International Journal of Scientific & Engineering Research, Volume 5, Issue 2, February-2014 1472

ISSN 2229-5518

Space Vector Pulse Width Modulation

Avinash Mishra, Swaraj save, Rohit Sen

Abstract— The rapid development of high switching frequency power electronics in the past decade leads towards wider application of
voltage source inverters in AC power generation. Therefore, this prompts the need for a modulation technique with less total harmonic
distortion (THD) and fewer switching losses. Space vector pulse width modulation (SVPWM) provides a better technique compared to the
more commonly used PWM or sinusoidal PWM (SPWM) techniques. SVPWM is a more sophisticated technique for generating a
fundamental sine wave that provides a higher voltage, high reduction in the dominant harmonics and lower total harmonic distortion when
used in an inverter. In SVPWM the complex reference voltage phasor is processed as a whole, therefore, interaction between three phases
is exploited, and this strategy reduces the switching losses by limiting the switching. This paper will analyze the working and design of
SVPWM and will provide comparative analysis of improved quality with the conventional methods.

Index Terms — space vector pwm, space vector, pulse width modulation.
.

——————————  ——————————

1 INTRODUCTION

P ULSE width modulation (PWM) has been studied exten-

sively during the past decades. Many different PWM
methods have been developed to achieve the following
tortion in a three phase voltage source inverter.

aims: wide linear modulation range; less switching loss; less

2 PWM PRINCIPLE
total harmonic distortion (THD) in the spectrum of switching The dc input to the inverter is “chopped” by switching devices

