See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/375769439

Performance Evaluation of SPWM and SVPWM Inverter in FOC-based PMSM

Drives Under Dynamic Speed and Load Disturbance

Conference Paper · November 2023

DOI: 10.2991/978-94-6463-284-2_22

CITATIONS READS

0 192

2 authors:

Mentari Putri Jati Muhammad Rizani Rusli

Universitas Negeri Yogyakarta Electronics Engineering Polytechnic Institute of Surabaya
23 PUBLICATIONS 45 CITATIONS 33 PUBLICATIONS 181 CITATIONS

SEE PROFILE SEE PROFILE

All content following this page was uploaded by Muhammad Rizani Rusli on 20 November 2023.

The user has requested enhancement of the downloaded file.

Performance Evaluation of SPWM and SVPWM Inverter
in FOC-based PMSM Drives Under Dynamic Speed and
Load Disturbance

Mentari Putri Jati1() and Muhammad Rizani Rusli2

1Department of Electro-optical Engineering, National Taipei University of Technology, Taiwan

2Department of Electrical Engineering, Politeknik Elektronika Negeri Surabaya, Surabaya,

Indonesia

Abstract. The article discusses the significance of high-performing Permanent

Magnet Synchronous Motors (PMSM) in industries such as transportation, robot-
ics, and industrial sectors due to their small size, high efficiency, and fast respon-
siveness. Field Oriented Control (FOC) is used in PMSM drives to achieve high-
performance control of the motor by transforming three-phase AC currents and
voltages into two orthogonal components. The article explains the two common
Pulse Width Modulation (PWM) methods used in FOC PMSM drives: Sinusoidal
PWM (SPWM) and Space Vector PWM (SVPWM). The paper evaluates the per-
formance of FOC-based PMSM with inverter drives using SPWM and SVPWM
under dynamic speed and load disturbance conditions to determine a reliable
PWM inverter drive for PMSM FOC applications.

Keywords: Performance Evaluation, SPWM Inverter, SVPWM Inverter, FOC,

PMSM Drives, Dynamic Speed, Load Disturbance

1 Introduction

Many industries, such as transportation, robotics, and industrial sectors, require high-
performing Permanent Magnet Synchronous Motors (PMSM) that have a small size,
high efficiency, fast responsiveness, and better control. These motors are compact,
lightweight, less noisy, and fault-tolerant [1][3]. Due to manufacturer competition and
applicable regulations, various equipment containing electric machines must meet new
challenges of high performance, including dynamic speed control and robust load dis-
turbance handling [4].
To achieve high-performance control of the motor, Field Oriented Control (FOC) is
a popular technique used in PMSM drives. FOC works by transforming the three-phase
AC currents and voltages of the motor into two orthogonal components: a direct current
component and a quadrature current component. By controlling these two components,
the torque and speed of the motor can be controlled precisely. The PMSM application
uses a resolver for rotor position sensing, which is mounted mechanically on the motor

© The Author(s) 2023

M. Setiyo et al. (eds.), Proceedings of the 4th Borobudur International Symposium on Science and Technology
2022 (BIS-STE 2022), Advances in Engineering Research 225,
https://doi.org/10.2991/978-94-6463-284-2_22
 Performance Evaluation of SPWM and SVPWM Inverter in FOC 183

shaft and operates properly by utilizing electromagnetic induction. The analog signals
from the coils are converted into a digital signal form to be used for commutation in a
three-phase inverter using a resolver to digital converter. [5].
There are two common Pulse Width Modulation (PWM) methods used in FOC
PMSM drives: Sinusoidal PWM (SPWM) and Space Vector PWM (SVPWM). SPWM
is a simple method that generates a sinusoidal waveform at the desired frequency and
amplitude to control the motor. SVPWM, on the other hand, is a more advanced method
that generates a voltage vector that follows the desired trajectory in the voltage space
vector diagram. SVPWM provides better utilization of the DC bus voltage and reduces
harmonic distortion [6], [7].
This paper discusses the performance evaluation of FOC-based PMSM with inverter
drives using SPWM and SVPWM. The tests are carried out under dynamic speed con-
ditions and load disturbance conditions to prove the reliability of the controller through
a PSIM environment. The purpose of this performance evaluation is to determine a re-
liable PWM inverter drive for PMSM FOC applications.

