MODELING AND SIMULATION

OF SVPWM BASED
APPLICATION
A Project Submitted

In Partial fulfillment of Requirement

For the degree of

Bachelor of Engineering
(Electrical Engineering)
By

Ashish K. Porwal
Ketan M. Baria

Department of Electrical Engineering

Faculty of Technology and Engineering
THE MAHARAJA SAYAJIRAO UNIVERSITY OF BARODA
April-2014
 CERTIFICATE
This to certify that this project entitled “Modeling and Simulation of SVPWM
Based Application” prepared and submitted by Ashish K. Porwal (448) and
Ketan M. Baria (405) in partial fulfillment of the requirement for the award
of degree of Bachelor of Engineering in Electrical Engineering department of
The Maharaja Sayajirao University, Vadodara.

The work embodied in the project has not been submitted previously for
the award of degree or diploma.

Guide: Head

Mrs. Anuradha S. Deshpande Prof. S.K. Joshi

Associate Professor
Electrical Engineering Department Electrical Engineering Department
Faculty of Tech. and Engineering

Department of Electrical Engineering

Faculty of Technology and Engineering
THE MAHARAJA SAYAJIRAO UNIVERSITY OF BARODA
April-2014
 ACKNOWLEDGEMENT

It is a great pleasure and privilege to have opportunity to take this project work entitled
“Modeling and Simulation of SVPWM Based Application”. We would like to express our
sincere gratitude to our guide Mrs. Anuradha S. Deshpande, Associate Professor,
Electrical Engineering Department, Faculty of Technology and Engineering, The M.S.
University of Baroda for her inspiring guidance and valuable suggestions that has been
the driving force in success of our project work.

We are thankful to Prof. S.K. Joshi, Head of Electrical Engineering Department, Faculty
of Technology and Engineering, The M.S. University of Baroda, for permitting us to do
this work.

We would like to thank our family and friends whose constant support helped us in
completing our project work.

We would like to thank God for blessing us forever.

Ashish K. Porwal
Ketan M. Baria

CONTENTS
PARTICULARS PAGE NO.
¿ ABSTARCT

1. INTRODUCTION

1.1 ABOUT PWM

1.2 RECENT PWM TRENDS

2. PRINCIPLE OF PULSE WIDTH MODULATION IN INVERTER

2.1 SINGLE PHASE PWM

2.2 PRINCIPLE OF SPACE VECTOR PWM
2.3 IMPLEMENTATION OF SVPWM
2.4 REPRESENTATION OF SPACE VECTORS

3. REALIZATION OF SPACE VECTOR PWM

3.1 DETERMINE Vd, Vq, Vref AND ANGLE

3.2 DETERMINE TIME DURATION T1, T2, T0
3.3 DETERMINE THE SWITCHING TIME OF EACH TRANSISTOR
3.4 COMPARISON OF SPWM AND SVPWM

4. SIMULATION OF SVM TECHNIQUE

4.1 STEPS TO BUILD MATLAB/SIMULINK MODEL

4.2 DETERMINE SECTOR
4.3 DETERMINE TIME DURATION T1, T2 AND T0
4.4 GENERATE OUTPUT VOLTAGES THE INVERTER
4.5 WAVEFORMS OF SIMULATION RESULTS

¿ CONCLUSION

¿ REFERENCES

ABSTRACT
Recent developments in power electronics and semiconductor technology have lead to
widespread use of power electronic converters in the power electronic systems. A
number of Pulse width modulation (PWM) schemes are used to obtain variable voltage
and frequency supply from a three-phase voltage source inverter. Among the different
PWM techniques proposed for voltage fed inverters, the sinusoidal PWM technique has
been popularly accepted. But there is an increasing trend of using space vector PWM
(SVPWM) because of their easier digital realization, reduced harmonics, reduced
switching losses and better dc bus utilization. This project focuses on step by step
development of SVPWM technique. Simulation results are obtained using
MATLAB/Simulink software for effectiveness of the study.

