A Hybrid PWM Strategy Combining Modified Space Vector and Triangle Comparison Methods

Vladimir Blasko Rockwell Automation - Allen Bradley Mequon, WI 53092, USA

Abstract - Classical space vector PWM with equal duration of application of zero state vectors VO and V7 was modified. The time of application of vector V7 (and VO) was made changeable from 0 to 100% over the time To for their combined application. The ratio of the duration of application of vector VO vs. V7 can be kept constant or changed on a sample by sample basis with a significant impact on the characteristics of the PWM. Correlation between modified space vector and triangle comparison methods was established. It was proved in the paper that modified space vector PWM (with a classical space vector PWM as a special case) can be implemented as triangle comparison method with added zero sequence. A new algorithm suitable for implementation of modified space vector method on digital or analog hardware for triangle comparison PWM was proposed. Because the algorithm combines theory of space vector PWM with ease of implementation of a triangle comparison PWM it was named Hybrid PWM (HPWM).

By adding a third harmonic zero sequence [ 11, linearity of the PWM is extended for about 15.5%.

c,

x {O,l,

...7}

(ABC), A, B, c E {1 (conducting),O(non conducting)}

I. INTRODUCTION
The Triangle Comparison Pulse With Modulator (TCPWM) compares a high frequency triangular carrier with three reference signals and creates gating pulses for the switches in the power circuit. It can be easily implemented in analog or digital domain. Almost all the motor controllers available on the market today have hardware for the digital implementation of symmetrical (updated once per cycle) or asymmetrical (updated twice per cycle) PWM or both. To extend linearity a zero sequence signal is added to all of the three phase reference voltages [l]. The zero sequence moves locally averaged voltage of motor neutral n (averaged over one period of the carrier) with respect to the center point of the DC link voltage n, Fig. l(a). However neutral of the motor is not connected and locally averaged motor phase voltages remain undistorted and follow reference voltages.
* The author is with Rockwell Automation - Allen Bradley Standard Drives Development, 6400 W. Enterprise Drive, Mequon, WI 53092 USA, vblasko@meqlanl .remnet.ab.com

v,
(010)

(a>

+ q \

/,/
(1 0 1)

4,Re

Sector 6

(001)

(b)

Fig. 1. (a) three phase inverter with switches A , 2 , B, B , C, and the definition of switching state vectors (b) in the complex dq plane

0-7803-3500-7/96/$5.00 01996 IEEE

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The space vector method [2] (SVPWM) operates in a complex plane divided in the six sectors separated by the switching state vectors, Fig. l.(b). The switching state vectors are defined by combination of conductinghonconducting switches in the power circuit of inverter, Fig. I(a). The complex reference vector FY: is used to locate two adjacent switching state vectors and to compute time (TI and T2) for which they are active. For the rest of sampling time T, zero switching state vectors V, or Vo (connecting all of the three phase winding to positive or negative rail of the DC bus) are active. SVPWM locally averages, over sampling period T,, active and zero state vectors to be equal to the reference vector. In this paper, classical SVPWM (with sequence VO, VI, V2, V7, V7, V2, VI, VO over two sampling intervals in the frst sector and with equal duration of zero state vectors V U and V7, [2]) was modified. The ratio of duration of application of zero vectors VO and V7 over the interval To for their combined application was made variable. The duration of application of vector VO can be changed from 0% to 100% at the expense of duration of application of vector V7 and vice versa. The correlation between modified space vector method and triangle comparison method was established. A new Hybrid PWM (HPWM) algorithm combining good features of SVPWM and TCPWM was developed

- normalized q and d components of

reference vector =v ~ I (vdC/2) :~ . For sectors 1 to 5, TI and T2 determine duration of applications of vectors with lower and higher indices respectively. In sector 6 , TI and T2 determine duration of application of V6 and VI respectively. The relationship between reference voltages in three phase system a,b,c and two phase d,q system is defined by:
vy = -(2v, 2
*
Vd

- Vb - vc)
-vi)

= -(vf

43 3

Equations ( 2 ) to (6) define space vector PWM. They give correlation between normalized three phase reference voltages v:,~,~(which are inputs into PWM) and time intervals To,

TI and T2 during which zero state and active space vectors are applied.

