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, after which it reverts to a circular
trajectory of radius r
1
again. This circular trajectory is
followed till the end of the sector (at angle
3
). The angle
, also called the cross-over angle for the modified
reference trajectory, may be determined by area-
matching principle. Thus, to determine the modified
trajectory for a value of M
a
, which is received as input, the
controller should compute two quantities, namely: (a) the
value of and (b) the value of r
1
= V
ov
. The following
mathematical treatment provides the solution. Referring
to Fig.8, the actual area determined from the original
reference trajectory, per half-sector, is given by:
2
12
ref r
A V
= ......................... (3)
Area traversed per half-sector by the modified reference
trajectory is given by:
2 2
1
tan
2 6 6
mref ov DC
A V V
| |
= +
|
\ .
.... (4)
Thus, to satisfy the area-matching criterion, the above
two areas, given by Equations (3) and (4) must be
equated.
2 2 2
1
tan
12 2 6 6
r ov DC
V V V
| |
= +
|
\ .
(5)
Again, from Fig. 8, it easily follows that:
1
sec
6 3
ov DC
V V
| |
=
|
\ .
........... (6)
Using the result of Equation (6) in Equation (5), and after
Fig. 9. Variation of Ma with
Fig.10. Original reference trajectory input to
trajectory selector block-1(circle with light thick
line) and modified reference trajectory output from
the same block (trajectory with dark-narrow line)
for over-modulationzone-1 of operation (Ma is
chosen as 0.9 in this case)
(a)
(b)
Fig.11(a) Trajectory selector block-1 (for linear zone and over-modulation zone-1, and (b) its internal structure
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2561
some algebra, it follows that:
2 2
2
1 tan tan
9 6 6
a
M
| | | |
= + +
` | |
\ . \ . )
(7)
For every value of , Equation (7) gives one unique
value of M
a
(negative value is not considered). Thus, a
look-up table may be formed, which will give us a value of
for a given value of M
a
. Using this look-up table, for
each value of M
a
, the corresponding value of the cross-
over angle may be obtained. The nature of variation of M
a
for various value of is shown in Fig.9. A typical result
from the trajectory-selector-block-1 is presented next in
Fig.10, corresponding to the operation in over-
modulation-zone-1. It may be noted that by following the
modified trajectory, the inverter-operation now moves into
a non-linear zone. The block diagram and the internal
structure for the trajectory-selector-block-1 is presented
next in Fig.11(a) and Fig.11(b) respectively.
Trajectory selector block-2 (for over-modulation-zone-2)
Just as in the case of trajectory-selector-block-1, the
trajectory-selector-block-2 also takes in the computed
value of M
a
andasinputandcheckswhetherthevalue
of M
a
lies within the range for over-modulation zone-2,
which is 0.9091<M
a
<1. If the value lies within this range,
then the trajectory-selector-block-2 modifies the space-
vector-reference trajectory suitably. If the value of M
a
lies
below this range, then the value of M
a
is either in the
linear zone or over-modulation-zone-1. In this case, the
computed trajectory of trajectory-selector-block-1 is
allowed to pass through. The principle of operation of this
block is explained in the next section.
Principle of operation
The control algorithm is modified as follows.
- For an output frequency required, the time by which
one sector is to be traversed, is determined.
- In every sector, for a certain time (determined by the
value of M
a
), the modified reference space vector will lie
fixed at the starting edge of the sector (i.e. at
1
V for
sector-1, at
2
V for sector-2 etc.).
- For the remainder of the time (for one sector) the
modified-reference-trajectory will move along the
boundary of the hexagon (in that sector) and will have
to reach the other edge (i.e. the finishing edge) of the
sector. The finishing edge of this sector (i.e. at
2
V for
sector-1, at
3
V for sector-2 etc.) will act as the starting
edge for the next sector.
- Thus, in this zone (over-modulation-zone-2), the value
of (which is input to the trajectory selector block) is to
be modified into
eff
(which is to be output from the
trajectory selector block). The value of
eff
will be used
to compute the value of
sect
in the successive stages.
The case may be illustrated with the help of Fig.12,
where sector-1 has been taken as an example. Here, as
shown in Fig.13, if T
s
be the time in which a sector is to
be traversed (this is determined by the choice of the
inverter output frequency, e.g. 50Hz / 60Hz), then for a
particular time T
h
, the modified-reference-trajectory must
stay at
1
V (which forms the starting edge of the sector),
then move along the hexagon-boundary (straight line)
from
1
V to
2
V , within a time of ( )
s h
T T . Fig.13 and
Fig.14 show the time plot for the original reference and
modified reference vector magnitudes and angles
respectively within one sector.
