A New 3D-SVPWM Algorithm for Four-Leg inverters

Kouzou A1, Mahmoudi M.O2, Boucherit M.S2

1
Electrical Department, University of Djelfa
Ain Chih BP 3117, Djelfa, Algeria
2
LCP, National Polytechnic School, Hassen Badi
BP 182 El Harrach, Algiers, Algeria
E-mail : kouzouabdellah@yahoo.fr

Abstract- A new algorithm of tetrahedron determination
applied to the SVPWM control of four leg inverters is presented
in this work. Indeed during the last years two main families of
works were existing under this subject, the first one used the
αβγ frame , while, the second one used the abc frame. In this
algorithm, it is proposed a new method for the determination of
the reference vector location in the space of a three phase system,
even though; it presents unbalance, harmonics or both of them.
The calculation of the duty times is done simply using the values
of 0 or 1 representing the status of the switching patterns. The use
of this algorithm with the active filtering gives good operation
performances, chiefly when the algorithm used for the calculation
of the voltages or currents references is based on the αβγ
frame. This algorithm can minimize extremely the time and the
complexity of calculation since the proposed new process is
simpler and faster and can be implemented easily.
I. INTRODUCTION
Up to now, in many industrial applications, there is a
great interest in four-leg inverters for three-phase four-wire
applications. Such as power generation and active filtering.
These kinds of inverters because of the existence of the fourth
leg need special control algorithm to fulfil the subject, which
were designed for. Indeed three-phase voltage-source inverters
can ensure this topology by two ways[1-3]:
1- Using split DC-link capacitors, where the neutral
point is presenting the connection of the mid-point of
the DC-link capacitors which is in the same time
connected to the neutral of the four wire network.
2- Using a four-leg inverter, where the neutral point is
presenting the connection of the mid-point of the
fourth neutral leg and to the neutral of the four wire
network.
The main objective is to provide the fourth leg that can handle
the neutral current; this leg has to be connected to the neutral
connection of three-phase four-wire systems. It is clear that the
two topologies allow the circulation of the neutral current
caused by the non linear load or/and the unbalanced load into
the additional leg (fourth leg). But the first solution has major
drawbacks compared with the second solution. Indeed the
needed DC side voltage required large and expensive DC-link
capacitors, especially when the neutral current is important,
and this is the case of the industrial plants, on the other side,
the required control algorithm is more complex and the
unbalance between the two parts of the split capacitors presents
a serious problem, because practically it is a difficult problem
to maintain the voltages equally, even voltage controllers are
used. Therefore, the second solution is preferred to be used
despite more required control switches Fig. 1.
The control of the four leg inverter switches can be realised by
several algorithms. But the Space Vector Modulation SVM has
been proved to be the most favourable pulse-width modulation
schemes, thanks to its major advantages such as:
- more efficient and high dc link voltage utilization;
- lower output voltage harmonic distortion;
- less switching and conduction losses;
- wide linear modulation range;
- more output voltage magnitude;
- And its simple digital implementation.
Several works were done on the SVM PWM firstly for three
legs two level inverters, later on three legs multilevel inverters
of many topologies. For four legs inverters there were to
families of algorithms, the first is based on the αβγ
coordinates [4-9], the second is based on the abc coordinates
[8-11]. In this paper a new algorithm is proposed.
Ta Tb Tc Tf
Sa Sb Sc Sf
a Vaf
Vbf
Vg b Vcf
c
f
Ta' Tb' Tc' T f'
Figure.1. Four legs inverter Topology.

978-1-4244-4252-2/09/$25.00 ©2009 IEEE 1674

 II. FOUR LEG TWO LEVEL INVERTER MODELING
In the general case, when the three wire network has
c − axis
balanced three phase system voltages, there are only two V8
independents variables representing the voltages in the space V7 a − axis
b − axis
denoted by the abc frame and this is justified by the V4
following relation :
V6
V3
Vaf + Vbf + Vcf = 0 (1) V5
V2
The equivalent space voltage vector is moving in a plane. V1
Whereas in the case of unbalanced system voltages the V16
mentioned relation is not true and is written as:
V15
V12
Vaf + Vbf + Vcf ≠ 0 (2) V11 V14

