Key Engineering Materials Submitted: 2015-12-27

ISSN: 1662-9795, Vol. 693, pp 1391-1396 Accepted: 2015-12-31

doi:10.4028/www.scientific.net/KEM.693.1391
© 2016 Trans Tech Publications, Switzerland

Research and Simulation of SVPWM Algorithm Based on BP Neural

Network
Hua Ji1,a, Zhiyong Li2,b
1
Department of Electrical and Electronic Engineering, Shandong University of Technology, Zibo,
Shandong, China
2
Department of Mechanical Engineering, Shandong University of Technology, Zibo, Shandong,
China
a b
jihua303@163.com lzy761012@sdut.edu.cn

Keywords. SVPWM, BP neural network, PMSM, MATLAB simulation

Abstract. In this paper, a space vector PWM (SVPWM) control algorithm based on BP neural
network is proposed to cope with the complex calculation required in SVPWM through analyzing
SVPWM for three phase voltage fed inverter. This method uses the strong nonlinear approximation
ability of the BP neural network to fit the eqivalent segment SVPWM modulated wave, modulate
with the triangular carrier wave, and then get the control signals of the three phase voltage inverter.
A simulation model for PMSM control system was developed by MATLAB/Simulink with the
neural network Toolbox. The results show that the BP neural network based SVPWM algorithm
makes the motor control system has a smaller current harmonics and torque ripple, and reduce the
amount of computation in digital control system with strong guidance.

Introduction
Space vector PWM (SVPWM) is from the view of the whole motor, the purpose is to make AC
motor genetate a circle magnetic field. This method regard the inverter and AC motor as a whole, its
mathematical model is simple, the system is easy to digital control and this kind of control mode
has advantages of flexible control, good dynamic performance, high dc efficiency, small switch loss
and digital control realization, which is widely used for permanent magnet synchronous motor
control system. It is generally used SVPWM algorithm, which is through the complex online
calculation or querying method to realize the calculation of trigonometric function. For example,
the sector judgement and action time calculation of switching vector need a lot of trigonometric
functions operating, which occupies a large amount of CPU time and space, limiting the switching
frequency of power devices, and has generated great current harmonic distortion and torque ripples.
To ensure the appropriate operation is completed within one sampling period, the switching
frequency can only be limited to less than several thousand hertz. Some scholars have proposed
using a lookup table method to replace the nonlinear real-time operation, but it occupies a larger
memory on the one hand, on the other hand there will be round off errors which can affect the
control accuracy. The artificial neural network has unique advantages in terms of data fitting, a
reasonable structure for neural network can approximate a nonlinear function with arbitrary
precision. For these reasons, the author proposes an approach based on BP neural network SVPWM
technique to avoid a large number of nonlinear calculation.

Theory of space vector PWM

The typical three-phase voltage source inverter consists of six power switch tubes, inverter can
output the six basic voltage space vector and two zero vector. The six basic voltage space vectors
divide the complex plane into six sectors, and Fig.1 shows the space voltage vector partition and
synthetic figure, where, V0 and V7 are zero voltage vectors which lie in the center of sector. The
principle of SVPWM modulation is to control these basic space vectors of the combination, and
make the synthesized space voltage vector by three phase voltage output from inverter and
1392 Advanced Materials and Manufacturing Technology II

expectations of the output voltage of the three phase sine wave space voltage vector equal. This is
used to produce a three phase stator current. It is designed with a special mode of switching power
tube to produce the stator current. This switch mode is from the voltage reference vector converted
into switching time of each power tube.

Fig.1 Space voltage vector and SVPWM waves Fig. 2 Voltage vectors’ action time of sector 3

In the third sector as an example shown as Fig.2, for a sampling period Ts , in order to facilitate
the analysis, set the reference voltage Vref lying in the first sector, the voltage can be made by
neighboring voltage space vector V4 and V6 and zero vectors V0 and V7 . The acting time of V1 , V2
and zero vector in the sampling period is respectively T 4 , T 6 and T0, 7 , and meet Ts = T4 + T6 + T0,7 .
According to ‘the balance principle of volt second’ and parallel quadrilateral law can get:
3 U ref Ts π
T4 = sin( − θ )
Ud 3
3 U ref Ts
T6 = sin θ (1)
Ud
T0,7 = Ts − T4 − T6

In order to obtain the symmetrical inverter output voltage waveform, the action time of each
vector is devided into two part, and simultaneously the action time of V0 and V7 are equal.
According to the the relationship of the voltage space vector and switch off conduction states, when
V4 is operating, the state of three phases A, B and C is 100. Similarly available when V6 , V0 and
V7 is operating respectively. Therefore, we can obtain the SVPWM waveform of sector 3 shown in
Fig.3.
The pulse width time of A, B and C can be derived from Fig.3.
T0
TA = T4 + T6 +
2
(2)
T
TB = T6 + 0
2
T0
TC =
2
 Key Engineering Materials Vol. 693 1393

