My SVPWMproject

Inverters
 DC to AC converters are known as Inverters

 The output voltage of an Inverter could be fixed or variable at a fixed or variable
frequency.
 A variable output voltage can be obtained by varying the input dc voltage and
maintaining the gain of the inverter constant or by varying the gain of the inverter
(with fixed DC input), which is normally accomplished by PWM cintrol within the
inverter.
 The output voltage waveforms of ideal inverters should be of Sinusoidal. But they are
of nonsinusoidal and contain certain harmonics for practical inverters.
 The harmonic content of the output can be minimized or reduced significantly with the
help of switching techniques
 Inverters are widely used in Industrial applications like variable speed ac motor
drives, standby power supplies and uninterruptible power supplies
 Depending upon the requirements Inverters are classified in many ways
Dr.V.T.Somasekhar, Assistant
Professor, NIT-Warangal.
Inverter Control Strategies
 The various methods for the control of output voltage of inverters can be
classified as
 DC bus voltage control method
 PWM techniques (Internal control of the inverter)
 DC bus voltage control method

It requires the use of peripheral components as shown in figure below.
3-phase Controlled
AC Filter Inverter
Rectifier IM
Supply
Inverter Control Strategies
 PWM techniques
These techniques can be applied both for 1-phase as well as 3-phase Inverters. It
includes advanced modulation techniques. It is again classified as follows
Single Pulse Width Modulation
Multiple Pulse width Modulation
Sinusoidal Pulse width Modulation
Advanced Modulation techniques
Trapezoidal
Staircase
Stepped
harmonic Injection
Delta Modulation
Space vector Modulation
Dynamic modelling of Induction Motor
 Among all the types of ac machines, the induction machine, particularly the
cage type, is most commonly used in industry
 Most induction motors are of the rotary type with basically a stationary stator
and a rotating rotor. The stator has a cylindrical magnetic core that is
housed inside a metal frame.
 The stator magnetic core is formed by stacking thin electrical steel
laminations with uniformly spaced slots stamped in the inner circumference
to accommodate the three distributed stator windings.
 The stator windings are formed by connecting coils of copper or aluminum
conductors that are insulated from the slot walls. The rotor consists of a
cylindrical laminated iron core with uniformly spaced peripheral slots to
accommodate the rotor windings. In this thesis a squirrel cage rotor
induction motor is used. It has uniformly spaced axial bars that are soldered
onto end rings at both ends. After the rotor core laminations are stacked in a
mold, the mold is filled with molten aluminum. There is no insulation
between the bars and walls of the rotor slots.
 The two names for the same type of motor, Induction motor and Asynchronous
motor, describe the two characteristics in which this type of motor differs from DC
motors and synchronous motors. Induction refers to the fact that the field in the rotor
is induced by the stator currents, and asynchronous refers to the fact that the rotor
speed is not equal to the stator frequency. No sliding contacts and permanent
magnets are needed to make an induction motor work, which makes it very simple
and cheap to manufacture. Also, these are rugged and require very little
maintenance. However, their speeds are not as easily controlled as with DC motors.
They draw large starting currents, and operate with a poor lagging factor when lightly
loaded.
 The simplified per-phase equivalent circuit model of the machine gives good
performance prediction for steady state operation of the machine with sinusoidal
supply voltages. But, it fails to give a good model for dynamic performance.
 In an adjustable speed drives, the machine normally constituted as element within a
feedback loop, and therefore its transient behavior has to be taken into consideration.
Hence, an accurate dynamic model of the induction motor is necessary which can
explain the dynamic behavior of the machine under both transient and steady state
conditions. The dynamic performance of the induction machine is somewhat complex
because the three-phase rotor windings move with respect to the three-phase stator
windings. The induction motor model presented in this thesis is based on the model
given by R. Krishnan and B.K. Bose.

