Three-phase two-level

inverter with bipolar SPWM

121
 Three-phase two-level inverter with bipolar
SPWM: 3x (1φ HB) bipolar with SPWM T on, V =+0.5V 1 ao d
T4 on, Vao=-0.5Vd
+ id
v*aO pu T1
Carrier pu +
Vd/2 T1 T3 T5 -
T4
Vd -
T3 on, Vbo=+0.5Vd
Vco T6 on, Vbo=-0.5Vd
o Vbo a b c v*bO pu
+ T3
+ Vao -
T6
Vd/2
- T4 T6 T2 T5 on, Vco=+0.5Vd
ib T2 on, Vco=-0.5Vd
ia ic v*cO pu T5
+
-
Ref. voltages: v*aO pu= v*aO / (0.5Vd)
v*bO pu= v*bO / (0.5Vd)
van T2
v*cO pu= v*cO / (0.5Vd)
n 122
Three-phase two-level inverter with bipolar SPWM.
Vd=300V, ma=0.8, fc=350Hz, fr=50Hz, Z=15∠450 Ω

123
Three-phase two-level inverter with bipolar SPWM.
Vd=300V, ma=0.25, fc=350Hz, fr=50Hz, Z=15∠450 Ω

124
Three-phase two-level inverter with bipolar SPWM.
Vd=300V, ma=0, fc=350Hz, fr=50Hz, Z=15∠450 Ω

125
Three-phase two-level inverter with bipolar SPWM.
Vd=300V, ma=1.5, fc=350Hz, fr=50Hz, Z=15∠450 Ω

126
Three-phase two-level inverter with bipolar SPWM.
Vd=300V, ma=0.8, fc=3500Hz, fr=50Hz, Z=15∠450 Ω

127
Three-phase two-level inverter with bipolar
SPWM.
• As modulation index decreases, the total harmonic distortion of the
output current (THDi) increases.
• During over-modulation (ma>1), as ma increases, the total harmonic
distortion of the output current increases.

THDi

Over-modulation

1 ma 128
Three-phase two-level inverter with bipolar
SPWM.
Notes:
• At ma=1, Vp1 of van(t) =0.5Vd
• Vp1 of van(t) is proportional with ma (linear relation) for 0<ma<1
• Vp1 of van(t) = 0.5ma Vd
• Vp1 of vab(t) = 0.5 3ma Vd
• mf=fc/fr , it is recommended to choose odd mf to ensure output
voltage wave symmetry.
• At ma>1 (over-modulation): the relation between Vp1 of van(t) and ma
is non linear and magnitude of low order harmonics increases.
129
Three-phase two-level inverter with bipolar
SPWM. V d

120o
180o

-Vd
VLL rms 1/Vd Vp1 of Vab(t)=
(4Vd/π) cos(π/6)
6/π
Vrms 1 of Vab(t)=
(4Vd/ 2π) cos(π/6)=
3/(2 2)
(4Vd/ 2π) ( 3/2)
( 6/ π)Vd

Saturation
(square-wave)

1 ma (saturation)
(depends on fc) ma
130
Three-phase two-level inverter with bipolar
SPWM.
Notes:
• For ma<1  harmonics order centered around mf , 2mf , 3mf are
significant.
Low pass filter can be used to
ma(0.5Vd) remove high order harmonic
easily: fcut ~= 0.1fc
FFT of
phase
voltage n
1
mf 2mf 131
Three-phase two-level inverter with bipolar SPWM.
fc=3500 Hz, fr=50Hz. FFT for the Phase voltage.
ma=0.8 ma=1.5

During
100% 100% over-modulation
(ma>1), low order
harmonics appear.

132
Three-phase two-level inverter
with bipolar Third harmonic
Injection PWM (THIPWM)

133
Three-phase two-level inverter with bipolar
Third harmonic Injection PWM (THIPWM)
• In case of three-phase inverter with
SPWM as ma changes from 0 to 1,
the peak of fundamental
component of the phase voltage
changes from 0 to 0.5Vd.
• To enhance this range and increase
DC voltage utilization (by 15%),
third harmonic injection (THI) can at ma=1
be used, i.e.
V*ao pu= ma(1.15sin wt + 0.19 sin3wt),
where ma is the modulation index
(01) in linear region.