111. CORRELATION BETWEEN MODIFIED

SPACE VECTOR AND TRIANGLE COMPARISON PwM
In the classical SVPWM zero state vectors VO and V7 are applied each OST,. Figure 2.(a) shows sequence of applications of switching vectors in sector one in modified SVPWM. Zero vectors V7 and VO were applied for the time intervals ko To and (1-ko) To respectively, where 0 4 k,, 4 1 . Durations T,, Tb, and T, of gating pulses for switches A, B, and C are:

11. SPACE VECTOR Pwh.4

The reference voltage vector T4; = Vq*- jVd* can be approximated in first sector using local averaging concept by the following:

t ; =v*-jv*=v+ T Tp
yd
Y

r, T 2

(1)

Time intervals TI and T2 determine durations of applications of vectors VI and V2 respectively. Zero state vectors V7 or VO are applied for the rest of sampling interval:

T,

= k,

To i T, + T,

& =k,,T+& T, = k,,&

For the triangle comparison PWM method, Fig. 2(b), the normalized triangle signal vf (part of v, with positive slope) can be described by:

In all the six sectors time intervals T, and T2 can be calculated from [3]:

7; = ~-[v,cos(-)+v,sin(->]
2 3

A *

7r

(3)
where V, and V, are instantaneous and peak values of triangle wave form respectively. It is convenient for the analysis to normalize V, to the same base value as three phase reference voltages i. e. Vrp= v&. Thus Vt pulsates between +/1 and modulation index m (defined as the ratio of peak value of reference voltage and peak value of triangle) becomes

where: m - sector number, m=1,...6; ifm=l than m- 1=6,

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equivalent to the amplitude of normalized input reference voltage.

T = Zvb-v,)=-vbc. (** r,*

2 2 2 Time intervals TI and T2were computed from (3) to (6) for the first sector. Note that TI and T2 are proportional to line to line reference voltages. The same results can be obtained directly by the inspection of the Fig. 2(a). From Fig. 2(a) it is evident that during TI and T2 bus voltage Vd, is applied between lines ab and bc respectively. Time intervals TI and T2 can be computed from the required equilibrium of volt seconds over sampling interval Ts:7; V, = Vu; and

V, = Vbz Such an approach eliminates the need for use of space vector method (at least equations (3) and (4)) in the analysis. It also confirms that space vector method deals with line to line voltages and as a consequence it is able to provide full dc bus voltage Vdc as locally averaged peak value of line to line voltage. On the other side, the triangle comparison method without added zero sequence, deals with phase voltages. It can provide only VdJ2 as the peak value of locally averaged phase voltage. Evidently for the same Vdc, SVPWM provides without distortion higher output voltage for the factor of 2/& = 1.155 than the TCPWM. Introducing (2), (14) and (15) into (1 I) to (13) the new set of reference voltages is obtained:
**

c.

vu
**

* = v,

*
*

+ v,,
1

(16) (17) (18) +(l-k,)v;] (19)

Vb = Vb

+v,
*

Fig. 2 (a) timing of switching of space vectors and (b) timing of gating pulses based on triangle comparison method By introducing (7) to (9) into (10) i.e. the equation of tri** * * angle wave form in Fig. 2(b); reference voltages vu ,vb and

*I

v,

= v,

+v,

vis =-[(1-2k,)+k0v:

vc , which produce the same gating pulses and give the same results as the modified space vector method, are obtained:

*I

For the "classical" SPWM, with VO and V7 applied for the To12 each and for the balanced system (v: + v i +v,* = 0), zero sequence follows fiom (19) as a special case with ko=0.5:

v : ,

= -0.5(vU

+ vc) = 0 . 5 ~ ;
*

(20)

V b = -(k,T,

**

r,

+ T*)- 1 ,

The above procedure was repeated for all the other sectors. The results are summarized in the Table I, Fig. 3 and in Eqs. (21) to (23):

