Space Vector PWM
E/2 q1 0 E/2 q4 q5 q6 a q2 b q3 c
V2
V1
V3
Each power switch can be on or off On = 1 off = 0 q1 = 1 q4 = 1 - q1 q5 = 1 - q2 q6 = 1 - q3 q4 = 1
state 1 2 3 4 5 6 7 8
voltage V1 V2 V3 V4 V5 V6 V7 V8
q1 1 1 0 0 0 1 1 0
q2 0 1 1 1 0 0 1 0
q3 0 0 0 1 1 1 1 0
q4 ( q 1 ) 0 0 1 1 1 0 0 1
q5 ( q 2 ) 1 0 0 0 1 1 0 1
q6 ( q 3 ) 1 1 1 0 0 0 0 1
V 1=V 10+Von V 2=V 20+Von V 3=V 30+Von when q1 = conducts = 1
V 10=
E q1 2
q4 = 0
when q4 = conducts = 1 V 10= E q4 2
q1 = 0
V 10=
E E q1 q 4 2 2
q 4 = 1 q1
V 10=
E E E q1 (1 q1 ) = (2q1 1) 2 2 2 E + Von 2
V 1= (2q1 1) similarly, V 2= (2q 2 1) V 3= (2q3 1)
E + Von 2 E + Von 2
f abc = T f 012
1 1 T = 1 a 2 1 a
1 a a2 1 a2 a
1 + j 2 1 a2 = j 2 a=
3 = 1120 o 2 3 = 1240 o 2
f 012 = T
f abc
1 1 1 = 1 a 3 1 a 2
S 3 = [Vabc ] [I abc ]
t t t t *
* * *
= [[T ]V012 ] [[T ]I 012 ]
= [V012 ] [T ] [T ] [I 012 ]
1 0 0 [T ] [T ] = 30 1 0 0 0 1
t
* S 3 = 3V012 I 012 = [Vabc ] [I abc ]
t
Vref = (V1 + aV2 + a 2V3 )
write it in terms of peak line-to-line voltage:
Vref = 3 ~ ~ ~ (V1 + aV2 + a 2V3 ) 2 ~ ~ ~ V V V = 3( 1 + a 2 + a 2 3 ) 2 2 2
~ where V1 = 3V1 = peak line-to-line voltage
d-q Transformation
fd f = q f0 cos 2 sin 3 1 2 cos( + 2 / 3) f a sin( 2 / 3) sin( + 2 / 3) f b 1 1 fc 2 2 cos( 2 / 3)
Pabc = va ia + vbib + vc ic Pdq 0 = vd id + vq iq + v0i0
Conservative transformation or power invariant
cos fd 2 f = sin q 3 1 f0 2
cos( + 2 / 3) f a sin( 2 / 3) sin( + 2 / 3) f b f 1 1 2 2 c cos( 2 / 3)
Pabc = va ia + vb ib + vc ic Pdq 0 = 3 (vd id + vq iq + v0i0 ) 2
power variant transformation
sq Vrefq Vref
sd os Vrefd
Vref = Vrefd + jVrefq
Vrefd = 2 Re V1 + aV2 + a 2V3 3 2 Im V1 + aV2 + a 2V3 3
Vrefq =
substituting
Vrefd = 2 (q1 q2 / 2 q3 / 2) E 3
Vrefq =
1 (q2 q3 ) E 2
q1 V1 V2 V3 V4 V5 V6 V7 V8 1 1 0 0 0 1 1 0
q2 0 1 1 1 0 0 1 0 sq
q3 0 0 0 1 1 1 1 0
Vref = 2 E 3 Vref = E + jE 6 2 Vref = E + jE 6 2 Vref = 2 E 3 Vref = E jE 6 2 Vref = E jE 6 2 Vref = 0 Vref = 0
V3 II III V4 IV V V5 7 8 I
V2
Vref rotates with s. = s t 6 switches x 60o = 360o V1
sd
VI
V6
Sector I II III IV V VI
Switching sequence 8, 1,2, 7, 2, 1, 8 8, 3, 2, 7, 2, 3, 8 8, 3, 4, 7, 4, 3, 8 8, 4, 5, 7, 5, 4, 8 8, 5, 6, 7, 6, 5, 8 8, 1, 6, 7, 6, 1, 8
Note: One power switch is switching with each change of state.
Ts = 1/f V8 T0/2 V1 T1 V2 T2 V7 T0/2
Select T0, T1, and T2, s.t. the change in load current from the fundamental component is minimized. Assume a simple machine,
Vref Vref
I =
1 L
t2
t1
(Vref Vref )dt
t1: beginning time of a switching state t2: end time of a switching state Vref : voltage phasor of SVPWM
Vref : reference voltage phasor
Vref =
Ts
0 0 [V8 (t ) + V1 (t ) + V2 (t ) + V7 (t )]dt
V1 (t )dt + V2 (t )dt
T1 T2
Vref =
T1
T0 / 2
I = Vref (1)T1 + Vref ( 2 )T2 Vref Ts
to make I = 0 , then
Vref (1)T1 + Vref ( 2)T2 = Vref Ts
Recall a c a b c = = sin sin sin b
Vref(2)
Vref(2)T2 is parallel with Vref(2)
VrefTs Vref(2)T2 60 Vref(1)T1
o
Vref(1)
VrefTs Vref(2)T2 Vref(1)T1 120o
Vref ( 2 ) T2 sin Vref (1) T1
Vref Ts sin 120 = Vref Ts sin 120
sin(60 )
= s t = 2ft
T1 and T2 can be computed as
T1 = Ts a T2 = Ts a where
a= Vref
sin(60 ) sin 60 sin sin 60
Vref (1)
Vref Vref ( 2 )
a : depth of modulation or index of modulation
T0 = Ts (T1 + T2 )
The phase of requested voltage vector identifies two nonzero voltage vectors The requested voltage vector can be synthesized by using fractions of the two nearest voltage vectors, which amounts to applying these two vectors one at a time, for a fraction of the switching period. The nearest zero voltage vector to the two voltage vectors is applied for the remaining switching period. Say, 1. 2. 3. 4. Apply V0 for T0/2 Apply Vref1 for T1 Apply Vref2 for T2 Apply V0 for T0/2