134
 Three-phase two-level inverter with bipolar
Third harmonic Injection PWM (THIPWM)
• Generally, the p.u. reference voltages in
THIPWM are given by;
V*ao pu= ma(1.15sin wt + 0.19 sin3wt)
V*bo pu= ma(1.15sin(wt-1200) + 0.19 sin3wt)
V*co pu= ma(1.15sin(wt+1200) + 0.19 sin3wt)
The corresponding line voltages references are
as follows;
V*ab pu=V*ao pu-V*bo pu= 3ma (1.15sin (wt+30o))
“no third harmonic”. Similar for the other line at ma=1
voltages,i.e. line voltages have no 3rd harmonic.
135
 Three-phase two-level inverter with bipolar
Third harmonic Injection PWM (THIPWM)
• The corresponding phase voltages in Y-
connected load are as follows;
Van= 0.5Vdma (1.15)sin wt
Vbn= 0.5Vdma (1.15)sin(wt-1200)
Vcn= 0.5Vd ma (1.15)sin(wt+1200)
As ma at 1, the reference signals peak is unity
as shown in figure, i.e. a phase voltage with
peak of 0.5Vd (1.15) can be obtained with
THIPWM, i.e. 15% higher than SPWM without
3rd harmonic injection. We can conclude that
by applying THIPWM, DC voltage utilization at ma=1
increases by 15%.
136
Three-phase two-level inverter with THIPWM.
Vd=300V, ma=1, fc=3500Hz, fr=50Hz, Z=15∠450 Ω

Phase voltage

100% Vp1=1.15*ma*0.5Vd
=1.15*1*150
=172.5 V

3rd harmonic=0

137
PWM Multi-Phase Inverters

138
Bipolar PWM Multi-Phase Inverters
• By increasing number of inverter legs, Multi-phase output
can be generated (i.e. 1 leg per phase). v*aO pu
+ Ta+
Carrier pu
• Following figure shows the five-phase inverter which is -
Ta-
used to fed five-phase induction motor (multi-phase
machine). Here we have 5 reference signals (v*ao ,v*bo v*bO pu
+ Tb+
0 0
,v*co ,v*do ,v*eo with 360 /5=72 phase shift) and 1 carrier. -
Tb-
v*cO pu
+ Tc+
-
Ta+ Tb+ Tc+ Td+ Te+ Tc-
v*ao pu =ma sin wt
Vd v*bo pu =ma sin (wt-720) v*dO pu Td+
+
v*co pu =ma sin (wt-1440) -
o a b c d e Td-
Ta- Tb- Tc- Td- Te- v*do pu =ma sin (wt+1440) v*eO pu
+ Te+
v*do pu =ma sin (wt+720) -
Te-
139
 Space Vector Modulation (SVM)
of Three-phase two-level Inverter

140
SVM of Three-phase two-level Inverter
• Any three phase set of variables that add up to zero in the stationary a-b-c
frame can be represented in a complex plane by a complex vector that
contains a real α and imaginary β component.

• Space vector definition of three-phase voltages:

vs = (2/3)[va ej0+ vb ej(2π/3)+ vc ej(4π/3)]
• Space vector represents three phase quantities as a single rotating vector
where the three phases are assumed as only one quantity.
• For the balanced three-phase voltages, the space vector is continuously
rotating with a speed of (2πf) rad/s, where f is the frequency. So If we
create a rotating space vector via changing switching states of the inverter,
three-phase output voltages will be generated successfully.

