1

+Re
+Im
1
a
2
a
3
4
3
2
SPACE (PARK) VECTORS
Definition of Space vectors:
( ) ( ) ( ) ( ) | | t X a t X a t X t X
T S R
2
3
2
+ + =
,
where
3
2
j
e a =
3
2
2
j
e a

=
2
3
2
1
j a + =
2
3
2
1
2
j a =
and ( ) ( ) ( ) t X t X t X
T S R
, , are the instantaneous phase values of a
three-phase system.
The Zero sequence component:
( ) ( ) ( ) ( ) ( ) t X t X t X t X
T S R
+ + =
3
1
0
Projection Rules:
( ) ( ) { } ( )
( ) ( ) { } ( )
( ) ( ) { } ( ) t X t x a t X
t X t x a t X
t X t x t X
T
S
R
0
0
2
0
Re
Re
Re
+ =
+ =
+ =
They can be used as normal variables.
For a symmetrical three-phase system with sine-wave quantities:
( )
|
.
|

\
|
=
|
.
|

\
|
=
=
3
4
sin ) (
3
2
sin ) (
sin ) (
t V t X
t V t X
t V t X
m T
m S
m R
S
i
R
i
R
Z
S
Z
T
Z
T
U
T
i
i U
2
Space Vector of the Voltage:
( ) ( ) =
(

|
.
|

\
|
+ |
.
|

\
|
+ =
3
4
sin
3
2
sin sin
3
2
2
t a t a t V t U
m
( ) ( ) | |
t j
m m
e V t j t V = + = sin cos
2
3
3
2
The symmetrical three-phase system has no zero sequence component:
( ) 0
0
= t U
The three-phase system can be handled like a single phase one:
Check the Projection Rule:
| |
0
Re U U U
R
+ =
( ) 0
3
1
0
= + + =
T S R
U U U U
| | =

(
(

|
|
.
|

\
|
+
|
|
.
|

\
|
+ + =
T S R
U j U j U U
2
3
2
1
2
3
2
1
3
2
Re Re
)
`

=
T S R
U U U
2
1
2
1
3
2
Re
As
0 = + +
T S R
U U U
2 2
R T S
U U U
=

| |
R R R
U U U U = |
.
|

\
|
+ =
2
1
3
2
Re
+Re
+Im
( ) t U
( )
0
t U
3
Path of Voltage Vector Projection:
+Re
+Im
+et
R
T S
U t ( )
+Re
+Im
R
T
S
U
T
U
R
U
S
Phase Quantities
X and Y components:
General:
| | ( )
c b a X
U U U U U + = =
3
1
3
2
Re
| | ( )
T S T S Y
U U U U U U =
|
|
.
|

\
|
= =
3
1
2
3
2
3
3
2
Im
If 0
0
= U 0 = + +
T S R
U U U
then:
( )
T S R X
U U U U + = =
( )
T S Y
U U U =
3
1
Reverse transformation:
From X, Y components:
0
U U U
X R
+ =
0
2
3
2
1
U U U U
Y X S
+ + =
0
2
3
2
1
U U U U
Y X T
+ =
The same is valid for currents and fluxes.
4
Co-ordinate Transformation
In the revolving co-ordinate system:
dt
d
K
k
=
K
j
Ve V

=
*
K
j
e V V
*
=
The transformation does not change the amplitude of the vector.
Power
Instantaneous value:
c c b b a a
i u i u i u p + + =
By Space vectors:
0 0
3
2
3
i u i u p + =
The scalar product in complex form:
| | | | i u i u i u

Re Re = =
u

and
i

are conjugate complex numbers.

Unbalanced conditions
t j j t j j
e e I e e I i i i
1 2 1 1
2 1 2 1

+ = + =
Fig 1.1 Resulting current-vector path of an asymmetrical system
_
K
+Re
+Re
V
K
e
5
Fig. 1.2 Current-vector path when a-, b- or c-phase is turned off.
Harmonic Analysis of Space Vectors
( ) t y y = is a periodic function of time.
f
T
1
= ; ( ) ( ) t y T t y = +
Fourier series:
( )

=
=
t j
e Y t y
1
T
2
1
=
Fourier coefficients can be determined as:
( )
}

=
T
t j
dt e t y
T
Y
0
1
1
For the fundamental component:
( )
}

=
T
t j
dt e t y
T
Y
0
1
1
1
( ) ( )
*
1
t y e t y
t j
=

the vector in a synchronously rotating co-ordinate-system.

The integral means the average value.
In a symmetrical three-phase system
6 = g
;
gk + =1
;
, 2 , 1 , 0 = k
Thus
, 13 , 7 , 1 , 5 , 11 =
If g = 6 , then
6
( )
g
T
j
e t y
g
T
t y
1
=
|
|
.
|

