 Space vector modulation is an algorithm for the control of pulse

width modulation.
 SVPWM is considered a better technique of PWM implementation, as
it provides the following advantages
 Better fundamental output voltage.
 Useful in improving harmonic performance and reducing THD.
 Extreme simplicity and its easy and direct hardware
implementation in a Digital Signal Processor (DSP).
 SVPWM can be efficiently executed in a few microseconds, achieving similar
results compared with other PWM methods
 The relationship between the switching variable vector [a, b, c]t and the line-to-line
voltage vector [Vab Vbc Vca]t is given in the following:

Vdc a b c
Vab  Vdc
Vbc  Vdc
Vca  0
 Also, the relationship between the switching variable vector [a, b, c]t and the phase
voltage vector [Va Vb Vc]t can be expressed below.
a
2Vdc
Van 
3
Vdc V
Vbn   dc
3
V
Vcn   dc
b c 3
 The relationship between the switching variable vector [a, b, c]t and the line-to-line
voltage vector [Vab Vbc Vca]t is given in the following:

 Also, the relationship between the switching variable vector [a, b, c]t and the phase
voltage vector [Va Vb Vc]t can be expressed below.
 There are eight possible combinations of ON and OFF patterns for the three
upper power switches.
 The ON and OFF states of the lower power devices are opposite to the upper
one and so are easily determined once the states of the upper power
transistors are determined.
 Six out of these eight topologies producing a nonzero output voltage are known
as the non-zero switching states and the remaining two topologies producing
zero output voltage are known as zero switching states.

V1 = [1 0 0 ]
V2 = [1 1 0] V3 = [ 0 1 0 ]

V4 = [0 1 1] V5 = [0 0 1]

V6 = [1 0 1 ]
 V0 = [0 0 0 ]

V7 = [1 1 1 ]
 Space Vector Modulation (SVM) for three-leg VSI is based on the
representation of the three phase quantities as vectors in a two-
dimensional (d, q) plane.
 Considering topology in Figure. The line voltages Vab ,Vbc and
Vca are given by

V1 = [1 0 0 ]
 Each switching combination results in a set of three phase voltages at the AC
terminal of the switching network. A reference vector V1 can be obtained by
transforming the reference three-phase voltage into the d-q plane. A balanced
three-phase sinusoidal waveform is obtained when the reference vector is
rotating in the d-q plane.
 Vab

Vca Vbc
 V0 (ppp) and V7(nnn) are the zero output voltage topologies.
 The output line voltages generated by this topologies are
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 the same
as that of Vref in the same period.

Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6

000
100
110
111
110
100
000
(R to L) (L to R) (R to L) (L to R) (R to L) (L to R)
https://www.youtube.com/watch?v=5x73LjZQ21o&t=5s
INTRODUCTION
A change of variables is often used to reduce the complexity of the differential
equations that describe the behavior of electric machines
 The process of replacing one set of variables by another related set of variables
is called transformation
 Transformation matrix is a matrix containing the coefficients that relates new &
old variables
 The general form of transformation equations is

[New variables] = [Transformation matrix][Old variables]

[Old variables] = [Inverse transformation matrix][New variables]

Clarke Park Inverse Inverse
Park Clarke
 (abc- αβ)

 ia,ib,ic - Stator current of 3 phase IM

 NS - no. of stator winding/phase
 Fa,Fb,Fc - mmf generated in phase a, b and c winding due to ia,ib and ic
respectively
 The current flowing through each stator winding will generate an mmf
 Fa,Fb,Fc will generate a resultant mmf and produce a rotating magnetic
field
 The rotating mmf can be represented as a space phasor
 • A symmetrical 2 pole, 3 phase
winding on the rotor is represented
by three coils A,B,C. Each has N
effective number of turns and
mutually displaced by 1200.

Balanced 3 phase winding

 The combined effect of mmf Fa,Fb,and Fc result in a constant magnitude
mmf, which rotates at constant angular velocity depending on the pole and
frequency
 If the 3 currents are

ia  I m cos t
 2 
ib  I m cos t  
 3 
 4 
iC  I m cos t  
 3 

3I m N
 These current will produce an mmf of constant magnitude
2
rotating with respect to the 3 phase winding at the time frequency.
 While converting 3 phase machine to its equivalent 2
phase model the power must be invariant during
transformation
P3ϕ system= P2ϕ system

 α,β are stationary balanced 2ϕ winding displaced by 900

 The coils α & β are so placed that the mmf produced due
to the coils a, b, and c are same as the mmf produced by
the coils α & β .
 Let the axes of phase a and α are taken to be coincident.
 The 2 phase currents are

i  I m cos t
  
i   I m cos t    I m sin t
 2

 These current results a mmf of constant magnitude IN revolving with

respect to 2 phase winding at time frequency of the phase current.
(a) Balanced 3-phase winding (b) 2 phase winding on the rotor
 The mmf in both (a, b, c) and (α, β) should be same.