2 Method

2.1 Field Oriented Permanent Magnet Synchronous Motor (PMSM) Control

Field-oriented control (FOC) has been widely adopted by researchers in PMSM veloc-
ity control because it is an effective technique. To produce smooth torque and reduce
power loss, vibration, and noise in PMSM mode of operation, the current waveform
should match the shape of the back EMF of a sinusoidal motor [8]. Therefore, high
resolution rotor position feedback is important. On the other hand, accurate speed track-
ing requires speed feedback.
The block diagram of the system is shown in Fig. 1. The speed reference parameter
referred to in the block diagram below is the input speed setpoint value for the motor.
There is feedback in the form of a speed sensor to be compared with a reference speed.
Comparison between speed reference and speed will produce an error as input to the PI
controller.

Fig. 1. Field Oriented Permanent Magnet Synchronous Motor (PMSM) Control Diagram Block
184 M. P. Jati and M. R. Rusli

2.2 Space Vector Pulse Width Modulation (SVPWM)

To generate a sinusoidal waveform of the three-phase output voltage in SVPWM, the
correct switching combination of the three-phase inverter is determined, and the on-off
time duration of the switching is calculated. Voltage space vectors represent SVPWM
switching combinations. These vectors are selected to approximate the reference volt-
age vector with the desired frequency and amplitude within a small time interval. As
the reference stress vector rotates to a new angular position, a new set of stationary
stress vectors is selected. By sequentially sampling the complete cycle of the desired
voltage vector, the average output voltage duplicates the reference voltage. In addition
to providing the desired phase shift between the input voltage and current, the chosen
vector must minimize switching losses and obtain the desired output current or voltage
while minimizing Total Harmonic Distortion (THD)[9].
The operating principle of the SVPWM will be illustrated by the hexagonal vector
approximation of the output voltage and input current shown in Fig. 2. To calculate the
amplitude and reference angle, the three-phase magnitude is transformed into the two-
phase alpha-beta axis. These values are then grouped into six voltage and current vec-
tors, which are used to determine the amplitudes and angles in each sector. Based on
the sector value, the switches are turned on and off to satisfy the given voltage and
current vectors. This helps in minimizing switching losses in the power converter by
efficiently determining the switch combinations in each sector [10], [11].

𝐶1 = 1 – 𝐶4
𝐶2 = 1 – 𝐶5 (1)
𝐶3 = 1 – 𝐶6

VB
V3 V2

V4 VA
V1

V5 V6
VC

Fig. 2. Hexagon Voltage Vector

From equation 1, the inverter voltage output is of the following equation below [10],
[11].
 Performance Evaluation of SPWM and SVPWM Inverter in FOC 185

𝑉𝑎 2 −1 −1 𝐶1
𝑉
[𝑉𝑏 ]= 𝑑𝑐 [−1 2 −1] [𝐶2] (2)
3
𝑉𝑐 −1 −1 2 𝐶3
2
𝑉𝑠 = 𝑉𝑎 +j𝑉𝛽 = √3 (𝑉𝑎 + 𝑉 𝑗
2𝜋 + 𝑉 𝑗
4𝜋 ) (3)
𝛽𝑒 3 𝛽𝑒 3

To calculate the duty cycle ratio configuration, a similar procedure for the other
component vectors can be used. The switching determination vectors for all input and
output sectors can be determined using 27 combinations. It is important to note that the
duty cycle ratio configuration must have a positive value.

3 Result and Discussion

3.1 Constant Speed No Load

To evaluate the drives system of a PMSM, a comparative simulation of two modulation
techniques: SPWM and SVPWM was carried out using PSIM environment with various
conditions where system parameters are shown in Table 1. Speed response, current,
torque ripple, and Total Harmonic Distortion (THD) will be analyzed. The simulation
is carried out at constant and dynamic speed with and without load.

