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S.Bolognani, M.Zigliotto
Department of Electrical Engineering
University of Padova
Via Gradenigo, 6a, 35 131 Padova, ITALY
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Abstract A novel technique for Space Vector Modulation the proposed method, a single algorithm manages the
(SVM) inverters in the overmodulation range is presented. A transition from the onset of overmodulation to the six-step
unique algorithm manages the transition from the onset of mode.
overmodulation to six-step operation. The technique is suitable The technique is suitable for a very simple practical
for a very simple digital implementation; experimental results,
obtained by a DSP board, are also included in the paper. implementation, and the gain characteristic results almost
linear, avoiding the necessity of a look-up table
implementation. After the description of the technique, and
I. INTRODUCTION its analytical exploitation, the paper describes the
implementation on a fixed-point DSP evaluation board the
Inverter-fed induction motors are taking a primary role in experimental results, in agreement with the expectation,
the variable speed drive market. Due to its simple and conclude the paper.
effective digital implementation, SVM technique is widely
adopted [1,2] and research activity now focuses on some
aspects previously overlooked; in particular, the pulse-width 11. THE NOVEL CONTINUOS CONTROL
control in the overmodulation range is becoming a topic of STRATEGY IN THE OVERMODULATION RANGE
considerable interest [3-51.
Neglecting the switching harmonics, all S V M strategies For a balanced tern of periodic phase voltages u,(8), U@),
naturally produce sinusoidal output voltage with a linear U,@), of period 271, a voltage space vector is defined as
voltage gain characteristic until the inverter overmodulation
range is reached. Conversely, there isn't a unique way to
manage the transition to six-step mode, that features the
maximum fundamental output voltage.
In [3], a two-mode overmodulation strategy is proposed; It's well known that this definition gives a practical and
the technique is of great value, even if it forces an friendly tool to handle three-phase quantities, reducing the
unavoidable on-the-spot switch between the two modes in a notation complexity and being the basis of the Space Vector
very restricted output voltage range. Modulation techniques. SVM features switching periods of
In [4] a Compensated Modulation Technique (CMT) constant time duration, in which a reference voltage vector is
provides an accurate compensation for the inverter gain obtained as time-average of two adjacent state vectors and
characteristic (defined as the ratio of the output voltage to null state vectors.
the reference signal) of a sine-wave modulated PWM It may be worth to recall that state vectors correspond to
inverter working in the pulse dropping region. The method, the transformation, by (l), of the eight feasible combinations
adaptable to any PWM modulator, is based on the of the six switches of the inverter; the two null state vectors
linearisation of the voltage gain characteristic that is are related to the switches configurations that short-circuit
specific to each overmodulation strategy. As in the technique the load, i.e. those with all the upper (or lower) switches
proposed in [3], t h s is performed through a look-up table turned on [2].
implementation of the inverse relationship, off-line Drawing on the complex plane the six active (not null)
computed and stored in the controller memory. As a state vectors, it is evident that any reference vector can be
disadvantage, the memory requirement increases with the reproduced if its trajectory resides within the boundary of the
desired algorithm resolution. In [5] the control of PWM hexagon formed by joining the extremities of such state
voltage inverters in the pulse dropping region is exploited, vectors [3]; exceeding that limit causes distortion in the
and a comparison between sine-wave and space vector output voltage waveform, and an amount of unwanted
modulations in the overmodulation is carried out. harmonics is generated. The extreme working condition
In this paper, a novel digital continuous technique for (that reveals both the maximum fimdamental voltage and the
S V M inverters in the overmodulation range is presented. In maximum harmonic content) is reached in the square-wave
operation, that is often referred also as six-step mode [3-61.
a fixed voltage vector of amplitude r and phase 9 = agis where 9, has been expressed as function of time, 91= cult,
produced while 9, moves from agto 7d6. Afterwards, the and o 1 is the fundamental angular velocity. The complex
symmetrical fixed voltage vector is produced, with the coefficient U, is given by
same amplitude r and augmented phase 9 = (7c/3-ag), for
9 moving from 7c/6 to (7d3-ag);
0 from 9, = (7c/3-cxg) to 7c/3 the produced vector follows U, =- 1 7u(9)e-jn91 d9, (6)
2n
again the reference, with the same amplitude r and phase 0
Since in the proposed SVM technique the produced three
91.
phase voltages form a symmetrical tern, that is, u,(S)=u,(S-
I
220
1
211/3),uC(8)=u,(9-4n/3), then they have the same harmonic 46 x/3-ag
[:
,
content. It is possible to show that the n-th order component U, = - 2a +eJag je-jsl dal + ej x/3-a9) -js1 d81 =
has amplitude given by the absolute value of (6).
ag RI6
Noticing that the behaviour of the amplitude and phase of
the voltage space vector is redundant, (6) can be
particularised as follows: = -[3r 2ag +j( -jcos(ag) + j f i sin(ag))] =
II
0.63
kn
0.62
k=O 0.61
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discontinuity. The frequency of the fundamental has been
intentionally taken rather low, to increase the gap with the
switching frequency, for a better filter action; of course,
similar results could be obtained at every fundamental
frequency, with a proper filter strengthening.
This relation states that the rms value of the phase voltage
is strictly increasing with r and with U,, thus confirming
that the worst harmonic content appears in the six-step
mode.
0-
INVERTER
I I I I
SUPPLY
Dc 1
............................................... 0
DS I 1 0 1 Board j
~
I Spectrum
Analyser 1 =
Fig.4 - Experimental setup
222
0.6); it confirms a rather good match with the calculated perfect accordance with the results predicted by the theory of
values by expression (8),with n = 5,7,11. the space vector Fourier analysis.
V. CONCLUSIONS
It's easy to argue that different S V M strategies can manage
the transition from the pure sinusoidal operation to the six-
step mode with rather different side-effects, mainly related to
the harmonic content of the phase voltage and the
implementation complexity of the control algorithm. It is
anyway to highlight that
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