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Virtual lab: Space vector PWM for two-and three-level inverters

Article in Pamukkale University Journal of Engineering Sciences · January 2017

DOI: 10.5505/pajes.2016.59862

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 Pamukkale Univ Muh Bilim Derg, 23(2), 95-102, 2017

Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi

Pamukkale University Journal of Engineering Sciences

Virtual lab: Space vector PWM for two-and three-level inverters

Sanal laboratuar: İki ve üç seviyeli eviriciler için uzay vektör PWM
Okan BİNGÖL1*, Çetin ELMAS2
1Department of Electrical-Electronic Engineering, Faculty of Technology, Suleyman Demirel University, Isparta, Turkey.
[email protected]
2Department of Electrical-Electronic Engineering, Faculty of Technology, Gazi University, Ankara, Turkey.
[email protected]

Received/Geliş Tarihi: 01.02.2016, Accepted/Kabul Tarihi: 08.04.2016 doi: 10.5505/pajes.2016.59862

* Corresponding author/ Okan BİNGÖL Research Article/Araştırma Makalesi

Abstract Özet
Computer-aided design tools have become popular in the engineering Bilgisayar destekli eğitim araçları esnek bir yapıya sahip ve kullanıcı
education field due to their flexible and user-friendly properties. In this dostu olmalarından dolayı mühendislik alanı eğitiminde popüler hale
study, an educational tool was developed for an induction motor (IM), gelmiştir. Bu çalışmada iki veya üç seviyeli inverterler tarafından
fed by a two-or three-level inverters. The space vector Pulse Width beslenen asenkron motora (ASM) ait bir eğitim aracı geliştirilmiştir.
Modulation technique is used for controlling inverters. The training set İnverterlerin kontrolü için uzay vektör Darbe Genişlik Modülasyonu
was written in the C# programming language, by using the Microsoft tekniği kullanılmıştır. Eğitim seti Microsoft Visual Studio 2010
Visual Studio 2010 environment. The set has a flexible structure and ortamında C# programlama dili kullanılarak yazılmıştır. Set esnek bir
graphic interfaces. Circuit responses in different operating conditions yapıya ve grafiksel bir ara yüze sahiptir. Sete ait tüm parametreler
are monitored with the aid of graphs and all parameters of the set can kolaylıkla değiştirilerek farklı çalışma durumlarında devre tepkileri
be modified easily. grafikler yardımıyla izlenebilmektedir.
Keywords: Educational tool, Virtual laboratory, Three level inverter, Anahtar kelimeler: Eğitim seti, Sanal laboratuvar, Üç seviyeli
SVPWM evirici, SVPWM
and electric drives courses. Therefore, some educators prefer
1 Introduction to develop their specific simulation package programs with
There has been a rapid increase in the number of computer- graphical user interface, which allows for greater flexibility
assisted learning tools that coincides with today's technology [10]-[16].
advances [1]. Computer-aided teaching tools have begun to Electric motors are used in industrial applications such as
play an increasingly important role in educating students, in household appliances, automotive, transport vehicles,
traditional engineering fields such as electrical, electronic, aerospace, and aviation. One of the varieties of electric motors,
mechanical, and civil and chemical engineering [2]-[4]. In direct current (DC) motors, have been widely used in
teaching traditional of engineering subjects, an appropriate industrial applications for many years, as they can be
combination of theory, exercises, and laboratory experiments controlled easily. With the development of power electronics
must be provided [3]. In order to gain practical experience and semiconductor technology, DC motors are replaced by
training, electrical engineering students must be provided alternating current (AC) powered induction motors [17].
with an intensive laboratory education, as well as theoretical Induction motors are more widely used than other electric
knowledge [5]. motors in the industry due to their robust and reliable
There are many negative risk factors in the practical training structure, low cost, a high moment of inertia that can be
(laboratory-workplace) of power electronics courses taught in controlled more easily, less maintenance requirements, and
the electrical engineering department. These factors include the ability to run in dirty and dangerous environments
potential risks to the students in the laboratory, including [18],[19].
electrical accidents, and the deterioration of circuit elements The operation of AC motors at different speeds is carried out
and instruments because of misuse, high prices of materials with the aid of inverters. Inverters are converters that convert
and the supplying them to be so difficult [1],[6]. These the DC voltage on their input into AC voltage on their output.
disadvantages in the laboratory education of power Inverters produce output voltages that are not sinusoidal. For
electronics circuits can be overcome by using computer this reason, the unwanted harmonics in asynchronous motors
simulation programs [6]. The design and development of fed by inverters decrease engine efficiency and cause a
power electronics circuits can be performed more easily, more formation of oscillations on moment and electromagnetic
quickly, and have a lower cost with the appropriate computer interference, along with decreasing motor losses [20],[21].
simulation program [7]. Graphical user interfaces (GUIs) Harmonics can be minimized by using different Pulse Width
provide users with a visual approach in computer simulations Modulation (PWM) techniques on higher switching
[8]. The latest technological trends in engineering education frequencies or by ensuring the waveform of the inverter
have developed around the use of computers and software output voltage to occur at several voltage levels [22].
tools. The use of software simulation tools in the classroom
has become an integral part of the modern curriculum [9]. In recent years, many changes occurred in the static power
Package programs developed for educational purposes may converter and industrial motor drive systems, due to
not be flexible and interactive enough for power electronics continuous advances in power electronics technology, along

