1

10/31/2023
EE3147 POWER ELECTRONICS

DC/AC INVERTERS
Dr. Duy-Dinh Nguyen
Dept. of IA, School of EE
 Outlines
• General introduction
• Buck/Boost-typed DC/DC converters
• Other non-isolated DC/DC converters
• Forward/Flyback DC/DC converters
• Push-pull, Half-bridge, Full-bridge
DC/DC
• Other isolated DC/DC converters
• Advanced topics on DC/DC converters
10/31/2023 3
 General introduction
𝑖𝑑𝑐 𝑖𝑎𝑐
DC
+ 𝑣𝑑𝑐 𝑣𝑎𝑐
−
AC

DC source DC/AC inverters AC loads

DC 𝜇-grid, Voltage Source Inverter (VSI), Consuming electronics,
Storage battery, Current Source Inverter (CSI), AC motors,
Electric vehicle, Z-Source Inverter (ZSI) AC grids,
Solar PV arrays, Single phase inverters Lighting systems,
Rectifier outputs, Three phase inverters Heating systems,
etc. Three phase four wire inverters FACTS devices,
10/31/2023
etc. etc. 4
 Classification
• Based on source types
Source types

Current Source Voltage Source Z-Source

Inverters Inverters Inverters

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 Classification
• Based on topologies
Topologies

Two-level Multi-level
Inverters inverters

T-typed NPC CHB Flying Cap.

Inverters Inverters Inverters Inverters

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 Classification
• Based on modulation methods
Modulation

Low switching High switching

frequency frequency

Six-Step Selective Harmonic Space Vector

modulation Elimination
Sine PWM PWM

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EE3147 POWER ELECTRONICS
VOLTAGE-SOURCE INVERTERS

LOW FREQ. MODULATION

Dr. Duy-Dinh Nguyen
Dept. of IA, School of EE
 Single phase inverters

• Structure

𝐿
A

A 𝑖𝐿
𝑣𝐴𝐵 𝐶 𝑅
𝑣𝐴𝐵
B 𝑣𝑜
B

Equivalent
Circuit diagram circuit
10/31/2023 9
 Low frequency modulation
• Two switching states:
• Q1 – Q4 ON:
𝑉𝐴𝐵 = 𝑉𝑑𝑐

• Q3 – Q2 ON:
𝑉𝐴𝐵 = −𝑉𝑑𝑐

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 Low frequency modulation
• Two zero states:
• Q2 – Q4 ON:
𝑉𝐴𝐵 = 0

• Q1 – Q3 ON:
𝑉𝐴𝐵 = 0

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 Low frequency modulation

•Challenges:
• How to adjust the output frequency?
• How to adjust the output RMS voltage?
• Power quality problems?
• How to improve the power quality?
• How to design the output filter?

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 Low frequency modulation

How to adjust the output RMS voltage?

• PSM: Phase Shift Modulation

Q1
Q2

Q3
Q4
𝛿
𝑉𝐴𝐵

1 4𝑉𝑑𝑐 𝛿
𝑉𝑎𝑏 = cos cos 𝜔𝑡
𝜋 2
Typical waveform by PSM
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 Low frequency modulation

How to adjust the output RMS voltage?

• PAM: Pulse Amplitude Modulation
➔ High frequency Modulation

DC/DC Converter Voltage Source Inverter

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 Low frequency modulation

How to adjust the output RMS voltage?

• PAM: Pulse Amplitude Modulation
• PSM: Phase Shift Modulation
• PWM: Pulse Width Modulation
➔ High Frequency Modulation

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 Power quality analysis

•Fast Fourier Transformation – FFT Analysis

∞

𝑢 𝑡 = 𝑈0 + ෍ 𝑈𝑛 cos 𝑛𝜔𝑏 𝑡
1
•Total Harmonic Distortion (THD)
∞
1
𝑇𝐻𝐷 = ෍ 𝑈𝑛2
𝑈1
2

where 𝑈𝑛 : amplitude of 𝑛𝑡ℎ-order harmonics

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 Power quality analysis
• Two-step modulation:

FFT of a pure sinusoid Voltage FFT of

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 Power quality analysis
• Two-step modulation:

FFT of a pure sinusoid Current FFT of

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EE3147 POWER ELECTRONICS
VOLTAGE-SOURCE INVERTERS

SINUSOIDAL PWM
Dr. Duy-Dinh Nguyen
Dept. of IA, School of EE
Sinusoidal Pulse Width Modulation – SPWM
Principle
• Reference: Desired sinusoidal
waveform
• Carrier: high freq. saw tooth
• Up-counting
• Down-counting
• Up-down counting

Three counting types SPWM principle

20
 Sinusoidal Pulse Width Modulation – SPWM

How to generate SPWM waveform at VSI output?

