INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

Comparison of SPWM and SVPWM Scheme for Two-Level Inverter Fed Induction Motor Drive
Manish G. Prajapati1, Rohit D. Prajapati2 and Pinkal J. Patel3
Student, Dept. of Electrical Engineering, M.S.U. Baroda, Gujarat, India Student, Dept. of Electrical Engineering, S.P.C.E., Visnagar, Gujarat, India 3 Asst. Professor, Dept. of Electrical Engineering, S.P.C.E., Visnagar, Gujarat, India E-Mail Id :- manish.er570@gmail.com, rohit.er777@gmail.com and pinkal_ldce@yahoo.com
2 1

Abstract This paper describe comparison of a SPWM and SVPWM scheme for Two level inverters fed induction motor drive. This paper introduces the working principle of SPWM & SVPWM for Two-Level inverter. Simulation results are obtained using PSIM Software with a 45-kW (60 HP) motor drive and analysis of THD (Total Harmonic Distortion) and FFT (Fast Fourier Transform) in Line Voltage and Line Current for both SPWM & SVPWM methods. From results it is concluded that SVPWM method can use more dc link voltage than SPWM. In SVPWM scheme THD in line voltage & line current is also less than SPWM scheme. Index TermsTwo level inverter, space vector pulse width modulation (SVPWM), sine pulse width modulation (SPWM).

When an upper IGBT is switched on, i.e., when a, b or c is 1,the corresponding lower IGBT is switched off, i.e .,the corresponding a, b or c is 0.Therefore, the on and off states of the upper IGBT S1, S3 and S5 can be used to determine the output voltage[5].

I.

INTRODUCTION

HE TWO-Level inverter topology has attracted attention in low power low voltage drive applications. Fig. 1 shows Main circuit of three phase voltage source inverter. Single-phase VSI cover low-range power applications and three-phase VSI cover the medium- to high-power applications [1]. The Main purpose of these topologies is to provide a three phase voltage source, where the amplitude, phase, and frequency of the voltages should always be controllable. Although most of the applications require sinusoidal voltage waveforms (e.g., ASDs, UPSs, FACTS, VAR compensators), arbitrary voltages are also required in some emerging applications (e.g., active filters, voltage compensators) [2]. The switches of any leg of the inverter (S1 and S4, S3 and S6, or S5 and S2) cannot be switched on simultaneously because this would result in a short circuit across the dc link voltage supply. SPWM and SVPWM modulation techniques are famous for inverter fed induction motor drives. Two PWM schemes verified using PSIM simulation and compare both. From results, SVPWM scheme has more advantage than SPWM scheme. II. TWO - LEVEL INVERTER SCHEME FOR AN INDUCTION MOTOR DRIVE The circuit model of a typical three-phase voltage source PWM inverter is shown in Fig. 1 There are the six power switches(IGBT) that shape the output, which are controlled by the switching variables a, a, b, b, c and c[4].

Fig. 1. Three-phase voltage source PWM Inverter

III. PRINCIPLE OF CONSTANT V/HZ CONTROL FOR INDUCTION MOTORS In this type of control, the motor is fed with variable frequency supply generated by the PWM control of an inverter [10].

A
(1)

V f

Where, V and A are the phasors of stator voltage and stator flux respectively, It follows that if the ratio V/f remains constant with the change of f, then A also remains constant and the torque is independent of the supply frequency [3]. So in order to get constant torque over the entire operating range the V/f ratio is maintain constant. Since only magnitudes of the input variables frequency and voltage are controlled, this is known as scalar control [10]. In actual implementation the ratio between the Magnitude and frequency of the stator voltage is usually based on the rated values of these variables, also known as motor ratings [6]. The realistic

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

control limits that are placed on the applied voltage and frequency are illustrated in Fig. 2. A disadvantage of such a control is that the torque developed is load dependent as it is not controlled directly. Also, the transient response of such a control is not fast due to the predefined switching pattern of the Inverter [10].

