EUROCON 2007 The International Conference on “Computer as a Tool”
SVPWM Speed Governing System of Induction
Motor Based on DSP
Zhiyong Du∗ ,Xianfang Wang†‡
∗ College of Henan Mechanical and Electrical Engineering, Xinxiang, China,453002,e-mail:zhydu@163.com
† Department of Information Engineering/Henan Institute of Science and Technology,Xinxiang,China,453003
e-mail: 2wangfang@163.com, xfwang11@sina.com
‡ School of Communication and Control Engineering/Southern Yangtze University, Wuxi, China, 214122
Abstract— Vector control technology is regard as a kind
of controlling manner of AC asynchronous motor, and it is
already become the first method of the high-performance
variable-frequency speed regulating system. Compared with
SPWM, SVPWM (Space Vector Pulse Width Modulation)
has been used widely because it has better performance. This
paper introduced the basic principle of voltage SVPWM and
vector control. A full-digital solution with TMS320LF2407
using simplified SVPWM control method is presented.
Through the experiment of controlling to a practical motor,
the resulted shows that this method is feasible, the control-
ling system has better dynamic and static performances and
controlling effect, it would have a prospect widely used.
Keywords—SVPWM, Vector control, Variable-frequency
speed governing system, Dynamic and static performances,
DSP.
I. I NTRODUCTION
The development and the application of Pulse Width
Modulation (PWM) technology have optimized perfor-
mance of the frequency converter device, and it is applied
to all kinds of AC speed regulating system. In the special
way of vector modulation, the technology of SVPWM
modulation considers the motor and the PWM inverter as
an integer, on the base of the ideal magnetic linkage round
of AC motor of three-phase symmetrical sine voltage
supplied its power, use the effective magnetic linkage
vector produced in different switch modes of inverter to
come close to the criterion circle, that is, use a polygon to
approximate a circle[1]. The SVPWM control method has
some advanced merits compared with classical SPWM
controlling method, for example, direct physical signifi-
cance, simple mathematic model, easy computer real-time
controlling, and small torque wave, low noise, simple
control, low cost of power, high effect of utilization of
DC voltage. At present time, this technology would be
applied widely whether in open loop or closed loop speed
governing system.
The traditional SVPWM algorithm adopts largely
trigonometric functions and other nonlinearity functions.
When realized, it would need compute the vector effect
time and store a mass of data in advance [2]. But these
compute is complex, the processing is also very difficult,
therefore, it would be not easy to realize the digital real-
time controlling especially.
In this paper, we introduced a simplified SVPWM al-
gorithm, which can realize a conversion speed regulation
1-4244-0813-X/07/$20.00 2007 IEEE.
Warsaw, September 9-12
system of influence motor. The theoretical analysis and
the experiment results show that this system has some
characteristics, such as realized simply, high utilization
ratio of voltage and small harmonic current, and so on.
Therefore, if adopted this system, the operation quality
of the induction motor would be improved greatly, these
results illustrate that this system would have some higher
practical values.
II. W ORKING P RINCIPLES OF SVPWM
A. The Relationship Between Voltage Vector and Mag-
netic Linkage Vector
Where, we suppose that the AC induction motor’s
power is supplied from an ideal three-phase symmetrical
sine voltage, these stator’s phase voltage USA , USB , USC
is add on three-phase coils respectively, their direction is
always on the axis of each coil, and its value is exchanged
in sine rule following on the time. That is

 USA = UA − UN
USB = UB − UN (1)