𝑆1 𝑆3

A
𝑣𝐴𝐵
B
𝑆4 𝑆2

Bipolar SPWM:
Switching in pair:
(S1, S2) and (S3, S4) SPWM principle
21
 Sinusoidal Pulse Width Modulation – SPWM

Filter design
𝑆1 𝑆3 • 𝑡 = 0~𝑑 𝑡 𝑇 → 𝑆1 , 𝑆2 ON
𝑣𝐿 𝑡 = 𝑉𝑑𝑐 − 𝑣𝑜 𝑡
A
𝑣𝐴𝐵 • 𝑡 = 𝑑 𝑡 𝑇~𝑇 → 𝑆3 , 𝑆4 ON
B 𝑣𝐿 𝑡 = −𝑉𝑑𝑐 − 𝑣𝑜 𝑡
𝑆4 𝑆2
• Average inductor voltage
𝑣𝐿 𝑡
= 2𝑑(𝑡) − 1 𝑉𝑑𝑐 − 𝑣𝑜 𝑡
Bipolar SPWM: • If 𝑇 is small enough →
inductor store NO energy
Switching in pair: 𝑣𝑜 (𝑡) = 2𝑑 𝑡 − 1 𝑉𝑑𝑐
(S1, S2) and (S3, S4)
where 0 ≤ 𝑑(𝑡) ≤ 1
22
 Sinusoidal Pulse Width Modulation – SPWM

How to generate SPWM waveform at VSI output?

• Expectation:
𝑆1 𝑆3 𝑣𝑜 𝑡 = 𝑉𝑜,𝑚 sin 𝜔𝑡
1 𝑉𝑜,𝑚
A ⇒𝑑 𝑡 = + sin 𝜔𝑡
2 2𝑉𝑑𝑐
𝑣𝐴𝐵 𝑚
B ⇒ 𝑑 𝑡 = 𝐷0 + sin 𝜔𝑡
𝑆4 𝑆2 2
⇒ 𝑣𝑜 (𝑡) = 𝑚𝑉𝑑𝑐 sin 𝜔𝑡
• 𝑚 is the modulation index
Output voltage: 𝑚=
𝑉𝑜,𝑚
= 2𝑑𝑚 − 1
𝑉𝑑𝑐
𝑣𝑜 (𝑡) = 2𝑑 𝑡 − 1 𝑉𝑑𝑐 • For single phase inverter
where 0 ≤ 𝑑(𝑡) ≤ 1 𝜋
𝑚 < ≈ 0.785
4
23
 Sinusoidal Pulse Width Modulation – SPWM

How to generate SPWM waveform at VSI output?

• if (𝑑 𝑡 > 0.5)
𝑆1 𝑆3 ⇒ 𝑣𝐴𝐵 𝑡 > 0
A • if 𝑑 𝑡 = 0.5
𝑣𝐴𝐵 ⇒ 𝑣𝐴𝐵 𝑡 = 0
B
𝑆4 𝑆2 • if 𝑑 𝑡 < 0.5
⇒ 𝑣𝐴𝐵 𝑡 < 0

Output voltage:
𝑣𝑜 (𝑡) = 2𝑑 𝑡 − 1 𝑉𝑑𝑐
where 0 ≤ 𝑑(𝑡) ≤ 1
24
Sinusoidal Pulse Width Modulation – SPWM
Filter design consideration
𝑆1 𝑆3 • 𝑡 = 0~𝑑 𝑡 𝑇 → 𝑆1 , 𝑆2 ON
𝑑𝑖𝐿
A 𝑣𝐿 𝑡 = 𝐿 = 𝑉𝑑𝑐 − 𝑣𝑜 𝑡
𝑑𝑡
𝑣𝐴𝐵 𝑣𝑜 𝑡 = 2𝑑 𝑡 − 1 𝑉𝑑𝑐
B
𝑆4 𝑆2 ⇒ 𝑣𝐿 𝑡 = 2𝑉𝑑𝑐 1 − 𝑑 𝑡