1. INTRODUCTION

1.1 ABOUT PWM

 The inverters are used to converts dc power into ac power at desired output voltage
and frequency. The waveform of the output voltage depends on the switching states
of the switches used in the inverter. Major limitations and requirements of inverters
are harmonic contents, the switching frequency, and the best utilization of dc link
voltage. Pulse width modulation (PWM) inverters are studied extensively during the
past decades. In this method, a fixed dc input voltage is given to the inverter and a
controlled ac output voltage is obtained by adjusting the on and off periods of the
inverter components. The most popular PWM techniques are the sinusoidal PWM
and space Vector PWM. The Space Vector PWM is an advanced, computation
intensive and possibly the best among all PWM technique. Because of its superior
performance characteristic, it has been finding widespread application in recent
years.

 It can be shown that the reference voltage vector rotates in circular orbit with some
angular velocity, where the direction of rotation depends on the phase sequence of
voltages. With sinusoidal three phase input voltages, using some PWM technique,
PWM signals are generated which then fed to the inverter such that the output
voltages of inverter follows these input voltages with minimum amount of harmonic
distortion.

 Space-vector concept is used to compute the duty cycle of the switches. It is simply
the digital implementation of PWM modulators. Most advanced features of SVM are
easy digital implementation and wide linear modulation range for output line-to-line
voltages.

1.2 RECENT PWM TRENDS

Pulse Width Modulation variable speed drives are increasingly applied in many
new industrial applications that require superior performance. Recently,
developments in power electronics and semiconductor technology have lead
improvements in power electronic systems. Hence, different circuit configurations
namely multilevel inverters have become popular and considerable interest by
researcher are given on them. Variable voltage and frequency supply to ac drives
is invariably obtained from a three-phase voltage source inverter. A number of
Pulse width modulation (PWM) schemes are used to obtain variable voltage and
frequency supply. The most widely used PWM schemes for three-phase voltage
source inverters are carrier-based sinusoidal PWM and space vector PWM
(SVPWM). There is an increasing trend of using space vector PWM (SVPWM)
because of their easier digital realization and better dc bus utilization.

2. PRINCIPLE OF PULSE WIDTH MODULATION IN INVERTERS

 Output voltage from an inverter can also be adjusted by exercising a control
within the inverter itself. The most efficient method of doing this is by pulse-width
modulation control used within an inverter.

 In this method, a fixed dc input voltage is given to the inverter and a controlled ac
output voltage is obtained by adjusting the on and off periods of the inverter
components. This is the most popular method of controlling the output voltage and
this method is termed as Pulse-Width Modulation (PWM) Control.

The advantages possessed by PWM techniques are as under:

(i) The output voltage control with this method can be obtained without any
additional components.

(ii) With the method, lower order harmonics can be eliminated or minimized
along with its output voltage control. As higher order harmonics can be
filtered easily, the filtering requirements are minimized.

 PWM inverters are quite popular in industrial applications. PWM techniques are
characterized by constant amplitude pulses. The width of these pulses is however
modulated to obtain inverter output voltage control and to reduce its harmonic
content.

2.1 SINGLE PHASE PWM

 Fig. 2.1 shows circuit model of a single phase inverter with a center-taped
grounded DC bus and fig. 2.2 shows illustrates principle of pulse width modulation.

Fig. 2.1 Circuit model of single phase inverter

Fig. 2.2 Pulse Width Modulation

As shown in fig. 2.2, the inverter output voltage is determined as following:

When Vsine > Vcar, output voltage V = Vdc/2

 When Vsine < Vcar, output voltage V = -Vdc/2

 Also the inverter output voltage has following features:

(i) PWM frequency is same as carrier wave frequency
(ii) Amplitude is controlled by the peak value of sine wave
(iii) Fundamental frequency is controlled by the frequency of sine wave

 Modulation index (m) is defined as:

m = Vsine
Vcar

2.2 PRINCIPLE OF SPACE VECTOR PWM

To understand SVM theory, the concept of a rotating space vector is very important.
Considering three phase sinusoidal voltages, given by following equations,

