Indonesian Journal of Electrical Engineering and Computer Science

Vol. 22, No. 3, June 2021, pp. 1251~1262

ISSN: 2502-4752, DOI: 10.11591/ijeecs.v22.i3.pp1251-1262  1251

Detailed Simulink implementation for induction motor control

based on space vector pulse width modulation SVPWM

Taha A. Hussein, Laith A. Mohammed

Department of Electrical Power Techniques Engineering, Engineering Technical College, Northern Technical University,
Mosul, Iraq

Article Info ABSTRACT

Article history: Space vector pulse width modulation (SVPWM) generates less harmonic
distortion in the output voltage or currents, provides more efficient use of
Received Oct 13, 2020 supply voltage and better voltage utilization compared with sine pulse width
Revised May 8, 2021 modulation (PWM). In this work, a detailed Simulink implementation for
Accepted May 19, 2021 SVPWM for the open loop control of permanent magnet synchronous motor
(PMSM) is presented. Results show the output of the blocks that assembles
SVPWM besides the PMSM voltages and currents when exposing the motor
Keywords: to different load torques. The technique of SVPWM enables the load to
respond to the change in external load torque. This technique also results in
Induction motor lower total harmonic distortion and better utilization of the direct current
Inverter (DC) supply compared with traditional sinusoidal pulse width modulation
PMSM sinusoidal pulse width modulation (SPWM).
SPWM
SVPWM This is an open access article under the CC BY-SA license.

Corresponding Author:
Taha Ahmed Hussein
Department of Electrical Power Techniques Engineering
Technical College Engineering College
Northern Technical University, Mosul, Iraq
Email: [email protected]

1. INTRODUCTION
Harmonic reduction in inverters and other electrical systems is important which results in higher
operating efficiency. Increasing the switching frequency reduces harmonics in the output in pulse width
modulation (PWM) inverters. Induction motors are mostly controlled using PWM inverters. Sinusoidal pulse
width modulation (SPWM) is considered as efficient technique but limited to 0.78 modulation index. To
work with modulation index up to 0.9 space vector pulse width modulation space vector pulse width
modulation (SVPWM) is appropriate solution besides it reduces the total harmonic distortion (THD) and
increases the fundamental component of the output inverter voltage [1]-[3]. Induction motors have poor
dynamic response in correlation to the direct current (DC) motor. The SVPWM technique is widely used
because of their better DC utilization and practical digital realization [4]-[7]. Comparing the performance of
SPWM and SVPWM based inverter has been analyzed in MATLAB/Simulink from the analysis of speed
regulation, torque ripple and total harmonic distortion [8]-[10]. In alternating current (AC) systems we are
sensing AC signals to be used as control variables for finding the performance of the systems. If these ac
control signals are replaced by DC quantities (called AC to DC frame transformation) a much better
performance can be achieved because dc signals is simpler and having a better bandwidth. This
transformation principle is based on converting ac signals to DC and then operate on these DC values and
then back transform it to AC domain where they became AC signals.

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2. DETERMINATION OF SVPWM SIMULINK BLOCK

2.1. Calculate 𝑽𝒓𝒆𝒇 and its position α
Figure 1 shows a three phase resultant vector 𝑉𝑟𝑒𝑓 at certain instant of time. The reference vector is
the control variable in space vector technique and is shifted by an angle 𝛼 from the 𝛼 axis. This will
transform three phase system to two phase system. This vector is first decomposed into two phase ac
components resulting in 𝑉𝛼 𝑎𝑛𝑑 𝑉𝛽 . This is known as three phases to 𝛼 − 𝛽 transformation and will simplify
the analysis. In order to transform these two-phase ac control variables into dc components another two axis
are inserted and known as direct and quadrature axis (𝑑 − 𝑞 𝑎𝑥𝑖𝑠 ) which is shifted by a time varying angle
(𝜌 = 𝑤𝑡) and have the same frequency as 𝑉𝑟𝑒𝑓 [11], [12]. This makes the 𝑑 − 𝑞 𝑎𝑥𝑖𝑠 to be synchronized with
three phase supply frequency. Now if 𝑉𝑟𝑒𝑓 is projected on d-q axis at any instant of time then we obtain two
constant values control variables (DC values), namely 𝑉𝑑 and 𝑉𝑞 .

