Analysis of Space Vector PWM For Three Phase Inverter and Comparison With SPWM

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875
International Journal of Advanced Research in Electrical,

Electronics and Instrumentation Engineering
(An ISO 3297: 2007 Certified Organization)
Vol. 5, Issue 1, January 2016
Analysis of Space Vector PWM for Three

Phase Inverter and Comparison with SPWM
Renu Sharma*1, Deepak Kumar Goyal*2, Harpreet Singh*3
PG Student (Power System), Dept. of EE, I.E.T College, Alwar, Rajasthan, India1
Assistant Professor, Dept. of EE, Government Engineering College, Bharatpur, Rajasthan, India 2
Assistant Professor, Dept. of EE, I.E.T College, Bharatpur, Rajasthan, India 3
ABSTRACT: Three phase voltage source inverters are being used extensively nowadays in industries to supply three-
phase induction motor with variable frequency and variable voltage for variable speed applications. Pulse width
modulation (PWM) technique is employed to obtain the suitable output voltage at output of inverter. Various PWM
techniques have been developed in past decades among which Sinusoidal Pulse Width Modulation and Space Vector
Modulation (SVM) are most widely used. This paper aims to achieve two goals. One is to introduce base theory of
Space Vector Modulation when applied to three phase voltage source inverter and other is to present comparative
analysis with SPWM using MATLAB/SIMULINK software. Results indicate better DC bus utilization and fewer
harmonic with SVM. It is shown that all the drawn conclusions are independent of the load type.
KEYWORDS: Voltage Source Inverter, Space Vector, Space Vector Modulation, Sinusoidal Pulse Width Modulation
I. INTRODUCTION
Due to predominant use of AC drives in today‟s era; requirement for its variable voltage variable frequency is being
achieved by use of converters. Power converters simply control electric power supplied to load. This power transfer is
achieved by switching mode operation to ensure efficient conversion. The algorithms that generate switching functions
are called Pulse Width Modulation techniques. Various PWM methods have been developed to achieve the following
aims: wide linear modulation range; less switching loss; less total harmonic distortion (THD); easy implementation and
less computation time. Objective of PWM is to basically restrict magnitude and frequency of sinusoidal output voltage.
With the development of state of the art technologies space vector has emerged as one of the most important
technology for modulation in inverters. It basically uses the space-vector concept to compute the duty cycle of the
switches and works on digital implementation of PWM. In Space Vector Pulse Width Modulation (SVPWM) method,
the voltage reference is provided using a revolving reference vector. In this case magnitude and frequency of the
fundamental component in the line side are controlled by the magnitude and frequency of the reference voltage vector.
SVPWM involves unique correspondence between a space vector in complex plane and a three-phase system which is
represented mathematically.
II. SPACE VECTOR CONCEPT
Most of our electrical machines are three phase system having three phase quantities. These quantities are not
independent of each other but zero sequence components are usually absent or can be independently dealt also resultant
of three phase quantities sum up to zero hence these quantities can be expressed by two phase quantities in orthogonal
plane in terms of vector. For e.g. in case of induction motor three phase sinusoidal supply currents produce revolving
mmf. Since revolving mmf is vector and rotating in space, it can be called space vector. Similar technique is used for
modulating the inverter output voltage and determining two phase components of inverter output voltage. The process
of obtaining the rotating space vector is explained in the following section, considering the stationary reference frame.
Considering the stationary reference frame let the three-phase sinusoidal voltage components are,
Va = VmSinωt (1)
Vb = VmSin(ωt-2π/3) (2)
Vc = VmSin(ωt-4π/3) (3)
Copyright to IJAREEIE DOI:10.15662/IJAREEIE.2015.0501030 533

