2016 International Conference on Automatic Control and Dynamic Optimization Techniques (ICACDOT)

International Institute of Information Technology (I²IT), Pune

Implementation of 2D Space Vector Pulse Width

Modulation for Inverter Applications with 16-bit
dsPIC Controller
Nilesh T. Shinde1 , Mukesh D. Patil1 , Vishwesh A. Vyawahare1 , Navaneethakrishnan P.2
Electronics Engineering
Ramrao Adik Institute of Technology1 , Nerul, Navi Mumbai and
Gauranga Soft-Tech2 , Belapur, Navi Mumbai
Email: nileshsh100@gmail.com
mukesh.rait@gmail.com∗
vishwesh.vyawahare@gmail.com∗
navaneeth@gaurangatech.com∗

Abstract—In modern motor drive system, Space Vector Modu-

lation is encouraging approach for drives and traction operations.
This paper illustrates generation of the control signals for motor
drive applications with the help of open-loop SVPWM algorithm
using 16-bit dsPIC33EP256MU806 Controller. The hardware
implemented results are scrutinize to verify that present work
produces proper power frequency with compact hardware. Pre-
sented flow chart employs the efficient resource utilization of
controller. The waveforms regarding the maximum utilization of
dc link is also justified.
Keywords: SVPWM, Digital Signal Controller, Three
Phase Voltage Source Inverter.
Fig. 1. Block diagram for control of three phase Induction Motor [5].
I. I NTRODUCTION
In recent years there has been observed large increment
in industrial systems like uninterruptible power system, fre- • Higher modulation index as compared to SPWM.
quency converters, active filters, etc. Voltage source inverters • As compared to SPWM, it gives 15% more DC utiliza-
are utilized for these systems. The constant input of DC tion.
voltage and control signals generated by PWM technique are • Total harmonic distortion produced are much less in case
applied to VSI to get desired AC magnitude with proper power of SVPWM.
frequency. There are distinct ways for the origination of PWM
As shown in Fig 1, DSC block produces SVPWM
varies in approach and aspects. [1]-[2].
waveform which is used to drive induction motor via VSI.
The Space Vector PWM and Sinusoidal PWM are widely
This task target on the generating SVPWM waveform using
used in motor controlling applications. Sinusoidal PWM
embedded C language. The microcontroller technologies and
strives to give the comparison between a high frequency wave
power electronic devices along with SVPWM theory, have
and fundamental component and the intersection between
been studied readily to back the modelling of inverter. The
both provides the firing instants for the switches. Each high
main focus is on the dsPIC33EP256MC806 controller to
frequency period is responsible for producing the output
design the three-phase SVPWM inverter [8]-[19]-[22].
voltage in average manner, evolve into the fundamental
component. As long as Space vector PWM is concerned,
the fundamental vector component is attained by flipping Contribution of the paper is illustrated as below:
between the adjacent fixed inverter voltage space vector, 1) The execution of SVPWM algorithm requires high
which articulate existing sector of fundamental vector [3]- performance and it is achieved by High-Speed PWM
[20]-[21]. Fig 1 shows the controlling way of three phase module of dsPIC controller.
Induction Motor. 2) We can use any value of dead time based on application
The various pros of using SVPWM which makes it just by changing the count of ALTDTRx register, hence
exceptional are given below [5]. extra circuitry is avoided for dead time.
3) The proposed flow chart is more efficient as maximum
978-1-5090-2080-5/16/$31.00 ©2016 IEEE 216
Fig. 2. Circuit diagram of the three-phase SVPWM inverter [3].
Fig. 3. Co-ordinate geometry for three-phase voltage [3].
PWM switching frequency can be selected.
4) Generation of same power frequency at the output of
inverter with compact hardware.
• The remaining sections are presented as follows:
Part 2 discusses algorithm and principle of
three-phase inverter rely on SVPWM. Part 3 describes System
set-up and implementation. Part 4 shows the experimental
output. At last, Part 5 narrate with conclusion.
II. ALGORITHM AND PRINCIPLE OF
THREE-PHASE SVPWM INVERTER
A. Principle of Space Vector PWM
According to Fig 2, inverter module possess six IGBT
named Q1 to Q6 corresponding to three-phase voltage account
for modifying required parameters [1]-[2]. The signal given
to gate terminals can be controlled by Vα , Vβ which will
discuss later. Ideal three phase voltage can be given as follows:
Va =Vm sin ωt
Vb =Vm sin(ωt − 120)
Vc =Vm sin(ωt + 120)
Fig 3, depicts that moving vector Vs represents three phase
voltages alternatively. To achieve this we need to use 2D
fixed coordinate, where α axis lies along phase A and β is
vertical axis. Now Vs is similar to Vα and Vβ voltage vectors,
interrelated to new α and β coordinate geometry. Voltage
217
Fig. 4. Switching sectors [4].
Fig. 5. Control vectors and phase voltage and line voltages [7]
vectors Vα and Vβ characterized by following equations [1] :
Vα =Van -(1/2)Vbn -(1/2)Vcn
√ √
Vβ =( 3/2)Vbn -( 3/2)Vcn