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 Pamukkale Univ Muh Bilim Derg, 23(2), 95-102, 2017
O. Bingöl, Ç. Elmas

with rapid advances in switching frequencies and capacities of

semiconductor components [23]. As a result of these changes, 𝑒
𝑣𝑞𝑠 𝑅𝑠 + 𝐿𝑠 𝑝 𝜔𝑒 𝐿𝑠 𝐿𝑚 𝑝 𝜔𝑒 𝐿𝑚 𝑒
𝑖𝑞𝑠
multi-level voltage-fed PWM inverters have emerged. There 𝑒
[𝑣𝑑𝑠 ] = [
−𝜔𝑒 𝐿𝑠 𝑅𝑠 + 𝐿𝑠 𝑝 −𝜔𝑒 𝐿𝑚 𝐿𝑚 𝑝
]
𝑒
𝑖𝑑𝑠
𝑒 (1)
𝐿𝑚 𝑝 (𝜔𝑒 − 𝜔𝑟 )𝐿𝑚 𝑅𝑟 + 𝐿𝑟 𝑝 (𝜔𝑒 − 𝜔𝑟 )𝐿𝑟 𝑖𝑞𝑟
are three different topologies of multi-level voltage fed 0
0 −(𝜔𝑒 − 𝜔𝑟 )𝐿𝑚 𝐿𝑚 𝑝 −(𝜔𝑒 − 𝜔𝑟 )𝐿𝑟 𝑅𝑟 + 𝐿𝑟 𝑝 𝑒
[𝑖𝑑𝑟 ]
inverters [24]. The first topology, a diode-clamped three-level 3 𝑃 𝐿𝑚
inverter, was proposed by Nabae et al. in 1981. In diode- 𝑇𝑒 = (𝜆 𝑖 − 𝜆𝑞𝑟 𝑖𝑑𝑠 )
2 2 𝐿𝑟 𝑑𝑟 𝑞𝑠 (2)
clamped multi-level inverters, the input voltage is divided into
various levels with nodes between capacitors connected in 𝑅𝑟 𝑖𝑞𝑠
series [20]. The second topology, a flying capacitor clamped 𝜔𝑠𝑙 = 𝜔𝑒 − 𝜔𝑟 =
(3)
𝐿𝑟 𝑖𝑑𝑠
inverter, was proposed by Meynard and Foch in 1992 [25].
The structure of the flying capacitor clamped inverter is 𝑑𝜃𝑟
similar to the structure of the diode-clamped inverter. The = 𝜔𝑟 𝜃𝑒 = 𝜃𝑟 + 𝜃𝑠𝑙 (4)
only difference is the usage of retention capacitors instead of 𝑑𝜃
retention diodes. The final topology, a cascade full bridge Where, 𝑉𝑞𝑠 , 𝑉𝑑𝑠 are stator voltages on the 𝑞 and 𝑑 axes, 𝑅𝑠 , 𝑅𝑟
inverter connected in series, was suggested by Marchesoni et are stator and rotor winding resistances, 𝑖𝑞𝑠 , 𝑖𝑑𝑠 are stator
al. To obtain the desired voltage on the inverter output, currents on the 𝑞 and 𝑑 axes, 𝜆𝑞𝑠 , 𝜆𝑑𝑠 are stator magnetic flux
independent multiple full phase bridge inverters are required on the 𝑞 and 𝑑 axes, 𝜆𝑞𝑟 , 𝜆𝑑𝑟 are magnetic flux of the rotor on
[26]. the 𝑞 and 𝑑 axes, 𝐿𝑚 is mutual inductance, 𝐿𝑟 is rotor
The advantage of multi-level inverters [27]-[29] is that they inductance, and 𝑝 derivative operator.
can be used in applications requiring high power and high The basic structure of indirect field-oriented control of IM
voltage. Due to the fact that the amplitude of harmonic supplied by two-or three-level inverters is given in Figure 1.
components of a multi-level inverter is better compared to the
two-level inverter at the same switching frequency, it can Two-level + Vdc
SV PWM
work on lower switching frequencies. The ratio dv/dt of the  * + e
r
i
e*
sq + Vsqe e e Vsq
s
d q
voltage across the motor windings is low. -
PI
e* -
PI
6 Two-level
 i Vsde Vs
sd + s s sd Inverter
In recent years, extensive studies have been carried out on the r PI d q
-
PWM technique. In order to extend the range of linear 3 Encoder
e*
isq sl sl + e 3- phase
+ Vdc
Three-level 3
modulation, to reduce switching losses, to reduce harmonics TR ie*

