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(
(
(
=
(
(
(
(
(
(
(
(
(
=
(
(
(
c
b
a
2 1 1
1 2 1
1 1 2
V
3
1
V
V
V
dc
cn
bn
an
Output voltages of three-phase inverter (2)
S
1
through S
6
are the six power transistors that shape the ouput voltage
When an upper switch is turned on (i.e., a, b or c is 1), the corresponding lower
switch is turned off (i.e., a', b' or c' is 0)
Line to line voltage vector [V
ab
V
bc
V
ca
]
t
Line to neutral (phase) voltage vector [V
an
V
bn
V
cn
]
t
Eight possible combinations of on and off patterns for the three upper transistors (S
1
, S
3
, S
5
)
19
/35
II. PWM METHODS
C. Space Vector PWM (3)
Output voltages of three-phase inverter (3)
The eight inverter voltage vectors (V
0
to V
7
)
20
/35
II. PWM METHODS
C. Space Vector PWM (4)
Output voltages of three-phase inverter (4)
The eight combinations, phase voltages and output line to line voltages
21
/35
II. PWM METHODS
C. Space Vector PWM (5)
Principle of Space Vector PWM
This PWM technique approximates the reference voltage V
ref
by a combination
of the eight switching patterns (V
0
to V
7
)
The vectors (V
1
to V
6
) divide the plane into six sectors (each sector: 60 degrees)
V
ref
is generated by two adjacent non-zero vectors and two zero vectors
CoordinateTransformation (abc reference frame to the stationary d-q frame)
: A three-phase voltage vector is transformed into a vector in the stationary d-q coordinate
frame which represents the spatial vector sum of the three-phase voltage
Treats the sinusoidal voltage as a constant amplitude vector rotating
at constant frequency
22
/35
II. PWM METHODS
C. Space Vector PWM (6)
Basic switching vectors and Sectors
Fig. 11 Basic switching vectors and sectors.
6 active vectors (V
1
,V
2
, V
3
, V
4
, V
5
, V
6
)
Axes of a hexagonal
DC link voltage is supplied to the load
Each sector (1 to 6): 60 degrees
2 zero vectors (V
0
, V
7
)
At origin
No voltage is supplied to the load
23
/35
II. PWM METHODS
C. Space Vector PWM (7)
Comparison of Sine PWM and Space Vector PWM (1)
Fig. 12 Locus comparison of maximum linear control voltage
in Sine PWM and SV PWM.
24
/35
II. PWM METHODS
C. Space Vector PWM (8)
Comparison of Sine PWM and Space Vector PWM (2)
Space Vector PWM generates less harmonic distortion
in the output voltage or currents in comparison with sine PWM
Space Vector PWM provides more efficient use of supply voltage
in comparison with sine PWM
Sine PWM
: Locus of the reference vector is the inside of a circle with radius of 1/2 V
dc
Space Vector PWM
: Locus of the reference vector is the inside of a circle with radius of 1/\3 V
dc
Voltage Utilization: Space Vector PWM = 2/\3 times of Sine PWM
25
/35
II. PWM METHODS
C. Space Vector PWM (9)
Realization of Space Vector PWM
Step 1. Determine V
d
, V
q
, V
ref
, and angle (o)
Step 2. Determine time duration T
1
, T
2
, T
0
Step 3. Determine the switching time of each transistor (S
1
to S
6
)
26
/35
(
(
(
(
(
(
(
=
(
(
cn
bn
an
q
d
V
V
V
2
3
2
3
0
2
1
2
1
1
3
2
V
V
frequency) l fundamenta f (where,
t 2 t )
V
V
( tan
V V V
s
s s
d
q
1
2
q
2
d
ref
=
= = =
+ =
+
(
=
(
+ =
+ + =
} } } }
+
+
\
|
= = + =
=
=
dc
ref
s
z 2 1 0
2
1
V
3
2
V
a and
f
1
T where, ), (
) 3 / ( sin
) ( sin
) 3 / ( sin
) 3 / ( sin
T T T T
a T T
a T T
z
z
z
t
o
t
o t
29
/35
II. PWM METHODS
C. Space Vector PWM (13)
Switching time duration at any Sector
Step 2. Determine time duration T
1
, T
2
, T
0
(3)
|
|
.
|
\
|
s s
=
=
|
.
|
\
|
+
=
|
|
.
|
\
|
|
.
|
\
|
=
|
.
|
\
|
=
|
.
|
\
|
=
|
|
.
|
\
|
|
.
|
\
|
+
=
60 0
6) to Sector1 is, (that 6 through 1 n where,
,
3
1
cos sin
3
1
sin cos
3
3
1
sin
3
sin
3
cos cos
3
sin
3
3
sin
3
3
1
3
sin
3
2 1 0
2
1
T T T T
n n
V
ref V T
n
V
ref V T
T
n n
V
ref V T
n
V
ref V T
n
V
ref V T
T
z
dc
z
dc
z
dc
z
dc
z
dc
z
t o t o
t o
o t o t
o t
t o
t
30
/35
II. PWM METHODS
C. Space Vector PWM (14)
Fig. 15 Space Vector PWM switching patterns at each sector.
(a) Sector 1. (b) Sector 2.
Step 3. Determine the switching time of each transistor (S
1
to S
6
) (1)
31
/35
II. PWM METHODS
C. Space Vector PWM (15)
Fig. 15 Space Vector PWM switching patterns at each sector.
(c) Sector 3. (d) Sector 4.
Step 3. Determine the switching time of each transistor (S
1
to S
6
) (2)
32
/35
II. PWM METHODS
C. Space Vector PWM (16)
Fig. 15 Space Vector PWM switching patterns at each sector.
(e) Sector 5. (f) Sector 6.
Step 3. Determine the switching time of each transistor (S
1
to S
6
) (3)
33
/35
II. PWM METHODS
C. Space Vector PWM (17)
Table 1. Switching Time Table at Each Sector
Step 3. Determine the switching time of each transistor (S
1
to S
6
) (4)
34
/35
III. REFERENCES
[1] N. Mohan, W. P. Robbin, and T. Undeland, Power Electronics: Converters,
Applications, and Design, 2nd ed. New York: Wiley, 1995.
[2] B. K. Bose, Power Electronics and Variable Frequency Drives:Technology
and Applications. IEEE Press, 1997.
[3] H.W. van der Broeck, H.-C. Skudelny, and G.V. Stanke, Analysis and
realization of a pulsewidth modulator based on voltage space vectors,
IEEE Transactions on Industry Applications, vol.24, pp. 142-150, 1988.
35