 Mathematical Modeling of Induction Motor:
 The following assumptions are made to derive the dynamic model of the induction
motor.
Uniform air gap.
Balanced rotor and stator windings, with sinusoidally distributed mmf.
Inductance vs. Rotor position is sinusoidal, and
Saturation and parameter changes are neglected.
 The symmetrical three phase induction motor has a three phase rsystem of coils on
the stator and a cage on the rotor which can be considered to be an equivalent to a
three phase winding as shown in Fig below
qr
b
b qs
c r
r r
a dr
ds
Fig. 3.1 (a) coupling effect in three-phase stator and rotor

windings of motor (b) Equivalent two-phase machine
The motor model can be represented by an equivalent two-phase machine as
shown in Fig. 3.1 (b). Though it is some what simple, the problem of time
varying parameters still remains. To overcome this problem, the reference
frame theory was introduced. In the 1920s, R.H.Park, transferred or referred
the stator variables to a frame of reference fixed in the rotor. Then, in the
late 1930s, H.C. Stanley transferred the rotor variables to a frame of
reference fixed in the stator. Further, G. Kron transferred the both stator and
rotor variables to a reference frame rotating in synchronism with the rotating
magnetic field. This reference frame is commonly referred as the
synchronously rotating reference frame [3]. Thus, the induction motor model
can be developed in three reference frames and these are
 Stationary or stator reference frame

 Rotor reference frame
 Synchronously rotating reference frame.
Among the various reference frames, 3-phase Induction motor
considered in this project uses the stationary reference frame. Hence, in this
thesis, the attention is focused to develop the induction motor model in the
stationary reference frame, which is also known as Stanley reference frame.
 The mathematical model of three-phase induction motor expressed in stator
reference frame is given by
v qs   Rs  Ls p 0 Lm p 0  iqs 
  
0 R  L p o L p  i 
v
 ds    s s m   ds  (3.1)
0   Lm p   r Lm Rr  Lr p   r Lr  iqr 
    
   r m
0  L L m p  L
r r R r  L r 
p idr 
The dynamic equations of the induction motor in any reference frame can be
represented by using flux linkages as variables. This involves the reduction of a
number of variables in the dynamic equations. Even when the voltages and currents
are discontinuous the flux linkages are continuous. The stator and rotor flux linkages in
the stator reference frame are defined as shown in next slide
The d-q dynamic model equivalent circuits of an induction motor that satisfy (3.6) – (3.9) are shown in
Fig. 3.2
Fig. 3.2 (a) d–equivalent circuit (b) q-equivalent circuit
The electromagnetic torque of the induction motor in stator reference frame is given by
By using the equations (3.2) - (3.11), the induction motor model can be
developed in stationary reference frame.
In adjustable speed drives, the transient behavior of the induction motor has to be
taken into consideration. Hence, to study the dynamic behavior of the induction
motor under both transient and steady state conditions, an accurate mathematical
model of the induction motor has been developed in the stationary reference frame.
The stationary reference frame is simple in compared to the synchronously rotating
reference frame.
Sinusoidal & Space Vector PWM Strategies of Two Level Inverters
Why Pulse Width Modulation?
• Control of the fundamental component of the output voltage waveform
• To redistribute the harmonic energy to achieve a good spectral performance

i.e. a low THD.
• To achieve a good DC bus utilization
Sinusoidal & Space Vector PWM Strategies of Two Level Inverters
The Conventional two- level Inverter
S1 S3 S5
C
B
Vdc C1 A
N
3-ph Ac mains
S4 S6 S2 3-Ph IM
-
O
Diode rectifier Inverter
• The pole voltage vAO can assume one of the two values : 0 and Vdc
• The triplen harmonic components in the pole voltage appear across
the points ‘O’ and ‘N’.
The Sinusoidal Pulse Width Modulation
The carrier and 3-Ph modulating waves
The Pole voltage of Phase-A (switching with  Vdc/2)
Sinusoidal Pulse Width Modulation
Typical waveforms of the pole voltage and its zero sequence content
Typical waveforms of phase voltage (Top) and phase current (Bottom)

of a two-level inverter in the range of linear modulation
Typical waveforms of phase voltage (Top) and phase current (Bottom)

of a two-level inverter in the six-step mode of operation
Typical normalized harmonic spectra of the phase voltage when the inverter
is operated in the range of linear modulation with = 0.8 and = 15 (Top)
and in the six-step mode (Bottom)
Space Vector Pulse Width Modulation
Why Space Vector Modulation?
• Enhanced DC bus utilization (by about 15%)

compared to SPWM
• Better spectral performance compared SPWM
What is a Space Vector?
The space vector constituted by the pole voltages

is defined as:
Vs = vao + vbo ej2/3 + vco e-j2/3

Where vao, vbo and vco respectively denote the
instantaneous values of the respective pole voltages.
The relationship between the phase voltages and the

pole-voltages is:
vxo = vxn + vno, x = a,b,c

Where vno is the common mode voltage given by:
Vno = (vao + vbo + vco) / 3

It is evident that the pole voltages and the phase voltages
result in the same space vector.
It is customary to place the -axis along the A-phase axis
of the induction motor. Hence:
Vs = v + j v
The relationship between v and v  the instantaneous
phase voltages (van,vbn and vcn) is given by the
conventional ABC- transformation namely:
v = (3/2) van
v = (3/2) (vbn – vcn)