Figure 1. d-q presentation

We could relate the components 𝑉𝑑 and 𝑉𝑞 in terms of the three phase input signals 𝑉𝑎 , 𝑉𝑏 𝑎𝑛𝑑 𝑉𝑐 in
terms of the transformation matrix:

1 −
1
−
1 𝑉𝑎
𝑉𝑑 2
[𝑉 ] = [ 2 2 𝑉
] [ 𝑏] (1)
𝑞 3
0 √3/2 − √3/2 𝑉𝑐

The reference vector 𝑉𝑟𝑒𝑓 and its position inside the hexagon (𝛼) in Figure 1 can be found as (2).

𝑉𝑞
𝑉𝑟𝑒𝑓 = √𝑉𝑑 2 + 𝑉𝑞 2 𝑤ℎ𝑒𝑟𝑒 𝛼𝜌 = 𝑡𝑎𝑛−1 (2)
𝑉𝑑

The reference vector will rotate with frequency equal to the system frequency (f=50Hz) with radian
frequency 𝑤 = 2𝜋𝑓 and its projection on the 𝑑 − 𝑞 𝑎𝑥𝑖𝑠 is constant. The Simulink box for step1 uses
f=50Hz and the input signal rms value =230Volt). The angle 𝛼 which is varied from −𝜋 𝑡𝑜 𝜋 for one
complete cycle. In order to avoid negative values a constant value of 𝜋 is added in the Simulink model so the
variation in 𝛼 is considered between 0 𝑡𝑜 2𝜋. Figure 2 shows the implementation of 𝑉𝑟𝑒𝑓 and its position α

2.2. Calculation of the modulation index and identifying the hexagon sector
The modulation index controls the average output voltage of the three-phase inverter. It is the
relation between the reference vector and the dc supply voltage Vdc of the inverter. The modulation index
2
(m) for SVPWM can be found from = 𝑉𝑟𝑒𝑓 ⁄( ) 𝑉𝑑𝑐 . The Hexagon has six sectors each of them house 𝜋/3
3
radians. For example, sector 1 is the area between vectors 𝑉1 𝑎𝑛𝑑 𝑉2 (i.e. 0 ≤ 𝑎𝑛𝑔𝑙𝑒 ≤ 1.0472 𝑟𝑎𝑑).
Figure 3 (see Appendix) shows the Simulink implementation of step2.

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Indonesian J Elec Eng & Comp Sci ISSN: 2502-4752  1253

(a)

(b)

(c)

Figure 2. Calculation of 𝑉𝑟𝑒𝑓 and its position α; (a) sim. block (b) 𝑉𝑟𝑒𝑓 , 𝑉𝑑, 𝑉𝑞 , and (c) angle 𝛼 for 𝑉𝑟𝑒𝑓

2.3. Operating times for insulated gate bipolar junction transistors (IGBJT’s) switches
To get the desired output voltage and frequency the status of each IGBJT transistor switch must be
changed between on and off conditions. In three phase inverter topology there are six switches, three of them
are connected to the upper leg while the other three are connected to the lower leg as shown previously in
Figure 4. In order to reduce switching losses at the output the pattern of switching states is controlled in such
a way that the upper leg switches are allowed to transit to the next operating state with only one change in
states of the switches. The statues of the three switches on the lower leg are complementary to the switches at
the upper leg. There are eight possible combination states for the three upper leg switches, six of them are
called the active state i.e. 100,110,010,001,011 and 101 where 1 is considered as ON while 0 is considered as
OFF and the remaining two states are 000 and 111 which are added to enable the switches to transit their
states as mentioned before. These two states are called passive states because the output voltage is zero.
Therefore, the corresponding passive state vectors are called the zero vectors and are located at the origin of
the hexagon as shown in Figure 4 (b). The eight states are tabulated in Table 1 with their phase voltage and
the corresponding space vector values for the case of three-phase inverter with 180 ̊ conduction [13]-[16].
The area enclosed between two adjacent vectors form one sector. For example, sector 1 is the area
between Vectors 𝑉1 and 𝑉2 . The time taken by sector 1 and sector 2 for example are collected in Table 2 and
shown in Figure 5. The procedure is repeated for the other remaining sectors. It is allowed to turn only one of
the switches ON or OFF on the upper leg to reduce switching losses. The period of the operating frequency is
defined as TZ and if we consider sector 1 the on time for Vectors 𝑉1 and 𝑉2 and the null vector ( 𝑉𝑜 𝑜𝑟 𝑉7 ) are
𝑇1 , 𝑇2 and 𝑇𝑜/2 respectively. The on time for the upeer leg switches calculated from null state (000) toward
the centre of Figure 4 which is called right aligned is the same as the time calculated from the null state (111)
from the centre of Figure 4 to the end of the Figure 4 which is called left aligned. The on time for 𝑆1 is 𝑇1 +
𝑇2 + 𝑇𝑜/2 while in sector 2 is 𝑇2 + 𝑇𝑜/2 . Following the above constrains on the six switches the time pattern
is shown in Table 3.

