VOLTAGE CONTROL METHODS

EXTERNAL CONTROL OF
INVERTER

INTERNAL CONTROL OF INVERTER

SERIES INVERTER CONTROL
PULSE WIDTH MODULATION CONTROL

SERIES INVERTER CONTROL:

PULSE WIDTH MOULATION CONTROL

The most efficient method of controlling
the output voltage is to incorporate pwm
control with in inverters. In this method a fixed
D.C. Input voltage is supplied to the inverter
and control A.C. Output voltage is obtained by
adjusting the on and off periods

ADVANTAGES OF PWM IN INVERTERS

The advantages possessed by PWM techniques are as under:
(i) The output voltage control with this method can be
obtained without any additional components.
(ii) With the method, lower order harmonics can be
eliminated or minimized along with its output voltage control.
As higher order harmonics can be filtered easily, the filtering
requirements are minimized.
The main disadvantage of this method is
that SCRs are expensive as they must possess low turn-on and
turn-off times.

Voltage Source Inverter (VSI)

Six-Step three-phase Voltage Source Inverter

Three-phase voltage source inverter.

 Switching Sequence:
561 (V1) 612 (V2) 123 (V3) 234 (V4) 345 (V5) 456 (V6) 561 (V1)
where, 561 means that S5, S6 and S1 are switched on

Fig. 3 Six inverter voltage vectors for six-step voltage source inverter.

 Line to line voltages (Vab, Vbc, Vca) and line to neutral voltages (Van, Vbn, Vcn)
Line to line voltages
Vab = VaN - VbN
Vbc = VbN - VcN
Vca = VcN - VaN

Phase voltages
Van = 2/3VaN - 1/3VbN - 1/3VcN
Vbn = -1/3VaN + 2/3VbN - 1/3VcN
Vcn = -1/3VaN - 1/3VbN + 2/3VcN

Fig. 4 Waveforms of line to neutral (phase) voltages and line to line voltages
for six-step voltage source inverter.

 Amplitude of line to line voltages (Vab, Vbc, Vca)

Fundamental Frequency Component (Vab)1

(Vab )1 (rms)

3 4 Vdc
6

Vdc 0.78Vdc

Harmonic Frequency Components (Vab)h

: amplitudes of harmonics decrease inversely proportional to their harmonic order

(Vab )h (rms)

0.78
Vdc
h

where, h 6n 1 (n 1, 2, 3,.....)

 Characteristics of Six-step VSI

It is called six-step inverter because of the presence of six steps
in the line to neutral (phase) voltage waveform

Harmonics of order three and multiples of three are absent from

both the line to line and the line to neutral voltages
and consequently absent from the currents

Output amplitude in a three-phase inverter can be controlled

by only change of DC-link voltage (Vdc)

POPULAR P.W.M. TECHNIQUES

SINUSOIDAL PULSE WIDTH MODULATION
HYSTERSIS CURRENT CONTROL PWM
TECHNIQUE
SPACE VECTOR PULSE WIDTH MODULATION

NUSOIDAL PULSE WIDTH MODULATI

 Inverter output voltage

When vcontrol > vtri, VA0 = Vdc/2
When vcontrol < vtri, VA0 = -Vdc/2

Control of inverter output voltage

PWM frequency is the same as the frequency of vtri
Amplitude is controlled by the peak value of vcontrol
Fundamental frequency is controlled by the frequency of vcontrol

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 Three-phase inverter

Fig. 6 Three-phase Sine PWM inverter.

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 Three-phase sine PWM waveforms

Frequency of vtri and vcontrol
VA0

Frequency of vtri = fs

V B0

Frequency of vcontrol = f1
where, fs = PWM frequency

VAB

V C0

f1 = Fundamental frequency

V BC

Inverter output voltage

When vcontrol > vtri, VA0 = Vdc/2

V CA

When vcontrol < vtri, VA0 = -Vdc/2

where, VAB = VA0 VB0

VBC = VB0 VC0
VCA = VC0 VA0

Fig. 7 Waveforms of three-phase sine PWM inverter.