• Neglect inductor resistance

Δ𝑖𝐿
𝑣𝐿 𝑡 = 𝑓𝐿 = 2𝑉𝑑𝑐 1 − 𝑑 𝑡
𝑑 𝑡
2𝑉𝑑𝑐
⇒ Δ𝑖𝐿 = 𝑑 𝑡 1−𝑑 𝑡
𝑓𝐿
𝑉𝑑𝑐
⇒ Δ𝐼𝐿,𝑚𝑎𝑥 = @𝑑 𝑡 = 0.5
2𝑓𝐿
25
 Sinusoidal Pulse Width Modulation – SPWM
Current ripple
𝑆1 𝑆3 • Output current
𝑉𝑜,𝑟𝑚𝑠 2
A 𝑖 𝑡 = sin 𝜔𝑡 − 𝜙
𝑍
𝑣𝐴𝐵 𝑉𝑜,𝑚
B = sin 𝜔𝑡 − 𝜙
𝑆4 𝑆2 𝑍
• Peak output current
𝑉𝑜,𝑚
𝐼𝑜,𝑚 =
𝑍
• Max current ripple • Relative current ripple
𝑉𝑑𝑐 Δ𝐼 𝑉𝑑𝑐 𝑍 𝑍 1
⇒ Δ𝐼𝐿,𝑚𝑎𝑥 = @𝑑 𝑡 = 0.5 = ⋅ = ⋅
2𝑓𝐿 𝐼 2𝑓𝐿 𝑉𝑜,𝑚 2𝑓𝐿 𝑚

26
 Sinusoidal Pulse Width Modulation – SPWM
Filter design consideration
𝑆1 𝑆3 • Actual output voltage:
𝑚𝑉𝑑𝑐 2
2 2
A = 𝑉𝑜,𝑟𝑚𝑠 + 𝑉𝐿,𝑟𝑚𝑠
2
𝑣𝐴𝐵 𝑋𝐿
2
B 2
𝑆4 𝑆2 = 𝑉𝑜,𝑟𝑚𝑠 1+
𝑍

• Rearrange
• Notes that, there is 𝑚𝑉𝑑𝑐 1
voltage drop on the ⇒ 𝑉𝑜,𝑟𝑚𝑠 =
2 𝑋 2
inductor: 1+ 𝐿
𝑍
𝑋𝐿
𝑉𝐿,𝑟𝑚𝑠 = 𝑋𝐿 𝐼𝑜,𝑟𝑚𝑠 = 𝑉𝑜,𝑟𝑚𝑠
𝑍 ➔ 𝑍 ↑ → 𝑉𝑜,𝑟𝑚𝑠 ↓
27
Sinusoidal Pulse Width Modulation – SPWM
Filter design consideration
𝑆1 𝑆3 • Capcitor voltage ripple
(similar to Buck converter)
A
Δ𝑖𝐿 𝑡
𝑣𝐴𝐵
B
Δ𝑣𝑐 𝑡 =
𝑆4 𝑆2
8𝑓𝐶
• Max ripple
Δ𝑉𝑐,𝑚𝑎𝑥 1
= 2
𝑉𝑜,𝑚 16𝑚𝑓𝑠𝑤 𝐿𝐶
• Resonant frequency
1 1
𝑓𝑟 = < 𝑓𝑠𝑤
2𝜋 𝐿𝐶 10
28
Sinusoidal Pulse Width Modulation – SPWM
Switch selection consideration
𝑆1 𝑆3 • Recalls Buck converter
𝑖𝑆,𝑟𝑚𝑠 𝑡
A
2
𝑣𝐴𝐵 1 Δ𝑖 𝑡
B = 𝑖𝑜 𝑡 𝑑 𝑡 1+
𝑆4 𝑆2 12 𝑖𝑜 𝑡

• RMS switch current

𝑇
1 2
𝐼𝑆,𝑟𝑚𝑠 = න 𝑖𝑆,𝑟𝑚𝑠 𝑡 𝑑 𝑡
𝑇
0
𝐼𝐿,𝑟𝑚𝑠
=
2

29
 Unipolar SPWM

• Recalls Synch. Buck converters:

𝑉𝑜 = 𝐷𝑉𝑖
If 𝑉𝑖 = constant, and 𝐷 = 𝐷𝑚 sin 𝜔𝑡 then
⇒ 𝑣𝑜 𝑡 = 𝐷𝑚 𝑉𝑖 sin 𝜔𝑡
𝑆1 𝐴
driver