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waveform; and easy implementation and less computation in the inverter (bipolar transistors, thyristors, Mosfet, IGBT
time. For a long period, carrier-based PWM methods were …etc). The amplitude and harmonic contents of the ac wave-
widely used in most applications. The earliest modulation form are controlled by controlling the duty cycle of the
signals for carrier-based PWM are sinusoidal. The use of an switches. This is the basic of the pulse width modulation
injected zero-sequence signal for a three-phase inverter initiat- PWM techniques.
ed the research on non-sinusoidal carrier-based PWM. Differ- There are several PWM techniques each has its own ad-
ent zero-sequence signals lead to different non-sinusoidal vantages and also disadvantages. The basic
PWM modulators. Compared with sinusoidal three-phase PWM techniques are described briefly in the following subsec-
PWM, non-sinusoidal three-phase PWM can extend the linear tions. The considered PWM techniques are:
modulation range for line-to-line voltages.
With the development of microprocessors, space-vector modu- 1) Sinusoidal PWM (most common)
lation has become one of the most important PWM methods
for three-phase converters. It uses the space-vector concept to 2) Space-Vector PWM
compute the duty cycle of the switches. It is simply the digital
implementation of PWM modulators. An aptitude for easy
digital implementation and wide linear modulation range for 2.1 Sinusoidal Pulse width modulation
output line-to-line voltages are the notable features of space In this method a triangular (carrier) wave is compared to a
vector modulation. The comprehensive relation of the two sinusoidal wave of the desired fundamental frequency and the
PWM methods provides a platform not only to transform from relative levels of the two signals are used to determine the
one to another, but also to develop different performance pulse widths and control the switching of devices in each
PWM modulators. Therefore, many attempts have been made phase leg of the inverter. Therefore, the pulse width is a sinus-
to unite the two types of PWM methods. oidal function of the angular position of the reference signal.
In SVPWM methods, the voltage reference is provided using a The basic principle of three phase sinusoidal PWM is shown in
revolving reference vector. In this case magnitude and fre- Fig. 1. (Refer fig.1)
quency of the fundamental component in the line side are con- The sinusoidal PWM is easy to implement using analog inte-
trolled by the magnitude and frequency, respectively, of the grators and comparators for the generation of the carrier and
reference voltage vector. Space vector modulation utilizes dc switching states. However, due to the variation of the sine
bus voltage more efficiently and generates less harmonic dis- wave reference values during a PWM period, the relation be-
tween reference values and the carrier wave is not fixed.
———————————————— Depending on whether the signal voltage is larger or smaller
• Avinash Mishra, Electrical Engineer, Professor at VIVA Institute of Tech- than the carrier waveform, either the positive or negative dc
nology, Mumbai University, India. avinash1412@hotmail.com bus voltage is applied at the output. Note that over the period
• Swaraj Save, Electrical Engineer, VIVA Institute of Technology, Mumbai of one triangle wave, the average voltage applied to the load is
University, India. swarajsave28@gmail.com
• Rohit Sen, Electrical Engineer, VIVA Institute of Technology, Mumbai proportional to the amplitude of the signal (assumed constant)
University, India. rohitsen2992@gmail.com during this period.
The resulting chopped square waveform contains a replica of
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International Journal of Scientific & Engineering Research, Volume 5, Issue 2, February-2014 1473
ISSN 2229-5518
the desired waveform in its low frequency components, with 3.1 Principle of space vector pulse width modulation
the higher frequency components being at frequencies close to Eight possible combinations of on and off patterns may be
the carrier frequency. Notice that the root mean square value achieved. The on and off states of the lower switches are the
of the ac voltage waveform is still equal to the dc bus voltage,
inverted states of the upper ones.
and hence the total harmonic distortion is not affected by the
The phase voltages corresponding to the eight combinations of
PWM process.
The harmonic components are merely shifted into the higher switching patterns can be calculated and then converted into
frequency range and are automatically filtered due to induct- the stator two phase (αβ) reference frames. This transfor-
ances in the ac system. mation results in six non-zero voltage vectors and two zero
Fig.2 is an example of the SPWM with modulation index more vectors. The non-zero vectors form the axes of a hexagon con-
than 1. However, due to the variation of the sine wave refer- taining six sectors (V1 − V6).
ence values during a PWM period, the relation between refer- The angle between any adjacent two non-zero vectors is 60
ence values and the carrier wave is not fixed. This results in electrical degrees. The zero vectors are at the origin and apply
existence of harmonics in the output voltage causing unde-
a zero voltage vector to the motor. The envelope of the hexa-
sired low-frequency torque and speed pulsations. The prob-
gon formed by the non-zero vectors is the locus of the maxi-
lems associated with SPWM are:
mum output voltage. SVPWM consists of controlling the stator
1) The machine models and characteristics used are valid only currents represented by a vector. This control is based on pro-
in steady state. This causes the control to allow high peak jections which transform a three phase time and speed de-
voltage and current transients. These damage not only the pendent system into a two co-ordinate (d and q co-ordinates)
drive dynamic performance but also the power conversion time invariant system. These projections lead to a structure
efficiency. Additionally, the power components must be over- similar to that of a DC machine control. Field orientated con-
sized to withstand the transient electrical spikes. trolled machines need two constants as input references: the
2) Great difficulty in controlling the variables with sinusoidal