Va=Vm ∙sin ωt (2.1)

Vb=Vm ∙ sin( ωt−120) (2.2)
Vc=Vm ∙ sin ⁡(ωt +120) (2.3)

These three vectors can be represented by a one vector which is known as space vector.
Space vector (Vs) is defined as,
( j 23π ) (− j32 π ) (2.4)
Vs=Va+Vb∗e +Vc∗e
3
∴ Vs= Vm ( sin ωt − j cos ωt ) (2.5)
2

i.e, Vs is a vector having magnitude of (3/2)Vm and rotates in space at ω rad/sec as

shown in Fig. 2.3

Fig. 2.3 Rotating Space Vector

 The figure 2.4 below shows three phase voltage source inverter feeding an AC motor.
 Fig. 2.4 Three phase voltage source inverter

 Here S1 to S6 are six power switches that shape the output, which are controlled by the
switching variables a, a’, b, b’, c, c’. When an upper transistor is switched ON, i.e., when
a, b or c is 1, the corresponding lower transistor is switched OFF, i.e., the corresponding
a’, b’ or c’ is 0. Therefore, the ON and OFF states of the upper transistors S1, S3 and S5
can be used to determine the output voltage.

Hence there are 8 possible switching states,

i.e.,(0,0,0), (0,0,1), (0,1,0), (0,1,1), (1,0,0),(1,0,1), (1,1,0), (1,1,1).

 The inverter has six states when a voltage is applied to the motor and two states when
the motor is shorted through the upper or lower transistors resulting in zero volts being
applied to the motor.

These different eight states are shown below in fig. 2.5

 Fig. 2.5 Inverter voltage vectors (V0 to V7)

2.3 IMPLEMENTATION OF SVPWM

 To implement space vector PWM, the voltage equations in the abc reference frame can
be transformed into stationary dq reference frame that consists of the horizontal direct
(d) axis and vertical quadratic (q) axis as shown in fig. 2.6 below.

Fig. 2.6 abc to dq transformation

 From this figure, the relation between these two reference frames is given below.

2
Vd= ¿ (2.6)
3

2
Vq= ¿ (2.7)
3

1
V 0= (Va+Vb+Vc) (2.8)
3

Where ω = rotation speed (rad/s) of rotating frame

 The transformation is the same for the case of a three-phase current.

This transformation is commonly used in three-phase electric machine models, where it

is known as a Park transformation. It allows us to eliminate time-varying inductances by
referring the stator and rotor quantities to a fixed or rotating reference frame. In the
case of a synchronous machine, the stator quantities are referred to the rotor.

For ideal cases,

considering the angle ωt
 =90˚, this transformation can be easily shown in matrix form as below (not considering
zero sequence quantity)

(2.9)

 With respect to this dq transformation, space vector can be represented as,

Vs = Vd + jVq (2.10)
Vq
and θ=ωt=tan−1 (2.11)
Vd

 To obtain values of voltages in eight different switching states,

Consider an inverter feeding a star connected load and center point of the dc link is taken
as reference point as shown in fig. 2.7,

Fig. 2.7 Inverter feeding a star connected load

 The potential of point a, point b & point c with respect to the center point of the dc link
is known if the conducting states of the switches are known.

Vdc
When upper switch is “ON‟, the potential of a, b & c is 2
and when lower switch is
−Vdc
“ON‟, the potential of a, b & c is 2
.
 If the three phase load neutral is connected to the center tap of dc voltage, then the
load voltages are Va0, Vb0 and Vc0. With an isolated neutral(usual for a machine), the
equivalent circuit is shown in fig. 2.7
So, we can write the following equations:

Va 0=Van+ Vn0 (2.12)

Vb 0=Vbn+Vn 0 (2.13)
Vc 0=Vcn+Vn0 (2.14)