|Vs |= Vα2 + Vβ2
 
V
φ= arctan Vαβ
ω= 2πfm
As there are three legs, totally eight switching vectors
(V0 , V2 , V3 .......V7 ) given in Fig 4 and Fig 5 are possible. The
six vectors produces non-zero voltages hence named as non-
zero switching states (V1 , V2 , V3 , V4 , V5 , V6 ). Remaining two
switching vectors produces null voltage therefore called as null
switching states(V0 , V7 ). The non-zero switching states divides
the plane into six sectors and 60◦ with same amplitude and
remaining vector lies at the origin.
The power frequency and amplitude of output voltage is
decided by amplitude and frequency of moving vector.
B. Algorithm of three-phase SVPWM inverter
The flipping pattern for SVPWM algorithm are:
• Per state transition only one switching action is takes
place.

Fig. 6. Vref in sector1 [4]
Fig. 7. Switching time for each device [4]
• In a sampling period, three switching actions are per-
formed.
• The final position of previous sector will be used as first
position of next sector.
These patterns restricts the flipping frequency and reduces
switching losses. Along with that, symmetry is achieved at
the output of voltage source inverter [17]-[18]. The Fig 6
shows sample of example where non-zero states utilized in the
steady sampling interval T . The SVM rules are employed for
implementation of formal SVPWM and expression for V̄ref is
given in the following equation.
  
T1 T2 T0/7
V̄ref = ∗ V̄1 ∗ V̄2 ∗ V̄0/7 .
T T T steps.
In given Eq. (1), T can be replaced by PWM switching
 2Vd c  and V1 ,V2 can be replaced by maximum DC link i.e
period
[11]-[13]. So only time duration for active state1 and
3
active state2 has to determined to generate average reference
vector and it can be obtained as:
Fig. 8. PWM wave in sector I [8].
T1 =V̄ref sin(60-α),
sin(α)
T2 =V̄ref sin(60) ,
T0 =T -T1 -T2 .
The angle of rotation of moving vector V̄ref or V¯s is
denoted by α. Practically, carrier wave generated by High-
speed PWM module of(dspic33EP256MU806) is symmetric as
center-aligned mode is used. The up and down count sequence
doubles the effective PWM cycle period. This mode is used
in many motor control application. As illustrated in Fig 8, T
is PWM switching period and n is sector number. Hence the
time durations of active vectors for particular sectors can be
obtained from following equations [26]-[28].
√
T1 = ( 3 ∗ T ∗ V̄ref /Vdc )[sin(πn/3) − α]
√
T2 = ( 3 ∗ T ∗ V̄ref /Vdc )[sin(α − πn − 1/3)]
T0 = T − T1 − T2
From above equations it is observed that if V̄ref is less then
duration of active vectors becomes less also T0 becomes too
small which leads to poor quality of of sinusoidal wave.
Based on the value of T 0,T 1,T 2 of particular sector, on time
duration of six power switches (Q1,Q2, . . . , Q6) can be
determined as illustrated in Fig 7 [4].
Hence we can summarize the algorithm in following ways:
• Step1: Coordinate transformation.
• Step2: Depending on co-ordinate determine sectors.
• Step3: Calculate T0 ,T1 ,T2 for each sector.
• Step4: After each PWM period load the value of on
period of each switches.

