10th International Conference on Power Electronics-ECCE Asia

May 27 - 30, 2019 / BEXCO, Busan, Korea

Unified SVPWM Strategy for Post-fault Three-

level NPC Voltage Source Inverters
Qingli Deng, and Xinglai Ge
Laboratory of Magnetic Suspension Technology and Maglev Vehicle, Ministry of Education,
Southwest Jiaotong University, China，

Abstract— Eight switch three-phase inverters (ESTPIs) P Fa1 Fb1 Fc1 P Fb1 Fc1
are the reconfigured topologies of the three-level neutral- Ta1 Tb1 Tc1 Tb1 Tc1
udc/2 C1
point-clamped (NPC) inverter with a failure leg. This failure C1 udc/2
Ta2 Tb2 Tc2 Tb2 Tc2
leads to different topologies of ESTPIs, which can be Ta a
controlled by different space vector pulse width modulation Tb a
Tc b b
(SVPWM) strategies. By analyzing the relationship of three O c
O c Tb3
SVPWM strategies for different ESTPIs, a unified coordinate Ta3 Tb3 Tc3 Tc3
udc/2
transformation is proposed, which can make one of the three C2
udc/2 Ta4 Tb4 Tc4 C2 Tb4 Tc4
SVPWM strategies be a unified control strategy of ESTPIs.
And the unified coordinate transformation is suited for two Fa2 Fb2 Fc2 Fb2 Fc2
N N
different SVPWM strategies for ESTPIs. Consequently, the
unified strategy not only simplifies the control strategy, but RL load RL load
also makes the fault tolerant control strategy more flexible.
Simulation and hardware-in-the-loop (HIL) test results have
（a） （b）
shown the validity and feasibility of the proposed unified
P P
SVPWM strategies. Ta1 Tc1 Ta1 Tb1
udc /2 udc /2
Ta2 Tc2 Ta2 Tb2
Index Terms--Eight-switch three-phase inverters C1 C1
(ESTPIs) fault tolerant control, unified coordinate b n c n
transformation, unified space vector pulse width modulation a a
O c O b
strategy Ta3 Tc3 RL load
Ta3 Tb3 RL load
udc /2 udc /2
C2 Ta4 Tc4 C2 Ta4 Tb4

I. INTRODUCTION
The three-phase three-level neutral-point-clamped (3L-
NPC) inverters are widely used in medium-voltage and
high-power fields, due to its main advantages related to
low harmonic, low switching loss, and low voltage stress
[1]. However, the multiplied number of the power
switching devices leads to the reduced reliability of the 3L-
NPC inverters[2]. Hence, active online monitoring, fault-
diagnosis and fault-tolerant control strategies are adopted
to improve reliability[3]. Furthermore, the fault-tolerant
technology is an appropriate approach of the numerous
solutions to enhance the reliability of 3L-NPC inverters.
Consequently, eight-switch three-phase inverters
(ESTPIs), as the post-fault reconfigured topologies for 3L-
NPC inverters with the failure of a leg, have been widely
studied in recent years[4]. As shown in Fig. 1(a), When the
leg a has broken, the fuses Fa1 and Fa2 work to isolate the
leg a. Then the bidirectional thyristor Ta1 turns on, and the
load of phase a connects to the neutral point[4]. Finally,
the topology is reconstructed to ESTPI-a. Similarly, the
ESTPI-b and ESTPI-c can be obtained when the fault of
leg b or leg c occurs, as shown as Fig. 1(b)-(d).
N N
（c） （d）
Fig. 1 Three different topologies of ESTPIs: (a)Fault-tolerant
three-level NPC inverter topology, (b)Topology of ESTPI-a,
(c)Topology of ESTPI-b, (d)Topology of ESTPI-c
Over the past several years, much attention has been
directed to the control strategies of the ESTPIs. In [6]-[8],
the SVPWM strategy, carrier-based pulse width
modulation (CBPWM) strategy and the relationship
between the two different modulation strategies for
ESTPIs have been elaborated in detail. In order to balance
the output voltage and reduce the common-mode voltage
of ESTPIs, several improved methods also have been
proposed in [9]-[10]. However, different faulty legs lead to
different topologies of ESTPIs, as shown in Fig. 1, which
are controlled by different space vector pulse width
modulation (SVPWM). Therefore, three SVPWM
strategies need to be prepared for three ESTPIs, which
takes up lots of memory space in the controller and
increases the complexity of the control strategy. So far few
literatures about elaborating the control strategy of the
different ESTPIs have been reported. But similar problems
have been encountered in four-switch three-phase