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

This rotating resultant flux can be uniquely represented by single rotating voltage vector (say Vref) as:
Vref = 2/3 [Va(t) + α Vb(t) + α2Vc(t)] ,where α= ej2π/3and α2= ej4π/3 (4)
Fig.1 Relationship between abc reference frame and d(direct axis)-q(qurdrature axis) stationary frame
Relationship between abc reference frame and stationary d-q reference can be given by following transformation:
𝑉𝑑 1 −1/2 −1/2 𝑉𝑎
𝑉𝑞 = 2/3 0 3/2 − 3/2 𝑉𝑏 (5)
𝑉0 1/2 1/2 1/2 𝑉𝑐
Where (Vd, Vq) are forming two orthogonal system and Vref = Vd + jVq. A vector can be defined in complex plane
with the help of these components.
III. SPACE VECTOR ANALYSIS OF THREE PHASE VOLTAGE SOURCE INVERTER
The three-phase voltage source inverter is shown in below fig.2 is considered herein.
Fig.2 Three phase voltage source inverter
Each state of output voltage lead to switching vector in complex plane giving eight switching states having six non-zero
vectors and two vectors corresponding to zero state. These six non-zero vectors are also called active vectors.
Complex vector expression for these eight vectors can be given as :
𝑗 𝑘−1 𝜋
𝑖𝑓 𝐾=1,2,3,4,5,6
3
2
Vk= 𝑉𝑑𝑐 𝑒 (6)
3
0 𝑖𝑓𝐾 = 0,7
Meanwhile, two zero vectors (V0 and V7) and are at the origin and apply zero voltage to the load.S1 to S6 are the six
power switches that shape the output and are controlled by the switching variables a, a′, b, b′, c and c′. For continuity of
ac supply and to prevent short circuit in input lines it is necessary that when an upper transistor is switched on, the
corresponding lower transistor should be switched off. Hence, upper transistors S1, S3 and S5 solely can be used to
determine the output voltage. Following rules are obeyed in vector space as per equivalence principle:
V1= -V4; V2= -V5; V3= -V6; V0=V7=0

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

V1+V3+V5=-0 (7)
The relationship between the switching variable vector [a, b, c] and the line-to-line voltage vector [Vab Vbc Vca] is
given by
𝑉𝑎𝑏 1 −1 0 𝑎
𝑉𝑏𝑐 =Vdc 0 1 −1 𝑏 (8)
𝑉𝑐𝑎 −1 0 1 𝑐
The relationship between the switching variable vector [a, b, c] and the phase voltage vector [Va Vb Vc] is given by
𝑉𝑎 2 −1 −1 𝑎
𝑉𝑏 =Vdc/3 −1 2 −1 𝑏 (9)
𝑉𝑐 −1 −1 2 𝑐
Since inverter output has eight switching states hence to represent it in binary code it needs three bit (23=8). Let „1‟
represents ON state and „0‟ OFF state of switch. Following figure displays the eight states:
Fig.3 Eight Switching States of Inverter Switches

IV. SPACE VECTOR PWM IMPLEMENTATION
Space Vector PWM (SVPWM) refers to a special switching sequence of the upper three power transistors of a three-
phase power inverter. Main function of SVPWM is to approximate reference voltage (Vref) vector using inverter‟s
eight switching pattern and this approximation is done by generating output voltage of inverter in small sampling
period, to be same as that of Vref in same period. This Vref voltage vector has discrete movement in complex plane
between positions portioned at 60 degree sectors hence forms hexagon trajectory. Decomposition of this vector on Real
and Imaginary axis indicates that it coincides with the switching vector that has generated it. Following figure
represents relationship between Vref and voltage sectors.
Fig.4 Relationship between Voltage Factor and Vref
Following steps are followed for SVPWM implementation:

