Space Vector Modulation (SVM)

Open loop voltage control

VSI
AC
motor
PWM
v
ref

Closed loop current-control
VSI
AC
motor
PWM i
ref

i
f/back

PWM Voltage Source Inverter
+ v
c
-
+ v
b
-
+ v
a
-
n
N
V
dc

a
b
c
S1
S2
S3
S4
S5
S6
S1, S2, .S6
v
a
*
v
b
*
v
c
*
Pulse Width
Modulation
PWM Voltage Source Inverter
v
tri

V
dc

q
v
c

q
V
dc

Pulse width
modulator
v
c

PWM single phase
PWM Voltage Source Inverter
PWM extended to 3-phase Sinusoidal PWM
Pulse width
modulator
V
a
*
Pulse width
modulator
V
b
*
Pulse width
modulator
V
c
*
PWM Voltage Source Inverter
SPWM covered in undergraduate course or PE system (MEP 1532)
In MEP 1422 well look at Space Vector Modulation (SVM)
mostly applied in AC drives
PWM Voltage Source Inverter
Definition:
Space vector representation of a three-phase quantities x
a
(t), x
b
(t) and
x
c
(t) with space distribution of 120
o
apart is given by:
x can be a voltage, current or flux and does not necessarily has to be sinusoidal
a = e
j2t/3
= cos(2t/3) + jsin(2t/3)
a
2
= e
j4t/3
= cos(4t/3) + jsin(4t/3)
( ) ) t ( x a ) t ( ax ) t ( x
3
2
x
c
2
b a
+ + =
Space Vector Modulation
Space Vector Modulation
( ) ) t ( x a ) t ( ax ) t ( x
3
2
x
c
2
b a
+ + =
( ) ) t ( x a ) t ( ax ) t ( x
3
2
x
c
2
b a
+ + =
Lets consider 3-phase sinusoidal voltage:
v
a
(t) = V
m
sin(et)
v
b
(t) = V
m
sin(et - 120
o
)
v
c
(t) = V
m
sin(et + 120
o
)
Space Vector Modulation
( ) ) t ( v a ) t ( av ) t ( v
3
2
v
c
2
b a
+ + =
( ) ) t ( v a ) t ( av ) t ( v
3
2
v
c
2
b a
+ + =
Lets consider 3-phase sinusoidal voltage:
t=t
1

At t=t
1
, et = (3/5)t (= 108
o
)
v
a
= 0.9511(V
m
)
v
b
= -0.208(V
m
)
v
c
= -0.743(V
m
)
Space Vector Modulation
Lets consider 3-phase sinusoidal voltage:
At t=t
1
, et = (3/5)t (= 108
o
)
v
a
= 0.9511(V
m
)
v
b
= -0.208(V
m
)
v
c
= -0.743(V
m
)
b
c
a
Space Vector Modulation
( ) ) t ( v a ) t ( av ) t ( v
3
2
v
c
2
b a
+ + =
Three phase quantities vary sinusoidally with time (frequency f)
space vector rotates at 2tf, magnitude V
m

How could we synthesize sinusoidal voltage using VSI ?
Space Vector Modulation
+ v
c
-
+ v
b
-
+ v
a
-
n
N
V
dc

a
b
c
S1
S2
S3
S4
S5
S6
S1, S2, .S6
v
a
*
v
b
*
v
c
*
We want v
a
, v
b
and v
c
to follow
v*
a
, v*
b
and v*
c
Space Vector Modulation
+ v
c
-
+ v
b
-
+ v
a
-
n
N
V
dc

a
b
c
From the definition of space vector:
( ) ) t ( v a ) t ( av ) t ( v
3
2
v
c
2
b a
+ + =
S1
S2
S3
S4
S5
S6
Space Vector Modulation
v
an
= v
aN
+ v
Nn
v
bn
= v
bN
+ v
Nn
v
cn
= v
cN
+ v
Nn
( ) ) t ( v a ) t ( av ) t ( v
3
2
v
c
2
b a
+ + =
( ) ) a a 1 ( v v a av v
3
2
v
2
Nn cN
2
bN aN
+ + + + + =
Space Vector Modulation
= 0
S
a
, S
b
, S
c
= 1 or 0

v
aN
= V
dc
S
a
, v
aN
= V
dc
S
b
, v
aN
= V
dc
S
a
,
( )
c
2
b a dc
S a aS S V
3
2
v + + =
Sector 1 Sector 3
Sector 4
Sector 5
Sector 2
Sector 6
[100] V1
[110] V2
[010] V3
[011] V4
[001] V5
[101] V6
(2/3)V
dc

(1/\3)V
dc

Space Vector Modulation
( )
c
2
b a dc
S a aS S V
3
2
v + + =
Space Vector Modulation
Reference voltage is sampled at regular interval, T
Within sampling period, v
ref
is synthesized using adjacent vectors and
zero vectors
100
V1
110
V2
If T is sampling period,
V1 is applied for T
1
,
T
T
1 V
1
V2 is applied for T
2

T
T
2 V
2
Zero voltage is applied for the
rest of the sampling period,
T
0
= T T
1
T
2

Sector 1
Space Vector Modulation
Reference voltage is sampled at regular interval, T
If T is sampling period,
V1 is applied for T
1
,
V2 is applied for T
2

Zero voltage is applied for the
rest of the sampling period,
T
0
= T T
1
T
2

T T
V
ref
is sampled V
ref
is sampled
V1
T
1

V2
T
2
T
0
/2
V0
T
0
/2
V7
v
a
v
b
v
c
Within sampling period, v
ref
is synthesized using adjacent vectors and
zero vectors
Space Vector Modulation
They are calculated based on volt-second integral of v
ref

(

+ + + =
} } } } }
dt v dt v dt v dt v
T
1
dt v
T
1
7 2 1 o
T
0
7
T
0
2
T
0
1
T
0
0
T
0
ref
7 7 2 2 1 1 o o ref
T v T v T v T v T v + + + =
0 T T ) 60 sin j 60 (cos V
3
2
T V
3
2
0 T T v
7 2
o o
d 1 d o ref
+ + + + =
2
o o
d 1 d ref
T ) 60 sin j 60 (cos V
3
2
T V
3
2
T v + + =
How do we calculate T
1
, T
2
, T
0
and T
7
?
Space Vector Modulation
2
o o
d 1 d ref
T ) 60 sin j 60 (cos V
3
2
T V
3
2
T v + + =
7 , 0 2 1
T T T T + + =
100
V1
110
V2
Sector 1
o
( ) o o = sin j cos v v
ref ref
q
d
Space Vector Modulation
Solving for T
1
, T
2
and T
0,7
gives:
(

o o = sin T
3
1
cos
3
T
m
2
3
T
1
o = sin mT T
2
2
o o
d 1 d ref
T ) 60 sin j 60 (cos V
3
2
T V
3
2
T v + + =
2 d 1 d ref
T V
3
1
T V
3
2
cos v T + = o
2 d ref
T V
3
1
sin v T = o
where

3
V
v
m
d
ref
=
Space Vector Modulation
Comparison between SVM and SPWM
SPWM
o
a
b
c
V
dc
/2
-V
dc
/2
v
ao

For m = 1, amplitude of
fundamental for v
ao
is V
dc
/2
amplitude of line-line =
dc
V
2
3
Space Vector Modulation
Comparison between SVM and SPWM
SVM
We know max possible phase voltage without overmodulation is
amplitude of line-line = V
dc

dc
V
3
1
Line-line voltage increased by:
100 x
V
2
3
V
2
3
V
dc
dc dc

~ 15%