ⓒ2019 KIPE 3090

inverters (FSTPIs), which are the post-fault reconfigured by the DC-link voltage udc and the switching function Sx,
topologies for two-level inverters. For instance, [11] has shown as follows:
analyzed the principles of three SVPWM strategies for
udc
FSTPIs and found that they were equivalent to each other. uxo = Sx (2)
However, the three SVPWM strategies for ESTPIs are 2
different from each other. Because of the duration time of The basic space voltage vectors us in two-phase
voltage vectors and the switching sequences of three stationary coordinate, namely the αβ-coordinate, can be
SVPWM strategies for ESTPIs are difficult to be obtained by the following expression:
equivalent simultaneously. 2
To solve this problem, after a brief introduction of the us = (uao + ubo e j2π/3 + uco e j4π/3 ) (3)
3
working principle of ESTPIs, two SVPWM strategies are
Two normal legs can generate eight switching states,
analyzed in detail. Inspired from the idea of general
hence there are eight basic voltage vectors u1-u8, as shown
SVPWM strategy for FETPIs, three different two-phase
in Table I, which can be calculated by (3). Based on the
coordinates are proposed to make one of the three
basic voltage vectors, there are two SVPWM methods[12].
SVPWM strategies can be regarded as a unified strategy to
One adopts the zero vector and six small vectors, which
control the three ESTPIs. Afterward, based on the
can divide the αβ-coordinate plane into six sectors. While
relationship of three SVPWM strategies and coordinate
the other adopts the zero vector, six small vectors and two
transformation theory, this paper proposes a unified
medium vectors, which divide the αβ-coordinate plane into
coordinate transformation. With the assistance of the
eight sectors, named SVPWM-I and SVPWM-II,
unified coordinate transformation, the unified SVPWM
respectively.
strategies become easily to implement. The performance
of the ESTPIs have been tested experimentally, and results TABLE I
BASIC VOLTAGE VECTORS OF THREE ESTPIS
indicate that the validity and feasibility of the unified
SVPWM strategies. Switching State ESTPI-a ESTPI-b ESTPI-c

OO(u0) 0 0 0
II. TECHNICAL WORK PREPARATION NN(u1) /3 e /
/3 e /
/3
A. Working principle of ESTPIs ON(u2) e /
/3 e /
/3 e /
/3
/
The topologies of the ESTPIs are shown in Fig. 1, which PO(u3) e /3 /3 /3
are named ESTPI-a, ESTPI-b and ESTPI-c, respectively. PP(u4) − /3 e /
/3 e /
/3
Each leg has three switching states, presented as 1(P), OP(u5) e /
/3 e /
/3 e /
/3
0(O), -1(N), and the ideal switching function Sx is defined NO(u6) e /
/3 − /3 − /3
as follow. PN(u7) e /
/√3 e /
/√3 e /
/√3
NP(u8) / / /
e /√3 e /√3 e /√3
1, Tx1 , Tx 2 on, Tx3 , Tx 4 off

