Space Vector PWM

„ Sinusoidal In many industrial applications, Sinusoidal Pulse Width Modulation

Pulse Width (SPWM), also called Sine coded Pulse Width Modulation, is used to
Modulation control the inverter output voltage. SPWM maintains good
performance of the drive in the entire range of operation between zero
and 78 percent of the value that would be reached by square-wave
operation. If the modulation index exceeds this value, linear
relationship between modulation index and output voltage is not
maintained and the over-modulation methods are required.

„ Space Vector A different approach to SPWM is based on the space vector

Pulse Width representation of voltages in the d, q plane. The d, q components are
Modulation found by Park transform, where the total power, as well as the
impedance, remains unchanged.
Fig. 1 shows 8 space vectors in according to 8 switching positions of
inverter, V* is the phase-to-center voltage which is obtained by proper
selection of adjacent vectors V1 and V2.

V3(010) V2(110)

V*

V2(110)
V0(000)
θ
V4(011) V1(100)
V7(111)
V*

V0(000) (T2/Tz)*V2
θ
V7(111) (T1/Tz)*V1 V1(100)

V5(001) V6(101)

Fig. 1 Inverter output voltage space Fig. 2 Determination of

vector Switching times

The reference space vector V* is given by Equation (1), where T1, T2

are the intervals of application of vector V1 and V2 respectively, and
zero vectors V0 and V7 are selected for T0.

V* Tz = V1 *T1 + V2 *T2 + V0 *(T0/2) + V7 *(T0/2) (1)

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„ Space Vector
Pulse Width Fig. 3(a) shows that the inverter switching state for the period T1 for
Modulation vector V1 and Fig. 3(b) is for vector V2, resulting switching patterns of
(continued) each phase of inverter are shown in Fig. 4.

V0 V1 V2 V7

U V W

V
UB VB WB

(a)

W
U V W

t
UB VB WB To/2 T1 T2 To/2

(b)
Tz

Fig. 3 Inverter switching state Fig. 4 Pulse pattern of

for (a)V1, (b) V2 Space vector PWM

U1 In Fig. 5, U is the phase-

U to-center voltage
containing the triple order
harmonics that are
generated by space
vector PWM, and U1 is
the sinusoidal reference
Fig. 5 Phase-to-center voltage voltage. But the triple
By space vector PWM order harmonics are not
appeared in the phase-to-phase voltage as well. This leads to the
higher modulation index compared to the SPWM.

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„ Comparison
of SPWM and As mentioned above, SPWM only reaches to 78 percent of square-
Space Vector wave operation, but the amplitude of maximum possible voltage is 90
PWM percent of square-wave in the case of space vector PWM.
The maximum phase-to-center voltage by sinusoidal and space vector
PWM are respectively;

Vmax = Vdc/2 : Sinusoidal PWM

Vmax = Vdc/√3 : Space Vector PWM
Where, Vdc is DC-Link voltage.

This means that Space Vector PWM can produce about 15 percent
higher than Sinusoidal PWM in output voltage.

0.00
0.16
3
I2 T
SIN-PWM SIN-PWM
0.12
0.00
2

0.08

0.00 SPACE VECTOR

1 PWM
0.04
SPACE VECTOR
PWM

0 0.2 0.4 0.6 0.8 1.0 1.15 0 0.2 0.4 0.6 0.8 1.0 1.15

m m
(a)rms harmonic current (b) torque harmonics

Fig. 6 Current and torque harmonics

Simulation results in Fig. 6 show that the higher modulation index is,
the less the harmonics of current and torque by space vector PWM
are than those of sinusoidal PWM.

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„ Volts/Hertz
Control

3 Phase
R I IM
AC Input

Vo + V*
+
V*

V/F Vo
W*
W*

Fig. 7 Open loop volts/hertz control

V/F
A simple and popular open-loop volts/herts(V/F) speed control method
for an induction motor is shown in Fig. 7. The scheme is defined as
V/F control because the output voltage command V* is generated
directly from the frequency command W* through the linear conversion
of V/F.

Torque Boost
As the frequency approaches to low speed near zero, the stator
voltage of motor will tend to be zero and it will be absorbed by the
stator resistance. Therefore, an auxiliary voltage Vo is required to
overcome the effects of stator resistance so that full torque become
available up to zero speed.
Some of inverter including LG’s SV-iS3 provide Auto-Torque Boost
functions that automatically determines the magnitude of Vo by using
phase current feedback.