** 2 v, =-(k,T,)-l,

T,
with time intervals
* *

r,

T, =-(vu 2

-vb) = -Vub, 2

T , ,

where ofv,,, ,v , , ~ and v ; , Fig. 3.

are minimum, middle and maxi-

illustrated in mum values of input reference voltages v : , ~ , ,

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cation for the classical SVPWM implementation on TCPWM TABLE I. DEPENDENCE OF T I ,Tz AND MINIMUM, MAXIMUM hardware. The algorithm ffor the determination of the zero AND MEDIUM VOLTAGES ON SECTOR NUMBERS AND INPUT sequence voltage with factor ku as a variable is shown in Fig. PHASE AND LINETO LINE REFERENCE VOLTAGES 4(4.

Sector

Sorting (a)

~~

-- v m -

0.005

* 0.01
Vmld

* 0.015

-----

vm

0.02
[SI

Fig. 3. Derivation of v:in ,vildand

viax from the input refer-

ence voltages v:,~,, The new set of normalized reference voltages v::b,c was generated in (21) by adding zero sequence voltage vzs to the old set of reference voltages v:,~,,. The zero sequence contains a dc component (1-2 ku) and the combination of the original - initial phase reference voltages. Working with medium, maximum and minimum voltages simplifies the algorithm and eliminates need for explicit sector identification. Equations (21) - (23) are used as a basis for the block diagram representation in Fig. 4. The algorithm is convenient for microprocessor implementation. All the operations required including sorting to determine maximum and minimum input reference are simple and fast. The algorithm is also convenient for the analog implementation. The principle of operation of analog sorting block is shown in Fig. 4(b). Two simple three phase rectifier bridges with compensated voltage drops on diodes can be used to sort minimum and maximum values (envelopes) of input voltages. Fig. 4(c) shows block diagram of the algorithm (23) for the zero sequence identifiFig. 4 (a) Block diagram of HPWM, (b) analog implementation of sorting block (c) zero sequence generation for ko=0.5, and (d) generation of zero sequence with ko as a variable

111. FACTOR k,, AND CHARACTERISTICS OF HPWM

SVPWM and TCPWM have two or three input variables vi>d or v : , ~ , HPWM ~. has one additional input, factor k,, which can be constant or a variable changed on a sampling interval basis. Factor ku effects voltage and current wave forms of the load and thus evidently characteristics of PWM. Equation of the voltage on one phase of three phase symmetrical load (subscripts for phase assignment are omitted)

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will be used to investigate effects of ko on PWM characteristics:

di L--+iR+e, dt u=U+u_, i = I+i_, e = E ,

U =

where:

RL

- resistance and inductance of the load,

U,Z,E
u,i-

-fundamental components of voltage, current and electromotive force, - ripple components of voltage and current.

voltage U-. It effects the distance between fixed high and low voltage levels and thus effects the amplitude of the ripple current, Fig. 5(a-b). Increase of ko from 0 to 1 widens gating pulses A, B, and C, Fig. 2. In the first sector gating pulse for the phase c narrows to zero if ko=O. On the other hand for ko=l gating pulse for phase a stretches across the whole carrier cycle. Evidently for ko = constant = 0 or 1 the devices in one leg of the bridge stop switching. Currentdvoltages of the three phase load are controlled by switching the other two legs in the bridge. Switching losses are reduced approximately by U3.
1 r-.
I

The voltage U, current i and counter electromotive force e in (25) are split into slowly changing fimdamental components (quasi - constant) and ripple components with a significant change over carrier period. introduction of (25) into (24) splits (24) into two equations, one for fundamental and another for ripple voltage. Voltage U from the equation with fundamental quantities correspond to the voltage V* which is input into PWM. More interesting is the equation with the ripple components:
U _ = L-+i_

1
05
0

d i_ dt

-0.5

R,

(26)

-1

0.5

which after integration gives the trajectory of the ripple current 1' R '. i_(z)=-/u-dt+-/l_dt+i_(O), 0 2 z I n T , , (27) LO LO where n is a PWM update factor n=1,2. For PWM updated every T, or twice per carrier n=l. For PWM updated every 2T, or once per carrier n=2. Depending on n, factor ko can be changed at least once or twice per carrier. The results of simulation showing the influence of ko on per unit wave forms of current and voltage ripple, are shown in Fig. 5. A three phase, predominantly inductive load with a time constant of L/R=lOT, was assumed.