Since the load phase voltages are balanced, in other words

Van+Vbn+Vcn=0 , adding these equations, we get

3 Vn 0+0=Va 0+ Vb0+ Vc 0
1
Or Vn 0= (Va 0+Vb 0+Vc 0) (2.15)
3

Therefore, substituting Equation (2.15) in (2.12), (2.13) and (2.14), respectively, we get

2 1 1
Van= Va 0− Vb 0− Vc 0 (2.16)
3 3 3
2 1 1
Vbn= Vb 0− Va 0− Vc 0 (2.17)
3 3 3
2 1 1
Vcn= Vc 0− va 0− Vb 0 (2.18)
3 3 3

In matrix form, above equations can be represented as below,

  Consider the switching states, (0,0,0) & (1,1,1), for that

Van=Vbn=Vcn=0
Hence, Vd=Vq=0
Therefore, Vs=0∠0˚

 Now consider the switching state (1,0,0),

Vdc −Vdc
Va 0= ∧Vb0=Vc 0=
2 2

2 −1
∴ Van= Vdc∧Vbn=Vcn= Vdc
3 3

3
Hence, Vd= Van=Vdc∧Vq=0
2

Therefore, Vs=Vdc∠0°

Since (0,1,1) is the complementary of (1,0,0),

For (0,1,1), Vs=Vdc∠180°

 Similarly deriving the magnitude and angle of space vector for all possible switching
states.
They are,
For (0,0,0) : Vs= 0∠0° →V0
For (1,0,0) : Vs= Vdc ∠0° →V1
For (1,1,0) : Vs= Vdc ∠60° →V2
For (0,1,0) : Vs= Vdc ∠120° →V3
For (0,1,1) : Vs= Vdc ∠180° →V4
For (0,0,1) : Vs= Vdc ∠240° →V5
For (1,0,1) : Vs= Vdc ∠300° →V6
For (1,1,1) : Vs= 0∠0° →V7
 There are 6 non-zero vectors (V1 to V6) and 2 zero vectors (V0 & V7).The on and off
states of lower power devices are opposite to the upper one and so are easily
determined once the states of the upper power transistor are determined.

 This table 2.1 summarizes switching vectors along with the corresponding line to
neutral voltage and line to line voltages applied to the motor.

Table 2.1 Switching vectors, Phase voltages and output line to line voltages

 Here in this table, each coefficient is multiplied by Vdc.

 2.4 REPRESENTATION OF SPACE VECTORS

While plotting 8 voltage vectors in complex plane, the 6 non-zero vectors form the axes
of a hexagon as shown in fig.2.8.

 The angle between any adjacent two non-zero vectors is 60 electrical degrees. The zero
vectors (or null vectors) are at the origin.

 If the phase voltages are sinusoidal, locus of the Vs is circle.

The maximum value of Vs for which locus is circle is the radius of the inscribing circle
3
i.e. √ Vdc.
2

Fig. 2.8 Basic Switching vectors and Sectors

 Here in fig 2.8. there are 6 non-zero vectors (V1,V2, V3, V4, V5, V6), during which DC link
voltage applied to the load and each sector covers 60 degree.

 Also there are 6 non-zero vectors (V1,V2, V3, V4, V5, V6) at origin during which all phases
of load are shorted hence no voltage applied.
 3. REALIZATION OF SPACE VECTOR PWM

The objective of Space Vector PWM technique is to approximate the reference

voltage vector Vref, using the eight switching patterns. One simple method of
approximation is to generate the average output of the inverter in a small period T, to
be same as that of Vref in the same period.

 The space vector PWM is realized based on the following steps:

Stage 1: Determine Vd, Vq, Vref and angle (α )

Stage 2: Determine time duration T1, T2, T0
Stage 3: Determine the switching time of each transistor (S1 to S6)

3.1 : DETERMINE Vd, Vq, Vref AND ANGLE (α )

From equation (2.9) of previous chapter, the Vd, Vq, Vref and angle (α ) can be
determined as follows:

(3.1)

∴ Vref = √V d 2+ V q2

and α =tan−1 ( VqVd )=ωt=2 πft

where f = Fundamental frequency

3.2 : DETERMINE TIME DURATION T1, T2, T0

 In space vector PWM technique, the required space vector is synthesized by two
adjacent vectors and null vector.

