Abstract—Space vector modulation (SVM) is a frequently used II. T HEORY OF S PACE V ECTOR M ODULATION
method to implement pulse width modulation (PWM) in three-
phase switching converters. SVM allows us to maximize the A. Space Vector
exploitation of the converter hardware. Compared to sine PWM, For a balanced three-phase voltage source, the phase volt-
SVM can achieve a higher AC voltage level (15% more in magni-
tude). This paper develops SVM models in Matlab/Simulink and
ages are lagging each other every 120◦ . We can write the
PSCAD, two most popular packages for power system dynamic instantaneous and phasor formats of the phase voltages as
studies. Theory of space vector will be clearly explained to present follows:
the principles of SVM based sinusoidal waveform synthesis. The √
three unique contributions of this paper include: (i) A sawtooth va (t) = √ 2|V |cos(ωt + θ)
triangular waveform is used to generate repeating switching v (t) = 2|V |cos(ωt + θ − 2π 3 )
(1)
period for digital control. (ii) A technique to integrate blocks with b √ 2π
vc (t) = 2|V |cos(ωt + θ + 3 )
different sampling rates is employed to generate SVM pulses.
(ii) Both Matlab/Simulink and PSCAD models are developed.
¯
jθ
The developed models are very useful to develop detailed SVM Va = |V | θ = |V | e
enabled power converters in power system studies. A step by step
= |V | ej (θ− 3 )
2π
TABLE I
O UTPUT S PACE V ECTOR θs1
where θs1 is the angle between Vs1 and V1 . Fig. 4 shows two
space vectors in Sector 1 and Sector 2 in the sector plane. The
C. Synthesizing a Space Vector from Switching vector decomposition of the space vector is given. For Vs2 , the
Fig. 3 shows that for a small sample time Ts , which is much principle is the same with Vs1 except that Vs2 is synthesized
smaller than the desired low-frequency sinusoidal waveform from V2 , V3 and V0 .
1
period 60 , the space vector can be assumed as constant. The Once the time zone Ta , Tb and T0 are determined, we just
objective of SVM is to synthesize this space vector through need to control the inverter’s gates play as the specific mood
appropriate switching during the period of Ts . By making in different time zone. We choose a space vector in Sector
the average value of the inverter output space vector the 1 as an instance. In Ta , which is shown in yellow in Fig. 5,
same as the ideal three-phase voltage space vector, then the the inverter’s output voltage should be (0, 0, 1) in the order of
fundamental component of the inverter output voltage would Phase C, Phase B and Phase A as V1 . In Tb , which is shown
be the same as the balanced three-phase voltage. as blue, it should be like V3 as (0, 1, 1) which means vBN
and vAN have an output as Vdc ; for the rest time T0 , inverter TABLE II
should behaves as V0 (0, 0, 0) or V7 (1, 1, 1). The detailed phase PARAMETERS OF S EQUENCE VOLTAGE IN T IME Z ONE
output voltage is shown as follow Fig. 5: Sector P hase Ta Tb
qa 1 1
Ts Sector 1 qb 0 1
0.25T0 0.25T0
qc 0 0
qa 1 0
0.5Ta 0.5Tb 0.5T0 0.5Tb 0.5Ta Sector 2 qb 1 1
Vdc
0 1 1 1 1 1 0 VAN qc 0 0
0 qa 0 0
Sector 3 qb 1 1
Vdc qc 0 1
VBN
0 0 1 1 1 0 0 qa 0 0
0
Sector 4 qb 1 0
qc 1 1
Vdc
VCN qa 0 1
0 1 1 1 1 1 0
0 Sector 5 qb 0 0
T1 T2 T3 T4 T5 T6 T7 qc 1 1
qa 1 1
Fig. 5. Voltage Sequence for Space Vector in Sector 1. Sector 6 qb 0 0
qc 1 0
In order to make every Ts all three-phase voltage be-
gin at 0 and switch two times in one sample time Ts
reference time is added to select output mood of the inverter
and make it symmetrical, the time sequence is placed as
T0 Ta Tb T0 Tb Ta T0 as shown in Fig. 7. The inverter’s output can be determined
4 , 2 , 2 , 2 , 2 , 2 , 4 . If we use this time sequence for a by comparing the Tref and the time levels. The value of
space vector located in Sector 2 the output voltage will be like
reference time should be the remainder of TTime
imereal
. The
Fig. 6. In the yellow part the inverter is working as V3 (0, 1, 1) sample
time reference single can be generated by a sawtooth wave
while in the blue part V2 (0, 1, 0).
generator or a repeating sequence in MATLAB and PSCAD.