It is obvious, that there are three independent variables; in this V13

case the equivalent space voltage vector is then moving in the V10
space defined by the abc frame representing a three V9
dimension space.
For four wire networks, three phase unbalanced load can be
occurred ant the neutral current is expected, it is presenting the
current defined by: Figure.2. Presentation of possible switching in vectors abc
frame.
I La + I Lb + I Lc = I n ≠ 0 (3)

To built an inverter which can achieve the conditions of the TABLE I

voltage unbalance and/or the current unbalance a fourth leg is POSSIBLE SWITCHING VECTORS OF THE FOUR LEG INVERTER IN abc
needed, this leg allows the circulation of the neutral current, on Frame.
the other hand, this leg permits to have unbalanced phase-
neutral voltages following to the reference voltages those are Vecteur S a Sb Sc S f Vaf Vg Vbf Vg Vcf Vg
required to be as output voltages of the inverter. V1 0000 0 0 0
The output phase-neutral voltages of the inverter are given by:
V2 0010 0 0 1
[ ]
Vif = S a − S f ⋅Vg where :i = a, b, c (4) V3 0100 0 1 0
V4 0110 0 1 1
This can be written as: V5 1000 1 0 0
⎡ Sa ⎤ V6 1010 1 0 1
⎡Vaf ⎤ ⎡1 0 0 − 1⎤ ⎢ ⎥
⎢ ⎥ ⎢
V = 0 1 0 − 1⎥ ⋅ ⎢ Sb ⎥ ⋅ V (5)
V7 1100 1 1 0
⎢ ⎥ ⎢
bf ⎥ ⎢ Sc ⎥ g V8 1110 1 1 1
⎢Vcf ⎥ ⎢⎣0 0 1 − 1⎥⎦ ⎢ ⎥
⎣ ⎦ V9 0001 -1 -1 -1
⎢⎣ S f ⎥⎦
Where the variable Si is defined by: V 10 0011 -1 -1 0
V 11 0101 -1 0 -1
⎧ 1 if the upper switch of the leg i is closed
Si = ⎨
V 12 0111 -1 0 0
⎩0 if the upper switch of the leg i is opened V 13 1001 0 -1 -1
where : i = a, b, c, f V 14 1011 0 -1 0
The possible switching vectors of the four leg inverter are
V 15 1101 0 0 -1
presented in TAB. I. Fig. 1 gives the space presentation of V 16 1111 0 0 0
these vectors in abc frame.

1675
 III. THE PROPOSED ALGORITHM FOR FOUR LEG TWO LEVEL γ − axis
INVERTER Vγ
β − axis
A. Voltages Vector Presentation in αβγ Frame
A new algorithm of tetrahedron determination applied to 1 ⋅ V g
V8
the SVPWM control of four leg inverters is presented in this
paper. As it was mentioned two main families of algorithms 2 V4 V7
were done under this subject, the first one used the αβγ + 3 ⋅ Vg
V3 V6
frame, while, the second one used the abc frame. In the
present algorithm, it is proposed a new method for the + 1 ⋅ V g V5
V2
determination of the reference vector location in the space of a 3
three phase system; even it presents unbalance, harmonics or V1 α − axis
both of them. As it was presented in the previous works the 0 ⋅ V g V16
reference vector was replaced by three active vectors and two V15
V12
zero vectors following to their duty times [4-11]. The active 1
vectors can be substituted by the vectors those are defining the − 3 ⋅ V g
V14
special tetrahedron in which the reference vector is located. In V11
the actual algorithm the numeration of the tetrahedron is 2 V13
different from the last works, the number of the active − 3 ⋅ V g V10
tetrahedron is determined by new process which seems to be
V9
more simplifiers, faster and can be implemented easily. −1 ⋅ V g

The same voltages in the αβγ frame can be presented by:

Figure.3. Presentation of possible switching in vectors abc
frame.
⎡Vα ⎤ ⎡S a − S f ⎤
⎢ ⎥ ⎢ ⎥ TABLE II
⎢Vβ ⎥ = C ⋅ ⎢ S b − S f ⎥ ⋅ V g (6)
POSSIBLE SWITCHING OF THE FOUR LEG INVERTER IN αβγ FRAME.
⎢Vγ ⎥ ⎢Sc − S f ⎥
⎣ ⎦ ⎣ ⎦
Vecteur S a Sb Sc S f Vα Vg Vβ Vg Vγ Vg
Where:
⎡ 1 1 ⎤ V1 0000 0 0 0
⎢1 − − ⎥ − 1
2 2 V2 0010 −1 +1
3 3 3
⎢ ⎥
2 3 3⎥
C = ⋅ ⎢0 − (7) V3 0100 −1
3
+ 1
3
+1
3
3 ⎢ 2 2 ⎥
⎢1 1 1 ⎥ V 4
0110 −2 0 +2
3 3
⎢2 2 2 ⎥⎦ 5
1000 +2 0 +1
⎣ V 3 3
V 6
1010 +1 − 1 +2
3 3 3
This leads to:
V 7
1100 +1 + 1 +2
2 ⎛ 1 ⎞ 3 3
⋅ ⎜ S a − ⋅ (Sb + S c )⎟ ⋅ Vg
3
Vrefα =
3 ⎝ 2 ⎠ V 8
1110 0 0 1
2 ⎛ 3 3 ⎞ V9 0001 0 0 −1
Vrefβ = ⋅ ⎜⎜ Sb − S c ⎟⎟ ⋅ Vg (8) −1 − 1 −2
3 ⎝ 2 2 ⎠
V 10 0011 3 3 3

V 11
0101 −1 + 1 −2
3 3 3
2 ⎛1 1 1 3 ⎞
Vrefγ = ⋅ ⎜ S a + Sb + S c + S f ⎟ ⋅ Vg V 12
0111 −2
3 0 −1
3
3 ⎝2 2 2 2 ⎠
V 13
1001 +2 0 −2
It is clear that there is no effect of the fourth leg behaviors on 3 3
the values of the components in the α − β plane. The V 14
1011 +1 − 1 −1
3 3 3
different possibilities of the switching are presented in TAB. II. +1 + 1 −1
V 15 1101 3 3 3
Fig. 3 gives the space presentation of these vectors in αβγ
frame. V 16
1111 0 0 0

1676
B. Determination of the Truncated Triangular Prisms β − axis
In this algorithm there is no need for the calculation of the
zero (homopolar) sequence component of the reference
voltage. Only the values of the reference voltage in abc frame
are needed. Four coefficients are defined for the determination
of the Truncated Triangular Prisms (TTP) and noted as C 0 , TP = 2

C 2 , C 3 and C 4 . On the other side, two variables are needed TP = 3 TP = 1 α − axis

for the determination of the coefficient values used in this
algorithm x and y given as: TP = 4 TP = 6
TP = 5
V
x= α (9)
V

Vβ
y= (10) Figure.4. Distribution of the Truncated Triangular Prisms
V (TTP) in the αβ plane.
Where:

V = Vα2 + Vβ2 (11) γ − axis

Vγ
The four coefficients can be calculated as follow: β − axis
V8
1⋅Vg
C0 = 1
V7
⎛5 ⎞
C1 = INT ⎜ − x − ε ⎟ 2
+ ⋅ Vg
V4
⎝2 ⎠ 3 V3

C 2 = INT (1 − y − ε ) (12) 1
+ ⋅Vg V5
3 V6
⎛5 ⎞ V2
C 3 = INT ⎜ + x + ε ⎟ V1 α − axis
⎝2 ⎠ 0 ⋅Vg
V16
V15
ε is used to avoid the confusion when the reference vector 1
− ⋅ Vg
V12
V11

passes in the boundary between two adjacent triangles in the 3 V14

αβ plane, the reference vector has to be included at each 2
sampling time to only one triangle. On the other hand, as it − ⋅Vg V13
3
were presented in the first Algorithm, the location of the V10
reference vectors passes in six prism, but effectively this is not −1 ⋅ V g
V9
true as the reference vector passes only in six pentahedron or
six Truncated Triangular Prisms (TTP) as the two bases are
not presented in parallel planes following to the geometrical Figure.5. Distribution of the Truncated Triangular Prisms
definition of the prism. The TTP distribution is presented in (TTP) in the αβγ frame.
Fig. 4 and Fig. 5, they can be determined by the following
formula: As it is shown in Fig. 4 and Fig.5 there are six truncated prism.
The localization of the TTP is the same as the second
2 algorithm. But in the present algorithm the given formula used
TTP = 3C 2 + ∑ (− 1) C i C i +1
i is easier for the numerical implementation.
(13)
i =0