+
SV PWM IM
sd
in the waveform from the inverter output, to provide easy r e
i sq e e
d q 12
applicability features, and to reduce computation time, many e
Three-level
i Inverter
different PWM techniques have been developed [30]. The two sd
a, b, c
most common multi-level inverter PWM techniques are used. i
a,b,c

These are the carrier-based sinusoidal PWM (SPWM) and the d

dt
space vector PWM (SVPWM) techniques. In the SVPWM
technique, a sampling reference space vector is sampled on a Figure 1: Indirect field-oriented control of IM.
sampling range at regular intervals to determine the switching
vectors and time periods of the inverters [31]. 3 Space vector PWM
In this study, a training set for an induction motor fed by two- Three-phase systems can be transferred into a two-phase
or three-level inverters was developed. The indirect field- plane (𝛼 − 𝛽) of a 900 phase difference by using the space
oriented control technique was used to provide induction vector method. SVPWM modulation is based on space vector
motor speed control. The motor can be fed by two- or three- representation of voltages in the plane of (𝛼 − 𝛽) [33]. This
level inverters. The two- and three-level SVPWM technique is method can also be used in the control of three-phase voltage-
used for switching inverters. The set is readily available as source inverters. Three-phase voltages produced by the
teaching material for undergraduate and graduate students. It inverter are shown as space vector reference voltage (𝑉𝑟𝑒𝑓 ) on
can also help course instructors develop course curricula. The the (𝛼 − 𝛽) plane. This case is expressed mathematically on
training set was written in C# programming language in the equation (5).
Microsoft Visual Studio 2010 environment. The set has a 𝑗2𝜋
flexible structure and graphical user interface. The inverter 𝑉𝑟𝑒𝑓 = 𝑉𝛼 + 𝑗𝑉𝛽 = (2/3)(𝑉𝑎 𝑒 𝑗0 + 𝑉𝑏 𝑒 3 + 𝑉𝑐 𝑒 −𝑗2𝜋/3 (5)
circuit responses to different operating conditions can be
monitored with the help of graphs by easily modifying motor, 3.1 Two-level SVPWM inverter
PI, and PID controller parameters.
The basic circuit diagram of a classic three-phase two-level
2 Indirect field-oriented control of IM voltage-source inverter is shown in Figure 2. There are two
power semiconductor switches (Sa1 - Sa2, Sb1 – Sb2 and Sc1 –
In the indirect-oriented control of IM method, three-phase
Sc2) for each phase (leg) in the inverter. Only one switch for
variables belonging to the motor are transferred on two
one phase must be on transmission. Three switching variables
planes having a phase difference of 900. Voltage equations of
(a, b, and c) can be assigned to the inverter. There are a total
IM are given below with respect to the (𝑑𝑒 − 𝑞𝑒 ) reference
of (𝑛3 = 23 = 8) switching states for each phase (leg) as each
axis rotating on synchronous (𝜔𝑒) speed [24],[32]. The
phase has two switching states in the inverter. Active and zero
voltage equation of the motor is given in equation (1),
vectors formed according to these switching states are shown
electromagnetic torque is given in equation (2), slip speed is
in Figure 3.
given in equation (3), and the position of the rotor is given in
equation (4).

