V
sa
V
sb
+
2
3
1
0
*
1
2
3
2
*
1
2
*
3
V
AN
V
BN
V
CN
Due to the fact that only 8 combinations are possible for the power switches, V
s
and
V
s
can also take only a finite number of values in the (,) frame according to the sta-
tus of the transistor command signals (c,b,a). These values of V
s
and V
s
for the corre-
sponding instantaneous values of the phase voltages (V
AN
, V
BN,
V
CN
) are listed in
Table 69.
Table 69. Switching Patterns, Corresponding Space Vectors and their (,)
Components
c b a V
s
V
s
Vector
0 0 0 0 0 O
0
0 0 1 0 U
0
0 1 0 U
120
0 1 1 U
60
1 0 0 U
240
1 0 1 U
300
1 1 0 0 U
180
1 1 1 0 0 O
111
2
3
V
DC
V
DC
3
V
DC
3
V
DC
3
V
DC
3
*
V
DC
3
*
V
DC
3
V
DC
3
*
V
DC
3
*
2
3
V
DC
Background Information
SVGEN_DQ 199
These values of V
s
and V
s,
listed in Table 69, are called the (,) components of the
basic space vectors corresponding to the appropriate transistor command signal
(c,b,a). The space vectors corresponding to the signal (c,b,a) are listed in the last col-
umn in Table 69. For example, (c,b,a)=001 indicates that the space vector is U
0
.The
eight basic space vectors defined by the combination of the switches are also shown
in Figure 29.
b
a
U
120
(010)
U
240
(100)
U
60
(011)
U
300
(101)
U
180
(110) U
0
(001)
O
111
(111) O
0
(000)
Figure 29. Basic Space Vectors
Projection of the stator reference voltage vector U
out
The objective of Space Vector PWM technique is to approximate a given stator refer-
ence voltage vector U
out
by combination of the switching pattern corresponding to the
basic space vectors. The reference vector U
out
is represented by its (,) components,
Ualfa and Ubeta. Figure 30 shows the reference voltage vector, its (,) components
and two of the basic space vectors, U
0
and U
60
. The figure also indicates the resultant
and components for the space vectors U
0
and U
60
. V
s
represents the sum of
the components of U
0
and U
60
, while V
s
represents the sum of the components
of U
0
and U
60
. Therefore,
V
sb
+0 )
V
DC
3
+
V
DC
3
V
sa
+
2V
DC
3
)
V
DC
3
+ V
DC
Background Information
200 SPRU456
0
b
V
sb
U
60
(011)
Ubeta
U
out
T
3
T
U
60
T
1
T
U
0
Ualfa
U
0
(001) V
sa
a
60
Figure 30. Projection of the Reference Voltage Vector
For the case in Figure 30, the reference vector U
out
is in the sector contained by U
0
and
U
60.
Therefore U
out
is represented by U
0
and U
60
. So we can write,
T + T
1
)T
3
)T
0
U
out
+
T
1
T
U
0
)
T
3
T
U
60
where, T
1
and T
3
are the respective durations in time for which U
0
and U
60
are applied
within period T. T
0
is the time duration for which the null vector is applied. These time
durations can be calculated as follows:
U
beta
+
T
3
T
|U
60
| sin
U
alfa
+
T
1
T
|U
0
| )
T
3
T
|U
60
| cos
(60)
(60)
From Table 69 and Figure 30 it is evident that the magnitude of all the space vectors
is 2V
DC
/3. When this is normalized by the maximum phase voltage(line to neutral),
V
DC
/3, the magnitude of the space vectors become 2/3 i.e., the normalized magni-
tudes are |U
0
| = |U
60
| =2/3. Therefore, from the last two equations the time durations
are calculated as,
T
1
+
T
2
U
alfa
*U
beta
T
3
+ TU
beta
Where, Ualfa and Ubeta also represent the normalized (,) components of U
out
with
respect to the maximum phase voltage(V
DC
/3). The rest of the period is spent in applying
the null vector T
0
. The time durations, as a fraction of the total T, are given by,
t1 +
T
1
T
3
U
alfa
*U
beta
t2 +
T
3
T
+ U
beta
Background Information
SVGEN_DQ 201
In a similar manner, if U
out
is in sector contained by U
60
and U
120,
then by knowing
|U60| = |U120| = 2/3 (normalized with respect to V
DC
/3), the time durations can be
derived as,
t1 +
T
2
T
+
1
2
* 3
U
alfa
) U
beta
t2 +
T
3
T
+
1
2
U
alfa
)U
beta
where, T
2
is the duration in time for which U
120
is applied within period T
Now, if we define 3 variables X, Y and Z according to the following equations,
Y +
1
2
U
alfa
)U
beta
Z +
1
2
* 3
U
alfa
)U
beta
X + U
beta
Then for the first example, when U
out
is in sector contained by U
0
and U
60,
t1= Z, t2=X.