141
 T1 T3 T5=1 0 1 T1 T3 T5=1 0 0
Phase voltages during Van=vcn=vd/3 Van=2vd/3
a c a
different switching states for Z
V = -2vd/3
Z bn Z
Vbn= Vcn = -vd/3
T1 T3 T5 in three-phase two- Vd Vd
n n
level inverter Z Z Z
b b c
T1 T3 T5=1 1 0 Van=vbn=vd/3 T1 T3 T5=0 1 0
+ Vbn=2vd/3
Vd/2 T1 T3 T5 a b b
Vd V = -2vd/3
- Z Z cn Z
Van= Vcn = -vd/3
Vd Vd
o a b c n n
+
Z Z Z
Vd/2 T4 T6 T2 c
- a c

T1 T3 T5=0 1 1 T1 T3 T5=0 0 1
van Vcn=2vd/3
Vbn=vcn=vd/3 c
n b c
Z
Van= Vbn = -vd/3
V = -2vd/3
Z Z an Vd
Vd n
n
Z Z
Z b a 142
a
 SVM of Three-phase two-level Inverter
Space vector during different existing switching states for T1 T3 T5

T1 T3 T5 van vbn vcn Vs Vector #

V3 V2
0 0 0 0 0 0 0 V0
(010) (110)
1 0 0 -2/3Vd -1/3Vd -1/3Vd 2/3Vd∠00 V1 S2
0 1 0 -1/3Vd 2/3Vd -1/3Vd 2/3Vd∠1200 V3
S3 S1
1 1 0 1/3Vd 1/3Vd -2/3Vd 2/3Vd∠600 V2 V4 V1
0 0 1 -1/3Vd -1/3Vd 2/3Vd 2/3Vd∠-1200 V5 (011) S6
(100)
S4 2/3Vd
1 0 1 1/3Vd -2/3Vd 1/3Vd 2/3Vd∠-600 V6 S5
0 1 1 -2/3Vd 1/3Vd 1/3Vd 2/3Vd∠1800 V5
V4 V6
(001)
1 1 1 0 0 0 0 V7 (101)
V0 (000)
V7 (111) 143
SVM of Three-phase two-level Inverter
• The tip of the active state vectors, when joined together form a
hexagon. The hexagon consists of six distinct sectors (S1 to S6)
spinning over 360 degrees (one sinusoidal wave cycle corresponds to
one rotation of the hexagon) with each sector of 60 degrees.

• The vectors V1 to V6 are called active state vectors while V7 and V0 are
called zero state vectors. The magnitude of each of the six active
vectors is equal to 2/3Vd. The zero state vectors are redundant
vectors but they are used to minimize the switching frequency.

144
SVM of Three-phase two-level Inverter
• The active state vectors (V1 to V6) are stationary while the
reference space vector Vref is rotating at speed of the fundamental
frequency (ω). It circles once for one cycle i.e. it takes time=T
(periodic time) to complete one cycle rotation.

• For generating desired voltage waveforms (v*a,v*b,v*c), the space

vector Vref should be created to move through the sectors with the
change of wt via changing switching states of the inverter.