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p
𝑉𝑎𝑛 𝑉𝑑𝑐 2 −1 −1 𝑎
Vdc
[𝑉𝑏𝑛 ] = [−1 2 −1] [𝑏 ] (7)
Sa1 Sb1 Sc1 3
2
Da1 Db1 Dc1 𝑉𝑐𝑛 −1 −1 2 𝑐

a b c
The SVPWM technique of a two-level voltage-source inverter
0
consists of four basic steps.
Vdc Sa2 Da2 Sb2 Db2 Sc2 Dc2 1- Calculation of the reference voltage vector(𝑉𝑟𝑒𝑓 ): It is
2 calculated by using equation (5),
n 2- Determination of the sector: It is determined by the
ia Vab ib Vbc ic
Vca conversion matrix of equation (8). Figure 4 shows
Van z Vbn z Vcn z this state [35],[36]. By using the g − h plane, in which
sector the reference voltage vector is given briefly in
n Table 2 [36].
Figure 2: Three-phase two-level voltage-source inverter. 1
1 −
These switching states are shown in Table 1. The state “1” or √3 𝑉
𝑉𝑟𝑒𝑓 𝑔,ℎ = 𝑟𝑒𝑓 𝛼,𝛽 (8)
“p” refers to transmission of switches and the state “0” or “n” 2
0
refers to cutting of switches in the state of (𝑆𝑎 , 𝑆𝑏 𝑎𝑛𝑑 𝑆𝑐 ) [ √3 ]
switching variables. The voltage levels of output waveform for
the two-level inverters are formed by two levels of Table 2: Finding the sector by using the g − h plane.
(−𝑉𝑑𝑐 ⁄2, 𝑉𝑑𝑐 ⁄2) . The space vector voltage representation of Sectors and g − h plane
the three-phase two-level voltage source inverters on
(𝛼 𝑎𝑛𝑑 𝛽) plane is given in Figure 3. A B C
𝑉𝑔 < 0 𝑉𝑔 < 0
 𝑉𝑔 ≥ 0
𝑉ℎ ≥ 0 𝑉ℎ ≥ 0
V 𝑉ℎ ≥ 0
(𝑉𝑔 + 𝑉ℎ ) ≥ 0 (𝑉𝑔 + 𝑉ℎ ) < 0
npn
t1 t2 t1 t ppn D E F
Sector B 2
𝑉𝑔 ≥ 0 𝑉𝑔 ≥ 0
𝑉𝑔 < 0
Sec
C

𝑉ℎ < 0 𝑉ℎ < 0
tor

tor

ppp 𝑉ℎ < 0
Sec

npp t2 t0 t1 pnn (𝑉𝑔 + 𝑉ℎ ) < 0 (𝑉𝑔 + 𝑉ℎ ) ≥ 0

 3- Calculating the switching times,
t1 t2
nnn U
F
Sec

h
tor
tor

Sec

 V2
D

t2 Sector E t1 t2
nnp
t1 t2 pnp
Vh
W Vref
Figure 3: Space vector voltages of the three-phase two-level
V7 
inverter. t1 
g
Table 1: Switching states of the two-level voltage-source V0 t Vg V1
0
inverter
Switch SV Figure 4: α − β plane and g − h plane.
State State Voltage 4- Generation of the switching sequences: Switching
Sa Sb Sc sequences for each sector are generated
0 0 0 0 nnn symmetrically. Symmetrical three-phase PWM
1 1 0 0 pnn waveforms belonging to sector A are shown in
2 1 1 0 ppn Figure 5.
3 0 1 0 npn
UA p p p p p p n
4 0 1 1 npp n