For the second example, when U
out
is in sector contained by U
60
and U
120
, t1=Z, t2=Y.
In a similar manner t1 and t2 can be calculated for the cases when U
out
is in sectors
contained by other space vectors. For different sectors the expressions for t1 and t2
in terms of X, Y and Z are listed in Table 70.
Table 70. t1 and t2 Definitions for Different Sectors in Terms of X, Y and Z
Variables
Sector U
0
, U
60
U
60
, U
120
U
120
, U
180
U
180
, U
240
U
240
, U
300
U
300
, U
0
t1 Z Z X X Y Y
t2 X Y Y Z Z X
In order to know which of the above variables apply, the knowledge of the sector con-
taining the reference voltage vector is needed. This is achieved by first converting the
(,) components of the reference vector U
out
into a balanced three phase quantities.
That is, Ualfa and Ubeta are converted to a balanced three phase quantities V
ref1
, V
ref1
and V
ref1
according to the following inverse clarke transformation:
V
ref1
+ U
beta
V
ref2
+
*U
beta
)U
alfa
3
2
V
ref3
+
*U
beta
*U
alfa
3
2
Note that, this transformation projects the quadrature or component, Ubeta, into
V
ref1.
This means that the voltages V
ref1
V
ref2
and V
ref3
are all phase advanced by 90
O
when compared to the corresponding voltages generated by the conventional inverse
clarke transformation which projects the component, Ualfa, into phase voltage V
AN
.
The following equations describe the (,) components and the reference voltages:
Background Information
202 SPRU456
U
alfa
+sinwt
U
beta
+cos wt
V
ref1
+cos wt
V
ref2
+cos(wt *120 )
V
ref3
+cos(wt )120 )
Note that, the above voltages are all normalized by the maximum phase volt-
age(V
DC
/3).
90
7FFFh
0
8000h
U
beta
U
alfa
Figure 31. (,) Components of Stator Reference Voltage
120
7FFFh
0
8000h
V
ref1
V
ref2
V
ref3
Figure 32. Voltages V
ref1
V
ref2
and V
ref3
From the last three equations the following decisions can be made on the sector infor-
mation:
If V
ref1
> 0 then a=1, else a=0
If V
ref2
> 0 then b=1, else b=0
If V
ref3
> 0 then c=1, else c=0
The variable sector in the code is defined as, sector = 4c+2b+a
For example, in Figure 29 a=1 for the vectors U
300
, U
0
and U
60
. For these vectors the
phase of V
ref1
are t=300, t=0 and t=60 respectively. Therefore, V
ref1
> 0 when a=1.
The (,) components, Ualfa and Ubeta, defined above represent the output phase
voltages V
AN
, V
BN
and V
CN
. The following equations describe these phase voltages:
V
AN
+sinwt
V
BN
+sin(wt ) )
V
CN
+sin(wt * )
120
120
The Space Vector PWM module is divided in several parts:
- Determination of the sector
- Calculation of X, Y and Z
Background Information
SVGEN_DQ 203
- Calculation of t
1
and t
2
- Determination of the duty cycle taon, tbon and tcon
- Assignment of the duty cycles to Ta, Tb and Tc
The variables t
aon
, t
bon
and t
con
are calculated using the following equations:
t
aon
+
PWMPRD *t
1
*t
2
2
t
bon
+ t
aon
)t
1
t
con
+ T
bon
)t
2
Then the right duty cycle (txon) is assigned to the right motor phase (in other words,
to Ta, Tb and Tc) according to the sector. Table 71 depicts this determination.
Table 71. Assigning the Right Duty Cycle to the Right Motor Phase
Sector U
0
, U
60
U
60
, U
120
U
120
, U
180
U
180
, U
240
U
240
, U
300
U
300
, U
0
Ta taon tbon tcon tcon tbon taon
Tb tbon taon taon tbon tcon tcon
Tc tcon tcon tbon taon taon tbon
Example:
Sector contained by U
0
and U
60
.
T
t
t
t
PWM1
PWM3
PWM5
t
Ta
Tc
Tb
tcon
tbon
taon
T
0
4 T
6
2 T
6
2 T
0
4 T
0
4 T
6
4 T
4
4 T
0
4
V
0
V
6
V
4
V
7
V
7
V
6
V
4
V
0
Figure 33. PWM Patterns and Duty Cycles for Sector Contained by U
0
and
U
60
Table 72. Variable Cross Ref Table
Variables in the Equations Variables in the Code
a r1
b r2
c r3
V
ref1
Va