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torque component (aligned with the q co-ordinate) and the
references: PI regulators cannot perform a sinusoidal regula-
tion without damaging the sinusoidal reference, and hystere- flux component (aligned with d co-ordinate). From Fig. 3
sis controllers introduce high bandwidth noise into the system Va = Vm sin (ωt)
that is hard to filter out. Vb = Vm sin (ωt – 120)
3) No three phase system imbalance management. No consid- Vc = Vm sin (ωt + 120)
eration of the phase interactions. Thus, Vs can be written as,
4) Finally, the control structure must be dedicated according
Vs = Va + Vb + Vc
to motor type (asynchronous or synchronous).
Solving above equations,
Vs = Vm[ sinωt – j cosωt ]
3 SPACE VECTOR PULSE WIDTH MODULATION
Therefore magnitude of Vs = Vm and it rotates in space by (ω
Space vector PWM refers to a special switching scheme of the
six power semiconductor switches of a three phase power rad/sec )
converter. Space vector PWM (SVPWM) has become a popular Where ω = frequency of three sine waves Va, Vb, Vc.
PWM technique for three-phase voltage-source inverters in Thus Vs = Vx + Vy----from above diagram
applications such as control of induction and permanent mag- In matrix form,
net synchronous motors. The mentioned drawbacks of the
sinusoidal PWM are reduced using this technique. Instead of
using a separate modulator for each of the three phases, the
complex reference voltage vector s processed as a whole.
Therefore, the interaction between the three motor phases is
considered. It has been shown, that SVPWM generates less
harmonic distortion in both output voltage and current ap-
Vx = Va - [ Vb + Vc ] = Va ……….1
plied to the phases of an ac motor and provides a more effi-
cient use of the supply voltage in comparison with sinusoidal Vy = [ Vb – Vc ] .………2
modulation techniques. SVPWM provides a constant switch-
ing frequency and therefore the switching frequency can be Now consider Fig. 4
adjusted easily. Although SVPWM is more complicated than Vao = Van + Vno ...……..3
sinusoidal PWM and hysteresis band current control, it may Vbo = Vbn + Vno ……….4
be implemented easily with modern DSP based control Vco = Vcn + Vno …….....5
Systems. Knowing that Van + Vbn + Vcn = 0 ………6
Adding equation 3, 4, 5 we get
Vno = [ Vao + Vbo + Vco ] ……....7
Substituting equation 7 in 3, 4 & 5,
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International Journal of Scientific & Engineering Research, Volume 5, Issue 2, February-2014 1474
ISSN 2229-5518
Van= Vao - [Vbo + Vco]
Vbn= Vbo - [Vco + Vao]
Vcn= Vco - [Vao + Vbo]
In Matrix form, hence the maximum output phase voltage and
line-to-line voltage that can be achieved by applying SVPWM
are:

Fig. 7 Space vector in sector 1

…8
Where, ∅ ⇒ position of Vs in x-y plain.
There should be a volt-sec balance which depends on magni-
3.2 Modulation index, time period and calculations of tude of Vs.
vectors
IJSER Considering Fig. 5 and Fig. 6, we get 8 combinations of VsTc = V 1 T 1 + V 2 T 2 + VzTz
switching instances as 2 switches of 3 legs of inverter will give ( The value of VzTz is always zero )
23=8. Among this 6 are active vectors and two are zero vectors
Where, Tc = ⇒ sampling time
as the combination of [1 1 1] and [0 0 0] will give zero vectors.
e.g: ( 0 0 1 ) If Tz = Tc – T 1 –T 2

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Vao = Vdc / 2 This condition is satisfied then it does not matter how long we
Vbo = - Vdc / 2 use ( 0 0 0 ) & ( 1 1 1 )
Substituting in above matrix,
Van = Vdc Maximum value of space vector i.e Vsmax = radius of circum-
scribing circle.
&Vbn = Vcn = - Vdc
= Vdccos 30
Therefore, Vx= Van --- from eq. 1
= Vdc …….9
Thus, Vx = × Vdc = Vdc
Now consider a ratio of fundamental component of SVPWM
& Vy = [ Van – Vcn ] --- from eq. 2
to square wave..
Therefore Vy = 0
Thus Vs = Vdc 0 Let, mf = …….10
Similarly for , Where,
cba V1 sp = peak of fundamental of phase voltage of
( 1 1 0 ) which is complimentary of ( 0 0 1 ), SVPWM
Vs = Vdc⎳180 V1 s = peak of fundamental of phase voltage obtained by
now for, square wave.
(011) ⇒ Vs = Vdc ⎳60⃘⃘ Now Van, Vbn, Vcn in terms of Vx & Vy are given as,
Thus for (1 0 0 ) ⇒ Vs = Vdc ⎳240 Van = Vx --- from eq. 1
Now for,
Vbn = - Vx + Vy --- from eq. 2
(010) ⇒ Vs = Vdc ⎳120
Thus for (1 0 1) ⇒ Vs = Vdc ⎳300 Vcn = - Vx - Vy --- from eq. 2
Thus we get a simple relationship between phase & pole volt- Now,
ages. Considering ( 0 0 1 )
Van peak = Vsmax
If Van, Vbn, Vcn are sinusoidal, then
Therefore, Van peak = × Vdc --- from eq. 9
Vs = M
Where M ⇒ modulation index, 0<M<1 Van peak = Vbn peak = Vcn peak = = 0.577 Vdc
ω ⇒ output frequency
Therefore
Vs ⇒ locus of circle
Vs moves in discrete steps of 60
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International Journal of Scientific & Engineering Research, Volume 5, Issue 2, February-2014 1475
ISSN 2229-5518