145
SVM of Three-phase two-level Inverter
• Each sampling time Ts, the instantaneous values of reference three-phase
voltages are used to extract the reference space vector magnitude and position.
The angle indicates which sector ,of the involved six sectors, contains the Vref.
• The Vref vector is kept in its position for Ts before receiving the new sample
values, i.e. The reference vector rotates with step angle of Δθ each Ts ,where Δθ=
2π (Ts/T). As Δθ decreases, more smooth motion is achieved, i.e. better three-
phase output is generated.
• The reference space vector Vref can be achieved as a resultant of active state
vectors in the estimated sector (with the help projections as shown in figure).
• As shown in figure, Vref vector in S1 can be created V2
by enabling V1 vector of a time t1 and V2 vector
for a time t2 , and enabling suitable zero vector Vref
for a time t0, where t0=Ts-t1-t2.
t1V1/Ts V1
146
SVM of Three-phase two-level Inverter
• If Vref in Sector#1:
V2(110)
To create this vector the switching states to be changed as
follows to minimize switching losses and harmonics. Vref
T1 T3 T5: 000 100110111110100000
(start right) t1V1/Ts V1(100)
It has to be noted that in each change, there is a single
change in one switch. T1T3T5 000 100 110 111 110 100 000
• 000 and 111 represent the zero vectors V0 and V7, so
000 state lasts for 0.25t0 and 111 lasts for 0.5t0 T1
• 100 represents V1 vector, so each 100 state lasts for
0.5t1 T3
• 110 represents V2 vector, , so each 110 state lasts for
0.5t2 T5
t0/4 t1/2 t2/2 t0/2 t /2 t1/2 t0/4
2
Ts 147
SVM of Three-phase two-level Inverter
• If Vref in Sector#2:
To create this vector the switching states to
be changed as follows
T1 T3 T5: 000 010110111110010000
(start left)
• 000 and 111 represent the zero vectors V0
and V7, so 000 state lasts for 0.25t0 and 111 T1T3T5 000 010 110 111 110 010 000
lasts for 0.5t0.
• 010 represents V3 vector, , so each 010 T1
state lasts for 0.5t2 T3
• 110 represents V2 vector, so each 110 state
lasts for 0.5t1
T5
t0/4 t2/2 t1/2 t0/2 t /2 t2/2 t0/4
1
Ts 148
SVM of Three-phase two-level Inverter
• If Vref in Sector#3:
To create this vector the switching states to be
changed as follows
T1 T3 T5: 000 010011111011010000
(start right)
• 000 and 111 represent the zero vectors V0 and T1T3T5 000 010 011 111 011 010 000
V7, so 000 state lasts for 0.25t0 and 111 lasts
for 0.5t0. T1
• 010 represents V3 vector, , so each 010 state T3
lasts for 0.5t1
• 011 represents V4 vector, so each 011 state T5
lasts for 0.5t2
t0/4 t1/2 t2/2 t0/2 t /2 t1/2 t0/4
2
Ts 149
SVM of Three-phase two-level Inverter
V4(011)
• If Vref in Sector#4:
To create this vector the switching states to be
changed as follows
T1 T3 T5: 000 001011111011001000 V5(001)
(start left)
• 000 and 111 represent the zero vectors V0 and T1T3T5 000 001 011 111 011 001 000
V7, so 000 state lasts for 0.25t0 and 111 lasts
for 0.5t0. T1
• 001 represents V5 vector, , so each 001 state T3
lasts for 0.5t2
• 011 represents V4 vector, so each 011 state T5
lasts for 0.5t1
t0/4 t2/2 t1/2 t0/2 t /2 t2/2 t0/4
1
Ts 150
SVM of Three-phase two-level Inverter
• If Vref in Sector#5:
To create this vector the switching states to be
changed as follows V5(001) V6(101)
T1 T3 T5: 000 001101111101001000
(start right)
• 000 and 111 represent the zero vectors V0 and T1T3T5 000 001 101 111 101 001 000
V7, so 000 state lasts for 0.25t0 and 111 lasts
for 0.5t0. T1
• 001 represents V5 vector, , so each 001 state T3
lasts for 0.5t1
• 101 represents V6 vector, so each 101 state T5
lasts for 0.5t2
t0/4 t1/2 t2/2 t0/2 t /2 t1/2 t0/4
2
Ts 151
SVM of Three-phase two-level Inverter
t2V1/Ts
• If Vref in Sector#6: V1(100)
To create this vector the switching states to be
changed as follows
T1 T3 T5: 000 100101111101100000
(start left) V6(101)
• 000 and 111 represent the zero vectors V0 and T1T3T5 000 100 101 111 101 100 000
V7, so 000 state lasts for 0.25t0 and 111 lasts
for 0.5t0. T1
• 100 represents V1 vector, , so each 100 state T3
lasts for 0.5t2
• 101 represents V6 vector, so each 101 state T5
lasts for 0.5t1
t0/4 t2/2 t1/2 t0/2 t /2 t2/2 t0/4
1
Ts 152
SVM of Three-phase two-level Inverter
V2ref=(2/3Vd)2- (1/3Vd)2
=1/3 V2d
• The hexagon is divided into V3 V2
triangles, where the sides of each (010) (110)
triangle are equal S2
Vref
• To ensure that Vref is inside the S3 S1
V1
sectors, the radius of the shown V4
tangential circle represents the (011) S6
(100)
S4 2/3Vd
largest value of the reference S5
space vector which is V5
V6
Vd/ 3=0.578Vd= 1.15(0.5Vd), i.e. (001)
(101)
SVM provides higher DC voltage V0 (000)
utilization compared to SPWM V7 (111)
(15% higher).
153
SVM of Three-phase two-level Inverter
• For 50 Hz and switching frequency of 10 kHz, the differential angle or
step angle (Δθ) is the step with which the space vector will rotate with
time each Ts V2
• T=1/50  3600 (full circle), Δθ=??
• Δθ/(1/10kHz)= 3600/(1/50) Δθ= 1.80 Vref
• Vref vector is continuously rotating but in steps. V1
• Each position of Vref lasts for Ts. In each position, (1)sector # is
estimated , (2) times t1, t2, t0 are calculated based on the projections
on the involved active vectors in the sector, (3) based on the sector
number, gate pulses are generated for T1, T3 , T5 as illustrated before.