5 0 0 1 nnp
Sector A

n
6 1 0 1 pnp VA n n p p p p n

7 1 1 1 ppp
WA n n n p p n n n
The expression of line-to-line output voltage of the two-level
inverter is given in equation (6) and the expression of the
phase-to-neutral voltage is given in equation (7), [34]. Figure 5: PWM waveforms of three-phase, belonging to A
sector
𝑉𝑎𝑏 0 −1 0 𝑎
[ 𝑉𝑏𝑐 ] = 𝑉𝑑𝑐 [ 0 1 −1] [𝑏 ] (6) 3.2 Three-level SVPWM inverter
𝑉𝑐𝑎 −1 0 1 𝑐 The basic circuit diagram of the classic three-phase three-level
voltage-source inverter is shown in Figure 6.

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p Table 3: Switching states of the three-level PWM inverter

L
(𝑥 = 𝑎, 𝑏, 𝑐).
Sa1 Da1 Sb1 Db1 Sc1 Dc1
Switch 𝑺𝒙𝟏 𝑺𝒙𝟐 𝑺𝒙𝟑 𝑺𝒙𝟒 𝑽𝒙𝟎
C1 State
Sa2 Da2 D Sb2 Db2 D Sc2 Dc2
D11 21 31
p 1 1 0 0 +𝑉𝑑𝑐 ⁄2
Vdc a b c
o o 0 1 1 0 0
Sa3 Da3 D S Db3 Sc3 Dc3
D12 22 b3 D32
n 0 0 1 1 −𝑉𝑑𝑐 ⁄2
C2
Sa4 Da4 Sb4 Db4 Sc4 Dc4 The line-to-line output voltage expression of the three-level
inverter is given by equation (9) and phase to neutral voltage
n expression is given by equation (10), [34].
ia Vab ib Vbc ic
Vca 𝑉𝑎𝑏 0 𝑎
Van Vbn Vcn 𝑉𝑑𝑐 0 −1
[ 𝑉𝑏𝑐 ] = [0 1 −1] [𝑏 ] (9)
2
n 𝑉𝑐𝑎 −1 0 1 𝑐
Figure 6: Three-phase three-level voltage-source inverter. 𝑉𝑎𝑛 𝑉𝑑𝑐 2 −1 −1 𝑎
In three-phase three-level inverter, there are two clamped [𝑉𝑏𝑛 ] = [−1 2 −1] [𝑏 ] (10)
6
diodes (D11 , D12 ), four power semiconductor switches 𝑉𝑐𝑛 −1 −1 2 𝑐
(𝑆𝑎1 , 𝑆𝑎2 , 𝑆𝑎3 , 𝑆𝑎4 ) and four bypass diodes (𝐷𝑎1 , 𝐷𝑎2 , 𝐷𝑎3 , 𝐷𝑎4 ) The three-level voltage-source inverter SVPWM technique also
belonging to each phase (leg). There should be only two consists of four steps as a two-level inverter. The difference
switches on transmission at the same time for one phase. from the two-level inverter is that it is necessary to find the
Three switching variables (a, b and c) can be assigned to the region in the sector after finding the sector in the second step.
inverter. There are a total of (𝑛3 = 33 = 27) switching states Table 2 is used when finding the sector. After determining the
in three-phase three-level inverter, as each phase (leg) has sector, it passes to the process of determining region.
three switching states. Normalized voltage vectors belonging to sector A are shown in
Switching states of a phase is shown in Table 3. As seen in Figure 8.
Figure 7, voltage vectors are positioned at various points of
 h
two nested hexagons and divided into four groups according V5
to their switching states. These are (𝑎) and (𝑏) group voltage t5
vectors, which are high voltage vectors with amplitudes of
2𝑉𝑑𝑐 ⁄3, and positioned at the corners of the outer hexagon.
The amplitude of group (𝑐) voltage vector, being the middle 4
voltage vector, is 𝑉𝑑𝑐 ⁄√3 and positioned in the mid-points of
V4 Vref  3
the outer hexagon. Small voltage vectors (ap, an) and (𝑏𝑝, 𝑏𝑛), t2 t3
V3
(Max. Length)
Vh Vref
being group voltage vectors, have amplitudes of 𝑉𝑑𝑐 ⁄3, and are
3
positioned at the corners of the inner hexagon. Amplitudes of 1
(𝑜𝑝, 𝑜𝑜, 𝑜𝑛) group voltage vectors, being zero voltage vectors,
are zero, and positioned at the origin. In Figure 7, the hexagon t0 ' t1 2
t4 
has six sectors (A, B, C, D, E, F). In the same time, there are four V0 Vg V1 V2 g
regions (1, 2, 3, 4) in each sector. The total number of regions
1 1
in the hexagon is 24 [28],[37].
Figure 8: Normalized voltage vectors belonging to sector A.
Sector B
V 
In Table 4, the determination of regions in sector A is given by
npn
a opn c ppn
b
comparing normalized quantities in the plane of 𝑉𝑔 and 𝑉ℎ
4 [35],[36]. Determination of regions in other sectors is
Sec