Open loop control system and the Inverter Switching states
IM
Modulator Inverter (Plant)
(Controller) (Actuator)
Phase references Motor phase voltages

(Control domain) (Power domain)
• To synthesize a smooth sinusoidal waveform, the inverter

should possess infinite switching states.
• A two-level inverter possesses only 8 - switching states.
State – 8 (- - - )
State – 7 (+ + + )
Inverter Switching states (Null states)
State – 1 (+ - - )
State – 2 (+ + - )
Inverter Switching states (cont’d)

State – 3 (- + - )
State – 4 (- + + )
Inverter Dr.V.T.Somasekhar,
Switching states Assistant (cont’d)
State – 5 (- - + )
State – 6 (+ - + )
Inverter Switching states (cont’d)
Computation of Switching Vectors
Suppose that The inverter assumes a state of ‘2’ i.e. (+ + -)
vao = Vdc ; vbo = Vdc ; vco = 0
The space vector is defined as:
Vs = vao + vbo ej2/3 + vco e-j2/3
Substituting and simplifying one gets:
Vs = Vdc(1/2 + j 3/2) (in rectangular form)
= Vdc 600 (in polar form)

Similarly the switching vectors can be computed for the
rest of the inverter switching states.
The switching vectors Assistant

Dr.V.T.Somasekhar, of a two-level VSI
A - phase B - phase C - phase
Sampled reference phase voltages

Locus of sampling points

Computation of Active Vector Switching Time Periods
2 (+ + - )
v = |Vsr| Cos
Sector-1

v = |Vsr| Sin
P
|Vsr| 
v

1 (+ - - )
O v
The reference vector OP is synthesized, in the average sense,
by switching amongst the vertices O,A and B using the
null vectors at O (- - -), (+ - - )and active vectors 1 ( + - - )
and 2 ( + + - )
Analogy with a DC-DC buck converter
+
+
L
Vin C
Vout
-
-
This is what the circuit can offer with its switching resources
Vin
Vout,avg
t This would have been better
Equating volt-seconds along the -axis:
( Vsr cos ) * Ts  Vdc * T 1  ( Vdc cos 60 ) * Ts

0
Equating volt-seconds along the -axis:
( Vsr sin  ) * Ts  ( Vdc sin 600 ) * T2

Solving the above two simultaneous equations, one gets:
| v sr | Ts sin(  / 3   )
T1 
Vdc sin(  / 3)
| v sr | Ts sin 
T2 
Vdc sin(  / 3)
|Vsr | represents the length of the reference Vector and  is measured
from the start of the vector. Dr.V.T.Somasekhar, Assistant
The switching sequence in Sector-1:
The switching sequence in all the sectors
Sector number On-sequence Off-sequence
1 8-1-2-7 7-2-1-8
2 8-3-2-7 7-2-3-8
3 8-3-4-7 7-4-3-8
4 8-5-4-7 7-4-5-8
5 8-5-6-7 7-6-5-8
6 8-1-6-7 7-6-1-8
DC-bus utilization with SVM
The principal advantage of the SVPWM over SPWM is

that it enhances the DC bus utilization by about 15%. It is
instructive to evaluate the sample-averaged pole voltage
of a phase, VAO for instance, to understand this fact.
During 0 0   t  30 0
Vdc / 2  T0 T 
VAO,avg    T1  T2  0 
Ts  2 2
Vdc / 2  T0 T 
VBO,avg    T1  T2  0 
Ts  2 2
Vdc / 2  T0 T 
VCO ,avg    T1  T2  0 
Ts  2 2
During 30 0   t  90 0
Vdc / 2  T0 T0 
VAO,avg     T1  T2  
Ts  2 2
Vdc / 2  T0 T 
VBO,avg     T1  T2  0 
Ts  2 2
Vdc / 2  T0 T0 
VCO ,avg     T1  T2  
Ts  2 2
VAO,avg 
Vdc / 2
Ts
*
Vsr
Vdc
*
Ts
sin 60 0
 sin( 60 0

