Advanced Materials Research Vol 580 (2012) pp 320-324 Online: 2012-10-08

© (2012) Trans Tech Publications, Switzerland

doi:10.4028/www.scientific.net/AMR.580.320

Simulation of PMSM Vector Control Based on SVPWM AND SVPWM

ALGORITHM
Jun Gui 1, a, Na Zhang 2,b and Lijun Liu 3,c
School of Information Science and Engineering
Shenyang University of Technology
Shenyang, Liaoning, China
[email protected] [email protected] [email protected]

Keywords: PMSM; SVPWM; simulation;

Abstract. In the field of Permanent Magnet Synchronous Motor (PMSM) control, SVPWM method
is one of the new techniques have been developed in recent years. This paper presented the SVPWM
method, including the reference voltage projection and the space vector duration calculation. Then the
simulation results also are presented.

Introduction
Permanent magnet synchronous motor has the characteristics of high efficiency, which has been
widespread application in the various electric drives. The most commonly control approaches are
sinusoidal PWM, field-control, the control based on DSP and Space vector PWM (SVPWM).
The SVPWM technique was proposed in recent years and widely used in inverter. Compared to
the sinusoidal pulse width modulation and other patterns, SVPWM is more suitable for digital
implementation. It aims to control the motor flux vector in a circular orbit, which results in less
harmonic distortion, faster dynamic response and wider liner range of fundamental voltage [1]. The
SVPWM method is the type which is derived form level SVPWM, that the reference voltage is
decomposed and one new hexagon is selected, then the two neatest adjacent vectors and their duration
time are determined like two level SVPWM [2].
This paper, the SVPWM method is detailed presented including the reference voltage projection
and the space vector duration calculation. And in the paper, it also develops simulation program using
Matlab/Simulink.

SVPWM algorithm
A:the three-phase voltage source inverter
SVPWM refers to a special way to determine switching sequence in three-phase voltage source
inverters. Eight basic space vectors generate output voltages to motor.

Fig.1 A three phase voltage source inverter

In fig.1 is a three-phase voltage source inverter and Va, Vb, Vc are the output voltage which
modulate PMSM speed. In the three-phase voltage source inverter, c1 and c2, 3 and 4, 5 and 6 is
locked each other. On the other words, when c1 (c1=1) is on then c2 (c2=0) is off at the same time.

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 Advanced Materials Research Vol. 580 321

SVPWM is to determine the switching sequence of upper sides. The on and off status of the three
upper transistors compose eight space vectors [3].
B: voltage of Space Vector PWM
The three-phase voltage source inverter has eight switch states, corresponding to 8-space
vectors: U 0 ,U 60 ,U120 ,U180 ,U 240 , U 300 , O000 , O111 , here six states are working non-zero vectors and two
states ( O000 , O111 ) are zero vectors; the angle between two adjacent non-zero vector is 60 degrees. The
space voltage vector PWM is shown as Fig.2 [2].
V3 (010) Ia V2 (110)

1
3

V∗T
V4 (011) V0 (000) V1 (100)
2
V2
T5
V7 (111) T1 Re
V1
4 T5
6
5
V6 (101)
V5 (001)

Fig.2: Voltage space vector

The SVPWM method with zero vectors that combined with states O000 and O111 in each sector is
adopted in this paper. The inclusion of zero vectors helps to balance the turn on and turn off periods
of the transistors, and thus their power dissipation [3].
If the reference voltage is set in the sector 1, Vref can be compounded by V4 and V6 and the
equation can be expressed as:

V4 * T4 + V6 * T6 = Vref * T
（1）
T = T4 + T6 + T0
Where T is switch period. T4, T6 are operating times corresponding to V4 and V6. The voltage
vector Vα,Vβ in α-β reference coordinate frame is[6]:

T6
Vsβ ref = V6 cos 30°
T
T
Vsα ref = 6 V6 + x （2）
T
V
x = sα ref
tan 60°
2U dc
The amplitude of each basic space vector is , so we can get:
3
T6 = Vβ ref ⋅ 3T / U dc
（3 ）
T4 =
1
2
( )
3Vα ref − Vβ ref ⋅ 3 / U dc
Then operating time in other sector corresponding to the voltage can be calculated in the same way
[3]
.
322 Mechanical Properties and Structural Materials

The steps of SVPWM

1) Determination of the sector: Modified the Clark-1 transformation before to determine the
sector[11]. The Clark-1 transformation as followings:

 
1 0 
Va   
V  =  −1 3  Vβ 
 b   2 2  V  (4)
Vc    α 
−1 − 3 

 2 2 
Then, the output waveforms of Va ,Vb andVc for sinusoid wave input (Vα,Vβ) can be calculated.
They can determine the sector according to the following rules [6]:
If Va > 0 ， then a=1 else a=0
If Vb > 0 ，then b=1 else b=0
If Vc > 0 ，then c=1 else c=0

Sector = a +2b +4c (5)

2) Calculation of T1 and T2: To calculate and saturate the duration of two sectors boundary
vectors application.
Form equations (5) above, can get that:

T
TX = 3 Vsβ ref
VDC
T （6）
TY = (3Vsα ref + 3Vsβ ref )
2VDC
T
TZ = (−3Vsα ref + 3Vsβ ref )
2VDC
The table 1 shows the time in each sector.