The digital realization becomes much simpler with these
(1)
III. SYSTEM SET UP AND IMPLEMENTATION
A. dsPIC33EP256MU806 controller and SVPWM algorithm
associated with controller
As shown in Fig 9 externally DC power supply is connected
although we can generate DC link from 230(V) AC supply
218
 Fig. 10. Hardware set up

Fig. 9. Hardware design for 16-bit dsPIC Controller

with the help of power capacitor. The CPU of controller

possess 16-bit modified Harvard architecture with the support
for digital signal processing by Microchip Technology. PIC
controller is well known for its high-speed operation and
vast memory with low cost. The dsPIC33EP256MU806
include on-chip flash program space (up to 512(Kbyte)),
flash auxiliary memory (up to 24 Kbytes) of on-chip data
RAM (52Kbytes), and maximum 60 (MIPS) processor
speed. For adjustable motor speed control it possess QEI
and PWM module. It has two ADC modules, ADC1 and
ADC2. The ADC1 module supports up to 32 analog input
channels and ADC2 module supports up to 16 analog
input channels, 10/12-bit ADC up to 32 input channels
with auto-scanning. It also support excellent communication
capability like ECAN, SPI, UART, I2C etc [8]. In order
to provide controlling of inverter using PWM module the
microcontroller is set at system clock of 120MHz, and
PWM module operate at 60MHz, provided with 3.3 to 3.6
(V) source. In testing process, different power frequency
with varying PWM switching frequency are changed and fed
to controller via programmer pins through PiKit3 programmer.

The samples of three phases are taken into 3D array and size
of array is decided by formula i.e No of samples = (Switching Fig. 11. Flow chart
frequency/Power frequency). For each sample in particular
sector the value of T0 , T1 , T2 is calculated. By loading correct
PWM count in PHASEx and SPHASEx register for center- B. Power stage and Drive circuit
aligned mode we can operate PWM module to work with
dedicated PWM switching frequency. Finally the on duration SVPWM inverter uses STGIPS30C60 module which has
of each IGBT is determined as illustrated in Fig 7 in main following features :
function. By initializing timer with PWM period count, each
• IPM 30 A, 600 V 3-phase IGBT inverter bridge including
on duration will be loaded in PDC1,PDC1,PDC3, on each
control ICs for gate driving and freewheeling diodes.
PWM interrupt. Dead time of 1000us is allowed by loading
• Smart shutdown function for overcurrent protection.
proper count associated with it in ALTDTRx register to prevent
• Internal bootstrap diode.
short circuit during phase transitions. As shown in Fig 11 we
can utilize maximum resources of controller as calculation The DC link is 16.77 (v), 5 (A) is applied to module with
burden in interrupt is avoided, it will takes place in main 330uF bootstrap capacitor for each phase in order to drive
function. Only reading of array at every PWM interrupt occurs IGBT properly. R=100K, C= 0.1uF is used in between two
in interrupt function. output phases to check the 50Hz power frequency.
219
Fig. 12. SVPWM pulses for lower IGBT.

Fig. 14. SVPWM pulses for both upper and lower IGBT

Fig. 13. SVPWM pulses for upper IGBT.

