Space Vector Modulation

Space vector modulation is one of the widely used real time modulation technique for digital
control of voltage source inverters.
Principle
1. Switching States
The principle of the space vector modulation is illustrated using simplified circuit
diagram for a two level voltage source inverter as shown in fig . The inverter is composed
of six group of active switches s1-s6, with a free-wheeling diode in parallel with each
switch. Operating status of the switches represented by switching states. There are two
switching states are used
1) P state: It denotes that the upper switch in an inverter leg is on. Inverter terminal
voltage is positive (+Vd).
2) O state: It denotes that the lower switch in an inverter leg is on. Inverter terminal
voltage is zero (0).
There are total eight possible combinations of switching states in two level inverter as
shown in table1.
Space Vector
v0

Switching state
PPP

Onstate switch
S1,S3,S5

v1

OOO
POO

S4,S6,S2
S1,S6,S2

Zero vector

Active vector

PPO
S1,S3,S2
V3
OPO
S4,S3,S2
V4
OPP
S4,S3,S5
V5
OOP
S4,S6,S5
V6
POP
S1,S6,S5
Table1: Space vectors, Switching states and on state switches
2. Space vectors
A typical space vector diagram of the two level inverter is shown in fig2. There are six
active vectors V1 to V6 and two zero vector V0.As shown in fig. active vectors V1 to V6
form a regular hexagon with six equal sectors i.e. sector I to sector VI and zero vector V0
lies on the center of the hexagon.
To derive the mathematical relationship between the space vector and switching states we
refer two level inverter in fig .1.
Assume, the operation of the inverter is 3 phase balanced then
We have,
VAO (t) +VBO (t) +VCO (t) = 0
(1)

Where,
VAO VBO and VCO : Instantaneous load phase voltages
From mathematical point of view, calculate any two phase voltages and third one can
readily available. So transform 3 phase variables into 2 phase variables.
1
1 V (t )

AO
V (t )
2
2
2
V (t )
V (t )
3 3 BO
3

0
V (t )

2
2 CO
(2)
Coefficient 2/3 is arbitrarily chosen. The advantage of use of 2/3 is that magnitude of the
two phase voltage will be equal to that of the three phase voltage after the transformation.
Space vectors can be generally expressed in terms of the two phase voltages in plane.
V(t) = V(t) + jV(t)

(3)

Substituting equation (2) into (3),

We have,
V(t) = 2/3[ VAO (t)
Where,

e jx

e j0

+ VBO (t)

e j 2 / 3

+ VCO (t)

e j 4 / 3

(4)

= cosx + jsinx

And x=0, 2/3 or 4/3

For e.g. active switching state [POO] then,
Generated load phase voltages are,
VAO (t) = 2/3Vd , VBO (t) = -1/3Vd and VCO (t) = -1/3Vd

The corresponding space vector, denoted as

(4)

V1

V1

(5)

, can be obtained by substituting equation (5) into

2
3 vd e j 0

By following the same procedure ,all six active vectors can be derived

(6)

vk
=

j ( k 1)
3
v
e
d
3

, k=1,2,3.6