USC = UC − UN
In this formula, UA , UB , UC are the three-phase phase
voltage of the inverter output; The Un is the voltages
of the midpoint O that relative to negative potential of
the inverter DC side when the stator winding is star
connection.
The US which is synthesized with the voltage space
vector of the stator winding is as follows
US = USA + USB + USC
2 4
= 23 (USA + USB · ej 3 π + USC · ej 3 π ) (2)
2 4
= 23 (UA + UB · ej 3 π + UC · ej 3 π )
The above formula indicated: (1) The voltage space
vector Us that synthesized by three phase voltage space
vectors addition is a space vector rotating with power
source angle frequency speed. (2) In the PWM inverter-
motor system, the analysis of motor stator voltage space
vector can change into the analysis of inverter space
vector [3].
In the same way, we can define the magnetic linkage
space vector ΨS is
ΨS = ΨSA + ΨSB + ΨSC (3)
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 If ignoring the effect of resistant motor stator, then ΨS we could obtain the 8-voltage space vectors:
can be obtained by integral the voltage space vector to U0 , U60 , U120 , U180 , U240 , U300 , O000 , O111 . In these
time. vectors, O000 and O111 are zero vectors. The Fig.2 is
When the inverter outs put a voltage space vector inverter’s spatial distribution of the eight voltage space
Ui (i = 0 7), the magnetic linkage space vectors ΨS can vectors.
be expressed as follows:
q
ΨS = ΨS0 + Ui ·
t (4)
U 120 (010) U 60 (110)
In this form, ΨS0 is an initial magnetic linkage space
vector, is the action time of Ui .
When Ui is a nonzero voltage vector, the magnetic link- U 180 (011) O 000 U 0 (100)
d
age space vectorsets off from initial location, whirligig O 111

with the radius 32 · Uωl along the corresponding voltage

space vector direction. While Ui is zero voltage vector, U 240 (001) U 300 (101)

ΨS = ΨS0 , the magnetic linkage space vector motion is

restricted. Therefore, chose the operator order and work Fig. 2. Voltage space vectors.
time of six nonzero voltage space vector rationally, that
would make the space vector’s head turning in clockwise
or in anticlockwise, and would become the certain shape C. Control of Magnetic Linkage Track
trace. Choose the different form, being the different While the inverter output the basic voltage space vector
magnetic linkage locus. In general, it makes the magnetic U0 alone, the arrow of the stator linkage vector Ψ would
linkage locus approach a regular polygon or circular. move from A to B alone the direction of parallel U0 ,
as show in Fig.3. When moving to B, if we change
B. Mathematic Model of Voltage Form PWM Inverter
the basic voltage space vector into U60 , then the vector
The power circuit adopted topology structure of the arrow of the stator linkage vector Ψ also moving from
three-phase voltage class inverter, as show in Fig.1 .The B to C in correspondingly. In this way, when 6 nonzero
Up and down switch component s of the inverter bridge voltage space vectors export alone in turns respectively,
arm can’t pass at any the same time. These switch would the moving track of the head of stator linkage vector Ψ
be reciprocal state when we don’t consider the died area, is a regular hexagon, as show in Fig.3.
Sa , Sb , Sc express three bridge arms state respectively,
”1” indicated that the up-bridge arm pass, and ”0” in- E D
dicated that the down-bridge arm pass. UA , UB , UC are U120 U 60
the three-phase voltage outputs,Take pursuing negative
1
voltage shown by Fig.1 as a reference point, We can 2 0
U180 U0
obtain: F C
3 5
UA = Sa Udc , UB = Sb Udc , UC = Sc Udc U240
4
U300

A B
+
1 3 5 Fig. 3. Regular hexagon magnetic linkage track.
A
U dc Sa
B But there are only six basic nonzero voltage space
Sb o
S c7 C vectors, if we want obtain polygon rotating magnetic field
4 6 2
as more as possible, it must has more switch states. One
commonly method is that it can obtain more switch states
use the linearity time combination of these six nonzero
--
basic voltage space vectors. The basic control principle
was shown as follows.
Fig. 1. PWM inverter circuit.
In Fig.4, Ux and Ux+60 are represent two adjacent
Change the three-phase voltage to two-phase d − q axis basic vectors of voltage space, Uout is the reference phase
system according to Clark Transform: voltage vector of the output, whose amplitude represents
the phase voltage amplitude, whose revolution angular
    velocity is to export sine voltage angle frequency. Uout
  1  UA
Ud 2 1 −
√2
−√12  UB 
was come from the linearity time composed by Ux and
= 3 (5) Ux+60 , it is equal to vector sum of TPtW1 M times Ux
Uq 3 0 2 − 23 UC
and TPtW2 M times Ux+60 . Of which, t1 and t2 is the operate
The inverter has 8 kinds switch patterns, which time of Ux and Ux+60 respectively, TP W M is effect time
are 000, 001, 010, 011, 100, 101, 110 and 111. So, of Uout .

