremely useful in showing design trade-offs; for example, influence of switching frequency on the size of inductors and transformers. 4. For all chapters in this book, Powerpoint-based slides are included and can be printed. These should be helpful to instructors in organizing their lectures and to students in taking notes in class on printed copies and for a quick review before examinations. ORGANIZATION OF THE BOOK This book is divided into seven parts. Part 1 presents an introduction to the field of power electronics, an overview of power semiconductor switches, a review of pertinent electric and magnetic circuit concepts, and a generic discussion of the role of computer simulations in power electronics. Part 2 discusses the generic converter topologies that are used in most applications. The actual semiconductor devices (transistors, diode, and so on) are assumed to be ideal, thus allowing us to focus on the converter topologies and their applications. Part 3 discusses switch-mode dc and uninterruptible power supplies. Power supplies represent one of the major applications of power electronics. Part 4 considers motor drives, which constitute another major applications area. vii

Part 5 includes several industrial and commercial applications in one chapter. Another chapter describes various high-power electric utility applications. The last chapter in this part of the book examines the harmonics and EMI concerns and remedies for interfacing power electronic systems with electric utilities. Part 6 discusses the power semiconductor devices used in power electronic converters, including diodes, BJTs, MOSFETs, thyristors, GTOs, IGBTs, and MCTs. Part 7 discusses the practical aspects of power electronic converter design, including snubber circuits, drive circuits, circuit layout, and heat sinks. An extensive new chapter on the design of high-frequency inductors and transformers has been added. SOLUTIONS MANUAL As with the former editions of this book, a Solutions Manual with completely worked-out solutions to all the problems (including those on the CD-ROM) is available to instructors. It can be requested from the Wiley web page: h t t p : / / w w w . w i l e y c o ~ c o l l e g ~ ~ ~ n . ACKNOWLEDGMENTS We wish to thank all the instructors who have allowed us this opportunity to write the third edition of our book by adopting its first and second editions. We express our sincere appre- ciation to the Wiley Executive Editor Bill Zobrist for his persistence in keeping us on schedule. Ned Mohan Tore M. Undeland William I? Robbins

CONTENTS 3 PART 1 INTRODUCTION Chapter 1 Power Electronic Systems 1-1 Introduction 1-2 Power Electronics versus Linear Electronics 1-3 Scope and Applications 1-4 Classification of Power Processors and Converters 1-5 About the Text 1-6 Interdisciplinary Nature of Power Electronics 1-7 Convention of Symbols Used 12 14 7 4 9 13 Problems References 14 15 16 18 16 Chapter 2 Overview of Power Semiconductor Switches 2-1 Introduction 2-2 Diodes 2-3 Thyristors 20 2-4 Desired Characteristics in Controllable Switches 2-5 Bipolar Junction Transistors and Monolithic Darlingtons 2-6 Metal-Oxide-Semiconductor Field Effect Transistors 26 2-7 Gate-Turn-Off Thyristors 2-8 Insulated Gate Bipolar Transistors 2-9 MOS-Controlled Thyristors 29 2-10 Comparison of Controllable Switches 2-1 1 Drive and Snubber Circuits 2- 12 Justification for Using Idealized Device Characteristics 30 25 29 27 24 3 1 Summary Problems References 32 32 32 33 Chapter 3 Review of Basic Electrical and Magnetic Circuit Concepts 3-1 Introduction 3-2 Electriccircuits 3-3 Magnetic Circuits 57 58 60 Sumnary Problems References 33 46 1 3 16 33 ix

Chapter 4 Computer Simulation of Power Electronic Converters and Systems 61 62 62 4-1 Introduction 4-2 Challenges in Computer Simulation 4-3 Simulation Process 4-4 Mechanics of Simulation 64 4-5 Solution Techniques for Time-Domain Analysis 4-6 Widely Used, Circuit-Oriented Simulators 4-7 Equation Solvers 74 74 75 Summary Problems References 72 65 69 PART 2 GENERIC POWER ELECTRONIC CIRCUITS Chapter 5 Line-Frequency Diode Rectifiers: Line-Frequency ac -+ Uncontrolled dc 79 5-1 Introduction 5-2 Basic Rectifier Concepts 5-3 Single-Phase Diode Bridge Rectifiers 5-4 Voltage-Doubler (Single-Phase) Rectifiers 5-5 Effect of Single-Phase Rectifiers on Neutral Currents in Three-Phase, 100 82 80 Four-Wire Systems 101 5-6 Three-Phase, Full-Bridge Rectifiers 5-7 Comparison of Single-Phase and Three-Phase Rectifiers 5-8 Inrush Current and Overvoltages at Turn-On 5-9 Concerns and Remedies for Line-Cumnt Harmonics and Low Power 112 103 112 113 Factor Summary Problems References Appendix 113 114 116 117 Inverters: Line-Frequency ac H Controlled dc Chapter 6 Line-Frequency Phase-Controlled Rectifiers and 6-1 Introduction 6-2 Thyristor Circuits and Their Control 6-3 Single-Phase Converters 6-4 Three-Phase Converters 6-5 Other Three-Phase Converters 126 138 153 122 121 Summary Problems References Appendix 153 154 157 158 Chapter 7 dc-dc Switch-Mode Converters 7-1 Introduction 7-2 Control of dc-dc Converters 161 162 61 77 79 121 161

