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B. Hysteresis (Bang-bang)
C. Space Vector PWM
III. References
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I. Voltage Source Inverter (VSI)
A. Six-Step VSI (1)
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I. Voltage Source Inverter (VSI)
A. Six-Step VSI (2)
Switching Sequence:
561 (V1) 612 (V2) 123 (V3) 234 (V4) 345 (V5) 456 (V6) 561 (V1)
where, 561 means that S5, S6 and S1 are switched on
Fig. 3 Six inverter voltage vectors for six-step voltage source inverter.
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I. Voltage Source Inverter (VSI)
A. Six-Step VSI (4)
Line to line voltages (Vab, Vbc, Vca) and line to neutral voltages (Van, Vbn, Vcn)
Phase voltages
Fig. 4 Waveforms of line to neutral (phase) voltages and line to line voltages
for six-step voltage source inverter.
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I. Voltage Source Inverter (VSI)
A. Six-Step VSI (5)
3 4 Vdc 6
(Vab )1 (rms) Vdc 0.78Vdc
2 2
0.78
(Vab )h (rms) Vdc
h
where, h 6n 1 (n 1, 2, 3,.....)
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I. Voltage Source Inverter (VSI)
A. Six-Step VSI (6)
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I. Voltage Source Inverter (VSI)
B. Pulse-Width Modulated VSI (1)
Objective of PWM
Reduction of harmonics
Disadvantages of PWM
Increase of switching losses due to high PWM frequency
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I. Voltage Source Inverter (VSI)
B. Pulse-Width Modulated VSI (2)
Three-phase inverter
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II. PWM METHODS
A. Sine PWM (2)
Frequency of vtri = fs
A0
Frequency of vcontrol = f1
V
where, fs = PWM frequency
B0
V
f1 = Fundamental frequency
C0
V
Inverter output voltage
AB
V
When vcontrol > vtri, VA0 = Vdc/2
BC
When vcontrol < vtri, VA0 = -Vdc/2
V
where, VAB = VA0 VB0 CA
V
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II. PWM METHODS
A. Sine PWM (3)
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II. PWM METHODS
B. Hysteresis (Bang-bang) PWM (1)
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II. PWM METHODS
B. Hysteresis (Bang-bang) PWM (2)
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II. PWM METHODS
B. Hysteresis (Bang-bang) PWM (3)
Advantages
Drawbacks
S1 through S6 are the six power transistors that shape the ouput voltage
When an upper switch is turned on (i.e., a, b or c is 1), the corresponding lower
switch is turned off (i.e., a', b' or c' is 0)
Eight possible combinations of on and off patterns for the three upper transistors (S1, S3, S5)
Vab 1 1 0 a
Vbc Vdc 0 1 1 b, where switching variable vector [a b c]t
Vca 1 0 1 c
Van 2 1 1 a
1
V
3
bn Vdc 1 2 1 b
Vcn 1 1 2 c
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II. PWM METHODS
C. Space Vector PWM (3)
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II. PWM METHODS
C. Space Vector PWM (4)
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II. PWM METHODS
C. Space Vector PWM (5)
The vectors (V1 to V6) divide the plane into six sectors (each sector: 60 degrees)
Vref is generated by two adjacent non-zero vectors and two zero vectors
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II. PWM METHODS
C. Space Vector PWM (6)
At origin
No voltage is supplied to the load
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II. PWM METHODS
C. Space Vector PWM (7)
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II. PWM METHODS
C. Space Vector PWM (8)
Sine PWM
: Locus of the reference vector is the inside of a circle with radius of 1/2 Vdc
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II. PWM METHODS
C. Space Vector PWM (9)
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II. PWM METHODS
C. Space Vector PWM (10)
Coordinate transformation
Vd Van Vbn cos60 Vcn cos60
: abc to dq 1 1
Van Vbn Vcn
2 2
1 1
1 Van
Vd 2 2 2
Vbn
Vq 3 3 3
0 Vcn
2 2
V ref Vd 2 Vq 2
Vq
tan 1 ( ) s t 2f s t
Vd
(where, f s fundamental frequency)
Fig. 13 Voltage Space Vector and its components in (d, q).
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II. PWM METHODS
C. Space Vector PWM (11)
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II. PWM METHODS
C. Space Vector PWM (12)
V V dt V dt V
0
ref
0
1
T1
2
T1 T2
0
Tz V ref (T1 V1 T2 V 2 )
cos () 2 1 2 cos ( / 3)
Tz V ref
1 T V
dc T2 V
dc
sin () 3 0 3 sin ( / 3)
(where, 0 60)
sin ( / 3 )
T1 Tz a
sin ( / 3)
sin ( )
T2 Tz a
sin ( / 3)
1 V ref
T0 Tz (T1 T2 ), where, Tz and a
fs 2
Vdc
3
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II. PWM METHODS
C. Space Vector PWM (13)
3 Tz V ref n 1
T1 sin
Vdc 3 3
3 Tz V ref n
sin
Vdc 3
3 Tz V ref n n
sin cos cos sin
Vdc 3 3
3 Tz V ref n 1
T2 sin
Vdc 3
3 Tz V ref n 1 n 1
cos sin sin cos
Vdc 3 3
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II. PWM METHODS
C. Space Vector PWM (14)
Step 3. Determine the switching time of each transistor (S1 to S6) (1)
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II. PWM METHODS
C. Space Vector PWM (15)
Step 3. Determine the switching time of each transistor (S1 to S6) (2)
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II. PWM METHODS
C. Space Vector PWM (16)
Step 3. Determine the switching time of each transistor (S1 to S6) (3)
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II. PWM METHODS
C. Space Vector PWM (17)
Step 3. Determine the switching time of each transistor (S1 to S6) (4)
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III. REFERENCES
[3] H.W. van der Broeck, H.-C. Skudelny, and G.V. Stanke, Analysis and
realization of a pulsewidth modulator based on voltage space vectors,
IEEE Transactions on Industry Applications, vol.24, pp. 142-150, 1988.
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