1. Determine Vd, Vq, Vref and angle
As deduced from Fig. 1 Vd and Vq can be written as:

Vd= Va – Vb cos 60 – Vc cos60, or Vd= Va – ½ Vb- ½ Vc

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

3 3
Vq= 0+ Vb cos30-Vc cos30, or Vq= 0+ 𝑉𝑏 − 𝑉𝑐
2 2
Thus Vd & Vq can be written in matrix form as:
1 −1/2 −1/2 𝑉𝑎𝑛
𝑉𝑑
𝑉𝑞
=2/3 0 3/2 − 3/2 𝑉𝑏𝑛 (10)
𝑉𝑐𝑛
Since Vref= Vd+jVq, or Vref= 𝑉𝑑2 + 𝑉𝑞2 (11)
α= tan−1 ( 𝑉𝑞/𝑉𝑑) (12)
Fig.4 represents values of each voltage vector in terms of Vd, Vq by using equation (11) & (12)
2. Determination of Sector
It is necessary to know in which sector reference output lies in order to determine the switching time and sequence. The
identification of the sector is done where the reference vector is located. Depending on the reference voltages Vd and
Vq, the angle of the reference vector can be used to determine the sector. Sector changes at each 60 degree angle thus
sectors can be divided as: Sector 1 for 0<α<60º, Sector 2 for 60º <α<120º, Sector 3 for 120º <α<180º, Sector 4 for 180º
<α<240º, Sector 5 for 240º <α<300º and Sector 6 for 300º <α<360º.
3. Determine time duration T1, T2 and T0
Switching time in Sector1 for voltage vector V1 to be applied i.e. T1 sec duration and for vector V2 i.e. T2 sec duration
can be found out by applying volt-second balance for reference voltage and applied voltage as stated below
VrefTz= V1T1+ V2T2+ V0T0 or
Vref= V1(T1/Tz)+ V2(T2/Tz) + 0 since V0T0= null vector
Here V1= 2/3 Vdc and V2= 2/3 Vdc60
From Fig.4 by decomposing T1 & T2 at d-q axis
T1= Vref.sin (60-α).Tz
2/3.Vdc.sin60 (13)
T2=Vref.sinα.Tz
2/3.Vdc.sin60 (14)
Since Tz= T1+ T2+ T0 thus
T0= Tz-T1-T2 (15)
General expression for Switching Time in any sector can be found out as
T1= 3.Tz. Vref (sin.n.60.cosα – cos60.sinα)
Vdc (16)
T2= 3 .Tz. Vref (-cosα. sin (n-1) 60+ sinα.cos(n-1)60)
Vdc (17)
4. Determine Switching time of each Switch
It is necessary to arrange the switching sequence so that the switching frequency of each inverter leg is minimized. To
minimize the switching losses, only two adjacent active vectors and two zero vectors are used in a sector. To meet this
optimal condition, each switching period starts with one zero vector and end with another zero vector during the
sampling time Ts.The binary representations of two adjacent basic vectors differ in only one bit. Following table
presents asymmetric switching sequence.

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

Table 3 Switching Sequences
V. RESULT AND DISCUSSION
This part of paper discusses software implementation of SPWM and SVPWM in linear and undermodulation region.
The main objective of any pulse width modulation technique is to obtain variable output voltage having maximum
fundamental component with minimum harmonics by switching the inverter power devices on and off many times in
order to generate the proper RMS voltage levels. In this paper two most popular PWM techniques i.e. Sinusoidal Pulse
Width Modulation technique (SPWM) and SVPWM are compared in terms of Total Harmonic Distortion (THD).
Simulink Models for above mentioned techniques are developed using MATLAB software. The Block Diagram of
Space Vector Pulse width modulated inverter is shown in below figure 5. Simulation of both techniques i.e. SPWM and
SVPWM is performed under the following conditions:
Vdc = 600 V
Sampling frequency = 12000 Hz
Output frequency = 60 Hz
Fig.5 Block Diagram of SVPWM Inverter
Simulation Results at various Modulation Index (MI) are as displayed below
Modulation Index =.4
Fig.6 (a) FFT Analysis of THD in SPWM at MI=.4

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

Fig.6 (b) FFT Analysis of THD in SVPWM at MI=.4
Fig.6 (c) FFT Analysis of THD in SPWM at MI=.6
Fig.6 (d) FFT Analysis of THD in SVPWM at MI= .6
Fig.6 (e) FFT Analysis of THD in SPWM at MI=.8

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

Fig.6 (f) FFT Analysis of THD in SVPWM at MI=.8
Modulation Index =1
Fig.6 (g) FFT Analysis of THD in SPWM at MI=1
Fig.6 (h) FFT Analysis of THD in SVPWM at MI=1
Below table represents fundamental component of line to line voltage and their FFT analysis result in terms of THD at
various values of modulation index indicating SVPWM superiority.
Table 4 Comparison of THD between SPWM and SVPWM
SPWM Technique SVPWM Technique

Modulation Index THD Output Line-Line THD Output Line-Line
Voltage (Peak) in Voltage (Peak) in
Volt Volt
.4 155.40 207.8 133.66 277
.6 118.37 311.7 90.27 415.7
.8 89.92 415.8 60.35 554.3
1 67.57 520.1 43.75 632.9

