5

Vikas Patel, Dr.V.K Giri

Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

Performance Analysis of SVPWM Inverter Fed Permanent
Magnet Synchronous Motor

Vikas Patel
Dept. of Electrical Engineering
Madan Mohan Malviya University of Technology
Gorakhpur, India


Dr.V.K Giri
Professor & Head
Dept. of Electrical Engineering
Madan Mohan Malviya University of Technology
Gorakhpur, India

Abstract In this paper a space vector pulse
width modulation (SVPWM) technique based
on mathematical mapping is proposed to
reduce total harmonic distortion (THD) of
inverter fed permanent magnet synchronous
motor (PMSM). Voltage space vectors are
studied and simulation of an inverter fed
permanent magnet synchronous motor is
realized. Afterwards a low pass filter is
attached to simulation system to suppress the
harmonics generated in the system. The basic
purpose of voltage vector selection is to
facilitate look up table method. In this study,
an inverter switching table is mapped for the
permanent magnet synchronous motor
(PMSM) control which is performed by
selecting the appropriate stator space vectors
from the table. Space vector pulse width
modulation (SVPWM) algorithm uses a
simple mapping to generate gate signals for
inverter. The implemented space vector pulse
width modulation (SVPWM) control is used to
achieve better dynamic performance response
with lower total harmonic distortion.
Index TermsMATLAB/ Simulink,
PMSM, SVPWM Inverter, Total Harmonic
Distortion (THD).

I. INTRODUCTION
During last three decades AC machine
drives are becoming more and more popular,
especially Permanent Magnet Synchronous
Machine (PMSM) has been used in many
automation fields such as robot, metal cutting
machines, precision machining, etc. The
PMSM drives are ready to meet sophisticated
requirements such as fast dynamic
response, high power factor, and wide
operating speed range like high performance
applications, as a result, a gradual gain in
the use of PMSM drives will surely be in the
future market in low and mid power
applications. Recently, PMSM is applied to
traction drive for electric vehicles and railway
vehicles [2-3]. Fig.1 shows the block diagram
of voltage source inverter (VSI) fed PMSM
Drive.
The space vector modulation technique is
somewhat similar to the sine+3
rd
harmonic
PWM technique but the method of
implementation is different. The concept of
voltage space-vector, in analogy with the
concept of flux space-vector as used in three-
phase ac machine. The stator windings of a 3-
phase AC machine (cylindrical rotor), when
fed with a three-phase balanced current
produce a resultant flux space-vector that




6
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

rotates at synchronous speed in the space. The
flux vector is oriented is along the axis of
individual phase winding. The magnitude of
the flux alternating in nature as the current
flowing through it. The magnitude of the
resultant flux due to all three windings is,
however, fixed at 1.5 times the peak magnitude
due to individual phase windings. The resultant
flux is commonly known as the synchronously
rotating flux vector.

Fig.1 Block Diagram of VSI fed PMSM

Fig.2 The Concept of Voltage Space-Vectors:
a) 3-Phase Balanced Voltages
(b) The Voltage Space-Vectors

In a permanent magnet synchronous
machine (PMSM) a 3-phase balanced voltage
is applied to a winding of a 3-phase machine a
rotating voltage space vector is introduced.
The resultant voltage space- vector will be
rotating uniformly at the synchronous speed
and will have a magnitude equal to 1.5 times
the peak magnitude of the phase voltage. Fig.2
(a) shows a set of 3-phase balanced sinusoidal
voltages. Let these voltages be applied to the
windings of a 3-phase ac machine as shown in
Fig.2 (b). Now, during each time period of the
phase voltages six discrete time instants can be
identified, as done in Fig.2 (a), when one of the
phase voltages have maximum positive or
negative instantaneous magnitude. The
resultants of the three space-voltages at these
instants have been named V
1
to V
6
. The spatial
positions of these resultant voltage space-
vectors have been shown in Fig.2 (b). At these
six discrete instants, these vectors are aligned
along the phase axes having maximum
instantaneous voltage. As shown in Fig.2 (a)
the magnitude of these voltage vectors is 1.5
times the peak magnitude of individual phase
voltage.
The SVPWM control scheme, the switching
duties of the inverter switches are determined
by calculating the required voltages forcing the
motor phase currents to follow corresponding
references. If the motor and inverter
parameters are well known, the SVPWM
inverter shows fast transient response and no
steady state error [3].
At very low frequencies, due to the low
value of the stator voltage and the effects of
the decrease of the ohmic voltage and the
inverter component voltage decreases, the error
of the integration function increases [5]. In
order to avoid the shift of a pure integration in
voltage model, a low pass (LP) filter integrator
is used. LP filter eliminates the shifting but
causes phase and amplitude errors. Therefore,
the driver performance decreases especially at
frequencies close to the cut-off frequency of
the filter. Further study is available to improve
the flux estimation using LP filter. A purposed
method [4], utilizes an adaptive control system
that depends on the force and the stator flux
being orthogonal.
II. PMSM MODELING
Following assumptions are considered
before establishing the mathematical modeling
of permanent magnet synchronous motor:
i. Neglects the saturation of the
electric motor ferrite core.
ii. Neglects turbulent flow and
hysteresis loss in electric motor.