mmf α IsN
Hence, It can be achieved by

1. Keeping no. of turns/phase constant and varying stator current

2. Keeping stator current constant and varying no. of turns/phase
3. By varying both no. of turns/phase and stator current
1. Keeping no. of turns/phase constant and varying stator current
i  ia cos(0)  ib cos(120)  ic cos(240)
1 1
i  ia  ib  ic
2 2
1
i  ia   ib  ic 
2
ia  ib  ic  0
1 3
i  ia  ia  ia
2 2
 i   ia sin(0)  ib sin(120)  ic sin( 240)
3
i  (ib  ic )
2

In MATRIX Form

 1 1  i 
i   1    a
 2 2 i 
i   3 3
 b 
   0   i 
 2 2  
 c
2. Keeping stator current constant and varying no. of
turns/phase

The effective number of per phase turns of 2 phase winding

=(3/2)* number of per phase turns of 3 phase winding.

For equal mmf the currents in both 2 phase and 3 phase

winding must be equal. i.e., iα= ia
3. By varying both no. of turns/phase and stator current

3
 No. of turns/phase of 2 phase system= 2 *No. of turns/phase of 3 phase
system
3
 Current in 2ϕ =
2 *current in 3ϕ
 Resolving the 3 phase mmf along α axis

3  1 1 
i  N s  N s ia  ib  ic 
2  2 2 
2 1 
i  ia  (ib  ic )
3 2 
2 3 3 
i  0  ib  ic 
3 2 2 
 Transformation matrix is given by

 1 1  i 
1    a
i  2 2 2 i 
i   
3 3
 b 
 3
0   i 
 2 2  
 c
 The matrix can be made square matrix by adding a third
current in terms of ia,ib,ic which should not produce any
resultant air-gap mmf i.e., a zero sequence current component
1
i0   ia  ib  ic 
3
 Thus the transformation matrix is
 1 1 
 1   
i  2 2 i 
  a
i   2  3 3  
   0   ib 
3 2 2 
 i0   1 1 1  ic 
 
 2 2 2 
 This transformation is known as Clarke transformation (The three-
phase quantities are translated from the three-phase reference frame
to the two-axis orthogonal stationary reference frame)
 (αβ-abc)
 2 phase stationary reference frame to 3 phase rotational reference frame
 iα and iβ represents 2 phase currents and ia,ib & ic be the 3 phase currents
 Now the transformation equations are given by

 1 
 1 0 
i a   2  i 

i   2 1 3 1  
 b    i 
3 2 2 2
ic    i 
 1 3 1  0 

 2 2 2 

 This transformation is applicable for voltages also

(αβ-dq)
 The angle θ is such that at time t=0,θ=0 i.e., rotating axes α and
β are aligned along d and q axes respectively at t=0
 At any time t, θ=ωrt, where ωr is the angular velocity in rad/sec
 Fα and Fβ - mmf space phasor for α,β winding respectively
 Fd and Fq- mmf space phasor for d, q winding respectively
 Let effective number of turns in α,β and d-q windings is same
 mmf Fα and Fβ can be resolved along the d-q axes giving

Fd = Fα cosθ + Fβ sinθ
Nid=Niα cosθ + Niβ sinθ
id=iα cosθ+iβsinθ
 similarly
iq= -iα sinθ + iβcosθ
 The transformation matrix is

id   cos  sin   i 

i     i 
 q   sin  cos     

 If zero sequence current is taken

id   cos  sin  0 i 

i    sin  cos  0 i  
 q 
 i0   0 0 1  i0 
 This transformation is known as Park transformation.
 2 phase rotational reference frame to 2 phase stationary reference
frame
 The transformation equations are given by
i d   cos sin   i 
i     i 
 q   sin  cos    
 1 1  i 
i d   cos sin   2 1  2   a
2 i 
i      
3  b 
 q   sin  cos  3 
0
3
 ic 
 2 2 
on solving
 
i d   cos cos(  120) cos  240  ia 
i   2  sin   sin(  120)  sin(  240) ib 
 q 3 
i0   1 1 1  ic 
 2 2 2 
 Stationary reference frame / Stator reference frame: d,q is in phase with
α,β axis ie, d,q axis is stationary
 Rotor reference frame: d,q rotates with a speed of ωr
 Synchronously rotating reference frame: d,q rotates with a speed of
ωs( synchronous speed)