1677
C. Determination of the Tetrahedrons
In each TTP there are six vectors as it is presented in γ − axis
TAB. III, these vectors define four tetrahedrons. One
tetrahedron contains three active vectors from the six vectors. Vγ c − axis

The way of selecting the tetrahedron depends on the polarity β − axis

b − axis
changing of each switching components included in one 1⋅ Vg
a − axis
vector. The following formula permits the determination of the V8
V7
tetrahedron in which the voltage space vector is located. 2 V4
+ ⋅ Vg
3
3 V6

Th = 4(TP − 1) + 1 + ∑ ai
V3
(14) 1
+ ⋅ Vg V5
1 3
V2
Where: V1 α − axis
0 ⋅ Vg
V16
a i = 1 if Vi ≥ 0 else ai = 0 V15
1 V12
i = a , b, c − ⋅ Vg
3 V11 V14

TABLE III 2
− ⋅ Vg V13
POSSIBLE SWITCHING OF THE FOUR LEG INVERTER IN αβγ FRAME. 3
V10
V9
TTP TTP −1 ⋅ V g

5 1 3 6 2 4
A1 V8 V8 V8 B1 V8 V8 V8 Figure.7. Distribution of the Truncated Triangular Prisms
A2 V2 V5 V3 B2 V6 V7 V4 (TTP) in the αβγ frame.
A3 V 10 V 13 V 11 B3 V 14 V 15 V 12
A4 V 14 V 15 V 12 B4 V 13 V 11 V 10 D. Calculation of the Duty Time
To fulfill the principle of the SVPWM the following
A5 V6 V7 V4 B5 V5 V3 V2 equation has to be satisfied.
A6 V9 V9 V9 B6 V9 V9 V9
Vref ⋅ Tz = T1 ⋅ V1 + T2 ⋅ V2 + T3 ⋅ V3 + T0 ⋅ V0 (15)
It is important to remark that from the six truncated
prisms, only two forms can be presented, this means that there 3
is two alternate shapes, but with different active vectors. These Vref ⋅ Tz = ∑ Ti ⋅ Vi
two forms are presented in Fig. 6. i =0
Where:
3
A1 B1 Tz = ∑ Ti (16)
i =0

A5
B2
A2 B5 Tz is the sampling time of the SVPWM. Vref presents the
reference voltage.
In equation (15) the abc frame components can be used, either
B3
A4 than the use of the αβγ frame components of the voltage
vectors for the calculation of the duty time, and same results
B4 can be found in the both frames.
A3 The vectors V1 , V2 and V3 present the edges of the
B6
tetrahedron in which the reference vector is lying. So each
A6 vector can take the sixteen possibilities available by the
different switching possibilities. On the other hand these
vectors have their components in the αβγ frame as:
Figure.6. Distribution of the Truncated Triangular Prisms
(TTP) in the αβγ frame.

1678
 Tz
σ=
⎡Vα 1 ⎤ ⎡ S a1 − S f 1 ⎤ [ ]
3

⎢ ⎥ ⎢ ⎥ ∑ (S ai − S fi )⋅ (Sbj − S fj )⋅ (Sck − S fk ) − (Sbk − S fk )⋅ (Scj − S fj )