7
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

iii. The current in electric motor is
symmetrical three phase sinusoidal
current.
The mathematical model is similar to that of
the wound rotor synchronous motor. Since
there is no external source connected to the
rotor side and variation in the rotor flux with
respect to time is negligible, there is no need to
include the rotor voltage equation. Rotor
reference frame is used to derive the modal of
the PMSM [9].
The electrical dynamic equation in terms of
phase variable can be written as:
..........................................(1)
A S A A
V R i p = +

..........................................(2)
B S B B
V R i p = +

..........................................(3)
C S C C
V R i p = +

Where
A
V ,
B
V and
C
V are instantaneous
phase voltage,
A
i ,
B
i and
C
i are instantaneous
phase current,
S
R is phase resistant, p is
derivative operator,
A
,
B
and
C
are rotor
coupling flux linkage.
While the flux linkage equation are:
cos ....................................(4)
A S A r
L i u = +

2
cos .......................(5)
3
B S B r
L i
t
u
| |
= +
|
\ .

2
cos .......................(6)
3
C S C r
L i
t
u
| |
= + +
|
\ .

Where,
S
L is phase Inductance.
The transformation from 3-phase to 2-phase
quantities can be written in matrix form as:
1 1
1
2 2 2
..............(7)
3
3 3
0
2 2
A
B
C
V
V
V
V
V
o
|
(
(
(
(
(
( =
(
(
(

(

(


Where, V
o
and V
|
are orthogonal space
phasor.
The park transformation in matrix form can
be represented as:

Fig.3 Vector Diagram of PMSM Motor
cos sin
......................(8)
sin cos
d
q
V V
V V
o
|
u u
u u
( ( (
=
( ( (

According to above transformation.
/ d q abc Transformation may be written as:
cos sin
2 2 2
cos sin ...(9)
3 3 3
2 2
cos sin
3 3
A
d
B
q
C
V
V
V
V
V
u u
t t
u u
t t
u u
(
(

(
(
( (
| | | | (
=
( ( | |
(
\ . \ .

(
(

(
| | | |
+ +
( | |
\ . \ .

Simple transformed equation are:
..................(10)
d S d d d r r q
V R i pL i p e = + +

.............................(11)
q S q q q r q
V R i pL i e = + +

Where,
d
L and
q
L are called d -and q -axis
synchronous inductance respectively,
r
e is
motor electrical speed.

Fig.4 Stator Fixed Three Phase Axes
(A,B,C) and General Stationary and
Rotating dq Coordinates Rotating
Reference Frame




8
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

The produced torque
e
T which is power
divided by mechanical speed can be
represented as:
( )
3
( ) ....................(12)
2
e n r q d q d q
T p i L L i i = +

Where,
n
p is pole Logarithm.
It is apparent from the above equation that
the produced torque is composed of two
distinct mechanisms. The first term
corresponds to the mutual reaction torque
occurring between
q
i and the permanent
magnet, while the second term corresponds to
the reluctance torque due to the difference
in d- and q-axis reluctance [9]. Note that
d q s
L L L = = for the motor, so an expression
for the torque generated by a PMSM is:
3
...............................................(13)
2
e n r q
T p i =

In the presence of a d-axis stator current, the
d-axis and q-axis currents are not decoupled,
and the model is nonlinear. It can be shown in
the torque Eq.(12). Under the assumption that
id= 0, the system becomes linear and
resembles, Thus vector control of PMSM
provides approximate desired dynamic
characteristics.
In general, the mechanical equation of the
PMSM can be represented as
.............................(14)
e M M d M M
T J T B e e = + +

