IFOST 2010 Proceedings

A Simplified SVPWM Algorithm and its Application

Simulation on Motor Control

2
Tengwei Yu \ Ruixue Ni
l
Xudong Wang , Bin Zhang I
I-School of Electrical & Electronic Engineering 2-Automotive Electronic Engineering Centre
Harbin University of Science & Technology Harbin University of Science & Technology
Harbin, CHINA Harbin, CHINA
fishtail@yeah.net wxd6158@I63.com

Abstract-In order to facilitate real-time computation of the

digital signal processor (DSP), a simplified space vector pulse II. S-SVPWM ALGORITHM
width modulation (S-SVPWM) is proposed in this papaer.
SVPWM expresses the eight on/off state of the three-phase
Through the establishment of a special coordinate system, the six
voltage-source inverter (that is, 000, 001, 010, 011, 100, 101,
110, 111, where 1 means turn on the upper bridge arm, while 0
sectors in the traditional space vector pulse width modulation are
reduced to three, and the corresponding calculation becomes
simple, which is more suitable for digital system. With for the latter bridge) by the vectors in the a-p coordinate
MATLAB7.lISimulink, a permanent magnet synchronous motor system. Therefore the eight switching states corresponding to
(PMSM) control system adopting S-SVPWM and the rotor field eight basic voltage vector denoted by Vo� V7• When only
oriented control algorithm is set up. Simulation results rectify the conduct Vo and V7, the motor stator flux vector is fixed, thus
effectiveness of the S-SVPWM algorithm, which provides the they are also called zero vectors.
theory basis for practical applications.
The eight basic voltage vector corresponds to seven
discrete points on the a-p coordinates, and their connection is
limited to a hexagon whose vertex is Vr V6and edge length is
Keywords- simplified space vector pulse width nwdulation(S­
SVPWM); simulation; rotor field oriented algorithm
2Udc /3 . When the expected voltage vector Ur lies on any
I. INTRODUCTION position within the hexagon, it can always be synthesized by
2
the weighted average of the basic vector[ �
With the development of power electronics and
microprocessor technology, pulse width modulation (PWM)
A. Sector division
technology has been used widely in the field of power
transmission. Within a variety of PWM technologies, the space Bordering the six non-zero vector, each sector spans 60 0,
vector pulse width modulation (SVPWM) has been more then the space vector hexagon can be divided into six sectors.
applied in the all-digital AC drive system due to its advantages In different sectors, Ur is composition of different non-zero
of easy digital and high modulation ration. voltage vectors [3]. In order to judge which sector the
The inverter and motor are considered as a whole in Ur locates, the XYZ coordinate system is establishment, the
SVPWM, and in which eight basic voltage vectors are used to sector division and XYZ coordinates in shown as Fig.I.

�
synthesis the desired voltage vector, then the inverter switching
•
state of the power devices are established upon them. The key
of the SVPWM algorithm is to determine the dwell time of the
two adjacent effective vector during one PWM cycle [1].
An easy-to-digital simplified SVPEM (S-SVPWM)
algorithm is proposed in this paper, the appropriate register is
directly configured by operating the components of the
expected voltage vector on the special coordinate system. The
�________�__�L-__� ___ �
S-SVPWM makes the calculation procedure greatly simplified.
Firstly the theory and implementation method of the S­ a

SVPWM is given, and then a permanent magnet synchronous

motor (PMSM) control system model in the environment of

y
MATLAB7.lISimulink is set up to verify the algorithm, which
adopting S-SVPWM algorithm and the rotor field oriented
control algorithm. Simulation results approve the affectivity
and feasibility of the S-SVPWM. Figure I. sector division

This paper is supported by Heilongjiang Province (11551075)

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IFOST 2010 Proceedings

' Ude
Ur Ur
. .
S·mce the maXImum attamable IS J3' can be
(4)
normalized as:

(0
, V,(OIO)
,
(--Ud< ", Uk )
Ua Uf3 Ur
3 �,://
Where, and denote the components of the in the
a, p coordinates.
,
When projected Ur into the XYZ coordinate system, and
uses Ua and Uf3 to present, the following equations are arrived: V3(011 )<-----�----+ V4(1 OOr----.a
(-fU 0)
. OJ
//(fu'
Ux= /i Up \\
Ude \,
i
V,(IOI) I
u U
Uy= /i (/i a- p) I
Ude 2 (""jUde - .fjUde)

Uz=-/i ( /i u a- up
) Figure 2, the choice of basic space vector
Ude 2
Where, Ux, Uy, Uz are components of Ur in the XYZ
coordinate system. noting

P=Ixsign(Ux) + 4xsign(U
y) + 2xsign(Uz) (3) (5)

Where sign(x) is sign function, if x>O, sign(x) 1 =

,

otherwise, sign(x) 0 Then the relationship between P and

sector N is shown as Tab.l.
=
.