Where VmA, VmB,, and VmC, are the three-phase sinusoidal modulating reference waves and Vcr is the triangular carrier wave. The fundamental-frequency component in the inverter output voltage can be controlled by amplitude modulation index

(2) where Vm and Vcr are the peak values of the modulating and carrier waves respectively. The amplitude modulation index ma is usually adjusted by varying Vm while keeping Vcr fixed. The operation of switches S1 to S6 is determined by comparing the modulating waves with the carrier wave. When VmA is greater than Vcr the upper switch S1 in inverter leg A is turned on. The lower switch S4 operates in a complementary manner and thus is switched off. The resultant inverter terminal voltage VAN, which is the voltage at the phase A terminal with respect to the negative dc bus N, is equal to the dc voltage Vd. When VmA < Vcr, S4 is on and S1 is off, leading to VAN = 0 as shown in Fig. 3. Since the waveform of VAN has only two levels, Vd and 0, the inverter is known as a two-level inverter. The inverter lineto-line voltage VAB can be determined by, VAB = VAN VBN (3) The waveform of its fundamental-frequency component VAB is also given in the figure. V. TWO -LEVEL INVERTER CONFIGURATION USING SVPWM Space Vector PWM (SVPWM) refers to a special switching sequence of the upper three power IGBT of a three-phase inverter [6]. It has been shown to generate less harmonic distortion in the output voltages and or currents applied to the phases of an AC motor and to provide more efficient use of supply voltage compared with sinusoidal modulation technique [4].

Fig. 2. V/f limits on frequency and voltage.

IV. TWO -LEVEL INVERTER CONFIGURATION USING SPWM Sinusoidal pulse width modulation is one of the good techniques, which are used to suppress harmonics presented in the quasi-square wave. These methods involve a comparison of the reference sine signal with a triangular carrier waveform and the detection of crossover instances to determine switching events. This relatively unsophisticated method employs a triangular carrier wave modulated by a sine wave and the points of intersection determine the switching points of the power devices in the inverter. However, this method is unable to make full use of the inverters supply voltage and the asymmetrical nature of the PWM switching characteristics produces relatively high harmonic distortion in the supply. The principle of the sinusoidal PWM scheme for the two-level inverter is illustrated in fig. 3.

Fig. 3. Principle of the sinusoidal PWM

Fig. 4. Basic switching vectors and sectors

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

Fig.4 shows the basic Switching Vector of SVPWM Technique. In this schemes there are eight valid switching state out of six active switching space vector are evenly distributed 60 interval with 2Vdc/3 length and form a hexagon. Also two zero space vector are located at the center of hexagon in the complex plane as shown in fig 4. For a given Magnitude (length) and position, Vref can be synthesized by three nearby stationary vectors, based on which the switching states of the inverter can be selected and gate signals for the active switches can be generated [8]. When Vref passes through sectors one by one, different sets of switches will be turned on or off. As a result, when Vref rotates one revolution in space, the inverter output voltage varies one cycle over time. The inverter output frequency corresponds to the rotating speed of Vref, while its output voltage can be adjusted by the Magnitude of Vref. The Vref (called the reference vector) vector rotates counter clockwise with the angle varying between 0 and 360 degrees. VI. ALGORITHAM FOR SIMULATING THE SPACE VECTOR PWM

Fig. 5. Vector diagram when reference vector in sector-1 (where = 60)

C. Step 3: Determine the switching time of each IGBT (S1 to S6) Fig.5 shows space vector PWM switching patterns at each sector. Based on this the switching time at each sector is summarized in Table-I, and it will be built in PSIM model to simulate SVPWM.

A. Step 1. Determine Vref, and angle (Theta)

Freq Speed ref Pole 120
Freq Vbase Fbase

(4)

Vref

(5)
(6) (7)

SVPWM Switching Pattern at Sector 1 and 2

Ma
Theta

Vref Vdc

2 Frequency time

B. Step 2. Determine time duration T1, T2,T0 From Fig. 4, the switching time duration in any Sector can be calculated as follows:

Ts
T1

1 Fs
(Ts Ma) sin (pi 3) Theta

SVPWM Switching Pattern at Sector 3 and 4

(8) (9) (10) (11)

T2

(Ts Ma) sin (Theta) )

T0

Ts - T1 - T2

Where, TS = Sampling Time Ma = Modulation Index Fs = Sampling Frequency

SVPWM Switching Pattern at Sector 5 and 6 Fig.6. Space Vector PWM switching patterns at each sector