TABLE Ⅰ T1 and T2 in specific sectors

S3 S1 S5 S4 S6 S2
-TZ TZ TX -TX -TY TY
TX TY -TY TZ -TZ -TX

3) The third step is to compute the three necessary duty cycles. This is shown below:

T − t1 − t2
taon =
2
tbon = taon + t1
tcon = tbon + t2 （7）

4) The last step is to assign right duty cycle (txon ) to the right motor phase according to the sector.
The table 2 below depicts this determination.
 Advanced Materials Research Vol. 580 323

Table 2 Assigning the Right Duty Cycle to the Right Motor Phase

Sector 1 2 3 4 5 6

Phase
Ta Taon Tbon Tcon Tcon Tbon Taon

Tb Tbon Taon Taon Tbon Tcon Tcon

Tc Tcon Tcon Tbon Taon Taon Tbon

Simulink and results

After analyzing the SVPWM method and getting the steps of determine the voltage, the simulation
mode of SVPWM apply for PMSM system is established. The simulation model is under the
environment of MATLAB 7.1/Simulinkusing due to its rich module libraries. The system structure is
shown in fig.3, and the results of it are also shown.
Set the motor speed is 100rad/s as the reference speed and start motor with no-load. PWM cycle
T=0.0001s, the load increases to 5 Nm. Simulation time is 0.06s, and the simulation waveform is
shown in figure. 3.

Fig .3 Simulation model of SVPWM system

Here is the waveform of torque via the experiment as shown in figure.4 , we could get that the
torque is large at the beginning; the torque is descend along with the time and then is close to zero at
the end.
In the figure.5, at the beginning of the waveform of speed there is a bit ascended and then get stead.

Fig .4: Waveform of torque Fig .5: Waveform of t speed

324 Mechanical Properties and Structural Materials

In the figure.6 and figure.7, there are waveforms of three currents and voltage.

Fig .6: Waveform of current Fig .7: Waveform of and voltage

Simulation results are in accord with the performance characteristic of PMSM, which proves the
accuracy of the SVPWM algorithm and the control model, and provides theory basis for actual design
of control system.

CONCLISIONS
This paper proposed one phase voltage coordination projection based on SVPWM algorithm,
presented the method to calculate the duration , selected redundant switch vectors , presented the
SVPWM method and the simulation of SVPWM the PMSM.

References
[1] Limei Zhao,“A DSP_Based Super High-Speed PMSM Controller Development and
Optimization”,
IEEE 11th digital Signal Processing Workshop & IEEE Signal Processing Education Workshop,
Vol.1, pp. 187-190, 2004
[2] Feirong Jiang, Wei zhang,“A MC56F8357 Based Permanent Magnet Synchronous Motor
(PMSM) Servo System”,proc. of SCI on Power Electronics,pp.1519-1523
[3] Si Xiaoping, Wang Jidong, “A Vector-control System Based on Fuzzy Self-tuning PID controller
for PMSM”, IEEE 978-1-4244-7161-4/10, 2010
[4] Xudong Wang, Risha Na,“Simulation of PMSM Field-Oriented Control Based on SVPW”,IEEE
978-1-4244-2601-0/09,2009
[5] Rongfeng Yang, Gaoling Wang, “A Fast generalizaed Multilevel Voltage SVPWM Algorithm
Based on Voltage Decomposition”,IEEE978-1-4244-5046-6/10,2010
[6] TEXAS INSTRUMENTS “Implementation of a Speed Field Oriented Control of 3-phase PMSM
Motor using TMS320F240”
[7] Ying-Shieh Kung, “High Performance Position Controller for PMSM Drives Based on
TMS320f2812 DSP”,IEEE International Conference on Control Applications
Taipei,Taiwan,Stptember 2-4, 2004
Mechanical Properties and Structural Materials
10.4028/www.scientific.net/AMR.580

Simulation of PMSM Vector Control Based on SVPWM and SVPWM Algorithm

10.4028/www.scientific.net/AMR.580.320

DOI References
[3] Si Xiaoping, Wang Jidong, A Vector-control System Based on Fuzzy Self-tuning PID controller for
PMSM, IEEE 978-1-4244-7161-4/10, (2010).
doi:10.1109/ICEEE.2010.5661316
[4] Xudong Wang, Risha Na, Simulation of PMSM Field-Oriented Control Based on SVPW, IEEE 978-1-
4244-2601-0/09, (2009).
doi:10.1109/VPPC.2009.5289523
[5] Rongfeng Yang, Gaoling Wang, A Fast generalizaed Multilevel Voltage SVPWM Algorithm Based on
Voltage Decomposition, IEEE978-1-4244-5046-6/10, (2010).
doi:10.1109/ICIEA.2010.5515634
[7] Ying-Shieh Kung, High Performance Position Controller for PMSM Drives Based on TMS320f2812
DSP, IEEE International Conference on Control Applications Taipei, Taiwan, Stptember 2-4, (2004).
doi:10.1109/CCA.2004.1387226