1 05 0 -0 5
-1
1

(b)

1.5

t/T,

05

(c)

UT, 2

0.5 0 -0.5
-1

A . Factor ko Constant or Changed Once Per Carrier

Factor ko is kept constant over carrier period 2T, at values k, = 0.1 and 0.7, Fig. 5(a-b). Pulsating voltage U- and current i- on the load are even and odd functions respectively around the center of the carrier regardless of value of ko. Their average values are zero and the both of the first terms in (27) are zero. It follows from (27) that i-(2TJ=i-(O)=O i.e. ripple current i- crosses zero at the centers of symmetry of voltage UCurrent sampled at these instances corresponds to the fundamental component and is ripple free. However change of ko , every even multiple of T,, effects the wave form of the ripple Fig. 5. Wave forms of a carrier vt , current i- and voltage ripple U- on the RL load with (a) ko= 0.1, (b) ko=0.7, (c) with ko changed from 0.1 to 0.7 in the middle of the carrier cycle and (d) steady state (after 58TJ with ko periodically changed from 0.1 to 0.7 every T,

B. Factor ko Changed Twice Per Carrier

By computing v : : ~ with , ~ ko different at different sampling intervals TA,the center of gating pulses A, B and C in Fig. 2(a) is shifted to the left or to the right from the center of the

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triangle. The effects of change of ko=kol=O. 1 to ko=koz=0.7at the center of the triangle of carrier are illustrated in Fig. 5(c). Change of ko , every T, or even number of T,, effects the amplitude of the current ripple and also adds a bias to it effecting the fundamental component. If ko is periodically changed between the same values every T,, the second term in (27) causes the bias from ripple current to decay towards zero with the time constant of the load ( L / R ) , Fig. 5(d). However the zero crossing of the current (in steady state) is shifted from the peaks of the triangle to the center of (shifted) voltage pulses. The current and voltage wave forms in Fig. 5(d) are identical to the those obtained with ko=0.5(kol+koz)=0.4=constantover 2T, without phase shift.

l 0.5
0

-0.5 -1

0.5
0

-0.5 -1 0

0.005

0.01 (b) ko= 1

0.015

.
1 LSl

0.02

IV. THEORETICAL AND EXPERIMENTAL

RESULTS
The analysis of the HPWM was done at different modulation indexes m and for different factors ko. Fig. 6 shows zero * ** sequence and reference voltages v, , v, and v : , for (a) ko=O, (b) ko=l, (c) ko=0.5 and (d) ko=0.75 with modulation index m=1.154. Reference voltages vi* for ko=O and ko=l are mirror images of each other. For the one third of (hndamental) period they are equal to the + or - peak value of v, causing continuous conduction and reducing switching losses by -113. Voltage reference v, for all the factors k, f 0.5 are non symmetrical around time axis. Figures 6(e-f) illustrates operation of HPWM with factor ko changing during operation. Factor ko pulsates between 0 and 1 with frequency three times higher than the frequency of the reference v: . The modulation indexes m is 0.9 and 1.154.
I*

0.005

0.01 0.015 (c) ko= 0.5

0.02

0.5
0

-0.5
-1

0
1

0.005

0.01

0.015 (d) k,= 0.75

0.02

['I

0.5
0

Wave form vi* is symmetric around time axis. Switching of the bridge is reduced by 113. The reference wave forms shown in Fig. 6 (with exception of wave form in Fig. 6(d)) have been generated by the different PWM schemes, reported in [2], [4 - 61. From Fig. 6. it is evident that a single HPWM algorithm can generate any of them. The results of simulation in Fig. 7. illustrate the operation of HPWM with random change of ko around 0.5 every TS=2/f,;fc = carrier frequency = 2000Hz. The random change of ko adds random component to v:* and makes spectrum C, of current i , in Fig. 7(c) uniformly distributed. It effects the acoustic noise produced by the drive. The spectrum of the current obtained under the same conditions but with ko=0.5=constant is mostly below 60dB for frequency range between 200 and 1500 Hz. Figure 8. gives experimental verification of HPWM. It presents wave forms of v, ,v, ,v , and i, with ko changed be-