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

TABLE-I SWITCHING TIME CALCULATION AT EACH SECTOR SECTOR UPPER SWITCHES (S1,S3,S5) S1 = T1+T2+T0/2 S3=T2+T0/2 S5=T0/2 S1 = T1+T0/2 S3=T1+T2+T0/2 S5=T0/2 S1 = T0/2 S3=T1+T2+T0/2 S5=T2+T0/2 S1 = T0/2 S3=T1+T0/2 S5=T1+T2+T0/2 S1 = T2+T0/2 S3=T0/2 S5=T1+T2+T0/2 S1 = T1+T2+T0/2 S3=T0/2 S5=T1+T0/2 UPPER SWITCHES (S4,S6,S2) S4 = T0/2 S6=T1+T0/2 S2=T1+T2+T0/2 S4 = T2+T0/2 S6=T0/2 S2=T1+T2+T0/2 S4 = T1+T2+T0/2 S6=T0/2 S2=T1+T0/2 S4 = T1+T2+T0/2 S6=T2+T0/2 S2=T0/2 S4 = T1+T0/2 S6=T1+T2+T0/2 S2=T0/2 S4 = T0/2 S6=T1+T2+T0/2 S2=T2+T0/2 (a) Line Voltage waveform (X- axis: 1 div = 10 ms, Y- axis: 1 div= 250 V)

(b) Enlarged Line Voltage FFT (X- axis: 1 div = 10 kHz, Y- axis: 1 div= 50 V)

VII. SIMULATION RESULTS AND DISCUSSION A) Simulation Results of Two level Inverter using SPWM
(c) Line current waveform (X- axis: 1 div = 10 ms, Y- axis: 1 div= 20 A)

The SPWM scheme is simulated on a 45 kW (60 Hp) 4-Pole, 415 volts three-phase induction motor at no load with open loop V/f control. The carrier frequency used for PWM generation is limited to 5 kHz. The PSIM simulation circuit for two-level inverter is shown in fig. 7.

(d) Enlarged Line current FFT (X- axis: 1 div = 10 kHz, Y- axis: 1 div= 0.5 A) Fig. 8. Simulation results for SPWM

Fig. 7. Simulation circuit for two level inverter using SPWM

The 2-level SPWM scheme is used for the PWM signal generation. The line voltage, line current, FFT & THD of Line Voltage and Line Current waveforms for inverter operation are presented in Fig. 8. The simulation results prove the ability of SPWM scheme.

B) Simulation Results of Two level Inverter using SVPWM The SVPWM scheme is simulated on a 45 kW (60 Hp) 4-Pole,415 volts three-phase induction motor at no load with open loop V/f control. The SVPWM Analysis circuit for two-level inverter is shown in fig. 9. The SVPWM scheme is simulated using DLL (Dynamic Link Library) block of PSIM simulation software package. Output frequency can be varied according to the reference speed input in DLL (Dynamic Link Library) block. Cprogramming has been developed for SVPWM scheme using DLL block. Base frequency and Base voltage input in DLL block is used to maintain V/f ratio constant. The 2-level SVPWM scheme is used for the PWM signal generation, based on the sampled amplitudes of reference phase voltages.

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

The line voltage, line current, FFT & THD of Line Voltage and Line Current waveforms for inverter operation are presented in Fig. 10. The simulation results prove the ability of SVPWM scheme.

C) Comparison of SPWM & SVPWM Results of Two Level Inverter The comparisons of SPWM and SVPWM method for Two Level Inverter Using PSIM Software have been done. U is the phase-to-center voltage containing the third order harmonics that are generated by space vector PWM, and U1 is the sinusoidal reference voltage generated by SPWM shown in fig. 11. This leads to the higher modulation index compared to the SPWM.