𝑆4
Gate

𝑉𝑟𝑒𝑓
+ 𝑆1
− 𝑉𝑝𝑤𝑚
𝑉𝑟𝑐 𝑆4
30
 Unipolar SPWM
• Now considers a VSI:
• If 𝑆2 is ON, 𝑆3 is OFF ➔
similar to Sync. Buck

𝑆1 𝑆3

𝑆4 𝑆2

• If 𝑆4 is ON, 𝑆1 is OFF ➔ 𝑆1
similar but reverse polarity 𝑆4

𝑆1 𝑆3 𝑆3
𝑆2
𝑆4 𝑆2

Unipolar SPWM 31
 Unipolar SPWM

𝑆1 𝑆3 Positive half
A • 𝑡 = 0~𝑑 𝑡 𝑇 → 𝑆1 , 𝑆2 ON
𝑣𝐴𝐵 𝑣𝐿 𝑡 = 𝑉𝑑𝑐 − 𝑣𝑜 𝑡
B
𝑆4 𝑆2 • 𝑡 = 𝑑 𝑡 𝑇~𝑇 → 𝑺𝟒 , 𝑆2 ON
𝑣𝐿 𝑡 = 𝟎 − 𝑣𝑜 𝑡
• Average inductor voltage
𝑣𝐿 𝑡 = 𝒅(𝒕)𝑉𝑑𝑐 − 𝑣𝑜 𝑡
• If 𝑇 is small enough →
inductor store NO energy
𝑣𝑜 (𝑡) = 𝒅(𝒕)𝑉𝑑𝑐
𝑆1 where 0 ≤ 𝑑(𝑡) ≤ 1
𝑆4 ➔ Similar to Buck converters
32
 Unipolar SPWM

𝑆1 𝑆3 Positive half
A • Expectation:
𝑣𝐴𝐵 𝑣𝑜 𝑡 = 𝑉𝑜,𝑚 sin 𝜔𝑡
B
𝑆4 𝑆2
= 𝑑 𝑡 𝑉𝑑𝑐
𝑉𝑜,𝑚
⇒𝑑 𝑡 = sin 𝜔𝑡
𝑉𝑑𝑐
Positive half ⇒ 𝑑 𝑡 = 𝑚 sin 𝜔𝑡
𝑆1 , 𝑆4 switching • 𝑚 is the modulation index
𝑆2 always ON • Note that:
𝑆3 always OFF 𝒅 ∈ 𝟎, 𝟏 and 𝝎𝒕 ∈ 𝟎, 𝝅
➔ For positive half only
33
 Unipolar SPWM

𝑆1 𝑆3 Negative half
A • 𝑡 = 0~𝑑 𝑡 𝑇 → 𝑆4 , 𝑆3 ON
𝑣𝐴𝐵 𝑣𝐿 𝑡 = −𝑉𝑑𝑐 − 𝑣𝑜 𝑡
B
𝑆4 𝑆2 • 𝑡 = 𝑑 𝑡 𝑇~𝑇 → 𝑆4 , 𝑺𝟐 ON
𝑣𝐿 𝑡 = 𝟎 − 𝑣𝑜 𝑡
• Average inductor voltage
𝑣𝐿 𝑡 = −𝒅(𝒕)𝑉𝑑𝑐 − 𝑣𝑜 𝑡
Negative half
• If 𝑇 is small enough →
𝑆3 , 𝑆2 switching inductor store NO energy
𝑆4 always ON 𝑣𝑜 𝑡 = −𝒅(𝒕)𝑉𝑑𝑐
𝑆1 always OFF where 0 ≤ 𝑑(𝑡) ≤ 1
➔ Similar to Buck converters
34
 Unipolar SPWM