\
|
+
Thus the path of the Space vector is composed of 6 identical segments.
Fig. 1.3 Example for six-sided symmetry vector-path.
Recording of Space Vector Time Functions
a) Voltage vectors
b) Current vectors
Fig. 1.4 Theoretical circuit for voltage displaying on Cathode Ray Oscillograph (CRO)
7
Fig. 1.5 Practical solution for voltage displaying on CRO
( )
c b y
u u u =
'
2
1
x x
u u
2
3
=
'
( )
c b a x
u u u u + =
'
2
1
y y
u u
2
3
=
'
Space vector of the Inverter Output Voltage
Fig. 1 Three-phase inverter
8
Interval 1 2 3 4 5 6
SWITCH
ON
6 1 2 3 4 5
1 2 3 4 5 6
2 3 4 5 6 1
Fig. 2 Conduction pattern
Fig. 3. Inverter phase voltages
9
Fig. 4 Vector components
Fig. 5. Resulting vectors
Substituting the phase voltages of the inverter in Fig. 1, the vector of the inverter output
voltage is obtained.
For the first 3 / interval
E e
E e
E e
T
S
R
=
=
=
Thus ( ) ( ) ( ) | | ( ) E u E a a E a E a E e
1
2 2
1
3
2
3
2
1 = = + + =
10
Based on the vector components of Fig. 5a:
3
4
2
3
5 . 0
2
3
5 . 0 1
3
2
1
=
|
|
.
|

\
|
+ + + = j j u
Fig. 6. Vectors of the inverter output voltage
Fig. 7. Inverter loaded by a star connected load.
11
Fig. 8. Phase voltages of the load.
( ) E e
3
4
1 =
Similarly for the second 3 / interval
( ) ( ) E u E a a e
2
2
1
3
2
2 = + + =
and for the third 3 / interval
( ) ( ) E u E a a e
3
2
1
3
2
3 = + = and
( ) ( ) ( ) 1
3
4
1
3
2
4
2
e E E a a e = = + + =
( ) ( )
( ) ( ) 3 6
2 5
e e
e e
=
=
As the voltage vector
12
( )
( ) .
3
3 2
3
2
2
3
3
2
2 3
2
2
3
2
3
2
1
2
1
3
2
3
2
2
y e e y
x
e e
e x
jy x e j e j e e e e a e a e e
T S
T S
R
T S R S R T S R
' = =
' = |
.
|

\
| +
=
+ =
|
|
.
|

\
|
+ = + + =
Example for calculating transient process
Voltage vector jumps from ( ) ( ) 1 6 e e at
( )
( ) 1 0
6 0
e e t
e e t
= + =
= =
Transients
Any of the six positions can be used.
( ) 1 e (and ( ) 4 e ) has real part only.
1. Series R-L Load
Differential equation:
Fig. 9. Series R-L load.
( )
( ) ( ) 2
1
T
t
e C
R
e
t i
dt
di
L R i e

+ =
+ =
where
R
L
T = .
13
a) Transient State (transient-transient)
at ( )
0
0 I t i t = =
Substitute to (2):
R
e
I C C
R
e
I = + =
0 0
Thus the time function:
( )
( ) ( ) ( ) t i t i e I e
R
e
t i
e
R
e
I
R
e
t i
P N
T
t
T
t
T
t
+ = +
|
|
.
|

\
|
=
|
.
|

\
|
+ =

0
0
1
Path of ( ) t i
0
I
N
i
( ) t i
P
e
+Re
+Im ( ) t i
b) Steady State Transient
Condition for the steady state:
( ) ( )
6
3
0
T
t
j
t
e t i t i
=

=
=
Absolute value, Angle
( ) n e C
R
e
t i
T
t
2 = + =

at ( ) I C
R
e
t i t = + = = 0
at ( )
T
j
e C
R
e
e I t i t
3 3
3

+ = = =
14
( )
( ) ( )
(
(

+
|
|
.
|

\
|
=
+ =

T e
R
e
t i
T
R
e
e e
e
R
e
I
T
t
T
j
T
1
1
3 3
3
Path is a straight line between two positions (Fig. 12.)
Fig. 10. Locus of vector .
15
Fig. 11. Range of initial value of current vector.
Fig. 12. Path of current vector in case of series R-L load.
2. Parallel R-L Load (Fig. 13.)
Superposition of L=0 and R=0
( ) ( )

+ =
L R
i i t i
16
Fig. 13. Path of current vector in case of parallel R-L load.
3. Series R-C Load (Fig. 14, 15)
}
+ =
+ =
T
C C
C
U dt i
C
U
U R i e
0
0
1
Fig. 14. Series R-C load.
17
Fig. 15. Path of current vector in case of series R-C load
Solution:
( )
T
t
C
e I
R
U e
t i

=

=
where RC T =
The initial value of the condenser voltage is
( ) T e
e e
e
e U
T
p
j
T
C
=

3 3
3
0
1
.
Thus
( ) I e
e e
e
R
e
t i
T
t
T
j
j
=

3 3
3
2
According to this equation, the current vector can lie in a 3 / rad range, as indicated in
Fig.15. The phase shift between voltage and current vector is constant at a given frequency and
time constant.
18
Current Vector in Case of Pulsewidth Control
During the first 3 / interval [when ) 1 ( e e ], pulsewidth control can be produced by
periodically commutating output terminal R from the plus line to the minus line. When output
terminal R is connected to the minus line:
E e
E e
E e
T
S
R



Thus
0 1
3
2
2
E a a e
since the sum of the unit vectors is zero.
In Fig. 16. a possible time function of the voltage vector can be seen. The path of the
current vector case of a series R-L load has a shape similar to that shown in Fig. 17.
Fig. 16. Pulse-width voltage control
Fig. 17. Current vector path in case of PWM control
19
Experimental Display of Space Vectors
Both voltage and current vectors can be displayed on an oscilloscope. The method is
based on the following analysis.
To present the vector on an oscilloscope, it is necessary to produce the real and imaginary
parts of that vector. This is possible by a circuit shown in Fig.18.
Fig. 18. Components of voltage vector. Fig. 19. Components of current vector