Detailed Simulink implementation for induction motor control based on space vector … (Taha A. Hussein)
1254  ISSN: 2502-4752

(a) (b)

Figure 4. Switches states (𝑆1 𝑡𝑜 𝑆6 vs 𝑇1 , 𝑇2 𝑎𝑛𝑑 𝑇𝑜 ); (a) for sector 1 and (b) for sector 2

Table 1. Eight hexagon states with phase voltages and space vectors
Variable Phase voltages Space vector
A b C Van Vbn Vcn 𝑆⃗ = 𝑉𝑑 + 𝑗𝑉𝑞 𝑆⃗
1 0 0 2/3 -1/3 -1/3 2⁄3 + 𝑗0 2/3∠0 ͦ
1 1 0 1/3 1/3 -2/3 1⁄3 + 𝑗(1⁄ ) 2/3∠0 ͦ
√3
0 1 0 -1/3 2/3 -1/3 − 1⁄3 + 𝑗(1⁄ ) 2/3∠0 ͦ
√3
0 1 1 -2/3 1/3 1/3 2⁄3 + 𝑗0 2/3∠0 ͦ
0 0 1 -1/3 -1/3 2/3 − 1⁄3 − 𝑗(1⁄ ) 2/3∠0 ͦ
√3
1 0 1 1/3 -2/3 1/3 1⁄3 − 𝑗(1⁄ ) 2/3∠0 ͦ
√3
0 0 0 0 0 0 0 + 𝑗0 0
1 1 1 0 0 0 0 + 𝑗0 0

Table 2. Time taken by vectors 𝑉0 𝑡𝑜 𝑉7 in sectors 1 and sector 2

Sector 1 Sector 2
Vector State Time Vector State Time
𝑉0 000 To/2 𝑉0 000 To/2
𝑉1 100 T1 𝑉3 010 T2
𝑉2 110 T2 𝑉2 110 T1
𝑉7 111 To/2 𝑉7 111 To/2

Table 3. The complete table for the all-timing switches in the six sectors
Sector 1 Sector 2 Sector 3 Sector 4 Sector 5 Sector 6
S1=𝑇1 + 𝑇2 + 𝑇𝑜/2 S1=𝑇1 + 𝑇𝑜/2 S1=𝑇𝑜/2 S1=𝑇𝑜/2 S1=𝑇2 + 𝑇𝑜/2 S1=𝑇1 + 𝑇2 + 𝑇𝑜/2
S3= 𝑇2 + 𝑇𝑜/2 S3= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S3= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S3= 𝑇1 + 𝑇𝑜/2 S3= 𝑇𝑜/2 S3= 𝑇𝑜/2

S5= 𝑇𝑜/2 S5= 𝑇𝑜/2 S5= 𝑇2 + 𝑇𝑜/2 S5= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S5= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S5= 𝑇1 + 𝑇𝑜/2

S4= 𝑇𝑜/2 S4=𝑇2 + 𝑇𝑜/2 S4= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S4= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S4= 𝑇1 + 𝑇𝑜/2 S4= 𝑇𝑜/2

S6= 𝑇1 + 𝑇𝑜/2 S6= 𝑇𝑜/2 S6= 𝑇𝑜/2 S6= 𝑇2 + 𝑇𝑜/2 S6= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S6= 𝑇1 + 𝑇2 + 𝑇𝑜/2

