Chennai and Dr.

MGR University Second International Conference on Sustainable Energy and Intelligent System (SEISCON 2011) ,
Dr. M.G.R. University, Maduravoyal, Chennai, Tamil Nadu, India. July. 20-22, 2011.
512
Simplied SVPWM Based Hybrid PWM for Induction
Motor drives for the Reduction of Torque Ripples
M. Harsha Vardhan Reddy and V.Jegathesan
Department of Electrical and Electronics Engineering, Karunya University,
Coimbatore- 641114, India
Keywords: conventional SVPWM, discontinuous PWM, imagi-
nary switching times, stator ux ripple, torque ripple.
Abstract
T A voltage source inverter-fed induction motor produces a pulsat-
ing torque due the application of no sinusoidal voltages. Torque
pulsation is strongly inuenced by switching fashion employed.
This paper presents the simplied hybrid pulse width modulating
technique for the reduction of torque ripples in an induction mo-
tor. In conventional space vector pulse width modulating (CSVP-
WM) technique (0127-7210) the zero states are divided equally and
give rise to continuous modulating technique. The hybrid PWM is
a combination of both continuous and discontinuous PWM tech-
niques. To modulate the required voltage vector calculation of mag-
nitude and angle are required which is complex. In this paper a
simplied algorithm based on the concept of imaginary switching
times is implemented. To validate this method simulation has been
carried out in MATLAB 7.8 on v/f control of induction motor
1 Introduction
Space vector pulse width modulation technique has been widely
investigated for decades. Space Vector Modulation (SVM) Tech-
nique[1-12] was originally developed as a vector approach to Pulse
Width Modulation (PWM) for three-phase inverters. It is a more
sophisticated technique for generating sine wave that provides a
higher voltage to the motor with lower total harmonic distortion.
It gives a higher output Voltage for the same dc-bus voltage, lower
switching losses, and better harmonic performance.
For the ac machine drive application, full utilization of the dc bus
voltage is extremely important in order to achieve the maximum
output torque and minimum torque ripple[5-9] under all operating
conditions. In this aspect compared with any other PWM method
for the voltage source inverter, the PWM method based on volt-
age space vectors results in excellent dc bus utilization. SVPWM
scheme becomes the preferred PWM technique for various three-
phase power converter applications. With SVPWM the perfor-
mance of induction motor (IM) is improved because it minimizes
all the lower order harmonics in the output voltage of the inverter
(stator voltage of the IM) when compared to the conventional
SPWM technique[1-4].
Space vector PWM technique maintains balance between the ref-
erence voltage and the applied volt-seconds over every sub cycle
Ts. The reference vector Vref is synthesized using two active vec-
tors and zero vectors as shown in Fig.1
Fig.1 voltage vectors of voltage source inverter
For reference Vref vector as shown in[1-12] Fig.1 the active vec-
tors V
1
and V
2
are applied for duration of T
1
and T
2
. The zero
vectors V
0
and V
7
are applied for duration of Tz are given by the
equation as in equation (1).
T
v
T
ref
s 1
3
3
=
- ( )
( )
sin /
sin /
H
H
o
T
v
T
ref
s 2
3
=
( )
( )
sin
sin /
o
H
(1)
T T T T
z s
= - -
1 2
This T
1
and T
2
terms depend on Vref, Ts and angle (o). Here Ts
is switching time and it is constant. But Vref and angle (o) is
varying with time. So at every instant calculate Vref and angle
(o) is necessary. Calculating these values at every instant is very
difcult. The T
1
and T
2
terms also contains trigonometric terms
which are very difcult to implement in real time.
2 Imaginary switching times
In this method, the switching times can be calculated by using the
concept of imaginary switching times[10-12] where there is no
Simplified SVPWM based hybrid PWM for induction motor drives for the reduction of torque ripples
513
need for reference voltage vector, sector and angle information.
The actual switching times derived directly from the reference
phase voltages V
an
,V
bn
,V
cn
dened as in equation (2)
T
T
V
V
an
s
dc
an
=

T
T
V
V
bn
s
dc
bn
=
(2)