Table 1. Sector number generated bynotingthevalueof
Rangeof Sector Number
0 / 3 s < 1
/ 3 2 / 3 s < 2
2 / 3 s < 3
4 / 3 s < 4
4 / 3 5 / 3 s < 5
5 / 3 2 s < 6
Fig.14. Angles of original reference and Modified
reference signals, plotted with respect to time
Fig.13. Magnitudes of original reference and modified
reference signals, plotted with respect to time
Fig. 12. Original and modified reference trajectories
for over-modulation-zone-2 (in case of sector 1)
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2562
Fig.17. Symmetrical pulse distribution
(centre-aligned mode)
Fig.16. Combining vectors to achieve
a resultant vector;
1
1 1
sw
t
a V
T
=
| |
|
\ .
and
Fig. 15 (a) Trajectory selector block for over-modulation-zone-2 and (b) internal structure
(a)
(b)
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2563
Thus, as seen from the above discussion,
to control the SVPWM inverter in the over-
modulation-zone-2, the time T
h
must be
first determined. The following
mathematical treatment will derive a
formula for determining T
h
(or the
corresponding angle
h
, also called the
holding-angle).
As the modified-reference-vector
stays at one active vector location for a certain finite time
in every sector (of the space-vector-hexagon), the rate, at
which it will traverse to the other end of the same sector
will be higher than the output frequency. Let this modified
value of angular frequency be
1
(
1
>2f
o
). Thus, from
Fig.13 and Fig.14, the modified reference space vector
can be defined as follows:
.. (8)
Here, ( )
1
3
s h
T T
=
Alternatively, in the range
h s
T t T < < , F(t) may be defined
as:
( )
( )
{ } 1
3 1
2
sin
3
d
h
F t V
t T
=
+
.................... (9)
Hence, by substituting z = t-T
h
, the actual area traversed
(in one sector) by the modified reference vector may be
calculated as follows:
( )
0
1
3
2
sin
3
3 3
ln 3
2
s h
T T
mref d h d
d h d s h
dz
A V T V
z
V T V T T
= +
+
= +
| |
|
\ .
}
........ (10)
Again, area traversed in one sector by the original
reference is given by:
6
o
ref r
T
A V = .............................................. (11)
Equating the two areas, given by (10) and (11), the
following relationship between M
a
and T
h
may be
obtained:
3 3
ln 3
6 2 6
o o
a h h
T T
M T T
= +
| |
| | | |
| | |
\ . \ .
\ .
............. (12)
The MATLAB-Simulink model for the trajectory-selector-
block-2, which works in conjunction with trajectory-
selector-block-1, is presented next in Fig.15.
Time-splitter block
The time splitter block splits one switching period into
sub-intervals for applying the active and null vectors
corresponding to that sector. Such vectors must be
applied in proper sequence to achieve centre-aligned
pulse positioning (Fig.16). The time durations, for which
the active vectors are to be applied, are given by:
( )
2
1 sect
cos
2
a sw
t
t M T + = .. (13)
and
2 sect
2
sin
3
a sw
t M T = (14)
The time-durations for which the null vectors are to be
applied can be easily derived by using the following
relationship:
( )
1 2
0 7
2
sw
T t t
t t
+
= = .. (15)
Thus, for sector-1, the sequence for each vector (with
time-duration) may be as follows:
V
0
(t
0
/2) V
1
(t
1
/2) V
2
(t
2
/2) V
7
(t
7
) V
2
(t
2
/2) V
1
(t
1
/2) V
0
(t
0
/2).. (16)
This gives rise to a pulse distribution, as shown in
Fig.17 (assuming that the state 1 implies that the upper
switch of any leg is ON, while the state 0 implies that the
lower switch of the same leg is ON). The above
procedure (of time distribution & symmetrical pulse
positioning) is to be followed for each sector individually.
The various sectors and the corresponding vector
sequence are given in Table 2.
Thus, it may be observed that the vector sequence is
of the forward type in odd numbered sectors, while the
sequence is of the reversed type for the even-numbered
sectors. Thus, the effective value of angle in a sector for
computing time distribution may be obtained as follows:
( )
( )
1
effective sect
1 1
. 1
2 3
n
n
+
= +
| |
|
\ .
... (17)
Thus, the steps to be followed, for computing time in any
sector (for linear zone of operation), are as follows:
1. From the value of and the sector number,
compute
sect
and
effective
using (17).
2. Using the value of M
a
and
effective
, compute t
1
, t
2
, t
7
and t
0
using (13) (15).