IV. EXPERIMENTAL RESULTS

Fig. 15. Dead time between two IGBT.
Fig 12 and Fig 13 shows the pulse generated by PWM
module of controller to fire the IGBT of inverter module in
case of PWM switching frequency= 1KHz, Power frequency=
50Hz, Number of sample= 20, Modulation index= 0.5. Fig 14
illustrates the complementary waveform for upper and lower
IGBT, and allowed dead time is shown in Fig 15. These figures
depicts that the same power frequency is produced at the
output of the module, shows all samples are covered.√Also
maximum utilization of DC link is obsreved i.e VDC / 3 at
inverter module output. Some high frequency glitches present
at the output of module is removed by RC network. We can
choose high switching frequency just by changing count of
PHASEx and SPHASEx register, but it is restricted up to the
operating frequency of dsPIC and the required resolution of
PWM value.

V. CONCLUSION
The Space Vector PWM algorithm is implemented on 16-
bit dsPIC33EP256MU806, which is special type of motor Fig. 16. Output of inverter module without RC filter.
control family. The system parameter such as power frequency,
maximum utilization of DC link perfectly match with reading
220

Fig. 17. RC filter ouput of inverter module
obtained using DSO. With the help of present work it is pos-
sible to utilize maximum resources of controller as calculation
burden in interrupt is avoided. Only reading of array at PWM
interrupt occurs in interrupt function. As inverter module is
used the hardware becomes much compact for the design. The
same algorithm with increased DC link can be used for the
operation of three-phase induction motor drive. Also, in VFD
application it is easier to achieve V/F characteristic.
R EFERENCES
[1] Duc-Cuong Quach, Quan Yin, Yu-Feng Shi and Chun-Jie Zhou," 12th
International Conference on Control, Automation, Robotics and Vision
Guangzhou, China", 5-7th December 2012 (ICARCV 2012).
[2] Gajjar Jahnavibahen B.,Mr.Ghanshyam Gajjar," Speed control of three
phase induction motor drive using SVPWM control scheme," Interna-
tional Journal of Engineering Developement and Research," Volume 2,
Issue 2, pp.2601-2607, 2014.
[3] K. V. Kumar, P. A. Michael, J. P.John and S.S. Kumar, ”Simulation and
Comparision of SPWM and SVPWM Control for Three phase Inverter,”
ARPN Journal of Engineering and Applied Sciences, Vol.5, no.7, pp.61-
74, July 2010.
[4] Mahmoud Gaballah, Mohammed El-bardini, “Low cost digital signal gen-
eration for driving space vector PWM inverter,"Ain Shams Engineering
Journal, 2013.
[5] D. N. Sonawane, M. S. Sutaone , B.N. Choudhari and Abhijeet
Badurkar,“FPGA Implementation of Simplified SVPWM Algorithm for
Three Phase Voltage Source Inverter ”, International Journal of Com-
puter andElectrical Engineering, Vol.2, No.6, December, pp. 1793-8163,
2010.ring, Vol.2, No.6, December, pp. 1793-8163, 2010.
[6] Space vector PWM Invereter by Jin-Woo Jung Mechatronics System
Laboratory Department of Electrical and Computer engineering the Ohio
State University.
[7] Parekh Rakesh,“VF control of 3-phase induction motor using space vector
modulation,” Microchip Technology Inc., Report(AN955), 2005.
[8] Microchip Technology Inc, ”dsPIC33EP256MU806 Data sheet, High
Performence Digital Signal Cotroller,” pp.1-232, 2007
[9] T. Huang, Zh.D. Yin, R.Zh. Shan ”A New Dynamic Voltage-Var Com-
pensator Based on SVPWM,” International Conference on Energy and
Environment Technology, pp.15-18, 2009.
[10] J. Y.Ying, M. L. Liang, W. X. Dong, Y. S. Cai and Z. H. Xing,