V1 = ⎢Vβ 1 ⎥ = C ⋅ ⎢ S b1 − S f 1 ⎥ ⋅ V g = C ⋅ S1 ⋅ V g (17)
1

⎢Vγ 1 ⎥ ⎢ S c1 − S f 1 ⎥ E. Determination of the Switching Vectors Sequencies

⎣ ⎦ ⎣ ⎦
From one tetrahedron, the problem which occurs, is how
the sequence of the corresponding edges of the existing
⎡Vα 2 ⎤ ⎡S a 2 − S f 2 ⎤ switching vectors can be chosen for the three vectors used in
⎢ ⎥ ⎢ ⎥ the proposed SVPWM . Indeed the choice of the sequence of
V2 = ⎢Vβ 2 ⎥ = C ⋅ ⎢ S b 2 − S f 2 ⎥ ⋅ V g = C ⋅ S 2 ⋅ V g (18)
the vectors used for V1 , V2 and V3 in one tetrahedron depends
⎢Vγ 2 ⎥ ⎢ S c2 − S f 2 ⎥
⎣ ⎦ ⎣ ⎦ on the SVPWM sequencing schematic used, in one sampling
time it is recommended to use four vectors, the fourth one is
⎡Vα 3 ⎤ ⎡S a3 − S f 3 ⎤ corresponding to zero vector, as it was shown only two
⎢ ⎥ ⎢ ⎥ switching combination can serve for this situation that is
V3 = ⎢Vβ 3 ⎥ = C ⋅ ⎢ S b3 − S f 3 ⎥ ⋅ V g = C ⋅ S 3 ⋅ V g (19) V 1 (0000) and V 16 (1111). On the other hand only one
⎢Vγ 3 ⎥ ⎢ S c3 − S f 3 ⎥ changing state of switches can be accepted when passing from
⎣ ⎦ ⎣ ⎦ the use of one vector to the following vector. For example in
tetrahedron 10 the active vectors are:
Finally the following expression can be written:
V 15 (1101), V 13 (1001) and V 5 (1000),
1 It is clear that if the symmetric sequence schematic is used and
T1 ⋅ S1 + T2 ⋅ S 2 + T3 ⋅ S3 = ⋅ C −1 ⋅ Vref ⋅ Tz (20)
Vg 16
starts with vector V then the sequence of the use of the other
active vectors can be realized as follow TAB. IV:
The time duties are calculated as follow:
V 16 , V 15 , V 13 , V 5 , V 1 , V 5 , V 13 , V 15 , V 16
⎡T1 ⎤
⎢T ⎥⋅ = 1 ⋅ [S S2 S 3 ] ⋅ C −1 ⋅ V ref ⋅ T z
−1
(21) TABLE IV
⎢ 2⎥ V 1

⎢⎣T3 ⎥⎦ g POSSIBLE SWITCHING OF THE FOUR LEG INVERTER IN αβγ FRAME.

V16 V15 V13 V5 V1 V5 V13 V15 V16

Variable j and k are introduced to simplify the calculation
Sa 1 1 1 1 0 1 1 1 1
where:
Sb 1 1 0 0 0 0 0 1 1
j = i + 1 − 3 ⋅ INT (i / 3) (22) Sc 1 0 0 0 0 0 0 0 1

k = i + 2 − 3 ⋅ INT ((i + 1) / 3) (23) Sf 1 1 1 0 0 0 1 1 1

1
Ta
In the general case the following equation can be used to 0

calculate the duty times for the three components used in the 1
Tb
same tetrahedron: 0

1
t Tc
⎡Ti1 ⎤ ⎡Vrefa ⎤ 0

⎢ ⎥
Ti = σ ⋅ ⎢⎢Ti 2 ⎥⎥
1
⋅ ⎢Vrefb ⎥ (24) Tf
0

⎢⎣Ti 3 ⎥⎦ ⎢Vrefc ⎥
⎣ ⎦ T0 T1 T2 T3 T0 T3 T2 T1 T0
4 2 2 2 2 2 2 2 4
Where:

Ti1 = (S bj − S fj ) ⋅ (S ck − S fk ) − (S bk − S fk ) ⋅ (S cj − S fj ) Otherwise, if it is starts with vector V then the sequence of

1

Ti 2 = (S ak − S fk ) ⋅ (S cj − S fj ) − (S aj − S fj ) ⋅ (S ck − S fk ) the active vectors will be presented as follow:

Ti 3 = (S aj − S fj ) ⋅ (S bk − S fk ) − (S ak − S fk ) ⋅ (S bj − S fj ) V 1 , V 5 , V 13 , V 15 , V 16 , V 15 , V 13 , V 5 , V 1