  )  sin  
Noting that  t    30 0
when  t  30 0 and simplifying
VAO,avg  Vsr Sin t
VAO,avg 
Vdc / 2
Ts
*
Vsr
Vdc
*
Ts
sin 60 0
sin( 60 0

  )  sin  
Noting that  t    30 when
0
30 0
  t  90 0
and simplifying
Vsr
VAO,avg  Sin( t  300 )
3
Waveforms of averaged pole voltage, phase voltage and line-line voltage

The peak value of the A-phase voltage, while the inverter is
operated in the range of linear modulation is given by:
V ph, peak  (2 / 3) * Vsr

The maximum magnitude of the reference voltage space vector
corresponds to the radius of the biggest circle that can be
inscribed in the hexagon. Thus, the maximum value of the
peak-phase voltage is given by
2 3 Vdc
V ph, peak ,max  * * Vdc   0.577 * Vdc
3 2 3
• It is known that the maximum value of the peak-phase voltage

that can be obtained from a 3-Ph inverter with Sinusoidal Pulse
Width Modulation (SPWM) technique is equal to Vdc/2.
• It is therefore evident that SVPWM achieves a better DC bus

utilization compared to SPWM (by about 15.4%).
Simulation of Sinusoidal PWM technique
Steps for Simulation of sinusoidal PWM technique using MATLAB
 The 3-phase reference Sine waves are generated
 Then the carrier waveform (Triangular wave) is generated
 Both the Carrier waveform and reference waveforms are compared and the
resultant waveforms are given as control signals for the inverter whose input
voltage is DC.
 The output voltage which is a modulated wave is given as input to the 3-

phase Induction motor and hence the output observed.
Simulink block diagram
VanSinupwm
out1sinupwm
To Workspace7 VanVbnVcnSinupwm
t
To Workspace5
Clock To Workspace1 To Workspace6
Continuous
Scope3
pow ergui
Scope4
Iabcsinupwm
To Workspace3
Va iabc
Out1 Duty ratio Van2
35
f req Out2 Duty ratio1 Vbn2 Vb Te
Constant
Out3 Duty ratio2 Vcn2
Vc wr
Subsystem2 PWM 1
MOTOR MODEL1 Scope2
109.9
Display2
Tesinupwm
To Workspace2
wrsinupwm
To Workspace4
 The main Simulink block diagram of Sinusoidal PWM control consists of
3-phase Input voltage and their duty ratios within the Subsystem2 block,
PWM control circuit and then the motor model with parameters as 400V
3-phase 50Hz, 1000 rpm, Rr = 7.55,Rs = 7.83ohms, Lm = 0.4535,
Lr = 0.4751, Ls = 0.4751. also it consists of measurements of currents Iabc,
Electromagnetic torque(Te) and Speed(wr) through the workspace and

scopes.
3-Phase Induction motor model
 The motor modeling is done based on the equations available

which discussed earlier.
 Initially 3-phase voltages are converted to 2-axis voltages namely
Alpha and Beta voltages as shown below and then rotor and stator
resistance values are included.
 Estimation of currents bock is modeled along with torque and speed
blocks.
 The torque estimator block should be modeled in such a way that
load varying should be provided.
Induction motor model
VaSinupwmmotor
MOTOR MODEL IN STATIONERY FRAME
To Workspace1
IdsIqssinupwmmotor
Scope1 To Workspace2
Scope
1
Va v ds shids shids ids [ids]
Va Vds
v qs
2 Vb [ids] ids shiqs

shiqs iqs
[iqs]
Vb iqs
Vqs
[iqs]
Vc wr shirq
shidr ird
3 ird
[idr]
Vc
THREE PHASE irq shird
TO shiqr iqr [iqr]
TWO PHASE
[idr]
ESTIM ATION OF
CURRENTS
[iqr]
psi_ds
iasp
wr
To Workspace
[ids] iqs
2/3
u[1] 1/2 3
Gain5 wr
Fcn psi_qs Gain
[iqs]
f(u) 2/3 1 Te
ids
Fcn1 Gain6 iabc
f(u) 2/3
TORQUE AND
Fcn2 Gain7 SPEED CAL
2
Te
Scope4
Simulink Block Diagram