 Switching time duration at Sector 1:

From fig. 3.1, the switching time duration can be calculated as follows:

Fig. 3.1 Reference vector as a combination of adjacent vectors at sector 1

Now,
Tz T1 T 1+T 2 Tz

∫ V́ refdt=∫ V́ 1 dt + ∫ V́ 2 dt + ∫ (V́ 0∨V́ 7) dt

0 0 T1 T 1+T 2

∴ Tz ∙ V́ ref =T 1∙ V́ 1+T 2∙ V́ 2

2 2
∴ Tz ∙|V́ ref |∙ cos α =T 1∙ ∙Vdc ∙ 1 +T 2 ∙ ∙ Vdc ∙ ¿
[ ]
sin α 3 0 3 []
(π ¿¿ 3−α )
∴ T 1=Tz ∙ p ∙sin ¿ (3.2)
sin ¿ ¿ ¿ ¿

sin α
∴ T 2=Tz ∙ p ∙ (3.3)
sin ¿ ¿ ¿ ¿
 And T 0=Tz−( T 1+T 2) (3.4)

Where, T1 = time for which V1 is applied

T2 = time for which V2 is applied
T0 = time for which null vector is applied
p=¿ V́ ref ∨ ¿
¿
2
Vdc
3
Tz= period during w h ic h average output s h ould matc h t h e input
Ts
¿
2
1
Ts = sampling time = fs & fs = fundamental frequency
0 ≤ α ≤ 60˚

 In general, switching time duration any sector can be determined as follows,

π n−1
Vdc 3 ( (
T 1=√ 3 ∙ Tz ∙∨V́ ref ∨ ¿ sin −α +
3
π ¿ ))
nπ
( (
¿ √ 3 ∙ Tz ∙∨V́ ref ∨ ¿ sin
Vdc 3 ))
−α ¿

nπ nπ
(
¿ √ 3 ∙ Tz ∙∨V́ ref ∨ ¿ sin
Vdc 3
cos α −cos sin α ¿
3 )
n−1
Vdc ( (
T 2=√ 3 ∙ Tz ∙∨V́ ref ∨ ¿ sin α −
3
π ¿))
n−1 n−1
(
¿ √ 3 ∙ Tz ∙∨V́ ref ∨ ¿ sin α ∙ cos
V dc 3
π−cos α ∙ sin
3 )
π ¿

Where n = 1 to 6 (i.e. Sectors)

0 ≤ α ≤ 60˚

3.3 : DETERMINE THE SWITCHING TIME OF EACH TRANSISTOR (S1 TO S6)

 Fig. 3.2 shows Space Vector PWM switching patterns at each sector.

Fig.
3.2

Space
Vector

switching patterns
each sector

Based on Figure 3.2, the switching time at each sector is summarized in Table 3.1,
and it will be built in simulink model to implement SVPWM.
 Table 3.1 Switching time calculation at each sector

3.4 COMPARISON OF SPWM AND SVPWM

 Sinusoidal Pulse Width Modulation

In many industrial applications, Sinusoidal Pulse Width Modulation (SPWM) is

used to control the inverter output voltage. SPWM maintains good performance
of the drive in the entire range of operation between zero and approx. 78
percent of the value that would be reached by square-wave operation. If the
modulation index exceeds this value, linear relationship between modulation
index and output voltage is not maintained.

Fig. 3.3 Sinusoidal PWM

(Reference: Modern power electronics and AC drives By Bim al K. Bose

Prentis Hall of india PVT LTD, Newdelhi)

 Space Vector Pulse Width Modulation

A different approach to SPWM is based on the space vector representation of

voltage in the d, q components are found by Park Transformation, where the
total power, as well as impedance remains unchanged.
In this technique, phase to center voltage contains the triple order harmonics but that
will not appear in the phase to phase voltage. This leads to the higher modulation index
compared to SPWM.