Ts
Once the time zone Ta and Tb are determined, we can set
0.25T0 0.25T0
seven signal levels in (8).
T1 = T40
0.5Ta 0.5Tb 0.5T0 0.5Tb 0.5Ta
Vdc
T2 = T1 + T2a
VAN
0
Tb
T3 = T2 + 2
Vdc
VBN T4 = T3 + T20 (8)
0 Ta
T5 = T4 + 2
Tb
Vdc
VCN
T 6 = T5 + 2
T7 = T6 + T40
0
T1 T2 T3 T4 T5 T6 T7
follows: T4
1) Determine which sector the space vector is located in V0
T3 (0,0,0)
by the phase angle of the space vector. Va
2) calculate the time zone length Ta and Tb and get the T2
V7
Vb
sequence. t
4) When the output voltage should be Vdc make the active Fig. 7. Time level for digital control.
gate on for that phase; when it is 0, make the gate off.
A. System Topology
Fig. 8 shows the system topology of the system topology.
The simulation is built by six subsystems with a repeating
sequence work as the reference time signal. The six subsys-
tems are Sinusoid Wave generator, Space vector Calcuator,
Zero Holder, Gate Controller, Three-phase PWM inverter and
Low Pass Filter.
B. Component Description
Fig. 11. Matlab Function.
The sinusoid wave generator generates three phase balanced
voltage wave by a clock. To simplify the simulation, the
magnitude, frequency and phase angle are all assumed as and Tb (7). The time level can be determined by the equation
constant. (8). At the end it will give the gate signal by comparing Tref
and time level as shown in Fig. 7.
Vd |Vs| Remarks: the output of the zero holder is at 5 kHz while
the output of the repeating sequence should be much higher
then 5 kHz. Therefore, a rate transition block should be added
between the zero holder and Matlab function.
Vq θs
Vq Vs
θs
O Vd
V. PSCAD
This section details the step by step development of PSCAD
model for space vector PWM. The simulation model is shown
Fig. 15. Reference Voltage Generator in PSCAD.
in Fig. 14. In this simulation, the load is a pure resister constant
load with a inductor to smooth the output current. The DC
voltage source is providing 2 kV and the desired ac output
voltage is set as 1 kV at 60 Hz.
A. System Topology
Calculate the
Get one value of
magnitude and
magnitude and angle
phase angle of
per sample time
the vector
shown in equation (8). Then the last part can generate the 0.5
0
−0.5
0.05 0.0502 0.0504 0.0506 0.0508 0.051 0.0512 0.0514 0.0516 0.0518
control signal based on which sector is the vector in and the 1.5
Time (sec)
1.5
−0.5
−1.5
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
1
0.5 and PSCAD. Key theory, challenges in model development
0
−0.5 and digital control are presented. This paper provides reference
0.055 0.0551 0.0552 0.0553 0.0554 0.0555 0.0556 0.0557 0.0558 0.0559 0.056
value of realizing space vector modulation for two-level three-
1.5
phase converters.
Phase B
1
0.5
0
−0.5
0.055 0.0551 0.0552 0.0553 0.0554 0.0555 0.0556 0.0557 0.0558 0.0559 0.056
R EFERENCES
1.5
[1] A. Iqbal, A. Lamine, I. Ashraf, and Mohibullah, “Matlab/simulink model
Phase C
1
0.5
0
of space vector pwm for three-phase voltage source inverter,” in Univer-
−0.5 sities Power Engineering Conference, 2006. UPEC ’06. Proceedings of
0.055 0.0551 0.0552 0.0553 0.0554 0.0555 0.0556 0.0557 0.0558 0.0559 0.056
Time (sec) the 41st International, vol. 3, 2006, pp. 1096–1100.
[2] H. Van der Broeck, H.-C. Skudelny, and G. Stanke, “Analysis and
realization of a pulsewidth modulator based on voltage space vectors,”
Fig. 19. Three Phase Gate Control Signal in PSCAD. Industry Applications, IEEE Transactions on, vol. 24, no. 1, pp. 142–150,
1988.
[3] S. Albatran, Y. Fu, H. Leung, R. Schrader, and M. Mazzola, “Hybrid
2d-3d space vector modulation voltage control algorithm for three phase
2 inverters,” vol. PP, no. 99, 2013, pp. 1–11.
Vao (KV) before filter
−1
−2
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)