Where, K4 and K6 are duty cycles for V4 and V6

TABLE I. THE RELATIONSHIP BETWEEN P AND SECTOR N respectively, that is, their ratios between dwell time and PWM
cycle. Thus, the voltage space vector PWM waveform in sector
1 is shown as Fig.3[51.
Ko K4 KG KG K. Ko
K7
I
2 2 2 : 2 2 2 :
B.
I
I I I
Weight calculation a/the non-zero vectors I I I
I I I
I I I
With the purpose of minimizing the switching time of the I 0 1 1 I 0 I
A >----I I
I
>----I

power switches and make only one bridge arm switch move I
I
I
when any change in the voltage space vector, seven-segment I
0 0 I 0 0
voltage space vector PWM waveform is applied, furthermore, I
B I
I
the selection of the non-zero basic voltage vectors follows the 1---1
I I
principle of turn on the power switches from one to two. The I
I
I
I
0 0 0 I I
1 0 0 0
C I I
choice of basic voltage vector is shown in Figure 2. In sector 1, I I
I I
Ur is synthesized by V4 and V6, while in sector 2, V2 and V6 to I I I

synthesized Ur. and so on[41.

Vo V4!V6!V7!V6 V4 Vo
I I I

Computing the weight of the non-zero basic voltage vector, Figure 3, the voltage space vector PWM waveform in sector 1
namely calculates the duty of their dwell time within a PWM
cycle. Sector 1 is chosen as an example to illustrate the From equation (4) and Figure 3, it can be seen that the duty
calculation process. cycle of phase A is:
As mentioned above, in sector 1, Ur is synthesized with
2
0)
and I I . In accordance with the
V4("3U", V'("3u", ..j3u",) (6)
volt-second balance principle, equations (4) and (5) are
obtained.

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IFOST 2010 Proceedings

C. Assignment and saturation treatment of the registers Since Ux' U y' Uz have been calculated in sector
Through equation (6), the corresponding register value of division period, by simple calculation and look up Table II, the
phase A can be calculated by the following equation: register values can be obtained easily, which greatly simplifies
the traditional SVPWM algorithm.
I I (7)
2 4
CMPRI=-(I-DA)xTpWM =-(I-Uz -UJXTpWM
However , it need to note that the Ur synthesized by basic
The corresponding register values of phase B and C can be voltage vectors can only locate inside the inscribed circle of the
obtained similarly. voltage space vector hexagon, beyond this range the inverters
can not achieved, that is , the Ur is in the over-modulation
With the same methods, the values of the registers in other
sectors can be got as well. By calculating, it can be found that region. This phenomenon can also be explained as the duty of
after adopting the sector division this paper proposed, sector I phase A, B, or C is greater than 1, meaning that the
and sector 4, sector 2 and sector 5, sector 3 and sector 6 have corresponding three-phase comparison register values are less
the same register values. Therefore, the output of the sector than zero. To make sure that Ur is beyond over-modulation
division can be simplified to three, which facilities the region, when CMPRx :5: 0 , set CMPRx 0 . This approach can =

.!.TpWM aside, then the not only avoid over-modulation, but also prevent DSP from
4
traditional SVPWM algorithm. Put
computation error due to negative value assigned to the
register values in each sector can be expressed as Table II. registers.

TABLE II. REGISTER VALUES OF EACH SECTOR III. ESTABLISHMENT OF SIMULATION MODEL
N CMPRI CMPRl CMPR3 After analysis PMSM and the principle of the rotor field
1 (1-Uz - U )x (l + Uz -Ux) (I +Vz + VJ oriented control (id 0 ), based on the S-SVPWM algorithm, a
=

2 (I-Uz +Uy) (l + Uz + Uy) (I-Vz-Vy) PMSM rotor field oriented control system simulation model is
build in MATLAB7.lISimulink environment[61, as Figure 4
3 (I + Ux + Uy) (I-Vx -Vy) (1 + Ux-Uy) shows.

Scope4
Scope2

Constant4 B
Scope1

L------1 lq 1ooam l+-__...J

a,,,"
p,�

IContinuous I
powergui

Figure 4. PMSM rotor field oriented control system simulation model with S-SVPWM

In the control system, the three phase current of the stators

(measured by two independent hall effect current transducers)
idrej (idrej = 0 ), iqrej and feedback current quantity i: , < are

are transformed into the rotating d-q coordinate (d, q) sent into current PI regulator respectively, the outputs are
U d and Uq in d-q rotating coordinate system. Through inverse
components td and tq through Clarke and Park transformation,
Park transformation, Ud and Uq are transformed into Ua and
td and tq are taken as the negative feedback quantity of
UfJ in a-� coordinate system. Then the S-SVPWM algorithm
and
current loop. The deviation between the given speed and the
is adopted to generate PWM signals to control the inverter, and
feedback speed is sent into speed PI regulator, the output
furthermore the dual-closed loop control on speed and current
iqrej is considered as the q-axis reference current component, for the PMSM is realized.
which is used in torque control. The deviations between
The S-SVPWM module is shown in Figure 5.

