SPACE VECTOR MODULATION

SPACE VECTOR MODULATION

PWM control is the first scheme to be applied on a large scale for control of inverter. Steady state operation and its control but limited knowledge of transient operation, resulting in instability and inverter failure because of immense dynamic currents being drawn during the load or speed transients. Kovac and Racz developed a three phase machine model known as space phasor model (SPM) of the machine. 2.9.3 SPACEVECTORMODULATORIMPLEMENTATION Space vector modulator implementation in a PMSM drive scheme in generic form is shown in Figure 2.39. The d- and q-axes voltage commands in stator reverence frames give the magnitude of the voltage phasor, its angle, and the sector in which the commanded phasor resides at a given instant. From this information, the time durations of switching vectors v1 , v2 , and zero vector v0 given respectively by a, b, and care retrieved from a memory table. The gate drive signals then are extracted from this set of information again using another table stored in a memory. The sam-pling time Tc is an additional input to the space vector modulator module to endow a desired varying switching frequency feature that may be useful in optimizing the efficiency of the motor drive system over the entire speed torque region. SWITCHINGRIPPLE INSVM The switching ripple currents in the SVM control can be derived from the switching phasor diagram assuming the inductance Lis known. Neglecting the resistive voltage drops compared to the inductive voltage drops, the rate of change of current can be written from the inductive voltage drop equation as

where vk is one of the switching vector at the given time with values of

It may be assumed that the commanded or desired value of voltage phasor, vs is an

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SPACE VECTOR MODULATION average within a switching cycle. Taking incremental values only gives the ripple currents over incremental times with the switching vectors applied within a switching cycle. Then the currents for each switching vector application are written as

FIGURE 2.39 Generic implementation of SVM controller in a PMSM drive system.

where switching vectors v1, v2 , and v7 (or v8 as the case may be for zero vector) are applied for time durations of aTc , bTc , and cT c . Note that the current ripple due to zero vector is counter to the direction of voltage command phasor and the other ripple currents are along the vector difference between the applied switching vector and the voltage command phasor. Therefore, given the switching vectors, the command voltage phasor, the vectors v1vs , v2vs can be derived and then accordingly the ripple currents can be computed. Consider a SVM cycle shown in Figure 2.40 with switching

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SPACE VECTOR MODULATION vectors and their durations. From this switching vector diagram with all the vectors that go to make the current ripples is drawn as in Figure 2.41. Then applying the appropriate oltage vectors for the time durations indicated in the previous figure, the ripple currents for the application of v1vs, v2vs, and vs are derived from this and shown in Figure 2.42. Note that from the steady-state operating point given by 0, the zero current vector starts from it and goes along vs for t1 and then switching vector v1 is applied from t1 to t2 with the result that v1vs causes the ripple current during this time and it is along this differential vector. Then for t2 to t3 interval, switching vector II is applied causing a ripple current due to v2vs along this vector direction and then for time t3 to t4, the zero switching vector VIII is applied causing the zero ripple current vector to move along vs direction and that completes the half switching

FIGURE 2.40 A typical SVM switching cycle.

FIGURE 2.41 Switching vector diagram and differential voltage vectors to compute the current ripple.

SPACE VECTOR MODULATION FIGURE 2.42 Derivation of ripple current vector from the switching vector diagram. cycle and closure of the triangle. Likewise the ripple current vector diagram from t4 to t8 can be shown to constitute a triangle similar to the previous ripple switching triangle, which than can be combined for simplicity into one diagram merging the steady-state operating point. It is important to realize that the fundamental value of the current phasor can be obtained from the origin o of the current vector locus for each switching cycle. The fundamental current vector magnitude can be tapped off this figure by sampling at this instant, i.e., at the beginning of each SVM cycle and this comes without the need for filtering the ripple current. Bypassing the ripple current vector and its filtering that would cause delays and phase lag in the control circuits, the measured current in this method can be applied in feedback control for high-performance applications. Likewise, consider a generic switching cycle of the reduced switchingbased SVM operation shown in Figure 2.43. Its switching vector diagram and corresponding ripple current vector diagram are shown in Figure 2.44. Note that the modified SVM uses only four transitions per cycle and correspondingly the ripple current vector diagram reflects that. For higher values of the command voltage phasor with higher modulation indices, note that the ripple current vector is reduced. It is achieved with minimum number of switchings in a carrier cycle.

FIGURE 2.43 A generic switching cycle of modified SVM with reduced switching

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SPACE VECTOR MODULATION FIGURE 2.44 Switching vector diagram and the ripple current diagram. Space vector Modulation

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