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 q In the form, the sign(x) is a sign function. If x > 0,
U x+ 60 sign(x) = 1; x < 0, sign(x) = 0.
Finally, according to P value table and look-up TableI,
then we can ascertain sector number.
t 2 TABLE I
U x +60
T PWM P VALUE AND S ECTOR N UMBER R ELATION
U out
0
60 1 2 3 4 5 6
P
U x
Sector 1 5 0 3 2 1
d
t1
Ux
TPWM
If we adopt above algorithm, it only needs the plus
Fig. 4. The linearity combination of the voltage space vectors. minus and logical computation simply, then can ascertain
the location sector where the reference voltage vector be
in, and avoided calculating the complicated nonlinearity
D. Calculation of the Voltage Vector Operating Time function, this feature have an actual meaning for simpli-
As mentioned above, the voltage space vector of lin- fied the calculation and improve the response speed of
earity time combination is the system. Not only it can decrease the requirement for
controller calculation speed, but also the real time control
t1 t2 can be realized easily.
Uout = Ux + Ux+60 (6)
TP W M TP W M
III. R EALIZATION OF SVPWM A RITHMETIC
In above formula, we projected Uout , Ux and Ux+60
T HROUGH DSP
to coordinate system 0dq [4]. This formula may be wrote
down: A. Event Manager of TMS320LF2407A DSP [5]
Event manager (EV) is a special module, which was
   −1   designed for controlling the motor. It can produce all
t1 Uxd Ux+60d Uoutd
= TP W M (7) kinds of PWM waves, and these waves can adjust the
t2 Uxq Ux+60q Uoutq
blind area. It can measure the rotating speed, divert and
After  when −1we would have angle displacement of the motor by the interface of the
Uxd Ux+60d increment photo-electricity coder, and measure the pulse
obtained ,then can ascertain t1
Uxq Ux+60q width by capture the power.
and t2 right away. There are 2 Event mangers in TMS320LF2407A DSP,
In Fig.3, when the inverter alone output zero vectors which are EVA and EVB. Every event manger has 2 gen-
O000 and O111 , the magnetic linkage vector Ψ of the eral timers of 16−bit, has 8 pulse width modulation passes
motor stator would be fixedly. According to theses char- PWM of 16−bit. 3 comparing units with programming
acteristic, intervene the zero vector effects t0 in TP W M bead area control can produce 3 pairs of absolutely PWM
period, make waves (ie.6 outputs), these 2 timers can produce 2 kinds
T P W M = t1 + t 2 + t 3 (8) absolutely PWM waves. They could be realized: output
the symmetrical and asymmetric PWM wave; avoid out-
By such method, it can adjust the angle frequency ω, and put pulse at the same time in up and gown bridges. During
obtain frequency conversion’s purpose. the application of the motor controlled, the PWM circuit
could reduce the CPU overhead for producing PWM
E. Ascertain Sector Number wave and the workload of the user, also could simplify
We apart the Fig.3 into six sectors, every sector has a the control soft for produce the symmetrical pulse width
sector No.(as show in Fig.3, 0, 1, 2, 3, 4, 5). Only when modulation and symmetrical hardware.
we have known which sector that Uout is located in, then
can ascertain which pair of adjacent basic voltage space B. Method of Output PWM Wave
vector would be used to compose Uout . We designed the method for produced PWM wave use
After Uoutd and Uoutq were given, we should calculate the periodic value of the periodic register and the com-
B0 , B1 , B2 at first. pared value of the comparator based on TMS320LF2407A
 DSP. The periodic value is used to produce PWM wave
 B0 = Uoutq frequency (or period), the compare value is mainly used
B1 = sin 600 Uoutd − sin 300 Uoutq (9) to produce PWM wave pulse width.