Hence, SPWM only reaches to 78 percent of square wave operation, but the amplitude
of maximum possible voltage is 90 percent of square wave in case of space vector PWM.
The maximum phase to center voltage by sinusoidal and space vector PWM are
respectively.

Vdc
Vmax= :Sinusoidal
2

Vdc
Vmax= :Space vector PWm
√3

This means that Space vector PWM can produce about 15 percent higher than sinusoidal
PWM in output voltage.
 4. SIMULATION OF SVM TECHNIQUE

4.1 STEPS TO BUILD MATLAB/SIMULINK MODEL:

1. Determine Sector
2. Determine time duration T1,T2,T0
3. Determine switching time of each switch (S1 to S6)
4. Generate output voltages the inverter

 Fig. 4.1 given below shows coding for abc to dq conversion in Embedded matlab
function block.

Fig. 4.1 abc

to dq conversion

 Fig. 4.2 given below shows magnitude and angle determination, required for
further reference.

Fig. 4.2

Magnitude and angle determination

4.2 DETERMINE SECTOR

This block is shown in fig. 4.3 which identifies the sector corresponding to the angle
between Vd and vq voltages. Here each sector sector covers 60 degree angle.

Fig. 4.3 Sector determination

4.3 DETERMINE TIME DURATION T1, T2 AND T0

This block is shown in fig. 4.4. It calculates the time T1, T2 and T0 for the calculation.

Fig. 4.4 Determination of the T1, T2 and T0

4.4 DETERMINE SWITCHING TIME OF EACH SWITCH (S1 TO S6)

Here from T1, T2 and T0, the time for switch S1, S3 and S5 (i.e. upper branch switches
in inverter) for each sector is calculated. S2, S4 and S6 are inverse of S1, S3 and S5
respectively.

Fig. 4.5 Determination of switching time for each switch

4.5 GENERATE OUTPUT VOLTAGES THE INVERTER

This block is the combination of the all previous blocks. This generates the getting
pulses which are fed to the inverter and output of inverter voltage is given to
Asynchronous motor. (here motor is taken as load.)

Fig. 4.6 Space Vector PWM fed inverter

4.6 WAVEFORMS OF SIMULATION RESULTS:

1. Waveforms of getting pulses for six switches

2. Waveforms of line voltages

3. Waveforms of Phase voltages

 4. Waveforms of line currents

CONCLUSION:

Here in this project, the Space Vector Pulse Width Modulation Technique is
implemented in voltage source inverter. SVPWM shows that output voltage is free from
third harmonic. Also, In SVPWM technique the utilization of DC supply by inverter is
more than in the SPWM (Sinusoidal Pulse Width Modulation) method. Here 15 percent
more dc voltage is utilized.
REFERENCES:
1. Power Electronics: Circuits, Devices and Applications By P S Bhimrah
2. Power Electronics: Circuits, Devices and Applications By Muhammad H. Rashid
3. Modern Power Electronics and AC drives By Bimal K. Bose
4. International Journal of Advanced Research in Electrical, Electronics and
Instrumentation Engineering; Vol. 2, Issue 5, May 2013; Devisree Sasi, Jisha
Kuruvilla
5. Control of Voltage Source Inverters using PWM/SVPWM for Adjustable Speed
Drive Applications; BACHELOR OF TECHNOLOGY - ELECTRICAL ENGINEERING Sunil
Panda,Anupam Mishra, B. Srinivas ; Department of Electrical Engineering National
Institute Of Technology Rourkela, Rourkela - 769008 ;May 2009
6. Modeling and Simulation of Space Vector Pulse Width Modulation based
Permanent Magnet Synchronous Motor Drive; International Journal of Science
and Modern Engineering (IJISME) ;ISSN: 2319-6386, Volume-1, Issue-9, August
2013