S x =  0, Tx 2 , Tx 3 on, Tx1 , Tx 4 off (1)
B. Working principle of SVPWM-I
−1, T , T on, T , T off
 x3 x4 x1 x2 In any sector of the SVPWM-I method, the uref should
Assuming that udc is costant, uc1=uc2=udc/2. The pole be synthesized by two basic vectors and a zero vector[6],
voltage uxo (x=a, b, c) for the isolated leg is always zero, as shown in Fig. 2.
while the pole voltage uxo of two normal legs are described
TABLE II
THE DURATION TIME OF VECTORS FOR SVPWM-I
Sectors T1 T2

1 2√3 sin(π/3 − )/ 2√3 sin /

2 6 cos / 2√3 sin( − π/3)/
3 2√3 sin(π/3 + )/ −6 cos /
4 2√3 sin / 2√3 sin( − 2π/3)/
5 2√3 sin( − π/3)/ 2√3 sin( − π)/
6 −6 cos / 2√3 sin( − 4π/3)/
7 2√3 sin( − 2π/3)/ −6 cos /
8 2√3 sin( − )/ 2√3 sin( − 5π/3)/

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 Then based on the volt-second balancing principle, the where n is the sector number.
duration time of two adjacent vectors and the zero vector, β β
β
which are represented by T1, T2, and T0, are calculated. u3 u2 u1 u2 u5 u4
Taking sector I for example, the duration time of the three Ⅱ uref Ⅱ uref Ⅱ uref
u4 Ⅲ Ⅰ u1 u6 Ⅲ Ⅰ u3 u6 Ⅲ Ⅰ u3
vectors are calculated by (4). Similarly, the duration time Ⅳ α Ⅳ α Ⅳ α
Ⅵ Ⅵ Ⅵ
of the other vectors in other sectors can be obtained, as Ⅴ Ⅴ Ⅴ
u5 u6 u5 u4 u1 u2
shown in Table II.
(a) (b) (c)
 uref ⋅ Ts = u1 ⋅ T1 + u2 ⋅ T2 Fig. 3 Three different voltage distribution of ESTPIs: (a)SVPWM-II
 (4) for ESTPI-a, (b)SVPWM-II for ESTPI-b, (c)SVPWM-II for ESTPI-c
T0 = Ts − T1 − T2
where Ts is sample time. The principles of minimum switching losses and
harmonic components are adopted to the SVPWM-II. The
β u β
7 β switching sequences are displayed in Table IV.
u3 u2 u1 uref u2 u8 u5 u4
ⅢⅡ uref u7 TABLE IV
Ⅲ Ⅱ Ⅲ Ⅱ uref
u4 Ⅳ Ⅰ u1 u6 Ⅳ u3 THE SWITCHING SEQUENCES OF SVPWM-II
Ⅰ u6 Ⅳ Ⅰ u3
Ⅴ α Ⅷ
Ⅴ Ⅷ α Ⅵ
Ⅷ Ⅴ α Sectors ESTPI-a ESTPI-b ESTPI-c
ⅥⅦ Ⅶ Ⅶ
Ⅵ u7
u5 u6 u8 u5 u4 u1 u2 1 u1-u2-u0-u2-u1 u2-u0-u3-u0-u2 u4-u0-u3-u0-u4
u8
2 u2-u0-u3-u0-u2 u1-u2-u0-u2-u1 u0-u5-u4-u5-u0
(a) (b) (c)
Fig. 2 Three different voltage distribution of ESTPIs: (a)SVPWM-I 3 u4-u0-u3-u0-u4 u1-u6-u0-u6-u1 u6-u0-u5-u0-u6
for ESTPI-a, (b)SVPWM-I for ESTPI-b, (c)SVPWM-I for ESTPI-c
4 u0-u5-u4-u5-u0 u6-u0-u5-u0-u6 u1-u6-u0-u6-u1