B2 = − sin 600 Uoutd − sin 300 Uoutq According to using different comparator, there are two
Then calculate the P value methods to produce PWM wave: One use the timer
and the comparison register to realized, another use the
comparison unit to come true. The PWM wave that the
P = 4sign(B2 ) + 2sign(B1 ) + sign(B0 ) (10) latter produced can add a blind spot.

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 For obtained an output Wave with ideal form, it is
necessary not only set the value of control correctly, but
also need adopt the correct algorithm. For output the
space vector PWM wave, the consumer need sets up
the following register (choose the EVB module): 1)Set
the comparative form control register ARCTRB to define
output form of the compare output part. 2) If enable
the blind port, then must setup the blind port control
register DBT-CONB. 3) Setup the register of timer no.3’s
period T3PR, that is the period of stipulating the PWM
waveform. 4) Initialize the comparison register CMPR4 ∼
6. 5) Set the comparison control register COMCONB
to enable to the compare operation and the pattern of
the space vector PWM. 6) Set the timer no.3 to control
register T3CON working in continuing increasing/ the
subtraction pattern [6, 7].
C. Seven Sections of Voltage Space Vector SVPWM Wave
To obtain a certain voltage of output, in a on-off cycle,
whether how the switch order of the 3 switches’ state,
it is OK if only the relation that was kept between the
switch’s state in time was satisfied (7) and (8), this is
not limited for the precedence order of 3 kinds switch
states and the start time, so the optimized control may be
realized that reduced the number of these switch action
and the harmonic wave.
We may arrange the change order of 8 switch states in
every fan sector according the Table II when for making
the inverter change from a switch state to another switch
state, only change a bridge arm switch state, so that to
cut down the number of on/off times in the inverter.
TABLE II
T HE S TATE A LTERNATION O RDER OF S YMMETRICAL SVPWM
S WITCHES
sector TPWM. TPWM would be smaller, the magnetic
field would be more approached circular, but the Tz
decrease is limited by the allowed switch frequency of
the switch component.
(5) Compared with SPWM, its DC voltage utility factor
should be high 0.15, while the output voltage regulating
and controlling, the harmonic wave can be cut down in
an output voltage.
Adopted the control of the voltage space vector PWM,
could avoid unnecessary switch action, reduce switch
frequency, it could cut down the depreciation of the switch
by arranged the zero vectors meticulously.
D. DSP Software Designs of SVPWM Wave
In the program design of the SVPWM wave that
controlled by DSP, the modulation wave frequency was
input by exterior, the carrier frequency and the sampling
frequency are all 20 MHz. The function of frequency (it’s
domain:0 ∼ 50HZ) and blind spot would be designed and
realized. The blind spot time is 1.6s, the crystal frequency
of the DSP is 10 MHz, 2 tomes frequency inside, the clock
frequency is 20 MHz, and the counting period is 50ns.
The program is composed of the main program and
the subprogram of the timer underflow interruption. The
task of the main program is initialization, and change
the adjusted ratio of the outside entering frequency into
angle frequency. According to U/F, determine amplitude
of the reference voltage. The function of the interruption
subprogram is work out the value of three comparison
registers in next PWM period during every PWM period,
and is send these values to the comparison register.
For this purpose, t0 , t1 and t2 must be calculated out
according to form (7) and (8).

Time Save scene Computesector value

T 0 /4 T 1 /2 T 2 /2 T 0 /2 T 2 /2 T 0 /4 T 0 /4
Sector
Compute the corner Compute address
0 000 100 110 111 110 100 000 increase and reference of the inverse matrix
voltage phase angle lable
1 000 010 110 111 110 010 000
Compute the head
2 000 010 011 111 011 010 000 In the first quadrant Y SS=1,SC=1 address of the inverse
matrix lable
3 000 001 011 111 011 001 000 N

4 000 001 101 111 101 001 000 In the second Y Compute the comparative value
SS=1,SC=-1
quadrant 0.5C1 ¡“CMP- 1£»
5 000 100 101 111 101 100 000 N 0.5C2 ¡“CMP- 2£»
0.25C 0 ¡“CMP-0
In the third quadrant Y SS=-1,SC=-1