-0.5
-1

0.005

0.01 0.015 (e) k,=f((t), m=0.9

1'1 0.02

1 0.5
0

-0.5 -1 0 0.005 0.01 0.015 t ['I 0.02 (f) k,=f(t), m=1.154

Fig. 6. Wave forms of modified reference voltage v : ' , reference voltage v: and zero sequence voltage v : ~ at different ko

. ..

1877

tween 0 and 1 with three times fundamental frequency as in Fig. 6(e). The wave forms were taken on a lOOkW three phase regenerative voltage source converter with unity power factor [6], at input voltage of 48OV, DC bus voltage of 750V and the line reactor of 1mH.
1 0.5
0

V. CONCLUSION
Space vector PWM was modified to enable change of the duration of the application of zero vectors VO and V7. The correlation between modified space vector and triangle comparison PWM was established. A variable k,, proportional to the time of application of vector V7, was introduced. By changing ko from 0 to 1, the duration of application of V7 can be changed fi-om 0 to 100% of the time for the application of both zero vectors VO and V7. It made PWM more universal and flexible. The transitions from different PWM schemes reported in literature can be easily achieved. Factor ko can be changed within every sampling interval thus enabling movement of the center of the PWM pattern around center of the triangle effecting the spectrum of the current and audible noise of the drive. Change of ko every two or even numbers of sampling intervals T, effects the current ripple without changing the hndamental component. The developed algorithm is suitable for microprocessor and analog implementation. It provides extended linearity (with modulation index up to 1.154), reduced switching losses (during ko = 0 or 1) and enables change of the spectrum of the current by changing k,.

-0.5 -1 0.035
I

0.04

0.045 (a)

0.05

[SI

0.055
I

-2 0.035

0.04

0.045

(b)

0.05

t [SI

0.055

REFERENCES
[l] J. A. Houldsworth and D. A, Grant, The Use of Har-

monic Distortion to Increase Output Voltage of a Three Phase PWM Inverter, IEEE Trans. Ind. Appl., Vol. IA20, No. 5, SeptemberiOctober, 1984, pp. 1124 - 1228. - _ --_ . - . . Fig. 7. Wave forms of: (a) normalized discrete reference voltage --_ LL] H. w. van der Broeck, H. Ln. x u a e m y ana cr. >tame, ** v, , triangle v, , factor k,, (b) current i , switching hnction A Analysis and Realization of a Pulse Width Modulator and (c) spectrum C, of current la; ko changed randomly around Based on Voltage Space Vectors, IEEE IAS Annual 0.5 with twice the carrier frequency Meeting, Denver, USA, 1986, pp. 244-251. [3] J. S. Kim and S. K. SUI, A Novel Voltage Modulation v: j l p d d r v ] Technique of the Space Vector PWM, IPEC - Yokohama 95, pp.742-747. [4] H. W. van der Broeck, Analysis of The Harmonics in Voltage Fed Inverter Drives Caused by PWM Schemes with Discontinuous Switching Operation, EPE Annual Meeting, Firenze, Italy, 1991, pp. 3-261 to 3-266. [5] D. R. Alexander and S. M. Williams, An Optimal PWM Algorithm Implementation in a High Performance 125kVA Inverter, APEC Annual Meeting, San Diego, USA, 1993, pp. 771 - 777. [6] Vikram Kaura, Vladimir Blasko, Operation of a Voltage Source Converter at Increased Utility Voltage, Con$ Rec. of PESC-9j Ann. Mtg, Atlanta, USA, 1995, pp.523 - 527.
10 10
1o4

- - - . ,.

Fig. 8. Experimental results - wave forms of v: ,v c , vr, and , with ko changed between 0 and 1 as in Fig. 6(e) current i

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