3. Split up these times symmetrically among the
corresponding active and null vectors to get centre-
aligned pulses
For over-modulation zones 1 or 2, (13) and (14) reduces
to the following form:
Table 2. various sectors and the corresponding vector sequence
Sector
No.
Vector Sequence
1 V0 (t0/2) V1 (t1/2) V2 (t2/2) V7 (t7) V2 (t2/2) V1 (t1/2) V0 (t0/2)
2 V0 (t0/2) V3 (t1/2) V2 (t2/2) V7 (t7) V2 (t2/2) V3 (t1/2) V0 (t0/2)
3 V0 (t0/2) V3 (t1/2) V4 (t2/2) V7 (t7) V4 (t2/2) V3 (t1/2) V0 (t0/2)
4 V0 (t0/2) V5 (t1/2) V4 (t2/2) V7 (t7) V4 (t2/2) V5 (t1/2) V0 (t0/2)
5 V0 (t0/2) V5 (t1/2) V6 (t2/2) V7 (t7) V6 (t2/2) V5 (t1/2) V0 (t0/2)
6 V0 (t0/2) V1 (t1/2) V6 (t2/2) V7 (t7) V6 (t2/2) V1 (t1/2) V0 (t0/2)
( ) F t
=
d
V
,
0
h
t T < <
=
( )
{ } 1
3
sec
2 6
d h
V t T
,
h s
T t T < <
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2564
effective effective
1
effective effective
3 cos sin
3 cos sin
sw
t T
=
+
| |
|
\ .
..... (18)
effective
2
effective effective
2sin
3 cos sin
sw
t T
=
+
| |
|
\ .
......
(19)
and
0 7
0 t t = = ............ (20)
Pulse generator block
Various switching states represent the inverter
output for different sectors. The computed values of time-
durations for each state is compared with a fixed
frequency saw-tooth waveform and the state-table
(shown in Table-3) is utilised to output the pulses to the
load. The sector number input determines the row to be
selected. Thus, in each sector, the cells of one particular
row are selected in sequence, while the row changes
whenever the space vector is to move from one sector to
another. As the saw-tooth waveform has a negative
gradient for a very short duration in each switching cycle,
this information (sign of gradient) is used for re-setting the
states to 000 at the end of every switching cycle. Re-
setting duration being very short as compared to other
durations, its effect on the overall pulse pattern is
negligible. From Table 3, three separate look-up tables
have been generated for three different inverter-legs, by
taking one state (out of three) at a time from each cell of
Table 2. The pulse-generator block details are presented
in Fig.18.
Direction reverser block
All the computations for the previous sections have
been completed by using positive values of only.
However, the reference frequency command may be
positive / negative. However, since a negative reference-
frequency implies a change in phase-sequence of the
output PWM waveform, the same is achieved by using
the direction-reverser-block, as shown in Fig.19.
The overall block diagram of the three phase
SVPWM inverter with all the constituent blocks, as
described above, is presented in Fig.20. The space
vector display block is not a part of the standard inverter,
but is kept for display purpose only.
Results
To test the effectiveness of this model, it has been
simulated in MATLAB-Simulink environment for various
conditions. In this section, the various results
from this SVPWM Inverter-Model will be
displayed and explained. The various parameter
values, used for simulation is presented in Table-
4. Initially, a reference is set to yield a load phase
voltage of 220V (amplitude) from this inverter.
Thus, the inverter operates in the linear zone.
Hence, in this case, the M
a
-trajectory (as input by
the user) matches the computed M
a
-trajectory, as
shown in Fig.21. As happens in case of linear
zone of operation, with V/f start, the trajectories are
having circular shape, gradually expanding in radii to
reach a steady state value. The time-plot of the inverter
line voltage and load phase voltage are presented in
Fig.22 and Fig.23 respectively. The amplitude of load
current, for this set value of load voltage, can be
calculated to be 11.81A at 50Hz. The load-current-space-
vector trajectory and the actual load currents are
presented in Fig.24 and Fig.25 respectively. Fig.25a
shows three load phase currents together (w.r.t the same
set of axes), while Fig.25b shows one load phase voltage
and the corresponding load phase current. As in the case
for R-L loads, the load-current clearly lags the
corresponding load-voltage.
The same model is now used again and the
reference value (of phase voltage amplitude) is set at
330V (over-modulation zone-1) and 350V (over-
modulation zone-2), keeping the DC bus voltage fixed.
The corresponding results for reference and actual space
vector trajectories and load current are presented in
Fig.26 and 27 respectively. Fig.28 shows the comparison
between the FFT plots for a standard Sine-PWM inverter
and a space vector PWM inverter. As seen, the Space
Vector PWM inverter shows a more evenly distributed
harmonic pattern.
