Space Vector Modulation (SVM)

PWM Voltage Source Inverter

Open loop voltage control

PWM VSI AC
vref motor

Closed loop current-control

AC
iref PWM VSI motor

if/back
 PWM Voltage Source Inverter

S1 S3 S5

+ va -
Vdc a + vb -
b + vc -
n
c
S4 S6 S2

va*
vb * Pulse Width S1, S2, .S6
Modulation
vc*
 PWM Voltage Source Inverter

PWM single phase

Vdc
dc

vc vPulse
tri width
vc modulator
qq
 PWM Voltage Source Inverter

PWM extended to 3-phase Sinusoidal PWM

Va* Pulse width

modulator

Vb* Pulse width

modulator

Vc * Pulse width
modulator
 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
 Space Vector Modulation

Definition:

Space vector representation of a three-phase quantities xa(t), xb(t) and

xc(t) with space distribution of 120o apart is given by:

2

x x a ( t ) ax b ( t ) a 2 x c ( t )
3

a = ej2/3 = cos(2/3) + jsin(2/3)
a2 = ej4/3 = cos(4/3) + jsin(4/3)

x can be a voltage, current or flux and does not necessarily has to be sinusoidal
 Space Vector Modulation

2

x x a ( t ) ax b ( t ) a 2 x c ( t )
3

 Space Vector Modulation

2

vx vx a ( t ) av
3

ax b ( t ) a 2 vx c ( t )

Lets consider 3-phase sinusoidal voltage:

va(t) = Vmsin(t)

vb(t) = Vmsin(t - 120o)

vc(t) = Vmsin(t + 120o)

 Space Vector Modulation

2

v v a ( t ) av b ( t ) a 2 v c ( t )
3

Lets consider 3-phase sinusoidal voltage:

At t=t1, t = (3/5) (= 108o)

va = 0.9511(Vm)

vb = -0.208(Vm)

vc = -0.743(Vm)

t=t1
 Space Vector Modulation

2

v v a ( t ) av b ( t ) a 2 v c ( t )
3

Lets consider 3-phase sinusoidal voltage:

At t=t1, t = (3/5) (= 108o)

va = 0.9511(Vm)
a
vb = -0.208(Vm)

vc = -0.743(Vm)

c
Three phase quantities vary sinusoidally with time (frequency f)
space vector rotates at 2f, magnitude Vm
 Space Vector Modulation

How could we synthesize sinusoidal voltage using VSI ?

 Space Vector Modulation

S1 S3 S5

+ va -
Vdc a + vb -
b + vc -
n
c
S4 S6 S2

N We want va, vb and vc to follow

v*a, v*b and v*c
va*
vb * S1, S2, .S6
vc*
 Space Vector Modulation

S1 S3 S5

+ va -
Vdc a + vb -
b + vc -
n
c
S4 S6 S2

van = vaN + vNn

N
vbn = vbN + vNn
From the definition of space vector:
vcn = vcN + vNn
2

v v a ( t ) av b ( t ) a 2 v c ( t )
3

 Space Vector Modulation

=0

2

v v aN av bN a 2 v cN v Nn (1 a a 2 )
3

vaN = VdcSa, vaN = VdcSb, vaN = VdcSa, Sa, Sb, Sc = 1 or 0

2

v Vdc S a aS b a 2 S c
3

2

v v a ( t ) av b ( t ) a 2 v c ( t )
3

 Space Vector Modulation

Sector 2
[010] V3 [110] V2
(1/3)Vdc
Sector 3 Sector 1

[100] V1
[011] V4
(2/3)Vdc

Sector 4 2

v Vdc S a aS b a 2 S c
3
Sector 6

[001] V5 Sector 5 [101] V6

 Space Vector Modulation

Reference voltage is sampled at regular interval, T

Within sampling period, vref is synthesized using adjacent vectors and

zero vectors

110
If T is sampling period, V2
V1 is applied for T1, Sector 1
V2 is applied for T2

Zero voltage is applied for the T2

rest of the sampling period, V2
T
T 0 = T T 1 T 2 100
T1 V1
V1
T
 Space Vector Modulation

Reference voltage is sampled at regular interval, T

Within sampling period, vref is synthesized using adjacent vectors and

zero vectors
T0/2 T1 T2 T0/2

V0 V1 V2 V7
If T is sampling period,
V1 is applied for T1, va
V2 is applied for T2
vb
Zero voltage is applied for the
rest of the sampling period, vc
T 0 = T T 1 T 2
T T
Vref is sampled Vref is sampled
 Space Vector Modulation

How do we calculate T1, T2, T0 and T7?

They are calculated based on volt-second integral of vref

1 T 1 To T1 T2 T7


T 0 T 0 0 0
v ref dt v 0dt v1dt v 2dt v 7dt
0
v ref T v o To v1 T1 v 2 T2 v 7 T7

2 2
v ref T To 0 Vd T1 Vd (cos60 o j sin60 o )T2 T7 0
3 3
2 2
v ref T Vd T1 Vd (cos60 o j sin60 o )T2
3 3
 Space Vector Modulation

q T T1 T2 T0,7
110
V2
Sector 1

v ref v ref cos j sin

100
2 2 V1o d
v ref T Vd T1 Vd (cos60 o j sin60 )T2
3 3
 Space Vector Modulation

2 2
v ref T Vd T1 Vd (cos60 o j sin60 o )T2
3 3
2 1 1
T v ref cos Vd T1 Vd T2 T v ref sin VdT2
3 3 3

Solving for T1, T2 and T0,7 gives:

3 T 1 v ref
T1 m cos T sin T2 mT sin where m
Vd
2 3 3
3
 Space Vector Modulation

Comparison between SVM and SPWM

SPWM

a
o b
c

vao

Vdc/2
For m = 1, amplitude of
fundamental for vao is Vdc/2

amplitude of line-line = 3
Vdc
2

-Vdc/2
 Space Vector Modulation

Comparison between SVM and SPWM

SVM
1
We know max possible phase voltage without overmodulation is Vdc
3

amplitude of line-line = Vdc

3
Vdc Vdc
2 x100 15%
Line-line voltage increased by:
3
Vdc
2