Where,
M
e = rotor angular speed,
M
J = motor moment inertia constant,
M
B = damping coefficient,
d
T = torque of the motor external load
disturbance,
e
T = electromagnetic torque.
III. SPACE VECTOR PULSE WIDTH MODULATION
(SVPWM)
The SVPWM consists of four major
process:
i. Sector Identification,
ii. Vector action time,
iii. Computation of switching time
iv. Generation of PWM,
Fig.5 shows the process of generation of
SVPWM and Fig.6 shows the space vector of
three-phase voltage source inverter (VSI)
divided into six sectors based on the six
fundamental vectors V
x
(x=1, 2, 3, 6). Any
voltage vectors in this vector space can be
synthesized by two fundamental vectors V
x
and
V
x+1
.For example the voltage vector in sector I
can be represented as a combination of active
vectors V
1
and V
2
. Within a switching cycle T
s
,
the components for each fundamental vector
V
x
is related to the occupied time T
n
and
unoccupied time of the null vectors. The locus
of the maximum V
s
is represented by the
envelope of the hexagon formed by the basic
space vectors. Thus the magnitude of V
s
must
be limited to the shortest radius of this
envelope when V
s
is revolving, which gives a
maximum magnitude of

for V
s
.

Fig.5 Block Diagram of SVPWM

Fig.6 Sectors of SVPWM




9
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

For the computation of sector and vectors,
the three phase a-b-c voltage is transformed to
- reference frame using the Clarke
transformations. In Field oriented control of
PMSM the - voltages are obtained from the
d-q voltages.
A. Sector Identification
To determine the switching time instants
and switching sequence, it is important to
know the sector in which the reference vector
lies. Following algorithm can be used to
determine the sector of the reference output
voltage vector. Three intermediate variables
are considered as
1 ref
V ,
2 ref
V and
3 ref
V . [10]
A, B and C are considered as logical
variables which takes the values 0 or 1
depending on the conditions:
If
1 ref
V >0, A=1 else
A=0. (17)
If
2 ref
V >0, B=1 else
B=0. (18)
If
3 ref
V >0, C=1 else
C=0.. (19)
Using the logical variables A, B and C, the
variable N is identified as:
N=A+2B+4C
... (20)
Values of N is used to map the sector (P)
where the vector lies using the Table 1.
TABLE 1. MAPPING OF N TO P
N 3 1 5 4 6 2
P 1 2 3 4 5 6
B. Calculation of Action Time T
1
and T
2
of
Basic Voltage Vector
The action time of two adjacent basic vector
in a certain sector is defined as t
1
and t
2
. In
traditional SVPWM algorithm, space angles
and trigonometric functions are used to
calculate the values of t
1
and t
2
, which makes
the process complex. In this method these
values are calculated using the V

and V

.
Applying the volt-second balance principle to
the orthogonal decomposition rates of the basic
vectors, t
1
and t
2
can be mapped from Table 2.
Where; X, Y and Z are given in [10]
TABLE 2. MAPPING X, Y, Z TO T
1
AND T
2
sector 1 2 3 4 5 6
T
1
-Z Y X Z -Y -X
T
2
X Z -Y -X -Z Y
C.Determination of Ta, Tb and Tc:
T
a
, T
b
and T
c
correspond to the time
comparison values of each phase. Intermediate
variables Ta-on, Tb-on and Tc-on are used to
map the comparison values from Table 3:
TABLE 3. OPERATION OF T
A
, T
B
AND T
C
N 3 1 5 4 6 2
T
a
Ta-
on
Tb-
on
Tc-
on
Tc-
on
Tb-
on
Ta-
on
T
b
Tb-
on
Ta-
on
Ta-
on
Tb-
on
Tc-
on
Tc-
on
T
c
Tc-
on
Tc-
on
Tb-
on
Ta-
on
Ta-
on
Tb-
on
TABLE 4. SVPWM VOLTAGE
Vector Vab Vbc Vca
V0={000} 0 0 0
V1={100} +Vdc 0 -Vdc
V2={110} 0 +Vdc -Vdc
V3={010} -Vdc +Vdc 0
V4={011} -Vdc 0 +Vdc
V5={001} 0 -Vdc +Vdc
V6={101} +Vdc -Vdc 0
V7={111} 0 0 0
In sector V0 {000} and V7 {111} state no
voltage generated because of a short circuit
situation is created.
IV. SIMULATION RESULTS AND DISCUSSION
A. Parameter of PMSM
Permanent magnet synchronous motor
parameters are given in table 5.