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 Amplitude modulation ratio (ma)

ma

peak

amplitude of vcontrol peak

amplitude of vtri

value of
Vdc / 2

where, (VA0 )1 : fundamental frequecny component of

(V A0 )1

VA0

Frequency modulation ratio (mf)

mf

fs
, where, f s PWM frequency
f1

and f1 fundamental frequency

mf should be an odd integer

if mf is not an integer, there may exist suBhamonics at output voltage
if mf is not odd, DC component may exist and even harmonics are present at output voltage

mf should be a multiple of 3 for three-phase PWM inverter

An odd multiple of 3 and even harmonics are suppressed

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HYSTERESIS (BANG-BANG) PWM

Three-phase inverter for hysteresis Current Control

Fig. 8 Three-phase inverter for hysteresis current control.

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 Hysteresis Current Controller

Fig. 9 Hysteresis current controller at Phase a.

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 Characteristics of hysteresis Current

Control

Advantages
Excellent dynamic response

Low cost and easy implementation

Drawbacks
Large current ripple in steady-state
Variation of switching frequency
No intercommunication between each hysterisis controller of three phases
and hence no strategy to generate zero-voltage vectors.
As a result, the switching frequency increases at lower modulation index and
the signal will leave the hysteresis band whenever the zero vector is turned on.
The modulation process generates subharmonic components

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PACE VECTOR PULSE WIDTH MODULATION

where, upper transistors: S1, S3, S5

lower transistors: S4, S6, S2
switching variable vector: a, b, c
Fig. 10 Three-phase power inverter.

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 Output voltages of three-phase inverter (3)

The eight inverter voltage vectors (V0 to V7)

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 Output voltages of three-phase inverter (4)

The eight combinations, phase voltages and output line to line voltages

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 Principle of Space Vector PWM

Treats the sinusoidal voltage as a constant amplitude vector rotating
at constant frequency

This PWM technique approximates the reference voltage Vref by a combination

of the eight switching patterns (V0 to V7)
CoordinateTransformation (abc reference frame to the stationary dq frame)
: A three-phase voltage vector is transformed into a vector in the stationary
d-q coordinate

frame which represents the spatial vector sum of the three-phase voltage
The vectors
(V1 to V6) divide the plane into six sectors (each sector: 60 degrees

Vref is generated by two adjacent non-zero vectors and two zero vectors
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 Basic switching vectors and Sectors

6 active vectors (V1,V2, V3, V4, V5, V6)
Axes of a hexagonal
DC link voltage is supplied to the load
Each sector (1 to 6): 60 degrees

2 zero vectors (V0, V7)

At origin
No voltage is supplied to the load

Fig. 11 Basic switching vectors and sectors.

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 Comparison of Sine PWM and Space Vector PWM (1)

Fig. 12 Locus comparison of maximum linear control voltage

in Sine PWM and SV PWM.

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 Comparison of Sine PWM and Space Vector PWM (2)

Space Vector PWM generates less harmonic distortion
in the output voltage or currents in comparison with sine PWM

Space Vector PWM provides more efficient use of supply voltage

in comparison with sine PWM
Sine PWM
: Locus of the reference vector is the inside of a circle with radius of 1/2 V dc
Space Vector PWM
: Locus of the reference vector is the inside of a circle with radius of 1/3 Vdc
Voltage Utilization: Space Vector PWM = 2/3 times of Sine PWM

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 Realization of Space Vector PWM

Step 1. Determine Vd, Vq, Vref, and angle ()

Step 2. Determine time duration T1, T2, T0

Step 3. Determine the switching time of each transistor (S1 to S6)

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 Step 1. Determine Vd, Vq, Vref, and angle ()

Coordinate transformation
: abc to dq

Vd Van Vbn cos60 Vcn cos60

1
1
Van Vbn Vcn
2
2
Vq 0 Vbn cos30 Vcn cos30
3
3
Vbn
Vcn
2
2
1
1 V

an
1

2
2
2
Vbn

3
3
3
Vcn
0

2
2

Van

Vd

Vq

V ref Vd Vq
1

tan (

Vq
Vd

) s t 2s t

(where, f s fundamenta l frequency)

Fig. 13 Voltage Space Vector and its components in (d, q).

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 Step 2. Determine time duration T1, T2, T0 (1)

Fig. 14 Reference vector as a combination of adjacent vectors at sector 1.