𝑆1 𝑆3 Negative half
A • Expectation:
𝑣𝐴𝐵 𝑣𝑜 𝑡 = 𝑉𝑜,𝑚 sin 𝜔𝑡
B
𝑆4 𝑆2
= −𝑑 𝑡 𝑉𝑑𝑐
𝑉𝑜,𝑚
⇒𝑑 𝑡 =− sin 𝜔𝑡
𝑉𝑑𝑐
Negative half ⇒ 𝑑 𝑡 = −𝑚 sin 𝜔𝑡
𝑆3 , 𝑆2 switching • 𝑚 is the modulation index
𝑆4 always ON • Note that:
𝑆1 always OFF 𝒅 ∈ 𝟎, 𝟏 and 𝝎𝒕 ∈ 𝝅, 𝟐𝝅
➔ For negative half only
35
 Unipolar SPWM
Filter design consideration
𝑆1 𝑆3 • 𝑡 = 0~𝑑 𝑡 𝑇 → 𝑆1 , 𝑆2 ON
𝑑𝑖𝐿
A 𝑣𝐿 𝑡 = 𝐿 = 𝑉𝑑𝑐 − 𝑣𝑜 𝑡
𝑑𝑡
𝑣𝐴𝐵 𝑣𝑜 𝑡 = 𝑑 𝑡 𝑉𝑑𝑐
B
𝑆4 𝑆2 • Neglect inductor resistance
Δ𝑖𝐿
𝑣𝐿 𝑡 = 𝑓𝐿 = 𝑉𝑑𝑐 1 − 𝑑 𝑡
𝑑 𝑡
𝑉𝑑𝑐
⇒ Δ𝑖𝐿 = 𝑑 𝑡 1−𝑑 𝑡
𝑓𝐿
𝑉𝑑𝑐
⇒ Δ𝐼𝐿,𝑚𝑎𝑥 = @𝑑 𝑡 = 0.5
4𝑓𝐿
➔ Half ripple compared to
Bipolar SPWM
36
 Bipolar SPWM versus Unipolar SPWM

𝑆1 𝑆3
𝑉𝑝𝑤𝑚
𝑉𝑟𝑒𝑓 A
+
𝑣𝐴𝐵
− B
𝑉𝑟𝑐 𝑆4 𝑆2

Bipolar PWM Unipolar PWM

𝑆2 = 𝑆3ҧ = 1
൝ ҧ , 𝑉𝑟𝑒𝑓 ≥ 0
𝑆1 = 𝑆2 = 𝑉𝑟𝑒𝑓 ≥ 𝑉𝑟𝑐 𝑆1 = 𝑆4 = 𝑉𝑟𝑒𝑓 > 𝑉𝑟𝑐
൝
𝑆3 = 𝑆4 = 𝑉𝑟𝑒𝑓 < 𝑉𝑟𝑐
𝑆3 = 𝑆2ҧ = 𝑉𝑟𝑒𝑓 > 𝑉𝑟𝑐
൝ , 𝑉𝑟𝑒𝑓 < 0
ҧ
𝑆4 = 𝑆1 = 1
37
 Bipolar SPWM versus Unipolar SPWM
• 𝑚 = 0.785; 𝐿𝑓 = 1 mH; 𝐶𝑓 = 10 𝜇F; 𝑅 = 10 Ω; 𝑇𝑑 = 5 𝜇s

Voltage
Voltage

THDv = 11.2% THDv = 8.1%

Current
Current

THDi = 18.8% THDi = 10.1%

Bipolar PWM Unipolar PWM 38

 Exercise
• Thiết kế inverter 1 pha có thông số:
- Điện áp đầu vào : DC380 V ± 5%
- Điện áp đầu ra : AC220 Vrms – 50 Hz
- Công suất định mức : 3000 VA
- Hệ số công suất tối thiểu : 0.85

• Hãy:
- Tính chọn giá trị bộ lọc LC sao cho Δ𝐼𝐿 /𝐼 < 25% và
Δ𝑉/𝑉 < 2%
- Tính dòng hiệu dụng qua IGBT. Cho rằng điện áp rơi
trên van là 1.5 V. Tính tổn hao dẫn trên van.
- Tính hệ số điều chế

10/31/2023 39
EE3147 POWER ELECTRONICS
VOLTAGE-SOURCE INVERTERS

THREE-PHASE INVERTERS
Dr. Duy-Dinh Nguyen
Dept. of IA, School of EE
 Three phase inverters

• Structure

• Three half-bridges of IGBT (usually) or MOSFET

• Target: generate 3 phase sinusoidal system at the AC
output

10/31/2023 41
 Three-phase SPWM

Three phase inverter

Three phase SPWM Typical waveform

10/31/2023 42
 Three-phase SPWM
• Same carrier → same
switching frequency
• Three reference
voltage for three
phase
• 120 deg. phase
shifted for the
references
• → Bipolar PWM

Typical waveform
10/31/2023 43
 Three phase inverters

• Structure # Sabc
0 000
1 100
2 110
3 010
4 011
5 001
6 101
7 111
Circuit diagram Eigth switching
states
10/31/2023 44
 Three phase inverters
•Consider state #1: Sabc = 100