Table 1. PMSM Parameters

Parameter Value
Rs (stator resistance) 4.3 W
Ld (d-axis inductance) 27mH
Lq (q-axis inductance) 67mH
Vpeak / krpm 98.67
No. of poles 4
Moment of inertia 1.79m

The response output with a speed set point of 3000 Rpm No load is shown in Fig. 3.
Fig. 3 a shows that the closed loop system can follow the PMSM constant speed set
point using two different types of modulation. For all the simulation results, SVPWM
graphic results use the orange line, SPWM blue line, and the reference speed uses the
red line. The current response and torque ripple are shown in Figure 3b. Figure 3c shows
the torque ripple and starting overshoot of SVPWM are lower than SPWM.
186 M. P. Jati and M. R. Rusli

(c)
Fig. 3. Permanent Magnet Synchronous Motor (PMSM) Performance at Constant Speed 3000
RPM No Load. (a) Speed Response (b) Current (c) Torque

3.2 Constant Speed with Constant Load

The system performance responds with the constant speed with the constant load as
shown in Fig. 4 with an installed load of 4 Nm. At a constant speed of 3000 Rpm, the
speed response is shown in Fig. 4a for a 4 Nm load. Meanwhile, the current graphs are
shown in Fig. 4b with an explanation of the THD values in Fig. 4c. SVPWM THD is
lower than SPWM with different loads. The current spectrum is shown in Fig. 4d. Fig.
4e show the torque ripple response of each modulation technique.
 Performance Evaluation of SPWM and SVPWM Inverter in FOC 187

a b

c d

e
Fig. 4. PMSM Performance at Constant Speed 3000 RPM With 4 Nm Load. (a) Speed Response
(b) Current (c) THD (d) Current Spectrum (e) Torque Ripple

3.3 Dynamic Speed with and Without Constant Load

The system performance responds with the dynamic speed with the constant load as
shown in Fig. 5 with an installed load of 4 Nm and 2 Nm. At a constant speed of 3000
Rpm, the speed graph is shown in Fig. 5a for a 4 Nm load and Fig. 5f for a 2 Nm load.
The dynamic speed setpoint starts at 3000 Rpm, 2000 Rpm, and 1000 Rpm and returns
to 3000 Rpm.
The current graphs are shown in Fig. 5b and Fig. 5g where the average amplitude is
greater at 2 Nm installed load than at 4 Nm load. The THD value of the system is shown
in Fig. 5c and Fig. 5h. SVPWM THD is lower than SPWM with different loads. The
current spectrum is shown in Fig. 5d and Fig. 5i while Fig. 5e and Fig. 5j show the
torque ripple response.
188 M. P. Jati and M. R. Rusli

a f

b g

c h

d i

e j
Fig. 5. PMSM Performance at Dynamic Speed No Load and With Load. (a) Speed Response No
Load (b) Current No Load (c) THD No Load (d) Current Spectrum No Load (e) Torque Ripple
No Load (f) Speed Response 2 Nm Load (g) Current 2 Nm Load (h) THD 2 Nm Load (i) Current
Spectrum 2 Nm Load (j) Torque Ripple 2 Nm Load
 Performance Evaluation of SPWM and SVPWM Inverter in FOC 189

3.4 Constant Speed with Load Disturbance

Load changes can have a negative impact on motor performance, so the proposed sys-
tem was tested with load changes as a disturbance to verify its reliability. Fig. 6 shows
that the system responds with constant speed even when there is a load disturbance.
The load changes from 2 Nm between 0-1 seconds to 4 Nm between 1-1.5 seconds and
then back to 2 Nm. The speed graph in Fig. 6a shows that the system experiences over-
shoot when the load changes, but maintains a constant speed of 3000 RPM.
The current graph is shown in Fig. 6b which increases in amplitude when the load
changes by 2 Nm. The system THD value is shown in Fig. 6c where the SVPWM THD
is lower than SPWM. The current spectrum and torque ripple response are shown in
Fig. 6d and Fig. 6e.

b
a

c
d

e
Fig. 6. PMSM Performance at Constant Speed With Load Disturbance. (a) Speed Response (b)
Current (c) THD (d) Current Spectrum (e) Torque Ripple
190 M. P. Jati and M. R. Rusli

4 Conclusion

A performance simulation evaluation of two modulation techniques, SPWM and

SVPWM, was conducted to evaluate the drives system of a PMSM under various con-
ditions. The simulation was carried out at constant and dynamic speed with and without
load to analyze speed response, current, torque ripple, and Total Harmonic Distortion
(THD). Results showed that SVPWM had lower torque ripple and THD values than
SPWM under different load conditions. Furthermore, the SVPWM demonstrated its
reliability in maintaining a constant speed even with load disturbances. Overall,
SVPWM showed better performance compared to SPWM in terms of current response,
torque ripple, and THD.