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 Step 2. Determine time duration T1, T2, T0 (2)

Switching time duration at Sector 1
Tz

V
0

T1

ref

V1dt
0

T1 T2

Tz

V dt V
2

T1 T2

T1

Tz V ref (T1 V1 T2 V 2 )
cos ( )
1
cos ( / 3)
2
2
Tz V ref
T1 Vdc T2 Vdc

3
3
sin ( )
0
sin ( / 3)
(where, 0 60)

sin ( / 3 )
sin ( / 3)
sin ( )
T2 Tz a
sin ( / 3)
T1 Tz a

T0 Tz (T1 T2 ), where,

1
Tz
fs

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and

V ref

2
Vdc
3

 Step 2. Determine time duration T1, T2, T0 (3)

Switching time duration at any Sector
T1

3 Tz V ref
n 1

sin

Vdc
3
3

3 Tz V ref
n

sin
Vdc
3

3 Tz V ref
n
n

sin cos cos sin

Vdc
3
3

T2

3 Tz V ref
n 1

sin

Vdc
3

3 Tz V ref
n 1
n 1
sin cos

cos sin
Vdc
3
3

where, n 1 through 6 (that is, Sector1 to 6)

0 60

T0 Tz T1 T2 ,

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 Step 3. Determine the switching time of each transistor (S1 to S6) (1)

(a) Sector 1.

(b) Sector 2.

Fig. 15 Space Vector PWM switching patterns at each sector.

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 Step 3. Determine the switching time of each transistor (S1 to S6) (2)

(c) Sector 3.

(d) Sector 4.

Fig. 15 Space Vector PWM switching patterns at each sector.

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 Step 3. Determine the switching time of each transistor (S1 to S6) (3)

(e) Sector 5.

(f) Sector 6.

Fig. 15 Space Vector PWM switching patterns at each sector.

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 Step 3. Determine the switching time of each transistor (S1 to S6) (4)
Table 1. Switching Time Table at Each Sector

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CARRIER(RAMP WAVE) AND REFERENCE WAVE

IN SVPWM

PHASE VOLTAGE WAVE FORMS IN SVPWM

TECHNIQUE

LINE VOLTAGE WAVE FORMS IN SVPWM

FILTERED LINE VOLTAGE WAVE FORMS

IN SVPWM TECHNIQUE

STATOR CURRENTS, SPEED AND TORQUE WAVE FORMS OF THREE PHASE

INDUCTION MOTOR (220V,50HZ,4P0LE) THROUGH SPWM TECHNIQUE


TECHNIQUE

LINE
VOLTAGE(V)

TOTAL

FILTERED

TOTAL

HARMONIC

LINE

HARMONIC

DISTORTION(T.H.D.)

SPWM

SVPWM

338.2

369.4

VOLTAGE(V)

69.19%

330.4

59.19%

367.2

DISTORTION(T.H.D.)

9.08%

3.64%

ADVANTAGES OF SPACE VECTOR PULSE

WIDTH
MODULATION TECHNIQUE:

The modulation index is higher for svpwm

as compared to spwm.
The output voltage is about 15% more in
case of svpwm as compared to spwm.
The current and torque harmonics
produced are much less in case of svpwm
T.H.D is less compared to sinusoidal pulse
width modulation technique
Third harmonic is absent at line level

However despite all the above mentioned advantages that svpwm

enjoys over spwm, svpwm algorithm used in Two-level and multi-level
inverters is more complex because of large number of inverter switching
states.
Hence we see that there is a certain trade off that exists while using
svpwm for inverters for adjustable speed drive operations. Due to this
we have to choose carefully as to which of the two techniques to use
weighing the pros and cons of each method.

REFERENCES
Modern Power Electronics and AC Drives, by Bimal K. Bose. Prentice Hall
Publishers, 2001
B. Hariram and N. S. Marimuthu. 2005. Space vector switching patterns for
different applications- A comparative analysis. Proceedings of IEEE conference.
Power Electronics by Dr. P.S. Bimbhra. Khanna Publishers, New Delhi, 2003. 3rd
Edition
A Power Electronics Handbook by M.H. Rashid. Academic Press 2001
K. Vinoth Kumar, Prawin Angel Michael, Joseph P. John and Dr. S. Suresh Kumar,
2010.Simulation and comparison of spwm and svpwm control for three phase
inverter. Proceedings of ARPN Journal of Engineering and Applied Sciences
www.nptel.iitm.ac.in

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