According to the principles of minimum switching
5 u6-u0-u5-u0-u6 u0-u5-u4-u5-u0 u1-u2-u0-u2-u1
losses and harmonic components, the switching sequences
are illustrated in Table III. 6 u1-u6-u0-u6-u1 u4-u0-u3-u0-u4 u2-u0-u3-u0-u2
TABLE III
THE SWITCHING SEQUENCES OF SVPWM-I Combined with the duration time and switching
Sectors ESTPI-a ESTPI-b ESTPI-c sequence of the voltage vectors, the time sequencing of
1 u1-u2-u0-u2-u1 u7-u3-u0-u3-u7 u4-u3-u0-u3-u4 power switches in each sector can be acquired, which are
2 u7-u2-u0-u2-u7 u7-u2-u0-u2-u7 u4-u5-u0-u5-u4 mentioned in [13].
3 u7-u3-u0-u3-u7 u1-u2-u0-u2-u1 u8-u5-u0-u5-u8
4 u4-u3-u0-u3-u4 u1-u6-u0-u6-u1 u8-u6-u0-u6-u8 D. Coordinate transformation and unified SVPWM
strategies
5 u4-u5-u0-u5-u4 u8-u6-u0-u6-u8 u1-u6-u0-u6-u1
It is easily found that the both SVPWM-1 and SVPWM-
6 u8-u5-u0-u5-u8 u8-u5-u0-u5-u8 u1-u2-u0-u2-u1
II of three ESTPIs are different in duration time of vectors
7 u8-u6-u0-u6-u8 u4-u5-u0-u5-u4 u7-u2-u0-u2-u7 and the switching sequences. Taking SVPWM-II for
8 u1-u6-u0-u6-u1 u4-u3-u0-u3-u4 u7-u3-u0-u3-u7 example, the T1, T2, T0 of the same sectors in three ESTPIs
are equivalent, but the corresponding voltage vector
distributions are different so that the switching sequences
C. Working principle of SVPWM-II
are inequivalent. Vice versa, if the sectors are divided
Three basic vectors distribution and the sector division
according to the voltage vector distributions as shown in
of ESTPIs for the SVPWM-II are shown in the Fig. 3.
Fig. 4, the switching sequences would be same, but the
Compared to the SVPWM-I, each sector of the SVPWM-
duration time of corresponding voltage vectors are
II consists of a zero vector and two small vectors, whose
different. In other words, it is difficult to find a regular
amplitude is udc/3. The duration time of the two adjacent
pattern to unify the three SVPWM strategies in a simple
vectors and the zero vector, which are also represented by
way. Inspired from the idea of the unified SVPWM
T1, T2, and T0, can be calculated by (5).
strategy of FSTPIs[11], three different two-phase
T1 = 2 3 uref Ts sin(nπ / 3 − θ ) / udc coordinates are proposed to make the three SVPWM
 strategies be equivalent to each other, named α’β’-