Equivalent circuit
Circuit diagram 2
𝑏 𝑉𝑠 = 𝑣𝑎𝑠 + 𝑎𝑣𝑏𝑠 + 𝑎2 𝑣𝑐𝑠
𝑉𝑐𝑠 3
2𝜋 4𝜋
• Phase voltage:
𝑗3 𝑗3
𝑎= 𝑒 ; 𝑎2 = 𝑒

𝑉𝑎𝑠 = 2𝑉𝑑𝑐 /3 𝑉𝑎𝑠 𝑎

𝑉𝑠
𝑉𝑏𝑠 = 𝑉𝑐𝑠 = −𝑉𝑑𝑐 /3
𝑉𝑏𝑠
𝑐
10/31/2023 45
 Space vectors

S2
S3
S1

S4
S6
S5

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 Six-step modulation

• Applying 𝑉1 to 𝑉6
sequentially
•CCW
𝑉1 − 𝑉2 − 𝑉3 − 𝑉4 − 𝑉5 − 𝑉6 − 𝑉1

•CW
𝑉1 − 𝑉6 − 𝑉5 − 𝑉4 − 𝑉3 − 𝑉2 − 𝑉1

10/31/2023 47
 Six-step modulation
• Implementation
V6 V1 V2 V3 V4 V5 V6 V1 V2
Sa

Sb

Sc

S2
S3 S1

S4 S6
𝑇𝑐𝑦 S5
10/31/2023 48
 Space vector modulation
• Let’s consider a rotation vector

➔ How to generate an arbitrary voltage vector

10/31/2023 49
 Space vector modulation
• Assumes voltage vector is in Sector 1
➔ How to implement 𝑉𝑠 𝑉2
110

• Projections of 𝑉𝑠 𝑉𝑙 𝑉𝑠

• On 𝑉1 axis: 𝑉𝑟
𝑉1
• On 𝑉2 axis: 𝑉𝑙 𝑉𝑟 100
𝑉0 ≡ 𝑉7
𝑉𝑠 = 𝑉𝑙 + 𝑉𝑟
When 𝑉𝑠 is in Sector 1

➔ How to realize 𝑉𝑙 and 𝑉𝑟

10/31/2023 50
 Space vector modulation

• Assumes voltage vector is in Section 1

➔ How to implement 𝑉𝑠 𝑉2
110
➔ How to realize 𝑉𝑙 and 𝑉𝑟
𝑉𝑙 𝑉𝑠
• Let’s define
𝑉𝑙 𝑉𝑙 𝑉1
𝑇𝑙 = 𝑇 ⋅ =𝑇⋅ 𝑉𝑟 100
𝑉2 2 𝑉0 ≡ 𝑉7
𝑉𝑑𝑐
3
𝑉𝑟 𝑉𝑟 When 𝑉𝑠 is in Sector 1
𝑇𝑟 = 𝑇 ⋅ =𝑇⋅
𝑉1 2 𝑇𝑟 𝑇𝑙
𝑉 𝑉𝑠 = ⋅ 𝑉1 + ⋅ 𝑉2
3 𝑑𝑐
𝑇 𝑇
10/31/2023 51
 Space vector modulation

• Assumes voltage vector is in Sector 1

➔ How to implement 𝑉𝑠 𝑉2
➔ How to realize 𝑉𝑙 and 𝑉𝑟 110

➔ What happens when 𝑉𝑙

𝑉𝑠 S1
𝑡 = 𝑇𝑙 + 𝑇𝑟 → 𝑇
𝑉1
𝑇𝑟 𝑇𝑙 𝑉𝑟 100
𝑉𝑠 = ⋅ 𝑉1 + ⋅ 𝑉2 + 𝑉0 ≡ 𝑉7
𝑇 𝑇
𝑇 − 𝑇𝑙 + 𝑇𝑟 When 𝑉𝑠 is in Sector 1
+ ⋅ 𝑉𝑥
𝑇
𝑉𝑥 should be 𝑉𝑜 or 𝑉7 (zero vectors)
→ do not affect the amplitude of 𝑉𝑠
10/31/2023 52
 Space vector modulation

• Assumes voltage vector is in Section 1

➔Realization of 𝑉𝑠 𝑉2
110
𝑇𝑟 𝑇𝑙 𝑇0 𝑇7
𝑉𝑠 = ⋅ 𝑉1 + ⋅ 𝑉2 + ⋅ 𝑉0 𝑉7
𝑇 𝑇 𝑇 𝑉𝑙
𝑉𝑠 S1
➔ Which order to apply 𝑉1 , 𝑉2 , 𝑉0 , 𝑉7
𝑉1
V2 V1 V0 V1 V2 V7
110 100 000 100 110 111 𝑉0 ≡ 𝑉7 𝑉𝑟 100
Sa
When 𝑉𝑠 is in Sector 1
Sb
Phase A does not transit at all
Sc
0 T 2T Phase C does not transit at all
10/31/2023 53
 Space vector modulation