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IFOST 2010 Proceedings

��----•• I U�' u. r-�r+��--.I

•I
CD�----• L��----.I U,
Ubela
U... u,
1------+I uz
pulses
Ualla
� Udc Uz

Ux.Uy.Uz
�Ude PVVM generation

Figure 5. S-SVPWM module

A. Sector judgement module Constant1

(b) calculation of sector N

The sector judgment module is shown as Figure 6.
Figure 6. sector judgemen

Ubeta
Sector judgment can be divided into two parts; they are the
calculation of the phase voltages: Ux, Uy, Uz and of the sector
N. As we have known above, when Ua' Uf3 are given, Ux, Uy,
Uz can be achieved by equation (2). Then, from equation (3)
and Table I, it is easy to determine the sector N.

B. Register assignment module

Until now, Ua, Up and the sector N are known, and
Ude
(a) calculation of Ux' Uy' Uz
combining Table II with the saturation processing mentioned
in section 2.C, register evaluation module is expressed as
Fig.7.

CMPR3

Figure 7. register assignment module

In simulation, the given speed is 1000rad/s, DC bus voltage

C. PWM generation module is 300V, simulation time is O.4s, and the PWM cycle
By comparing register values with the isosceles triangle, T = O.OOOls . At time t = Os, the PMSM starts with no
load. And at time t = O.ls , the load is added to 4Nm.
the symmetric space vector PWM can be generated, and negate
them, PWM2, PWM4, PWM6 are achieved.
Simulation waveforms are shown as Fig.8 to Fig.12.

IV. THE ANALYSIS OF SIMULATION RESULTS

The PMSM in the simulation is provided by MATLAB /
Simulink blocks. The Specific parameters for the selected
motor model are: Rs = 2.8750, Ld = Lq = 8.5mH, and
the permanent magnet flux is 0.175Wb.

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IFOST 2010 Proceedings

Figure 8. sector waveform Figure 12. speed waveform

The simulation results meet the PMSM operating

characteristics, which proves the correctness of the proposed
S-SVPWM and the control model.

V. CONCLUSION

At present, motor control systems applying DSP have

increasingly stringent requirements for the software
algorithms, in the software protection and fault handling are
also increasing, most of which are added within a timer
Figure 9. phase voltage waveform overflow interrupt procedure. The above require more
simplified procedures to set apart a margin for the latter
procedures. In order to meet the real time requirement of the
SVPWM algorithm, the paper proposes S-SVPWM algorithm,
which simplifies the six sectors in the traditional SVPWM
algorithm into three by establishing a special coordinate
system and makes the calculation process greatly simplified.
The simulation is conducted in the environment of
MATLAB7.lISimulink, simulation shows that the proposed S­
SVPWM algorithm is feasible, which provides a theoretical
basis for the actual control system in future.
Figure 10. three-phase stator current waveform
REFERENCES

[1] Selin Ozcira, Nur Bekiroglu, Engin Aycicek. Direct Torque Control of
Permanent Magnet Synchronous Motor Using LP Filter. Proceedings of

I� [2]
the 2008 International Conference on Electrical Machines, 2008.
Wang Xiaoming, Wang Ling. Motor's DSP control-TI DSP applications
[M]. Beijing: Press of Beijing University of Aeronautics and
Astronautics, 2004.
[3] Ying-Shich Kung. "High performance position controller for PMSM
drives based on TMS320F2812 DSP", Proceedings of the 2004 IEEE
international Conference control applications.2006, pp.290-295
Figure 11. torque waveform [4] Liu J, Wang T, Xu D, Cong L. "A new Algorithm Research and
Simulation for Permanent Magnet Synchronous Motor AC Servo
System", 2008 IEEE Conference on Automation and Mechatronics
vol.2, pp.965-969
[5] Li Chuanhai, Li Feng,Qu Jisheng, et al. Space vector pulse width
modulation (SVPWM) technique and its optimization [1]. Shandong
University journal: 2009,35 (2) :27-31.
[6] Yang Yongliang, Ma Ruiqing and Huangpu Yiqiu. PMSM servo system
modeling and simulation based on rotor flux oriented control of [1].
Motor, 2008, (5): 33-35

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