S2= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S2= 𝑇1 + 𝑇2 + 𝑇𝑜/2 S2= 𝑇1 + 𝑇𝑜/2 S2= 𝑇𝑜/2 S2= 𝑇𝑜/2 S2=𝑇2 + 𝑇𝑜/2

To calculate 𝑇1 , 𝑇2 𝑎𝑛𝑑 𝑇𝑜/2 we refer to Figure 4. In sector 1 the area enclosed by vectors
𝑉1 𝑎𝑛𝑑 𝑉2 can be found as:
𝑇𝑧 𝑇1 𝑇1 +𝑇2 𝑇
∫0 𝑉𝑟𝑒𝑓 𝑑𝑡 = ∫0 𝑉1 𝑑𝑡 + ∫𝑇 𝑉2 𝑑𝑡 + ∫𝑇 𝑧+𝑇 𝑉𝑜 𝑑𝑡 (3)
1 1 2

𝑉𝑟𝑒𝑓 𝑇𝑧 = 𝑉1 𝑇1 + 𝑉2 𝑇2 + 𝑉𝑜 (𝑇𝑧 − 𝑇1 − 𝑇2 ) (4)

The q-axis component is:

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2 2 𝜋
𝑉𝑟𝑒𝑓 𝑇𝑧 𝑠𝑖𝑛𝛼 = 𝑉𝑠 𝑇1 sin (0) + 𝑉𝑠 𝑇2 sin ( ) (5)
3 3 3

𝑠𝑖𝑛𝛼
𝑇2 = 𝑎 𝜋 𝑇𝑧 (6)
𝑠𝑖𝑛
3

𝑉𝑟𝑒𝑓
𝑊ℎ𝑒𝑟𝑒 𝑎 = 2 is the modulation index (7)
𝑉
3 𝑠
The d-axis component is:
2 2 𝜋
𝑉𝑟𝑒𝑓 𝑇𝑧 𝑐𝑜𝑠𝛼 = 𝑉𝑠 𝑇1 cos (0) + 𝑉 𝑇 cos ( ) (8)
3 3 𝑠 2 3
𝜋
𝑠𝑖𝑛 ( −𝛼)
𝑇1 = 𝑎 3
𝜋 𝑇𝑧 (9)
sin ( )
3

𝑇𝑜 = 𝑇𝑧 − 𝑇1 − 𝑇2 (10)

The general form of 𝑇1 𝑎𝑛𝑑 𝑇2 for all the six sectors can be written as
𝑘𝜋
sin ( −𝛼)
𝑇1 = 𝑎 3
𝜋 𝑇𝑧 (11)
sin ( )
3

(𝑘−1)𝜋
sin (𝛼− )
𝑇2 = 𝑎 𝜋
3
𝑇𝑧 (12)
𝑠𝑖𝑛
3

where k is the sector number. Figure 5 (a) shows the Simulink model for calculating 𝑇1 , 𝑇2 𝑎𝑛𝑑 𝑇3 . The
output of the model (i.e. 𝑇1 , 𝑇2 𝑎𝑛𝑑 𝑇0 ) is shown in Figure 5 (b).

(a)

(b)

Figure 5. Operating times for IGBJT’s switches; (a) simulink block and (b) 𝑇1 , 𝑇2 𝑎𝑛𝑑 𝑇0

2.4. Determination of the control signals

The time segments for switches S1, S2 and S3 are handed to a multi-port switch as shown in
Figure 6 (a) for identifying the sector in the corresponding time instant. The output is the three controlled
signals as shown in Figure 6 (b). These signals are then compared with the triangular carrier signal to form
the space vector pulse width modulated pulses as shown in Figure 6 (c). These pulses are the triggering
signals to the IGBJTs in the three-phase inverter. The Simulink blocks obtaining SVPWM three phase
inverter is shown in Figure 6 (d).
Detailed Simulink implementation for induction motor control based on space vector … (Taha A. Hussein)
1256  ISSN: 2502-4752

(a)

(b)

(c)

(d)

Figure 6. (a) Identifying the sector, (b) Controlled signals, (c) IGBT’S signals, and (d) Simulink blocks

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Indonesian J Elec Eng & Comp Sci ISSN: 2502-4752  1257

2.5. Determination of the control signals

The voltage source inverter is best tested when loaded with induction motor because of its dynamic
characteristics [17-20]. A three-phase inverter with six IGBT transistors is controlled by the pulses shown in
Figure 6 (c). These pulses are PWM signals results when comparing the three phase-controlled signals in
Figure 6 (b) with repeating signal (carrier) with frequency = 1 kHz or more to ensure the elimination of more
harmonics. It is worth noting that the amplitude of the carrier must be equal to the amplitude of the controlled
signals = 0.02 in this work. The Simulink block diagram with the three phase output voltages are shown in
Figures 7 (a) and (b) respectively.