2
C

2 3 performed in similarly.
tor
tor

4
npo ap opo ppo bp pon
Sec

c
c
3
an non
1
oon bn
3 In the third step, switching times of switches are calculated for
4 1 1 2 each sector, as seen in Figure 8.
npp bp opp op ppp poo ap pnn 
b bn noo
oo
on
ooo
nnn onn an a U
Table 4: Region determination states in sector A.
4 1 1 2
3
1
3 Sector A
nop
ap oop pop bp pno
c an nno ono bn Region 1 2 3 4
F

c
Sec

tor

2 3 4
Vg ≤ 1, 𝑉ℎ ≤ 1 Vg ≤ 1, 𝑉ℎ ≤ 1
tor

2
Sec

4
State Vg > 1 Vh > 1
D

nnp
a onp c pnp
b (𝑉𝑔 + 𝑉ℎ ) > 1 (𝑉𝑔 + 𝑉ℎ ) ≤ 1
W
Sector E Time intervals belonging to each sector are calculated and
given briefly in Table 5. Where, 𝑇𝑠 is sampling period, k is
𝑉𝑟𝑒𝑓
Figure 7: Switching states of three-level PWM inverter. √3 , and 𝜃 ′ is the nearest angular value to voltage vector
𝑉𝑑𝑐
[37].

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 Pamukkale Univ Muh Bilim Derg, 23(2), 95-102, 2017
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Table 5: Time intervals for three-level inverter voltage vectors section in the “File” menu. In addition, the user may transfer
in different regions. motor parameters into the program by selecting a saved file,
Sector Region Vectors Time interval either by using the “Import From File” button in this screen or
using “Import” from the file menu. In this way, the user has no
A, B op, oo, on 𝑡0 = 𝑇𝑠 [1 − 2𝑘𝑠𝑖𝑛(𝜃 ′ + 𝜋⁄3)] need to enter the motor parameters when closing and
C, D 1 𝑎p, 𝑎n 𝑡1 = 2𝑘𝑇𝑠 𝑠𝑖𝑛(𝜋⁄3 − 𝜃 ′ ) reopening the program. In the Speed Controller section, the PI
E, F bp, bn 𝑡2 = 2𝑘𝑇𝑠 𝑠𝑖𝑛𝜃 ′ and PID controllers are presented for the user’s selection for
A, B 𝑎p, 𝑎n 𝑡1 = 2𝑇𝑠 [1 − 𝑘𝑠𝑖𝑛(𝜃 ′ + 𝜋⁄3)] controlling motor parameters. In the Inverters Parameters
C, D 2 c 𝑡3 = 2𝑘𝑇𝑠 𝑠𝑖𝑛𝜃 ′ section, the values of the inverter must be entered. The IM
Load Setup section determines whether the motor is run on
E, F 𝑎 𝑡4 = 𝑇𝑠 [2𝑘𝑠𝑖𝑛(𝜋⁄3 − 𝜃 ′ ) − 1]
load or without load (Load/Unload). If the user desires to run
A, B 𝑎p, 𝑎n 𝑡1 = 𝑇𝑠 (1 − 2𝑘𝑠𝑖𝑛𝜃 ′ )
the motor on load in a defined time interval, desired load
C, D 3 bp, bn 𝑡2 = 𝑇𝑠 [1 − 2𝑘𝑠𝑖𝑛(𝜋⁄3 − 𝜃 ′ )] values can be adjusted by entering start and stop times, and
E, F c 𝑡3 = 𝑇𝑠 [2𝑘𝑠𝑖𝑛(𝜃 ′ + 𝜋⁄3) − 1] load values. In the Reference Speed Setup, the value of the
A, B bp, bn 𝑡2 = 2𝑇𝑠 [1 − 𝑘𝑠𝑖𝑛(𝜃 ′ + 𝜋⁄3)] fixed speed signal as the reference speed of the motor (Fixed
C, D 4 c 𝑡3 = 2𝑘𝑇𝑠 𝑠𝑖𝑛(𝜋⁄3 − 𝜃 ′ ) Reference Signal) or variable speed signal in a specified time
E, F b 𝑡5 = 𝑇𝑠 (2𝑘𝑠𝑖𝑛𝜃 ′ − 1) interval is selected and related parameters are adjusted.