• Assumes voltage vector is in Section 1

➔Realization of 𝑉𝑠 𝑉2
110
𝑇𝑟 𝑇𝑙 𝑇0 𝑇7
𝑉𝑠 = ⋅ 𝑉1 + ⋅ 𝑉2 + ⋅ 𝑉0 𝑉7
𝑇 𝑇 𝑇 𝑉𝑙
𝑉𝑠 S1
➔ Which order to apply 𝑉1 , 𝑉2 , 𝑉0 , 𝑉7
V7 V2 V1 V0 V1 V2 V7 V7 V2 V1 V0 V1 V2 V7
𝑉1
111 110 100 000 100 110 111 111 110 100 000 100 110 111
𝑉0 ≡ 𝑉7 𝑉𝑟 100
Sa
When 𝑉𝑠 is in Sector 1
Sb

Sc 𝑇0 is splited into
0 T T 2T two halves
10/31/2023 54
 Space vector modulation

• Assumes voltage vector is in Section 1

➔Realization of 𝑉𝑠 𝑉2
110
𝑇𝑟 𝑇𝑙 𝑇0 𝑇7
𝑉𝑠 = ⋅ 𝑉1 + ⋅ 𝑉2 + ⋅ 𝑉0 𝑉7
𝑇 𝑇 𝑇 𝑉𝑙
𝑉𝑠 S1
➔ Which order to apply 𝑉1 , 𝑉2 , 𝑉0 , 𝑉7
V0 V1 V2 V7 V2 V1 V0 V0 V1 V2 V7 V2 V1 V0
𝑉1
000 100 110 111 110 100 000 000 100 110 111 110 100 000
𝑉0 ≡ 𝑉7 𝑉𝑟 100
Sa
When 𝑉𝑠 is in Sector 1
Sb
𝑉7 → 𝑉2 → 𝑉1 → 𝑉0 → 𝑉1 → 𝑉2 → 𝑉7
Sc Same effect as
0 T 2T 𝑉0 → 𝑉1 → 𝑉2 → 𝑉7 → 𝑉2 → 𝑉1 → 𝑉0
10/31/2023 55
 Space vector modulation

• Pulse Width Modulation Duty cycles:

1 𝑑0
da 𝑑𝑎 = + 𝑑1 + 𝑑2
2
db 𝑑0
dc 𝑑𝑏 = + 𝑑2
2
0 𝑑0
V0 V1 V2 V7 V2 V1 V0 V0 V1 V2 V7 V2 V1 V0 𝑑𝑐 =
000 100 110 111 110 100 000 000 100 110 111 110 100 000 2
Sa where
Sb 𝑇0 𝑇1 𝑇2
𝑑0 = ; 𝑑1 = ; 𝑑2 =
Sc
𝑇 𝑇 𝑇
Average line voltage
𝑉𝑎𝑏
𝑉𝑎𝑏 = 𝑑1 𝑉𝑑𝑐
𝑉𝑏𝑐 𝑉𝑏𝑐 = 𝑑2 𝑉𝑑𝑐
𝑉𝑐𝑎 𝑉𝑐𝑎 = − 𝑑1 + 𝑑2 𝑉𝑑𝑐
0 T 2T = 𝑑0 − 1 𝑉𝑑𝑐
10/31/2023 56
 Space vector modulation

• Pulse Width Modulation Duty

S1 cycles:
S2 S3 S4 S5 S6
1 𝑑0
da 𝑑𝑎 = + 𝑑1 + 𝑑2
2
db 𝑑0
dc 𝑑𝑏 = + 𝑑2
2
0 𝑑0
V0 V1 V2 V7 V2 V1 V0 V0 V1 V2 V7 V2 V1 V0 𝑑𝑐 =
000 100 110 111 110 100 000 000 100 110 111 110 100 000 2
Sa where
Sb 𝑇0 𝑇1 𝑇2
𝑑0 = ; 𝑑1 = ; 𝑑2 =
Sc
𝑇 𝑇 𝑇
Average line voltage
𝑉𝑎𝑏
𝑉𝑎𝑏 = 𝑑1 𝑉𝑑𝑐
𝑉𝑏𝑐 𝑉𝑏𝑐 = 𝑑2 𝑉𝑑𝑐
𝑉𝑐𝑎 𝑉𝑐𝑎 = − 𝑑1 + 𝑑2 𝑉𝑑𝑐
0 T 2T = 𝑑0 − 1 𝑉𝑑𝑐
10/31/2023 57
 Space vector modulation