Simulation Results of Sinusoidal PWM control
 The simulation results using MATLAB Simulink are obtained as
shown below
Waveform of line-voltage Vab Waveforms of Phase voltages va, vb, and vc
No load condition Load condition
Waveform of Te (Electromagnetic torque)
(no load currents) ( load currents)
Waveforms Of Currents Ia,Ib,Ic
No-load condition Load condition
Waveform of Speed (wr)

Waveforms of Electtromagntetic Torque (Te), Currents Iabc and Speed (wr)

when load is removed
Te Currents Iabc (wr)
Fig 5.12 Harmonic Analysis of No Load current of Induction Motor
Harmonic Analysis of Phase voltage of 3-phase Induction motor

Simulation of Space Vector PWM control
The conventional implementation of the space vector PWM involves the

following steps:
1. Sector identification
2. Calculation of the active vector switching time periods T1 and T2

using eqn. 5.9.
3. Translation of the active vector switching time periods T1 and T2

into the inverter leg switching timings Tga, Tgb and Tgc.
4. Generation of the gating signals for the individual power devices

using the inverter leg switching timings Tga, Tgb and Tgc.
t Out1SVPWMpwm1
VanSVPWM
Clock To Workspace7 VanVbnVcnSVPWM
To Workspace1 To Workspace6
To Workspace5
Continuous
Scope3
pow ergui Scope5
Iabcsvpwm
Te
To Workspace4
To Workspace3
Duty ratio Van1
Out1 Va iabc
35 f req Out2 Duty ratio1 Vbn1 Vb Te
Constant
Out3 Vc wr
Duty ratio2 Vcn1
Subsystem2 PWM 1 MOTOR MODEL Scope1

109.9
Display1
To Workspace2
Simulink Block Diagram

The main Simulink block diagram of Space vector PWM control

consists of subsytem2 in which 3-phase voltages and their duty ratios
are included(with v/f constant), PWM block in which Space vector
pulses are generated and the motor model along with displays of final
speed and scope for showing Electromagnetic torque(Te) and
speed(wr).
The motor model for this technique is considered same as that of the
Sinusoidal Pwm technique
Simulation Results of Space Vector PWM control
 Simulation Results OF SVPWM control are obtained as shown below
Waveform of Line voltage Vab Waveform of Phase voltage
(no load currents) ( load

currents)
Waveforms Of Currents Ia,Ib,Ic
No load condition Load condition

Waveform of Te(Electromagnetic torque)
Speed(wr) on No-Load and Load conditions
Waveforms of Currents, Torque and Speed of 3-phase Induction Motor

when load is removed
Currents Iabc, Electromagnetic Torque (Te) Speed (wr)
Harmonic Analysis of No-load current

Dr.V.T.Somasekhar, of an Induction motor
Assistant
Harmonic Analysis ofDr.V.T.Somasekhar,

Phase voltage Assistant
of 3-phase Induction motor
Summary and Conclusions
 So far we have seen that how Sinusoidal PWM control is used to control the torque
and speed of a 3-phase Induction motor. The waveforms of phase voltages, line
voltages, Electromagnetic Torque(Te), currents(Iabc) and the speed(wr) for different
load conditions are shown. But harmonic contents are predominating and are clearly
visible in the waveforms. And hence the motor losses includes loss due to these
harmonics.
 Also the controlling of torque and speed using Space Vector PWM technique is
observed for the same Induction Motor which is considered for Sinusoidal PWM
control. The waveforms of Phase, Line voltages, Electromagentic torque , Speed and
Currents(Iabc) are shown. Even after removal of the load the initial conditions are
obtained.
 It is thus seen through simulation and analysis that the development of a voltage
modulator through space vectors is realizable.
 From the graphs and harmonic spectra obtained in subsequent chapters it is evident
that in the range of linear modulation, the predominant harmonics are pushed to the
order of the switching frequency. Also the DC bus utilization has been increased by
15% approximately.
 Thus from the above comparisons it is clear that the Space Vector PWM technique is
superior to Sinusoidal PWM technique in case of DC bus utilization as well as
harmonic reduction which resulted in smooth control of torque and speed of a 3-
phase induction motor.
References
1) Van der Brock, H.W et al.,‘Analysis and realization of a Pulse Width Modulator Based
on Voltage Space Vector’,‘IEEE Trans.Industrial Applications, Vol. IA-24, No.1, Jan
-Feb. 1988, pp. 142-150.
2) Multilevel Inverters and Modulation Techniques for Inverters a thesis work by