In the fourth step, switching sequences for all regions of the

each sector are generated in a symmetrical manner. Sectors
(A − D, B − E, C − F) are in the counter sectors [38].
In Figure 9, three-phase PWM waveforms for four regions
belonging to sector A are shown. Here, symmetrical
waveforms are used for waveforms [38].
on an bn oo ap bp op op bp ap oo bn an on an bn c ap bp bp ap c bn an
o o o p p p p p p o o o o o p p p p p p o o
UA UA
n n
Region 1

p p
Region3

o o o p p p p o o o o o o o o o
VA n n n n VA n n
o o o p p o o o o o o o
WA n n n WA n n n n n n
n n n
Sector A

an a c ap ap c a an bn c b bp bp b c bn
o p p p p p p o o p p p p p p o
UA UA
Region 4
Region 2

o o o o o o p p p p o o
VA n n n n VA
o o
WA n WA n n n o o n n n
n n n n n

Figure 9: Three-phase PWM waveforms for four regions Figure 10: Main window.
belonging to sector A. The bottom of the window is divided into two parts. On the left
side, there are control buttons by which the simulation is
4 Virtual laboratory started, paused and stopped. On the right side are Simulation
This set is run in Windows environment. Operations of the Time, Sample Time, Time Remaining, and Instantaneous Time
drive system can be observed from computer screen and can information. In addition, the remaining time to complete the
be adjusted by selecting the appropriate windows. simulation is shown to the user via the progress bar in this
section.
The main program image is shown in Figure 10. There are four
sub-windows of the main window menu, and their contents When the user clicks the Space Vector PWM tab, the window
vary according to the selected window. When one of the showing the values corresponding SVPWM is opened. The
windows is selected, the previous window is replaced by the window of the SVPWM for the two-level inverter is shown in
selected window. These are “IM and Simulation Setup”, “Space Figure 11a, and the window of SVPWM for the three-level
Vector PWM”, “Simulation Window” and “Block Diagram” inverter is shown in Figure 11b.
windows. When the simulation is started, the region of the reference
The upper side of the “IM and Simulation Setup” window is vector of SVPWM for the two-level inverter, and the region
divided into two parts. These are the inverter selection and sector for the three-level inverter are shown in Figure 11
window on the left side and the menu windows on the right a and Figure 11b, respectively. The movement of the reference
side of the screen. vector can be seen with the help of red arrows. In addition, the
PWM wave signal applied to the inverter can also be seen on
In the inverter selection window, it is required select one of this screen, depending on the position reference vector. Red
the two-or three-level inverters. In menu window, five parts for positive voltage and blue for negative voltage is used in
consisting of the “IM Parameters”, “Speed Controller”, PWM signals and inverter for two-level inverter. In the three-
“Inverters Parameters”, “IM Load Setup”, and “Reference level inverter, the red color represents positive, the blue color
Speed Setup” must be defined. In the IM parameters section, represents negative, and purple represents zero voltage level.
there are electrical parameters of the motor. If the user desires In addition, instantaneous values of Valfa, Vbeta, Vref, position
to do so, self-controlled motor label values may be entered by information and graph of their values along the simulation and
making changes to the parameters. The user may save self- are also given.
entered motor parameters into a file through the export

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 Pamukkale Univ Muh Bilim Derg, 23(2), 95-102, 2017
O. Bingöl, Ç. Elmas

until it is closed. The pop-up windows when actual speed and

current values are clicked on are shown in Figure 13a and b. In
addition, the parameters of current controllers can be
adjusted from this window. PI controllers are used as current
controllers and double clicking on the labels opens a window
for setting parameters, and coefficients of Kp and Ki are
entered in the appropriate fields.