References

1. O. Saadaoui, A. Khlaief, M. Abassi, I. Tlili, A. Chaari, and M. Boussak, “A New FullOrder

Sliding Mode Observer Based Rotor Speed and Stator Resistance Estimation for Sensorless
Vector Controlled PMSM Drives,” Asian J Control, vol. 21, no. 3, pp. 1318– 1327, May
2019.
2. M. T. Kassa and D. Changqing, “Design Optimazation and Simulation of PMSM based on
Maxwell and TwinBuilder for EVs,” in 2021 8th International Conference on Electrical and
Electronics Engineering, ICEEE 2021, Apr. 2021, pp. 99–103.
3. J. Dilys, “Modeling of Sensorless Control of Permanent-Magnet Synchronous Motors,”
2020.
4. E. Purwanto, M. Putri Jati, B. Sumantri, and M. Rizani Rusli, “Performance Enhancement
of Matrix Converter Fed Induction Motor Drives Using Fuzzy Supervisory Controller,” in
IES 2020 - International Electronics Symposium: The Role of Autonomous and Intelligent
Systems for Human Life and Comfort.
5. M. R. Rusli et al., “Digital Implementation of Space Vector PWM for Three Phase Inverter
with Simplified C-Block PSIM Utilization,” in International Electronics Symposium 2021:
Wireless Technologies and Intelligent Systems for Better Human Lives, IES 2021 - Proceed-
ings, 2021.
6. M. P. Jati et al., “A fuzzy supervisory scalar control for matrix converter induction motor
drives,” International Journal on Electrical Engineering and Informatics, vol. 13, no. 1,
2021.
7. L. Xiao, J. Li, J. Chen, R. Qu, and Y. Xiong, “Synchronous SVPWM for Field-oriented
Control ofPMSM Using Phase-lock Loop,” in IEEE Energy Conversion Congress & Expo,
2017, pp. 4324–4331.
8. M. Hasoun, A. el Afia, and M. Khafallah, “Field Oriented Control of Dual Three-Phase
PMSM Based Vector Space Decomposition for Electric Ship Propulsion,” in International
Conference of Computer Science and Renewable Energies, 2019, pp. 1–6.
9. M. Khan, W. Yong, and E. Mustafa, “Design and Simulation of Control Technique for Per-
manent Magnet Synchronous Motor Using Space Vector Pulse Width Modulation,” in IOP
Conference Series: Materials Science and Engineering, Aug. 2017, vol. 224, no. 1.
10. M. Abassi, A. Khlaief, O. Saadaoui, A. Chaari, and M. Boussak, “Performance Analysis of
FOC and DTC for PMSM Drives using SVPWM Technique,” in international conference
 Performance Evaluation of SPWM and SVPWM Inverter in FOC 191

on Sciences and Techniques of Automatic control & computer engineering, 2015, pp. 228–
233.
11. M. Abassi, O. Saadaoui, I. Tlili, A. Khlaief, A. Chaari, and M. Boussak, “PMSM DTC Drive
System Fed by Fault- Tolerant Inverter Connected to a Photovoltaic Source,” in Interna-
tional Renewable Energy Congress, 2018.

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-
NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/),
which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any
medium or format, as long as you give appropriate credit to the original author(s) and the
source, provide a link to the Creative Commons license and indicate if changes were made.
The images or other third party material in this chapter are included in the chapter's
Creative Commons license, unless indicated otherwise in a credit line to the material. If material
is not included in the chapter's Creative Commons license and your intended use is not
permitted by statutory regulation or exceeds the permitted use, you will need to obtain
permission directly from the copyright holder.

View publication stats