(a)

(b)

Figure 7. Complete SVPWM with induction motor load; (a) Simulink model and
(b) Three-phase inverter output voltages

The load is asynchronous machine squirrel cage type and has the parameters 5.4HP (4KW), 400V,
50Hz, 1430 RPM and a slip=1430/1500=0.9534. The load is subjected to a change of Torque equal to 20Nm
at step time = 0.5 sec, then this external torque is removed at step time= 1 sec. Figures 8 (a), (b), and (c)
show speed, electrical torque and the three phase currents. The effect of external torque is decreasing the
speed, increasing the electrical torque and increasing the three phase currents.
The technique of SVPWM results in lower total harmonic distortion and better utilization of the DC
supply compared with traditional sinusoidal pulse width modulation SPWM as seen in Figures 9 (a) and (b)
and tabulated in Table 4. Beside the application of SVPWM on the traditional three phase inverter, SVPWM
find efficient application in the area of z-source inverter which widen the application of SVPWM on modern
electrical systems [21], [22]. The technique of SVPWM can also be implemented without using zero
vectors [23]. For high power applications and reduced harmonics elimination multilevel inverters can be
implemented with SVPWM [24], [25]. For the purpose of long-time operation and reliability the SVPWM
Simulink model is subjected to multiple change in load torque at the instants of 2 and 4 seconds of time, the
system responds correctly as expected and shown in Figure 10.

Detailed Simulink implementation for induction motor control based on space vector … (Taha A. Hussein)
1258  ISSN: 2502-4752

(a) (b)

(c)

Figure 8. Effect of external torque on induction motor; (a) motor speed, (b) electrical torque, and
(c) three-phase load current

(a)

(b)
Figure 9. THD and fundamental components values; (a) SPWM and (b) SVPWM

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Indonesian J Elec Eng & Comp Sci ISSN: 2502-4752  1259

Table 4. THD and fundamental components values for SPWM and SVPWM
THD FUNDAMENTAL (50Hz)
SPWM 68.64 346.5
SVPWM 57.80 380.6

(a)

(b)

(c)

(d)

Figure 10. SVPWM Simulink model subjected to multiple load torque; (a) motor speed,
(b) electrical torque, (c)-(d) phase currents

3. CONCLUSION
A detailed SVPWM is introduced and implemented in Simulink Matlab. All necessary equations for
the derivation of the concept of SVPWM are given. The outputs of the individual blocks are analyzed.
The output pulses of the final block are employed to control the output voltages of three phase inverter.
The inverter is loaded with induction motor which in turn is subjected to external torque at chosen instant of
time then the external torque is removed after that. The currents and torques of the load respond smoothly to
the changes in the external torque. A comparison study of THD and DC utilization shows that SVPWM acts
much better than the traditional SPWM for the same DC input voltage and modulation index. The SVPWM
shows no complication in the circuitry and finds a wide range of applications in low cost motor drives and in
the dc to ac converters especially in solar cell energy generation and many more.

APPENDIX

(a)
Figure 3. Modulation index and hexagon: (a) three phase inverter circuit hexagon

Detailed Simulink implementation for induction motor control based on space vector … (Taha A. Hussein)
1260  ISSN: 2502-4752

(b)

(c)

Figure 3. Modulation index and hexagon: (b) sector determination, (c) sim. block for sector and m index
(continue)

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Indonesian J Elec Eng & Comp Sci ISSN: 2502-4752  1261

(d)

Figure 3. Modulation index and hexagon: (d) sectors 1-6 (continue)

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Detailed Simulink implementation for induction motor control based on space vector … (Taha A. Hussein)
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