10
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

TABLE 5. PARAMETER OF PMSM
Name of parameter Value
Number of Pole Pair
p
4
Stator Resistance 0.9585
d-axis inductance L
d
0.00835H
q-axis inductance L
q
0.00835H
Flux Linkage 0.01827 V.s
Inertia 0.0046329 kg.m
2

Viscous Damping 0.0003035N-m.s
Rotor Type Round Rotor


Fig.7: Simulation Diagram of SVPWM Inverter Fed PMSM Drive

Fig.7 shows the simulation diagram of SVPWM
inverter fed permanent magnet synchronous
motor drive. Fig.8 shows the electromagnetic
torque of the Permanent magnet synchronous
drive. From the figure it may be observed that
Torque transient in the PMSM system is present
form 0sec-0.11sec. After 0.11 sec torque
become stablize and reaches at steady state.

Fig.8 Electromagnetic Torque

Fig.9 Speed Response
Fig.9 shows the speed response of the
SVPWM inverter fed permanent magnet
synchronous motor. The figure shows the speed
transient of system. The speed reaches at its
steady state at 0.11sec its shows better dynamic
performance of system as comparison to other
conventional method.
T
o
r
q
u
e

S
p
e
e
d

i
n

r
p
m





11
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

Fig.10 Stator Current abc
Fig.10 shows the three phase stator current of
SVPWM inverter fed permanent magnet
synchronous motor. It may be observed from the
figure that here is a distortion in the three phase
current at the starting of the motor but after one
cycle stator current get stabilized.
The input voltages V
an
, V
bn
, V
cn
, of permanent
magnet synchronous motor have been shown in
fig.11. In fig.12 frequency analysis of neutral
voltage is shown, which shows the total
harmonic distortion 141%, 141.01%, 141.02%
V
an
, V
bn
, V
cn
, respectively. The SVPWM inverter
voltage source is 400V DC.
This neutral voltage is filtered by low pass
filter which is used in the system for minimizing
the total harmonic distortion of the SVPWM
voltage source inverter. Fig.13 (a), (b), (c) show
the filtered output voltage with a minimum total
harmonic distortion. Spectrum analysis of
filtered voltage is shown in the fig.14 (a), (b),
(c) respectively. The total harmonic distortion is
1.28%, 1.47%, 1.29% V
an
, V
bn
, V
cn
, respectively.


(a)


(b)

(c)
Fig.11 SVPWM Inverter Voltage
(a) Van, (b) Vbn, (c) Vcn

(a)

(b)

(c)
Fig.12 SVPWM Inverter Voltage FFT
Analysis
(a) Van, (b) Vbn, (c) Vcn

(a)
V
o
l
t
a
g
e

V
o
l
t
a
g
e

V
o
l
t
a
g
e

C
u
r
r
e
n
t





12
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014


(b)

(c)
Fig.13 SVPWM Inverter Filtered Voltage
(a) Van,(b) Vbn, (c) Vcn

(a)

(b)

(c)
Fig.14 SVPWM Inverter Filtered Voltage
FFT Analysis
(a) Van, (b) Vbn, (c) Vcn

(a)

(b)

(c)
Fig.15 Stator Current Ia, Ib, Ic,
Fig.15 (a), (b), (c), show the stator current I
a
,
I
b
, I
c,
of permanent magnet synchronous motor
and fig.16 shows the frequency domain analysis
these figure show thst the total harmonic
distortion in phase a, b, c, are 1.38%, 1.23%,
1.50%.

(a)

(b)
C
u
r
r
e
n
t

C
u
r
r
e
n
t

C
u
r
r
e
n
t

V
o
l
t
a
g
e

V
o
l
t
a
g
e





13
Vikas Patel, Dr.V.K Giri



Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

(c)Fig.16 FFT Analysis of Stator Current
V. CONCLUSIONS
In the present work a space vector pulse width
modulation algorithm has been developed for
improving the performance of inverter fed
permanent magnet synchronous motor. A
simulation modal of SVPWM voltage source
inverter (VSI) fed PMSM using the optimized
Simulink blocks has been presented. The
SVPWM method shows its superior performance
characteristics such as low total harmonic
distortion (THD) as compare to other pulse
width modulation technique (sinusoidal pulse
width modulation, sine+3
rd
harmonic modulation
etc.). The total harmonic distortion presented in
the SVPWM inverter voltage is 1.28%, 1.47%,
1.29%. Hence the total harmonic distortion is
low as compare to other pulse width modulation
technique.
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Internati onal Journal of Computer & Mathematical Sciences
IJCMS
ISSN 2347 8527
Volume 3, Issue 5
July 2014

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