T
T
V
V
cn
s
dc
cn
=
Where T
s
is sampling time, V
dc
is the dc link voltage and van,
vbn, vcn are phase voltages, if reference voltages are positive then
switching times T
an
, T
bn
, T
cn
are also positive. Hence switching
times T
an
, T
bn
, T
cn
are called imaginary switching times. In every
sampling time maximum, minimum and medium values of imagi-
nary switching times are given by equation (3).
T max T T T
T min T T T
T mi
max an bn cn
min an bn cn
mid
= ( )
= ( )
=
, ,
, ,
d d T T T
an bn cn
, , ( )
(3)
The active states T
1
, T
2
can be calculated as given in equation
(4).
T T T
T T T
1 max mid
2 mid min
= -
= -
(4)
The conventional SVPWM algorithm employs equal division of
zero voltage vector times within a sampling interval and gives
rise to continuous modulating technique. However, by utilizing
the freedom of zero state division, various discontinuous modu-
lating techniques can be generated. In this method the zero state
time will be shared between two zero states as T
0
for V
0
and T
7
for V
7
respectively, and can be expressed as in equation (5)
T
0
= KT
z
T
7
= (1-K)T
z
(5)
Where K=constant
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
time(sec)
m
o
d
u
l
a
t
i
n
g

w
a
v
e
Fig.2 Modulating wave for the sequence 0127
For conventional SVPWM (0127-7210) constant K is taken as
0.5.To synchronize Vref vector consider both active vectors V
1
,
V
2
and zero vectors V
0
, V
7
. Modulating wave of conventional
SVPWM is shown in Fig.2.The modulating wave is continuous
without having any clamping to positive or negative dc bus in
Fig.2.
When K = 0, T
0
=0, the synchronization of Vref take place with
721 and any one of the phases is clamped to positive dc bus for
120 degrees over a fundamental interval because of this clamp-
ing these PWM techniques are known as the discontinuous PWM
techniques. The modulating wave of sequence 721 is shown in
Fig.3
When K=1,T
7
=0, the synchronization of Vref take place with 012
and any one of the phases is clamped to negative dc bus for 120
degrees over a fundamental interval. The modulating wave 012
sequence as shown in Fig.4
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
time(sec)
m
o
d
u
l
a
t
i
n
g

w
a
v
e
Fig.3 Modulating wave for the sequence 721
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
time(sec)
m
o
d
u
l
a
t
i
n
g

w
a
v
e
Fig.4 Modulating wave for the sequence 012
Hence in the rst sector, CSVPWM uses 0127-7210 sequence,
discontinuous PWM techniques uses 721-127 sequence and 012-
210 sequence. In the discontinuous PWM methods, any one of the
phases is clamped to the positive or negative dc bus for at most a
total of 120 over a fundamental cycle. Hence, the switching losses
of the associated inverter leg are reduced. the switching frequency
of discontinuous PWM technique is reduced by 33% compares
with CSVPWM.
Therefore in sector I the following three options could be consid-
ered in selecting switching sequence
Sequence 0127 with K=0.5 Ts=1/(2f
sw
)
Sequence 012 with K=1 Ts=1/(3f
sw
)
Sequence 721 with K=0 Ts=1/(3f
sw
)
3 Calculation of stator ux ripple
The applied voltage vector equals the reference voltage vector
only in an average sense over the given sub cycle, and not in an
instantaneous fashion. The difference between the reference vec-
tor and the instantaneous applied voltage vector is the instanta-
Chennai and Dr.MGR University Second International Conference on Sustainable Energy and Intelligent System
514
neous error voltage vector. The error voltage vector calculation is
shown in Fig.5 and given in equation (6)
Fig.5 Error voltage vectors in sector I
V V V
V V V
V V
ERR REF
rip REF
rip Z REF
,
,
,
1 1
2 2
= -
= -
=-
(6)
When these error voltages are resolved in to q-axis and d-axis the
corresponding d and q axis equations are given in equation (7).
Q
Q =
1
2
=
+
-

\
]
]

)
]
]
+
2 0 5
9
2
2 0 5
1 2
1
1 2
V T T
M T
V M
T
V T T
dc
i s
dc i
dc
H
H
H
( . )
( . ))
* *
9
2
2
2
M T
V M
T
M V
T
T
i s
dc i
i dc
z
-

\
]
]