mf = = 0.907

thus, 90.7% of fundamental component of square wave is

available in SVPWM as compared to 78.5% of sine PWM.
Sampling time Ts should be as small as possible.
The time period can be shown graphically in Fig. 8.

4 FIGURES Fig. 3 Space vector

Fig. 4 Simplified inverter circuit for calculation

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Fig. 1 SPWM.

Fig. 5 Switching instances of MOSFET

Fig. 2 SPWM with modulation index more than 1.

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International Journal of Scientific & Engineering Research, Volume 5, Issue 2, February-2014 1476
ISSN 2229-5518
increasing the switching frequency, but in the other hand it
may increase the switching losses, therefore, switching fre-
quency must be selected to get minimum total harmonic and
switching losses. The SVPWM is a digital modulating tech-
nique. Then from the above conclusion and due to simulation
and experimental results, the SVPWM can be considered as
the best and the optimum of all PWM technique.

REFERENCES
[1] Relationship between Space-Vector Modulation and Three- Phase
Car rier-Based PWM: A Comprehensive Analysis
Keliang Zhou and Danwei Wang, Member, IEEE.

[2] Simulation and comparision of SPWM and SVPWM control for

three phase Inverter.
Fig. 6 Phasor representation of Space vector K. Vinoth Kumar, Prawin Angel Michael, Joseph P. John and Dr. S.
Suresh Kumar School of Electrical Sciences, Karunya University, Co-
imbatore, Tamilnadu, India.

[3] Analysis, Simulation and Implementation of Space Vector Pulse

Width Modulation Inverter
E. Hendawi, F. Khater and A. Shaltout
Electronics Research Institute,Cairo University, GIZA EGYPT.

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[4] Bose, B. K., “Modern Power Electronics and AC Drives,” Prentice
Hall PTR, 2002.

[5] Rashid, M. H., “Power Electronics Handbook,” Academic Press, 2001.

[6] Mohan, N., “First Course on Power Electronics and Drives,”

MNPERE, 2003.

[7] Vas, P., “Electrical Machines and Drives a Space-Vector Theory Ap-
Fig. 8 Space vector switching pattern at Sector 1 and Sector 2 proach,” Oxford University Press, 1992.

[8] Design and Implementation of Space Vector PWM Inverter

Based on a Low Cost Microcontroller
5 CONCLUSION
Mahmoud M. Gaballah
A SVPWM technique based on a reduced computation method
was presented. The SVPWM scheme can drive the inverter [9] Field Orientated Control of 3-Phase AC-Motors
gating signals from the sampled amplitudes of the reference Literature Number: BPRA073, Texas Instruments Euro
phase voltages. The switching vectors for the inverter are de-
rived using a simple digital logic which does not involve any
complex computations and hence reduces the implementation
time. SVPWM drive treats the inverter as a single unit with
eight possible switching states, each state can be represented
by a state vector in the two-axis space, the eight state vectors
formed a hexagon shape with six sectors. The modulation pro-
cedure is accomplished by switching the state vectors in each
sector by appropriate time intervals which are calculated in a
certain sampling time (Ts).The linear region in SVPWM is
larger than other types of PWM technique, where the modula-
tion index approaches to (90.7%) and the maximum output
fundamental is (0.577Vd), whereas, in the SPWM the maxi-
mum linear modulation index is (78.54%) and the maximum
output fundamental is (0.5Vd). The harmonic analysis of dif-
ferent output voltage and current, in both simulation and ex-
perimental results, gives excellent harmonic reduction and
harmonic parameters with respect to square-wave inverter.
The total losses of low order harmonics can be minimized by
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