CONTENTS xi 164 7-3 Step-Down (Buck) Converter 7-4 Step-up (Boost) Converter 7-5 Buck-Boost Converter 178 7-6 C& dc-dc Converter 184 7-7 Full Bridge dc-dc Converter 7-8 dc-dc Converter Comparison Summary Problems References 196 197 199 172 188 195 Chapter 8 Switch-Mode dc-ac Inverters: dc t) Sinusoidal ac 8-1 Introduction 200 8-2 Basic Concepts of Switch-Mode Inverters 8-3 Single-Phase Inverters 8-4 Three-Phase Inverters 8-5 Effect of Blanking Time on Output Voltage in PWM Inverters 8-6 Other Inverter Switching Schemes 8-7 Rectifier Mode of Operation 21 1 225 236 202 239 243 summary Problems References 244 246 248 Chapter 9 Resonant Converters: Zero-Voltage and/or Zero-Current Switchings 249 9-1 Introduction 9-2 Classification of Resonant Converters 9-3 Basic Resonant Circuit Concepts 9-4 Load-Resonant Converters 258 9-5 Resonant-Switch Converters 9-6 Zero-Voltage-Switching, Clamped-Voltage Topologies 9-7 Resonant-dc-Link Inverters with Zero-Voltage Switchings 9-8 High-Frequency-Link Integral-Half-Cycle Converters 273 252 253 280 289 287 Summary Problems References 291 291 295 PART 3 POWER SUPPLY APPLICATIONS Chapter 10 Switching dc Power Supplies 10-1 Introduction 301 10-2 Linear Power Supplies 10-3 Overview of Switching Power Supplies 10-4 dc-dc Converters with Electrical Isolation 10-5 Control of Switch-Mode dc Power Supplies 10-6 Power Supply Protection 10-7 Electrical Isolation in the Feedback Loop 344 10-8 Designing to Meet the Power Supply Specifications 304 322 302 341 301 Summary 349 346 200 249 299 301

xii CONTENTS Problems References 349 351 Chapter 11 Power Conditioners and Uninterruptible Power Supplies 11-1 Introduction 354 11-2 Power Line Disturbances 11-3 Power Conditioners 11-4 Unintermptible Power Supplies (UPSs) 363 363 364 Summary Problems References 358 354 357 PART 4 MOTOR DRIVE APPLICATIONS Chapter 12 Introduction to Motor Drives 12-1 Introduction 12-2 Criteria for Selecting Drive Components 367 368 summary Problems References 375 376 376 377 Chapter 13 dc Motor Drives 13-1 Introduction 13-2 Equivalent Circuit of dc Motors 377 13-3 Permanent-Magnet dc Motors 380 13-4 dc Motors with a Separately Excited Field Winding 13-5 Effect of Armature Current Waveform 13-6 dc Servo Drives 13-7 Adjustable-Speed dc Drives 383 382 391 Summary Problems References 396 396 398 381 399 400 and Rated Voltage Chapter 14 Induction Motor Drives 14-1 Introduction 14-2 Basic Principles of Induction Motor Operation 14-3 Induction Motor Characteristics at Rated (Line) Frequency 14-4 Speed Control by Varying Stator Frequency and Voltage 14-5 Impact of Nonsinusoidal Excitation on Induction Motors 14-6 Variable-Frequency Converter Classifications 14-7 Variable-Frequency PWM-VSI Drives 419 14-8 Variable-Frequency Square-Wave VSI Drives 14-9 Variable-Frequency CSI Drives 14-10 Comparison of Variable-Frequency Drives 426 41 8 425 405 427 406 415 354 365 367 377 399

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