V. T. Somasekhar Professor , NIT Warangal.
3) R.Krishnan Electric Motor Drives Modeling,Analysis and Control TMH Publishers
4) A novel Voltage Modulation Technique of the Space Vector PWM-JOOHN-SHEOK

KIM, SEUNG-KISUL ,Dept. of electrical Engineering,Seoul National University
5) Generalised Theory of Electrical Machines - by Dr. P.S. Bimbhra Khanna Publishers
6) Power Electronics by Dr. P.S. Bimbhra, Khanna Publishers
7) Power Electronics by M.H. Rashid, Tata McGrawhill Publishers.
8) Chee-Munong Dynamic Simulation of Electric Machinery using Matlab/Simulink.
9) PWM techniques by THomas Holmes and Lipo a Wiley International press
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Inverters

 DC to AC converters are known as Inverters

 DC bus voltage control method

Fig. 3.1 (a) coupling effect in three-phase stator and rotor

 Stationary or stator reference frame

Fig. 3.2 (a) d–equivalent circuit (b) q-equivalent circuit

Why Pulse Width Modulation?

• Control of the fundamental component of the output voltage waveform

• To redistribute the harmonic energy to achieve a good spectral performance

• To achieve a good DC bus utilization

The carrier and 3-Ph modulating waves

The Pole voltage of Phase-A (switching with  Vdc/2)

Typical waveforms of phase voltage (Top) and phase current (Bottom)

Typical waveforms of phase voltage (Top) and phase current (Bottom)

Why Space Vector Modulation?

• Enhanced DC bus utilization (by about 15%)

• Better spectral performance compared SPWM

What is a Space Vector?

The space vector constituted by the pole voltages

Vs = vao + vbo ej2/3 + vco e-j2/3

instantaneous values of the respective pole voltages.

The relationship between the phase voltages and the

vxo = vxn + vno, x = a,b,c

Vno = (vao + vbo + vco) / 3

v = (3/2) (vbn – vcn)

Phase references Motor phase voltages

• To synthesize a smooth sinusoidal waveform, the inverter

• A two-level inverter possesses only 8 - switching states.

Inverter Switching states (cont’d)

Suppose that The inverter assumes a state of ‘2’ i.e. (+ + -)

vao = Vdc ; vbo = Vdc ; vco = 0

The space vector is defined as:

Vs = vao + vbo ej2/3 + vco e-j2/3

Substituting and simplifying one gets:

Vs = Vdc(1/2 + j 3/2) (in rectangular form)

= Vdc 600 (in polar form)

The switching vectors Assistant

A - phase B - phase C - phase

Sampled reference phase voltages

Locus of sampling points

( Vsr cos ) * Ts  Vdc * T 1  ( Vdc cos 60 ) * Ts

Equating volt-seconds along the -axis:

( Vsr sin  ) * Ts  ( Vdc sin 600 ) * T2

Sector number On-sequence Off-sequence

DC-bus utilization with SVM

The principal advantage of the SVPWM over SPWM is

VAO,avg  Vsr Sin t

Waveforms of averaged pole voltage, phase voltage and line-line voltage

V ph, peak  (2 / 3) * Vsr

• It is known that the maximum value of the peak-phase voltage

• It is therefore evident that SVPWM achieves a better DC bus

 The 3-phase reference Sine waves are generated

 Then the carrier waveform (Triangular wave) is generated

 The output voltage which is a modulated wave is given as input to the 3-

 The main Simulink block diagram of Sinusoidal PWM control consists of

3-phase 50Hz, 1000 rpm, Rr = 7.55,Rs = 7.83ohms, Lm = 0.4535,

Lr = 0.4751, Ls = 0.4751. also it consists of measurements of currents Iabc,

Electromagnetic torque(Te) and Speed(wr) through the workspace and

3-Phase Induction motor model