Conclusion
In this paper, a MATLAB-Simulink model for a three
phase SVPWM Inverter has been presented. The model
is based on elementary MATLAB-Simulink functional
blocks only, and thus provides a medium for quick and
easy simulation for several cycles of the output
frequency. It can be easily incorporated in larger
MATLAB-Simulink models for power-electronics and
machine drives simulations.
Table 3. Three different inverter-legs, by taking one state (out of three) at
a time from each cell of Table 2
Sector
No.
Vector States for corresponding time durations
t0/2 t1/2 t2/2 t7/2 t7/2 t2/2 t1/2 t0/2 -
1 000 100 110 111 111 110 100 000 000
2 000 010 110 111 111 110 010 000 000
3 000 010 011 111 111 011 010 000 000
4 000 001 011 111 111 011 001 000 000
5 000 001 101 111 111 101 001 000 000
6 000 100 101 111 111 101 100 000 000
Table 4. Values for simulation
Sl.
No.
Parameter Value / Type
1. DC bus voltage 560V
2.
Output phase voltage (set as
reference)
220V
3. Switching strategy SVPWM
4. Switching / Sampling freq. 6 kHz
5. O/P frequency (rated) 50Hz
6. Type of load Resistive-inductive
7. Load value R=10,L=50mH
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2565
Fig. 20. Detailed internal structure (left) and overall block diagram (right) of the SVPWM inverter
(a)
(b)
Fig. 19. (a) Direction-reverser block (left) and (b) internal structure (right)
(a)
(b)
(a)
Fig. 18. (a) Pulse generator block (left) and (b) internal structure (right)
(b)
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2566
Fig. 21. User-defined Ma-trajectory (thin dark line) and
inverter-computed Ma-trajectory (thick grey line) for the
inverter, operating in the linear zone with V/f start;
the steady-state circular
Fig. 22. Inverter output line voltage (VRY) for
the inverter operating in the linear-zone
Fig. 24. Load current space vector plot for the
inverter delivering an output phase voltage
of 220V (amplitude), by operating in the linear zone
Fig. 25a. Load phase currents for the
inverter operating in the linear zone
Fig. 23. Load phase voltages for the inverter operating in the linear zone
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
Indian Society for Education and Environment (iSee) http://www.indjst.org Indian J.Sci.Technol.
2567
Fig. 27a. User-defined Ma-trajectory (thin dark line)
and inverter-computed Ma-trajectory (thick grey line)
for the inverter, operating in over-modulation zone-2
Fig. 25b. One load phase voltage and corresponding load phase current for the inverter
operating in linear zone
Fig. 26b. Load phase currents for the inverter
operating in over-modulation zone-1
Fig. 27b. Load phase currents for the inverter
operating in over-modulation zone-2
Fig. 26a. User-defined Ma-trajectory (thin dark line)
and inverter-computed Ma-trajectory(thick grey line)
for the inverter, operating in over-modulation zone-1
Indian Journal of Science and Technology Vol. 5 No. 4 (Apr 2012) ISSN: 0974- 6846
Research article Two level inverter S.Pal & S.Dalapati
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2568
The model can operate in all the zones for an SVPWM
inverter, namely linear-zone, over-modulation-zone-1,
and over-modulation-zone-2. The performance of this
inverter-model is checked upon a balanced three phase
resistive-inductive load for the various zones in open loop
mode. The results follow the well-known trends of
SVPWM inverters.
References
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3. Mondal SK, Bose BK, Oleschuk V and Pinto JOP
(2003) Space vector pulse width modulation of three-
level inverter extending operation into over
modulation region. IEEE Transact. Power Elect.
18(2), 604611.
4. Zhou KZ and Wang D (2002) Relationship between
space-vector modulation and three-phase carrier-
based PWM: A comprehensive analysis. IEEE
Transact. Indus. Elect. 49(1), 186196.
5. Kang DW, Lee YH, Suh BS, Choi CH, and Hyun DS
(2003) An improved carrier-based SVPWM method
using leg-voltage redundancies in generalized
cascaded multilevel inverter topology. IEEE Transact.
Power Elect. 18(1), 180-187.
6. Boost MA and Ziogas PD (1988) State-of-the-art
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Transact. on Indus. Appl. 24(2) March/April.
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Osborn JE and Stuck JG (2006) A guide to MATLAB
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9. Shaffer R (2007) Fundamentals of power electronics
with MATLAB. Thomson Learning Inc.
Fig. 28a. Fourier spectrum for Sine-PWM inverter
Fig. 28b. Fourier spectrum for SVPWM inverter