”Application and Simulation of SPWM three phase inverter,” The 16th,
International Forum on Strategic Technology, pp.541-544, 2011.
[11] Bahram Rashidi, Mehran Sabahi,“High Performance FPGA Based Dig-
ital Space Vector PWM Three Phase Voltage Source”, I.J.Modern Edu-
cation and Computer Science, 2013, 1, 62-71.
[12] W. Bao-jun, W. Jia-jun, ”Researches on SVPWM with Inverter Deadtime
of Permanent Synchronuos Motor Drive System,”ICICTA, pp.711- 714,
2011.
221
[13] Z. Li, L. Hefei, ”Modeling and Simulating of SPWM control system In-
duction Motor in Electric Vehicle,” Proceeding of the IEEE International
Conference on Automation and Logistics, Qingdao China, pp.2026-2030,
September 2008.
[14] P. A. Michael, N. Devarajan, ”FPGA Implementation of Multilevel
Space Vector PWM Algorithm,” International Journal of Engineering and
Technology Vol.1, No.3, pp.208-212, August 2009.
[15] Rafael R. Ramos, Domingo Biel, Enric Fossas, Francesc Guinjoan “A
Fixed-Frequency Quasi-Sliding Control Algorithm-Application to Power
Inverters Design by Means of FPGA Implementation",Transactions on
Power Electronics, Vol. 18, No. 1, pp.344-355, 2003.
[16] Muhammad H. Rashid," Power Electronics: Circuits,Devices and Appli-
cations".
[17] Ned Mohan,Tore M. Undeland, William P.Robbins,"Power Electronics:
Converters,Applications and Design," Wiley.
[18] M D Sing, K B Khanchandani"Power Electronics," Tata McGraw-Hill.
[19] Almas, A.K.Bharadwa," Speed Control of Three Phase Induction Motor
using Space Vector PWM Method," Vol. 4, Issue 6, pp.5755-5758, June
2015.
[20] M A Wajid Mudassir, Mohammed Ismail.B, Mohammad Haseeb Khan,
Arshia Azam," Comparative Study of SPWM and SVPWM Based Three
Phase Voltage Source Inverter for an Ups System Operating Under Non
Linear Loads," Vol. 4, Issue 5, pp.4214-4223, May 2015.
[21] Nagulapati Kiran, K. Lavanya, K. Trinad Babu, and M. Sudheer Kumar,
" Comparative analysis of Two-level Sinusoidal PWM and Space Vector
PWM Inverter fed Three-phase Induction Motor," Vol. 18 No. 1 Sep.
2015, pp. 192-205, 2015.
[22] S. K. Patil, Mr. Nikhil D. Wadokar, Pallavi H.," Pikale Implementation
of SVPWM Based Three Phase Inverter Using 8 Bit Microcontroller,"
Volume 4, Issue 6, pp.1891-1895, June 2015.
[23] Prasanna Sagdeo, Shilpa Patil, Vipinkumar Meshram, Puja Zurale,"
SVPWM controller for three phase inverter using PI controller operating
under non linear load," Vol. 4, Issue 10, pp.41-44, October 2015.
[24] Prasanna Sagdeo, Vipinkumar Meshram, "SVPWM controller for three
phase UPS system operating under highly non linear load," Vol. 4, Issue
5, pp.502-505 May 2015.
[25] Vikramarajan Jambulingam,"SVPWM Based Speed Control of Induction
Motor with Three Level Inverter Using Proportional Integral Controller,"
International Journal of Engineering Developement and Research," Vol-
ume 4 | Issue 1 | pp.| 271-280, February 2016.
[26] Deepa, V.Tharinidevi, S.Kaviyangkanni, P.Logeswari, S.Vijayalakshmi,"
Three Phase Inverter Using SVPWM Technique for Solar Electric Vehi-
cle," International Journal of Advanced Research in Electrical, Electronics
and Instrumentation Engineering," Vol. 5, Issue 3, pp.1584-1587, March
2016.
[27] P. Muthukumar1, P. Melba Mary3, S. Jeevananthan," An Improved
Hybrid Space Vector PWM Technique for IM Drives," Scientific Research
Publishing Inc," pp. 2120-2131, July 2016.
[28] Venkatesan Mani, Rajeswari Ramchandran, Devarajan Nanjundappa,
"Implementation of a modified SVPWM-based three-phase inverter with
reduced switches using a single DC source for a grid-connected PV
system," pp.3023-3033, April 2014.