• When voltage vector is in Section 2

➔Realization of 𝑉𝑠 𝑉3 S2 𝑉2
010 110
𝑇𝑟 𝑇𝑙 𝑇0 𝑇7 𝑉𝑠
𝑉𝑠 = ⋅ 𝑉2 + ⋅ 𝑉3 + ⋅ 𝑉0 𝑉7
𝑇 𝑇 𝑇
➔ Which order to apply 𝑉2 , 𝑉3 , 𝑉0 , 𝑉7
𝑉𝑙 𝑉𝑟
V0 V3 V2 V7 V2 V3 V0 V0 V3 V2 V7 V2 V3 V0
000 010 110 111 110 010 000 000 010 110 111 110 010 000

Sa
𝑉0 ≡ 𝑉7
Sb
When 𝑉𝑠 is in Sector 2
Sc
0 T 2T
Similarly, analyzes the modulation in other Sectors at Home
10/31/2023 58
 Space vector modulation: animation

10/31/2023 59
 Space vector modulation

• What is 𝑉𝑠 , how to detect its position?

Ref.
Controller

SVM

• Consider 𝑉Ԧ𝑠 in 𝛼𝛽 frame

𝑉𝑠𝛽
𝜃 = arctan
𝑉𝑠𝛼
→ one arctangent, one division

10/31/2023 60
 Space vector modulation
• How to calculate 𝑑𝑙 , 𝑑𝑟 ? → depends on sectors
Sector 1 Sector 2 Sector 3

𝑑𝑙 1 3 − 3 𝑉𝑠𝛼 𝑑𝑙 1 3
−
1 𝑉
𝑠𝛼 𝑑𝑙 1 0 3 𝑉
𝑠𝛼
= = = 3 3
𝑑𝑟 𝑉𝑑𝑐 2 2 𝑉𝑠𝛽 𝑑𝑟 𝑉𝑑𝑐 2 2 𝑉𝑠𝛽 𝑑𝑟 𝑉𝑑𝑐 − − 𝑉𝑠𝛽
0 3 0 1 2 2
Sector 4 Sector 5 Sector 6
3 3 3 1 3 3 𝑉
𝑑𝑙 1 2 − 3 𝑉𝑠𝛼 𝑑𝑙 1 −2 −
2 𝑉𝑠𝛼
𝑑𝑙
=
𝑠𝛼

𝑑𝑟
= 𝑉𝑠𝛽 = 𝑑𝑟 𝑉𝑑𝑐 2 2 𝑉𝑠𝛽
𝑉𝑑𝑐 3
−
3 𝑑𝑟 𝑉𝑑𝑐 3 3 𝑉𝑠𝛽 0 − 3
2 2 −
2 2

Duty cycle
waveform of
da, db and dc

10/31/2023 61
 Space vector modulation
• SPWM versus SVM?
𝑉𝐷𝐶
𝑉𝑎,𝑝𝑘 =
2

𝑉𝑎,𝑝𝑘
𝑚= =1
𝑉𝐷𝐶 /2

SPWM output

2 𝑉𝐷𝐶
𝑉𝑎,𝑝𝑘 = ⋅
3 2

𝑉𝑎,𝑝𝑘 2
𝑚= = ≈ 1.15
𝑉𝐷𝐶 /2 3
SVM output
10/31/2023 62
 Space vector modulation
• Third harmonics injection?

2 𝑉𝐷𝐶
𝑉𝑎,𝑝𝑘 = ⋅
3 2

𝑉𝑎,𝑝𝑘 2
𝑚= = ≈ 1.15
𝑉𝐷𝐶 /2 3
SVM output
10/31/2023 63
 Space vector modulation
Further discussion
• Over modulation?
• Effect of deadtime?

10/31/2023 64
 Space vector modulation: example
• Further discussion
• Simulink demos:
Direct Torque Control with Space Vector Modulation of an
Induction Motor Drive

10/31/2023 65
 THANKS
FOR
ATTENTIONS

10/31/2023 66