Fig.9. Simulation circuit for two level inverter using SVPWM Fig.11. Phase-to-center voltage by space vector PWM

From results, It is observed that THD in line voltage & line current more in SPWM than SVPWM scheme. RMS value of output line voltage is less in SPWM than SVPWM scheme. Observation shown in Table-II.
(a) Line Voltage waveform (X- axis: 1 div = 10 ms, Y- axis: 1 div= 250 V) TABLE-II OUTPUT LINE VOLTAGE, LINE CURRENT, VOLTAGE THD AND CURRENT THD OF SPWM & SVPWM SCHEME

PWM Scheme
(b) Enlarged Line Voltage FFT (X- axis: 1 div = 10 kHz, Y- axis: 1 div= 50 V)

Vab (rms) 380.07 457.96

Ia (rms) 24.7 32.05

Vab THD % 97.4 55.89

Ia THD % 7.30 6.47

SPWM SVPWM

The maximum phase-to-center voltage by sinusoidal and space vector PWM are respectively,
(c) Line current waveform (e) (X- axis: 1 div = 10 ms, Y- axis: 1 div= 20 A)

Vmax = Vmax =

for Sinusoidal PWM, and , for Space Vector PWM. Where Vdc is DC-Link voltage.

(d) Enlarged Line current FFT (X- axis: 1 div = 10 kHz, Y- axis: 1 div= 0.5 A) Fig. 10. Simulation results for SVPWM

This Locus comparison of maximum linear control voltage is shown in fig.12. This means that Space Vector PWM can produce about 15 percent higher than Sinusoidal PWM in output voltage.

INSTITUTE OF TECHNOLOGY, NIRMA UNIVERSITY, AHMEDABAD 382 481, 3-5 DECEMBER, 2010

Fig.12. Locus comparison of maximum linear control voltage in SPWM and SVPWM.

Zhenyu Yu and David FigoliAC Induction Motor Control Using Constant V/Hz Principle and Space Vector PWM Technique with TMS320C240 DSP Digital Control System Applications, April 1998,pp 10-18. [5] jin-woo jung space vector pwm inverter mechatronic systems laboratory department of electrical and computer engineering he ohio state university, pp 4 - 14. [6] Hamid A. Toliyat and Steven Campbell dsp-based electromechanical motion control Texas A&M University Department of Electrical Engineering College Station, Texas, pp. 223-224. [7] Do-Hyun jang and duck yong yoon Space vector technique for two phase inverter fed single phase induction Motor IEEE-1999 [8] B. Wu, High-Power Converters and AC Drives, IEEE Press and Wiley, 2006. [9] Krisztina Leban, Cristian Lascu, and Alin Argeseanu Implementation of Space Vector Modulation Strategies for Voltage Source Inverters for Induction Motor Drives University of Timisoara. [10] M. Lakshmi Swarupa, G. Tulasi Ram Das and P.V. Raj Gopal Simulation and Analysis of SVPWM Based 2-Level and 3-Level Inverters for Direct Torque of Induction Motor International Journal of Electronic Engineering Research ISSN 0975 - 6450 Vol- 1 No.3 (2009) pp. 169184 [4]

VIII. CONCLUSION This paper has presented an overview of SPWM & SVPWM theory and simulation for Two-Level inverter. It has been seen that SVPWM generate less Harmonic distortion in the output voltages and currents applied to the phases of an induction motor and to provide more efficient use of supply voltage compared with sinusoidal modulation technique as shown in simulation results.

APPENDIX Ratings of the three-phase 45 kW (60 H.P.), 4-pole, 415 V, 50 Hz squirrel cage induction motor are: Power Output: 45kW (60 H.P.) Stator resistance (Rs): 0.07 Rotor resistance (Rr): 0.025 Stator leakage inductance (Lls) : 0.0008 H Rotor leakage inductance (Llr): 0.0008 H Magnetizing inductance (Lm): 0.0228 H Rotor inertia (J) : 0.42kgm2

REFERENCES [1] P. J. Patel, Rakesh A. Patel, Vinod Patel, P. N. Tekwani Implementation of Self Balancing Space Vector Switching Modulator for Three-Level Inverter, IEEE Region 10 Colloquium and the Third International Conference on Industrial and Information Systems, Kharagpur, INDIA December, 2008. Sunil Panda, Anupam Mishra, B Srinivas Control of Voltage Source Inverters using SVPWM for Adjustable Speed Drive Applications Thesis of Department of Electrical Engineering National Institute Of Technology Rourkela, Rourkela ,May- 2009. Mr.Venkatara, Mana Naik, Mrs. K.Sree Gowri Space Vector Based Hybrid Pulse Width Modulation for reduced Current Ripple National Conference on Intelligent Electrical Systems (NCIES09), April 2009.

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