154
Times calculations (t1 ,t2 ,t0)
Starting from voltage balance equation (assume sector1)
• VrefTs=V1t1+V2t2+V0t0 V2
, Vref= Vref∠ , V1= (2/3)Vd∠00 , V2= (2/3)Vd∠600
• Real=Real Vref cos Ts=(2/3)Vd t1+(1/3)Vd t2 Vref
• Imaginary=Imaginary  V sin T =(1/ 3)V t θ
ref s d 2 V1
Also t1+ t2 +t0=Ts
By solving 
t1= 3Ts (Vref/Vd) sin (600- ) and t2= 3Ts (Vref/Vd) sin for 00< <600
Finally, t0=Ts- t1- t2
155
Times calculations (t1 ,t2 ,t0)
• For other sectors
• ’= -600(k-1), where k is the sector number
i.e. the times in any sector is given by;
t1= 3Ts (Vref/Vd) sin (600- ′) and t2= 3Ts (Vref/Vd) sin ′
t0=Ts-t1-t2

Where Vref magnitude can be controlled from 0 to Vd/ 3.

i.e. Vref= ma(Vd/ 3) where ma is the modulation index (01)

156
FFT for SVM of three-phase inverter
Notes:
• For Vref<0.578Vd  harmonics order centered around mf , 2mf , 3mf ,….

Low pass filter can be used to

Vp1 remove high order harmonic
easily
FFT of
phase
voltage n
1
mf 2mf 157
SVM of Three-phase two-level Inverter
• Advantages:
1- low switching losses
2- increase DC voltage utilization by 15%
3- low harmonic content.

158
Implementation SVM of Three-phase two-
level Inverter
v*an Vref
Reference
v*bn
v*cn vector Sector #, k
calc. Comparator
3600
Changes in + +
steps each Ts
- 600 - 1
0 ’

Sector #, k
Vref t1 T1
Vd t2 Gate Pulses T3
Times calc. t0
Ts generator T5
’ 159
Implementation SVM of Three-phase two-
level Inverter (Cont.) Ts
Sector #, k 0.5t0+t1+t2
t1 T1
0.5t0+t1 Ts
Gate Pulses 0.5t0+t2
t2 T3 0.5t0
t0 generator
??????? T5
carrier 0
Z1
Sector # T1 T3 T5 Y1
S1 X1 Y1 Z1 Y2
S2 Y2 X1 Z1 X1
S3 Z1 X1 Y1
S4 Z1 Y2 X1
S5 Y1 Z1 X1
S6 X1 Z1 Y2
160
Simulation results of the implemented SVM
Vd=200V,Vref=115V , Ts=1/10kHz, Z=10∠450Ω
Phase voltages, V

The resultant
Phase currents , A Vao, has a
fundamental
Fundamental +3rd component of
115 V .
(15% voltage
enhancement)

161