)
]
]
=
H
H
H
Q =-V *T
D =
V
z ref z
1
dc 11 2
2
3 3
T
M T
D
i s
=
(7)
Sum of all d and q-axis error voltages is zero, indicating balance
between applied volt-seconds and reference volt-seconds over a
sub cycle.
The time integral of the error voltage vector, referred to as stator
ux ripple vector, is a measure of the ripple in the line current of
the converter. In practice rms value of the stator ux ripple over
a sub cycle is a measure of the rms current ripple over the given
sub cycle.
Fig.6 shows the stator ux ripple vector over the sub cycle for
three sequences for a given reference voltage. The q-axis and d-
axis ripple are shown separately in Fig.6.Since the voltage refer-
ence vector is aligned with the q-axis and the stator resistance
drop is negligible, there is a steady ux only along the d-axis.
This steady ux interacts with the ripple current along the q-axis
to produce the ripple torque. Hence, the torque ripple is practi-
cally independent of the d-axis current ripple (since there is no
steady ux along the q-axis), while being proportional to the q-
axis current ripple.
The mean square value of the q-axis current ripple over the given
sub cycle for the sequence 0127, 012 and 721 are given equation
8(a-c)
Fig.6stator ux ripple vector over the sub cycle for the sequence
0127, 012 and 721
I 1/12Qz T /T
1/ 3 [0.25Qz .5Qz(0.5Qz Q1)
(0.5
q
2 2
z s
2
_0127
0
=
+ + +
+ QQz Q1) ]T /T
1/ 3 [0.25Qz -0.5Qz(0.5Qz Q1)
(0.5Qz Q1)
2
1 s
2
2
+
+ +
+ + ]]T /T
2 s
8(a)
I Qz Tz) Qz
(Qz(Qz Q1)) (Qz Q1) )T1)
(Qz Q1) T2](
q
2 2 2
2
_
[(
(
012
= + +
+ + +
+ + 11/3Ts)
8(b)
I Qz Tz) Qz
(Qz(Qz Q2)) (Qz Q2) )T1)
(Qz Q2) T2
q
2 2 2
2
2
_
[( ((
721
= + +
+ + +
+ + ]](1/3Ts)
8(c)
4 Hybrid PWM METHODS
The stator q-axis ux ripple values for the different sequences
0127, 012, and 721 are plotted in Fig.7 for 0 < o < 60. The
comparison of three sequences in terms of q-axis ripple i.e. torque
ripple over a sub cycle gives the region of superior performance
as in Fig.7and Fig.8.
0 10 20 30 40 50 60
0
1
2
3
4
5
6
x 10
-3
0127 seq
012 seq
721 seq
Fig.7 Stator ux ripple comparison of sequence 0127, 012 and
721
Simplified SVPWM based hybrid PWM for induction motor drives for the reduction of torque ripples
515
Fig.8 Hybrid PWM with sequence 012, 721, 0127
In Fig.8 the discontinuous PWM techniques (012-721 sequence)
has less ripple than continuous PWM techniques (0127 sequence)
at high modulation index greater than 0.7. The sequence 012 is
better than 721 for <30 and vice versa for >30.Hence the hybrid
PWM produces less torque ripple at high modulation index.
Fig.9(a)ripple comparison,(b)modulating waves of 0127-721-012
sequences(c)modulating wave of hybrid PWM
The modulating wave for hybrid PWM is shown in Fig.9(c). The
hybrid PWM modulating wave is modeled from the 3 SVPWM
based sequences i.e 0127-012-721 as shown in Fig.9 (b) based
on their stator q-axis ux ripple as in Fig.9 (a). The modulating
waveform of hybrid PWM has a total of 1200 clamping for a giv-
en fundamental cycle
5 Simulation results
Table 1: MOTOR PARAMETERS
Rated speed 1500 RPM Rotor resistance 0.94 O
frequency 50HZ Inverter input DC
Voltage
600V
Stator resistance 0.94O M u t u a l
inductance
176mH
S t a t o r
inductance
183mH Rotor inductance 183mH
Fig.10 closed loop V/f control of induction motor simulink mod-
el
The MATLAB SIMULINK model of hybrid PWM inverter is
shown in Fig.10 with induction motor drive in closed loop control.
Frequency is taken as input to v/f control, here v/f ratio is main-
tained constant for constant ux and constant torque applications.
Inverter and induction motor is modeled in the subsystems. The
parameters used for modeling of inverter are shown in Table-1
Fig.11 sub system for control circuit in closed loop
The sub system for closed loop control of Induction motor is
shown in Fig.11 where actual speed and reference speed is taken
as input and frequency is taken as output and which is given as
input in Fig.10.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-100
-50
0
50
100
150
TIME
T
O
R
Q
U
E
NO LOAD
CONDITION
LOAD
CONDITION
STARTING
TRANSIENTS
Fig.12Torque plot for hybrid PWM under load and no-load condi-
tions in closed loop
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
-60
-40
-20
0
20
40
60
time
c
u
r
r
e
n
t
phase A
phase B
phase C
NO LOAD
CURRENT
LOAD
CURRENT
STARTING
CURRENT
Fig.13 Current plot for hybrid PWM under load and no-load con-
ditions in
The starting transients of current and torque are shown in Fig.12,
13 and the no load and load conditions in closed loop control of
induction motor are also shown when the change in load torque
Chennai and Dr.MGR University Second International Conference on Sustainable Energy and Intelligent System
516
there is also change in load current as shown in Fig.13. During
starting of induction motor the current is also high because of no
back emf. The starting current is shown in Fig.13 and during that
time torque is also high as in Fig.12.
During change in load torque from no load to load condition there
a small change in speed which can be seen in Fig.14
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
200
400
600
800
1000
1200
1400
1600
time
s
p
e
e
d
Fig.14 Speed plot for hybrid PWM under load and no-load condi-
tions in closed loop
The torque plots for conventional SVPWM by sequence 0127,
and hybrid PWM using sequence 012, 721, and 0127 sequence at
modulation index M=0.9 are shown in Fig.15 in open loop control
under rated torque of 30Nm.
0.6 0.605 0.61 0.615 0.62 0.625 0.63 0.635 0.64
28
28.5
29
29.5
30
30.5
31
31.5
32
TIME
T
O
R
Q
U
E