ISSN (Print) : 2320 – 3765
ISSN (Online): 2278 – 8875

VI. CONCLUSION & FUTURE SCOPE

Space vector Modulation Technique has become the most popular and important PWM technique for Three Phase
Voltage Source Inverters for the control of AC Induction, Brushless DC, Switched Reluctance and Permanent Magnet
Synchronous Motors. Sinusoidal PWM is most widely used in industrial converters due to its ease of implementation.
This techniques is based on generating gate pulses of variable width by comparison of three phase reference
modulating signals against a common triangular carrier of much higher frequency than modulating signals. It is simple
and linear between 0% and 78.5% of six step voltage values, which results in poor voltage utilization whereas SVPWM
works on principle of calculating duty cycles for switches of inverter. It utilizes dc bus voltage more effectively and
generates less THD in the three phase voltage source inverter as indicated in Table 4. Further improved techniques like
Wavelet modulation, multilevel SVPWM techniques can also being developed for reduction in harmonics.
REFERENCES
[1] Neacsu, .O. Dorin, “Space Vector Modulation –An Introduction.”, IEEE Industrial Electronics Society IECON'01, Vol. 27, pp.1583-1592, 2001.
[2] Zhou, Keliang and Wang, Danwei, “Relationship Between Space-Vector Modulation and Three-Phase Carrier-Based PWM: A Comprehensive
Analysis”, IEEE Transactions on industrial electronics, Vol. 49, no.1, pp.186-196, 2002.
[3] Buja, Giuseppe and Kaźmierkowski,.P.Marian, “Direct torque control methods for voltage source inverter-fed Induction motors − a review”,
prace instytutu elektrotechniki, Vol.218, pp.32-45, 2003.
[4] Ayasun, Saffet and Nwankpa, O. Chika, “Induction Motor Tests Using MATLAB/SIMULINK and their Integration into Undergraduate Electric
Machinery Courses”, IEEE transactions on education, Vol. 48, no. 1, pp.37-46, 2005.
[5] Knapczykf, Michał and Pienkowskif, Krzysztof, “Analysis of pulse width modulation techniques for ac/dc line-side converters.”, Prace Naukowe
Instytutu Maszyn, Napędów i Pomiarów Elektrycznych, Vol.26, pp.59-65, 2006.
[6] Kumar, K. Vinoth, Michael, Angel, John, P.Joseph and Dr. Kumar, S. Suresh, “Simulation And Comparison of SPWM and SVPWM Control
For Three Phase Inverter ”, ARPN Journal of Engineering and Applied Sciences, Vol.5, Issue 7, pp.61-74, 2010.
[7] Aspalli,.S.M, R Asha,, Hunagund,V.P., “Three phase induction motor drive using IGBTs and constant v/f method” ,International Journal of
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[8] Chaturvedi, Padma and Dubey, Amarish, “Analysis of Space Vector Pulse Width Modulation VSI Induction Motor on various conditions”,
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[9] Goyal, Kr. Deepak, “Simulation of Direct torque and flux control Strategy for An Induction Motor using MATLAB/Simulink software
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BIOGRAPHY
Mrs. Renu Sharma, received her B.E degree in Electrical Engineering with “Honours” from Institute of Engineering. &
Technology, Alwar (Raj) in 2007 & pursuing M.Tech in Power System from Institute of Engineering & Technology,
RTU, Kota (Raj.). Her areas of interest are A.C. drives, Modulation Techniques.
Mr. Deepak Kr. Goyal, received his B.E. degree in Electrical Engineering from M.B.M Engineering College Jodhpur
(Raj.) in 2002 & M.Tech in Power Apparatus & Electric Drives from Indian Institute of Technology, Roorkee in 2005.
Presently he is Head of Electrical Engineering Department, Government Engineering College, Bharatpur (Raj.). His
areas of interest are Automation, A.C. Drives & Modulation Techniques.
Mr. Harpeet Singh received his B.E. degree in Electrical Engineering from GNDEC Bidar, Gulbarga University in
1999 and M.Tech. in Power System from Institute of Engineering & Technology College, RTU Kota (Raj.) in 2012.
Presently he is Head of Electrical Engineering department, Institute of Engineering & Technology College, Alwar
(Raj.). His areas of interest are Automation, Electrical Drives.

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ISSN (Print) : 2320 – 3765

ISSN (Online): 2278 – 8875

International Journal of Advanced Research in Electrical,

Vol. 5, Issue 1, January 2016