T2 = 2 3 uref Ts sin(θ − (n − 1)π / 3) / udc (5) coordinates, as shown in Fig. 4.

T0 = Ts − T1 − T2

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 (a) (b) (c)
Fig. 4: Three imaginary α’β’-coordinates of three ESTPIs:
(a)SVPWM-II of ESTPI-a, (b)SVPWM-II of ESTPI-b,
(c)SVPWM-II of ESTPI-c

In Fig. 4, the sector division and vector distribution of

three ESTPIs are equal to each other under the three
imaginary α’β’-coordinates. And the imaginary α’β’-
coordinates have no influence on the SVPWM strategies. Fig. 6: The unified SVPWM strategies
Therefore, the SVPWM-II of ESTPI-a can be used as a
unified strategy to control the three ESTPIs under the α’β’-
coordinates. The above-mentioned analysis is also applied III. SIMULATION AND EXPERIMENT RESULTS
to the SVPWM-I, as shown in Fig. 5, and the SVPWM-I
of ESTPI-a can be used as a unified strategy to control the The performance of the unified strategies for the
three ESTPIs under the three imaginary α’β’-coordinates. ESTPIs are tested in MATLAB/Simulink and hardware-
in-the-loop (HIL) experiment system, whose structure
β uβ' α' β diagram is shown in Fig. 7. According to the [14], the
7 β
u3 u2 u1 uref u2 β' u8 u5 u4 system controlled by SVPWM-II strategy can obtain better
ⅢⅡ uref α' u7 performance than SVPWM-I. Therefore, the SVPWM-I
Ⅰ Ⅱ Ⅵ Ⅴ uref
u4 Ⅳ Ⅰ u1 u6 Ⅷ u3 u6 Ⅶ Ⅳ u3
Ⅶ
Ⅲ
strategy is verified by MATLAB/Simulink and the
Ⅴ Ⅷ α Ⅳ α Ⅷ
Ⅲ
α
ⅥⅦ
Ⅵ Ⅴ Ⅰ Ⅱ SVPWM-II strategy is tested by HIL experiment system.
u5 u6 u4 u7
u8 u5 u1 u2 β' The system parameters are listed as follows: the dc-link
α'
u8 voltage udc = 300V, C1 = C2 = 1250μF, Ts = 0.5ms, R =
(a) (b) (c) 10Ω, L = 100mH. The output pole voltage and phase
Fig. 5: Three imaginary α’β’-coordinates of three ESTPIs:
(a) SVPWM-II of ESTPI-a, (b) SVPWM-II of ESTPI-b,
current of two SVPWM strategies for the three ESTPIs are
(c) SVPWM-II of ESTPI-c shown in Fig. 8 and Fig. 9, respectively. Meanwhile, in
order to better comparative analysis of two unified
Based on the principle of coordinate transformation, the strategies, it is assumed that the SVPWM strategies of
three α’β’-coordinates can be transformed by three-phase ESTPI-a could be applied to the ESTPIs, which is referred
coordinate, which satisfies the (6), named unified
to the general SVPWM strategy of the FSTPIs. Hence, the
coordinate transformation.
ESTPIs are controlled by the SVPWM strategies of
 1 1 
 1 −2 −2  ESTPI-a without unified coordinate transformation and the
uα '   u a  unified SVPWM strategies.
 u ' =  0 3
−
3
× U × u  (6)
 β   2 2  y  b
 0     uc  HOST COMPUTER
 1 1 1 
 2 Control strategy
2 
SCOPE
2 Model setting

where ua, ub, uc are three-phase voltage, and uα’,uβ’ two- Data monitor
phase voltage in α’β’-coordinates; Uy is a third-order Data monitor
square matrix, y is the fault leg, y∈{a, b, c} and
Sample signal
1 0 0  0 1 0 0 1 0
U a = 0 1 0 , Ub = 1 0 0 , U c = 0 0 1  . PWM signal
0 0 1  0 0 1  1 0 0 DSP(TMS320F28335) RT-LAB SIMULATOR
The unified SVPWM strategies are obtained by adding Fig. 7: Hardware in-loop test system
the unified coordinate transformation to the two SVPWM
strategies, as shown in Fig. 6.

3093
 ESTPI-a ib ic ia ib ic ia
uab ESTPI-a ESTPI-a
uab,ubc,uca(300V/div)

ia,ib,ic(3A/div)
ia,ib,ic(3A/div)
ubc

uca

t(20ms/div) t(20ms/div) t(20ms/div)

ESTPI-b uab ESTPI-b ia ic ib ESTPI-b ib ic ia

uab,ubc,uca(300V/div)

ia,ib,ic(3A/div)

ia,ib,ic(3A/div)
ubc

uca

t(20ms/div) t(20ms/div) t(20ms/div)

ESTPI-c uab ia ib ic ib ic ia
ESTPI-c ESTPI-c
uab,ubc,uca(300V/div)

ia,ib,ic(3A/div)
ia,ib,ic(3A/div)

ubc

uca

t(20ms/div) t(20ms/div) t(20ms/div)

(a) (b) (c)
Fig. 8: Simulation results: (a)Line voltage of the ESTPIs, (b)Phase current of the ESTPIs controlled by the SVPWM-I of the ESTPI-a,
(c)Phase current of the ESTPIs controlled by the unified SVPWM-I