R
I
P
P
L
E
S
0.87 0.875 0.88 0.885
28.5
29
29.5
30
30.5
31
31.5
TIME
T
O
R
Q
U
E

R
I
P
P
L
E
Fig.15 Torque plot for conventional SVPWM (0127) , and hybrid
PWM with sequence 012, 721,0127 on load torque T=30 Nm in
open loop control.
The torque ripples for conventional and hybrid PWM in closed
loop control are shown in Fig.16.The ripple in torque is reduced in
hybrid PWM with sequence 0127,012,721 when compared with
conventional SVPWM in both open loop and closed loop. But
the oscillations in torque plot are more in open loop control when
compared with closed loop.
Along with the reduction of harmonics by using discontinuous
PWM techniques the switching losses are reduced because of
clamping for 120. Same clamping can be observed in Fig.9(c) so
by using hybrid PWM techniques the switching losses can be re-
duced.
0.61 0.612 0.614 0.616 0.618 0.62 0.622 0.624 0.626 0.628 0.63
28.5
29
29.5
30
30.5
31
31.5
TIME
T
O
R
Q
U
E

R
I
P
P
L
E
0.928 0.93 0.932 0.934 0.936 0.938 0.94 0.942 0.944
28.5
29
29.5
30
30.5
31
31.5
TIME
T
O
R
Q
U
E

R
I
P
P
L
E
Fig.16 Torque plot for conventional SVPWM (0127) and hybrid
PWM with sequence 012, 721,0127 on load torque T=30 Nm in
closed loop control.
In Fig.17 torque ripple is plotted at different modulation index.
From the Fig.17 it is clearly shown that reduction of torque ripple
in an induction motor by using hybrid PWM with sequence 0127-
012-721 at high modulation index and at low modulation index
both ripples are equal.
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0
1
2
3
4
5
6
7
8
9
x 10
-3
modulation index
q
-
a
x
is
r
ip
p
le
(
o
r
)
to
r
q
u
e
r
ip
p
le
.....SVPWM
****hybrid PWM
Fig.17 comparison of Torque ripple of SVPWM and hybrid
PWM
6 Conclusion
The hybrid PWM techniques has been proposed for reduction
of torque ripple in voltage source inverter fed induction motor
drives. It is shown that hybrid PWM has less torque ripple when
compared with convectional PWM methods. In hybrid PWM with
0127, 012 and 721 has low torque. The results show that reduc-
tion in torque ripples with improvement in harmonic distortion in
current due to the hybrid PWM when compared with convectional
SVPWM.
Because of clamping in the modulating waves switching losses
can be reduced. By using the concept of imaginary switching
complexity of calculating switching times and memory size is
also reduced. The results also show that closed loop control is
better than open loop control for reduction of torque ripples and
speed control.
Simplified SVPWM based hybrid PWM for induction motor drives for the reduction of torque ripples
517
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Biographies
M.Harsha vardhan reddy received B.Tech degree
from Rajeev Gandhi Memorial college of Engineer-
ing and Technology, Nandyal, Andhra Pradesh in
2009. He received M.Tech degree in power electron-
ics and drives from Karunya University, Coimbatore
in 2011. Currently, he is an Assistant Professor in the
Department of Electrical and Electronics Engineering at G.pulla-
reddy engineering college, Kurnool. He is working in power elec-
tronics control AC drives.
V.Jegathesan received the B.E. and M.E. degrees
from Bharathiar University, Coimbatore, India, in
1999 and 2002 respectively and the Ph.D. degree
from Anna University, Chennai, India, in 2010.
Currently, he is an Assistant Professor in the De-
partment of Electrical and Electronics Engineering
at Karunya University, India. He has presented
technical papers in various National and International Confer-
ences in India and Abroad. He has also published papers in Na-
tional and International peer reviewed Journals. His area of inter-
est includes Electric Circuits and Networks, Power Electronics,
Development of heuristic algorithm for power electronics appli-
cations and Application of Non-traditional methods to Power
electronics.