From Table II, we could know that the 3−phase PWM

N Send CMP- 0 to the first
SS=-1,SC=1 Comparative register
waves, which produced by symmetrical voltage space
vector, have some features as follows: Lookup table of sin
Ĭ and cosĬ, Send CMP-0+CMP-1 to the first
And add the signal symbol Comparative register
(1) Every phase and every PWM wave’s output only
makes the switch power tube switch one times. ComputeUoutd andUout according to
amplitud and phase angle Send CMP- 0+CMP-1+CMP-2
(2) The positive and negative rotate of the motor is only to the first
Comparative register
related to the choice of the fan sector.
(3) Every PWM wave all start and end at the zero Restore scene
vectors O000 , the zero vectors O111 inserts in center, and
the zero vectors O000 and O111 have the same effects Fig. 5. The program flow graph of the timer interruption subprogram.
time.
(4) The program of the motor revolution magnetic field For programming easily, the period value of the peri-
approaches circular is determined by the choice of the odic register is equal to TP W M /2, and the Form (7) can

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be simplified:

   −1  
0.5C1 Uxd Ux+60d Uoutd
= (11)
0.5C2 Uxq Ux+60q Uoutq
Where,C1 = TP Wt1M /2 , C2 = TP Wt2M /2 .
The program flow graph of the timer interruption
subprogram as show in Fig.5
(a) 30 Hz
IV. E XPERIMENT R ESULTS
Adopting the system designed in this paper, an exper-
iment was carried on with for a 1KW induction motor.
These parameters are as the following: the carry frequency
is 20KHz, and the DC bus voltage is 70V .

(a) 50 Hz

Fig. 7. Line voltage waves of each coil in different frequency.

SVPWM wave were also very good. These results illus-

trated that the system has a high control precision and has
good performances of dynamic and static. So, the above
(a) 30 Hz
method would have a certain value of popularization and
application..
R EFERENCES
[1] Wang Xiao Ming et al, The electric motor DSP is controlled,
Press of Beijing University of Aerospace, Beijing, China, 2004.
[2] B.K.Bose, Modern Power Electronics and AC Drives, Mechan-
ical industry Press, Beijing, China, 2005.
[3] Huade Li, AC Speed Governing Controlling System, Press of
electronic industry, Beijing, China, 2003.
[4] TI Company, AC Speed Governing Controlling System,
TMS320LF2407A,TMS320LF2406A, DSP Controllers2002.
(a) 50 Hz
[5] Tiezhu Xu, Guoqing Xu, The AC speed regulation controls system
based on the DSP, Electric system and Automatic Proceedings,
Fig. 6. Current waves of each coil in different frequency. China, 2002, 14 (6).
[6] li Lin , Xiaojing Li, Yunfeng Jiang, SVPWM vector controls digiti-
zation frequency speed regulating system base on DSP, Middle-
When the DC bus voltage is 70V , In Fig.6, it shows the Mini-type electric motor, China, 2004, 31 (5).
current wave of the coil in different frequencies. From this [7] [7] Yang-Gui Jie, Space vector pulse broad modulation method
figure, it is seen clearly that the current wave of the coil research, Proceedings of the Chinese Society of Electrical
Engineering, China, 2001, 21 (5).
approaches the sin wave. Fig.7 shows the voltage wave
of the coil in different frequencies. From the figure, it is
seen clearly the mutual difference of these line voltage of
coil is 1200 .

V. C ONCLUSION
In this paper, we adopted TMS320F2407 to design a
frequency speed control system of induction motor based
on SVPWM controlling. This is a new method to realize
the Variable-frequency speed governing system. Through
the experiments, it is indicated that this system could
improved the performance of the produced PWM wave in
the condition of non-increase the switch depreciation. At
the same time, it showed that square wave was output by
the wave generator of TMS320LF2407DSP event manage
module, this method simplified the development of soft
and hardware. And the quality and the robust of the

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