Dynamic Performance
During steady-state operation, if the command frequency is increased
by a step, the slip will exceed that of breakdown torque and the motor
will become unstable. Similar instability will occur if the frequency is
decreased by a step. Therefore, it is necessary that during both
acceleration and deceleration, the frequency should track the speed
so that slip does not exceed that of the breakdown torque.

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„ Sensorless
Vector Overview
Control Open loop control of the machine with variable frequency may provide
a satisfactory variable speed drive when the motor has to operate at
steady torque without stringent requirements on speed regulation.
But when the drive requirements include fast dynamic response and
accurate speed or torque control, and open loop control is
unsatisfactory. Hence it is necessary to operate the motor in a closed
loop mode, when the dynamic operation of the induction machine drive
system has an important effect on the overall performance of the
system.

Vector control techniques have made possible the application of

induction motors for high-performance applications where traditionally
only dc drives were applied. The vector control scheme enables the
control of the induction motor in the same way as a separately excited
dc motor. As in the dc motor, torque control of the induction motor is
achieved by controlling the torque current component ( i * ds ) and flux
current component ( i * qs ) independently as shown in Fig. 8.

i *ds 2 phase-to-3
Co-ordinate
Wr * PI speed i *qs changer
phase Inverter IM
regulator transformer
+ _
Wr ~ ~
Speed sensor
cos θ *e sin θ *e

Slip
calculator Flux Angle + Wr
Calculator

+
W * sl

Fig. 8 Block diagram of vector control system with speed sensor.

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„ Sensorless The above vector control schemes in Fig. 8 require a speed sensor for
Vector closed loop operation. The speed sensor has several disadvantages
Control from the standpoint of drive cost, reliability, and noise immunity.
(continued)
Wr * PI speed i *qs
regulator 2 phase-to-3
+ _ Co-ordinate
phase Inverter IM
changer
^ i *ds transformer
Wr
Decoupling idq + ~ ~
Compensator cos θ *e sin θ *e
+
λ* s
PI Flux
Regulator
+
_
| λs |
V ss
Flux and Speed
Estimator
iss

Fig. 9 Block diagram of sensorless vector control system.

^
In Fig. 9, without speed sensor, the motor speed Wr and the flux λs
are directly estimated by using terminal voltage, phase current, and
motor parameters including stator resistance, rotor resistance and
total leakage inductance. These parameters also can be obtained by
several of tuning method such as conventional DC and Locked-rotor
test, or Auto-tuning.
Next sections present the sensorless flux vector methods classified to
rotor or stator flux vector control.

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„ Sensorless Rotor Flux-Oriented Control
Vector To avoid the use of speed sensors or flux sensors in a field-oriented
Control induction machine drive system; the terminal quantities of the motor
(continued) are used to estimate the rotor flux. The block diagram of the rotor flux
estimation without using a speed sensor is shown in Fig. 10. The
output of the rotor flux estimator is used for closed-loop flux regulation.

T *e N i er qs
4/3P
Coordinate
D transform IM
λ*dr Flux i er ds &
regulator CRPWM
+
-
θ = ∠λs r

^
λ dr =| λs r | Rotor Flux V ss
estimator
iss

Fig. 10 Block diagram of rotor flux oriented system with rotor flux
estimator.

The rotor flux is estimated by first calculating the stator flux as given
by
^
λ s = ∫ (vs − Rs is )dt
^ Lr
λr = ( λs − σ L s i s )
Lm
^ ^
where λs is the estimated stator flux, λr is the estimated rotor flux,

and

2
L
σ = 1− m is the total leakage factor.
Ls Lr

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„ Sensorless Stator Flux-Oriented Control
Vector The accuracy of the estimated rotor flux depends on the accuracy of
Control the estimated stator resistance and the inductance values. The
(continued) resistance varies with frequency and temperature. The leakage
inductance changes with current and flux level. The field oriented
control scheme is made insensitive to stator leakage inductance
variations by using stator flux orientation, the stator flux being
calculated using only the terminal quantities and stator resistance. A
typical block diagram of a stator flux oriented control scheme is shown
in Fig. 11.

T *e N iqs
4/3P
Coordinate
D transform IM
λes ds i es dq ids &
Decoupler CRPWM
es
i ds +
+

θ = ∠λs s
λ*ds + Flux
regulator
-
^
λ ds =| λs s |
Rotor Flux V ss
estimator
iss

Fig. 11 Block diagram of stator flux oriented system.

^
λ s = ∫ (vs − Rs is )dt
^ (1 + σTr p ) Ls iqs
ωs = is the estimated slip frequency.
Tr (λds − σLs ids )

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