ESTPI-a uab ESTPI-a ia ib ic ESTPI-a ia ib ic

uab,ubc,uca(300V/div)

ia,ib,ic(3A/div)

ia,ib,ic(3A/div)

ubc
uca

t(20ms/div) t(20ms/div) t(20ms/div)

ESTPI-b uab
uab,ubc,uca(300V/div)

ESTPI-b ia ic ib ESTPI-b ia ib ic
ia,ib,ic(3A/div)

ia,ib,ic(3A/div)

ubc
uca

t(20ms/div) t(20ms/div) t(20ms/div)

ESTPI-c uab ESTPI-c ia ib ic ESTPI-c ia ib ic
uab,ubc,uca(300V/div)

ia,ib,ic(3A/div)

ia,ib,ic(3A/div)

ubc
uca

t(20ms/div) t(20ms/div) t(20ms/div)

(a) (b) (c)
Fig. 9: Experiment results: (a)Line voltage of the ESTPIs, (b)Phase current of ESTPIs controlled by the SVPWM-II of the ESTPI-a,
(c)Phase current of the ESTPIs controlled by the unified SVPWM-II

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 The output voltage of ESTPIs are shown in the Fig.
8(a), and Fig. 8(b)-(c) comparatively show the output
current of ESTPIs under different test cases. One is
controlled by the ESTPI-a’s SVPWM-I strategy, while the
other is controlled by the unified SVPWM-I strategy. The
simulation results in Fig. 8(b) show that the current phase
sequence of the ESTPI-b is reversal, which has bad effect
to the system. For instance, if the load are motors, the
motors fed by ESTPI-b are rotated in the opposite
direction. It seems that the ESTPI-c’s current phase
sequence is normal, but the phase of output current has
changed, which may have other unexpected effects on the
system. However, when the unified SVPWM-I strategy is
used to the three ESTPIs, no matter which leg occurs a
fault, the output current of the three ESTPIs in Fig. 8(c) are
the same, which solves the current phase sequence and
phase problem.
Similarly, the output voltage and current of SVPWM-II
for the three ESTPIs, are shown in Fig. 9. The ESTPIs in
Fig. 9(b) are controlled by the ESTPI-a’s SVPWM-II
strategy, while the ESTPIs in Fig. 9(c) are controlled by
the unified SVPWM-II strategy. The HIL test results also
illustrate that the current phase sequence of the ESTPI-b is
reversal and the current phase of the ESTPI-c changed
when the ESTPIs are controlled by the SVPWM-II
strategy of ESTPI-a. And the unified SVPWM-II strategy
has settled it. Consequently, the unified SVPWM
strategies can be used to control three different ESTPIs.
IV. CONCLUSION
In this paper, two unified SVPWM strategies, which
can simplify the control strategy of ESTPIs, are developed
for the three ESTPIs. Starting from the exhaustive analysis
of two SVPWM strategies for ESTPIs, the relationship
between the duration time of vectors and the switching
sequence of power switches is introduced in detail. Then,
inspired from the idea of the unified SVPWM strategy for
four-switch three-phase inverters, three imaginary α’β’-
coordinates are proposed based on the relationship of three
SVPWM strategies, which give better solutions than
utilizing three different SVPWM strategies for ESTPIs.
Under the three imaginary α’β’-coordinates, two SVPWM
strategies of ESTPI-a can be used as the unified SVPWM
strategies to control the three ESTPIs. And with the help
of the unified coordinate transformations, the unified
strategies can be easily obtained. Accordingly, the unified
strategies not only simplify the control strategy, but also
make the fault tolerant control strategy more flexible. No
matter which leg occurs a fault, the unified SVPWM
strategies are available. The HIL test results have verified
the effectiveness of the proposed unified SVPWM
strategy.
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ACKNOWLEDGMENT
This work was supported by the Research Fund for the
National Science Foundation of China (51677156,
61733015).
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