1679
 TABLE V Simulation Results
POSSIBLE SWITCHING OF THE FOUR LEG INVERTER IN αβγ FRAME.
To justify the validity and the efficiency of the proposed
algorithm a simulation test was made with the worsened case
V 16 V 15 V 13 V5 V1 V5 V 13 V 15 V 16 of reference voltages. The presented simulation was done with
Sa 1 1 1 1 0 1 1 1 1 unbalanced and distorted voltage reference.
Sb 1 1 0 0 0 0 0 1 1
Sc 1 0 0 0 0 0 0 0 1
Sf 1 1 1 0 0 0 1 1 1 500

V re fa (V )
1 0
Ta -500
0 0 0.01 0.02 0.03 0.04 0.05 0.06
200

V re fb (V )
1
Tb 0
0
-200
0 0.01 0.02 0.03 0.04 0.05 0.06
1 500

V re fc (V )
Tc
0 0

1 -500
0 0.01 0.02 0.03 0.04 0.05 0.06
Tf 500

V n (V )
0
0
T0 T1 T2 T3 T0 T3 T2 T1 T0
-500
4 2 2 2 2 2 2 2 4 0 0.01 0.02 0.03 0.04 0.05 0.06
Time (s)

Figure.7. Reference Voltages applied to the four leg inverter

In TAB. VI the vectors used in each tetrahedron are presented
following to the starting vector V1. V a (V ) 1000

TABLE VI -1000
0 0.01 0.02 0.03 0.04 0.05 0.06

POSSIBLE SWITCHING OF THE FOUR LEG INVERTER IN αβγ FRAME 1000

V b (V )

TP = 5 TP = 6 -1000

Th → 3 5 6 7 8
0 0.01 0.02 0.03 0.04 0.05 0.06
1 2 4 1000

V1 V9 V2 V2 V2 V9 V5 V5 V5
V c (V )

V2 V 10 V 10 V6 V6 V 13 V 13 V6 V6 -1000
0 0.01 0.02 0.03 0.04 0.05 0.06
Time (s)
V3 V 14
V 14
V 14
V 8
V 14
V 14
V 14
V 8

Figure.8. Output Voltages of the four leg inverter

TP = 1 TP = 2
Th → 9 10 11 12 13 14 15 16 5

V1 V 9
V 5
V 5
V 5
V 9
V 3
V 3
V3
I a (A )

V2 V 13 V 13 V7 V7 V 11 V 11 V7 V7
-5

5
0 0.1 0.2 0.3 0.4 0.5 0.6

V3
I b (A )

V 15 V 15 V 15 V8 V 15 V 15 V 15 V8 0

-5
0 0.1 0.2 0.3 0.4 0.5 0.6
5

TP = 3 TP = 4
I c (A )

Th → 17 18 19 20 21 22 23 24 -5
0 0.1 0.2 0.3 0.4 0.5 0.6
10

V1 V 9
V 3
V 3
V 3
V 9
V 2
V 2
V 2
I n (A )

V2 V 11 V 11 V4 V4 V 10 V 10 V4 V4
-10
0 0.1 0.2 0.3 0.4 0.5 0.6
Time*10 (s)
V3 V 12 V 12 V 12 V8 V 12 V 12 V 12 V8
Figure.9. Currents output of the four leg inverter feeding linear
load.

1680
 6
only 0 and 1, this makes the time calculation less that the other
5.5
algorithms and the implementation can be done easily. The
simulation results show the high flexibility and efficiency of
N um ber of T runcated P rism s T P

4.5
the proposed algorithm. This algorithm is in its way of
4
implementation for the use in the active filtering, especially
3.5
when the algorithm of currents and voltages references
3 determination is using αβγ frame[12-15].
2.5

2
REFERENCES
1.5

1
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25
[3] R.Zhang, D.Boroyevich and V.H.Prasad “A Three-Phase Inverter
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0
0 0.01 0.02 0.03 0.04 0.05 0.06 design of a three-phase inverter with a neutral leg,” in Proc. EPE’97
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V g a m a (V )

0 [10] Manuel A. Perales,M.M. Prats,Ramón Portillo,José L.Mora,José I.León,

-500
-1000
1000
500
Vbeta
(V
Figure.12. The space in which the voltages space vector is
passing.
In this paper a new algorithm is proposed for the
control of the four leg inverter, all the calculation of the
determination of the truncated prisms and the tetrahedron in
which the voltage space vector is found are presented in a
simple and efficiency formula, easy to be implemented. On the
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