Figure 11: SVPWM windows. (a): Two level inverter,

(b): Three level inverter.
When the user clicks on the Simulation Window tab, the
window that pops up in the simulation graphs shown in the
screen. The simulator window screen of the two-level inverter
is shown in Figure 12a, while the simulator window screen of
the three-level inverter is shown in Figure 12b. During the
simulation, motor phase voltages, phase-to-phase voltages,
currents, torque, reference, and actual speed values can be Figure 12: Simulation Windows. (a): Two-level inverter,
seen in the graphs. In addition, a graph showing the inverter (b): Three-level inverter.
voltage values was added to this screen. Voltages or currents
selected from selection parts on the right side of the graphs When the simulation is completed or terminated, the
are shown in graphs. If required, graphs can be saved to a simulation data can be transferred to Excel by selecting
selected section on the computer as an image, or a may be “Export” in the “File” menu. The prepared simulation program
printed out. can be used in the Turkish or English languages. For this, the
language selection must be made in the language menu.
Finally, when the user clicks on the Block Diagram tab, a block
diagram window of the system appears on the screen. The 5 Evaluation of the training set
block diagram of the two-level inverter is shown in Figure 13a,
The preparation of the training tool was applied to a group of
while the block diagram of the three-level inverter is shown in
60 individuals who are 3rd year students at Suleyman Demirel
Figure 13b. The block diagram of the control system is given
University, Faculty of Technical Education, Department of
on this screen. During the simulation, values of the variables
Computer and Control Education had taken a power
such as the reference speed, actual speed, speed error, the
electronics course.
motor position, and current can be monitored. When double
clicking on the values, a graph of the clicked value from 𝑡 = The questions and answers of the questionnaire administered
0 until the time at that moment can be seen in a separate to students are given in Table 6. According to the results,
window, and values of the variable are added to the graph students were determined to have sufficient prior knowledge
about two- and three-level inverters and SVPWM technique

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O. Bingöl, Ç. Elmas

included in the applied power electronics subject. Table 6: Evaluation sheets.

Experiments conducted with the new training tool were Great
determined to be consistent with the results of experiments in Questions Amount
Sufficient Little None

a classic laboratory environment. When evaluated in terms of Before using the educational
tool, how much prior knowledge
ease of use and being user-friendly, student opinions seem to did you have about power
32 13 10 5
be very positive. The educational tool was concluded to electronic drive circuits?
Before using the educational
provide great convenience in consolidating theoretical tool, how much prior knowledge
29 21 8 2
knowledge compared to classic laboratory systems. With the did you have about two-level
inverters?
applied method, the disappearance of the negative risks Before using the educational
encountered in classical experiments is evaluated to be tool, how much prior knowledge
27 19 11 3
did you have about three-level
positive in terms of the possibility of finding a more secure inverters?
training environment for the students. In order to determine Before using the educational
tool, how much prior knowledge
benefits and limitations of the program, a student-based did you have about space vector 28 18 9 5
assessment was conducted. pulse width modulation
(SVPWM)?
Are experiments done by using
educational tools compatible 32 17 9 2
with your previous knowledge?
Is the educational tool easy to
37 19 3 1
use and is it user friendly?
Did the educational tool develop
what you have learned in the 30 18 10 2
theory of laboratory courses?
How much do you think you
have benefited from training 33 15 9 3
tool?
May the educational tool be
effective to notice the potential
negative risks (electrical
accidents, misuse, etc... due to 37 14 6 3
deterioration of circuit elements
and devices) in classic
laboratory experiments?

6 Conclusions
In this study, the training set was presented for two- or three-
level inverters, fed by the induction motor intended to ensure
cost-effective training and experience. Space vector PWM
technique is used for the control of inverters. This training kit
assists students in understanding and developing inverters, as
well as induction motors, effectively. The set has a flexible
structure and graphical user interfaces. The user can easily
modify inverter and motor parameters in different operating
conditions. The set the can be easily installed on a computer
running on Windows (XP and later).

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