Fig.3 SVPWM waveform of sector 3

The implicit modulation function of SVPWM can be given by PWM rule sampling method.
The pulse width time is
Ts u
T= (1 + r ) (3)
2 Um
Where, ur represents modulation function and U m represents the amplitude of triangular wave
which equals 1 here.
The following modulation function formula of reference vector in sector 3 can be derived by
putting formula (4) into formula (5)
u A = a cos(θ − 30
)
uB = 3a sin(θ − 30
) (4)
uC = − a cos(θ − 30
)

3 U ref
Where, a = .
Ud
Similarly, the modulation function of three phase reference voltage vector in other sectors are
shown in Table 1.
Table 1 Three phase voltage modulation function in six sectors
uA uB uC

1 3a cos θ a sin θ − a sin θ

2 a cos(θ + 30
) − a cos(θ + 30
) 3a cos(θ + 120
)

3 a cos(θ − 30
) 3a sin(θ − 30
) − a cos(θ − 30
)

4 a cos(θ − 30
) 3a cos(θ − 120
) a cos(θ + 150
)

5 a cos(θ + 30
) a cos(θ − 150
) 3a cos(θ + 120
)

6 3a cos θ a sin θ − a sin θ

Model design of BP neural network

Neural network control opens up a new way to solve complex nonlinear and uncertain control
problems. In practice, the most commonly used is the BP neural network that is error back
propagation network. This network has a good nonlinear mapping ability and adaptive ability,
simple structure, a small amount of computation, strong fault-tolerant ability. Therefore, neural
network is one of the most widely and mature used. BP neural network training process includes
1394 Advanced Materials and Manufacturing Technology II

forward and reverse propagation. In the forward propagation, the information reaches the output
layer from the input layer through hidden layer, each output node affects only the output node of the
next layer. Comparing the output value and expectatations can obtain errors. If it doesn’t meet the
requestments, the program will switch to the back propagation, and the error signal backtrack, by
modifying the weights and thresholds of all layers neuron.
The BP neural network structure model shown in Fig. 4. In this paper, we use the topology
structure of 1-10-3.

Fig. 4 Diagram of BP neural network

The practical input signal of this network model is referen, and the output signal is the
three-phase modulated signal wave function of SVPWM. If the transfer function of the hidden layer
uses tangent type S transfer function tansig, and the output layer’s uses linear transfer function
purelin, the output of the hidden layer can be expressed by (5).
n
h j = f (∑ wij xi − a j ) (n = 1; j = 1, 2, ⋅⋅⋅, m) (5)
i =1

Where, the excitation function of hidden layer is

1
f (x) = (6)
1 + e− x
The expression of the output layer is
m
yk = ∑h w jk − b k (m = 1 0; k = 1, 2, 3) (7)
j
j =1

Then, the error function ek between the network output yk and the desire output uk can be
described by (8).
Training function uses BP algorithm training function trainman of Levenberg-Marquardt to
modify the weights and thresholds, set the maximum training number as 2000 times, training target
error as 0.001 and the learning rate as 0.01. According to the modulated signal wave function, the
value of θ is selected between 0
and 360
as a sample data every 0.2
, and then stored in the
document bpdata.mat. The network training program is as follows.
Clear
% download training datas
load bpda x u
% build BP neural network
net=newff(x,u,10,{‘tansig’, ‘purelin’}, ‘trainlm’);
% configure network parameters (number of iterations, learning rate, target error)
net.trainparam.epochs=2000;
net.trainparam.lr=0.01;
net.trainparam.goal=0.0001;
% training and output of BP neural network
net=train(net,x,u)
y=sim(net,x)
 Key Engineering Materials Vol. 693 1395

Design of PWM wave-generating module

The action time of each switch state for the inverter obtained from the switch vector select
module acts as the input signal of PWM wave-generating module, compares with a triangle carrier
and then outputs three road of PWM waves. Because the inverter switch state under the arms of the
bridge is just opposite to that of upper bridge arm. So, six PWM waves can be obtained, as shown
in Fig.5.

Fig.5 Diagram of PWM wave- generating module

Simulation of SVPWM based on BP neural network

In MATLAB/Simulink simulation environment, combined with ANN toolbox, established the
simulation model of vector control system for permanent magnet synchronous motor, and simulated.
This simulation model includes permanent magnet synchronous motor module, vector transform
module, speed and current PI controller module, ANN-SVPWM modules and inverter modules, and
others.
The simulation parameter is set to: the rated power PN = 1.1 kW, the rated voltage UN = 220 V,
stator resistance Rs = 2.875 Ω, dq axis inductance Ld = Lq = 8.5 mH, the rotor flux ψ = 0.175 wb,
the rotor inertial J = 0.8*10-3 kg • m2, pairs of pole p = 4, dc bus voltage for 200 V, modulation
rates of SVPWM for 5 KHz.
Motor starts with a given speed 600 r/min and load 4 N.m. Fig.6 is speed response curve, and
Fig.7 is phase voltage response curve. The simulation results show that, technology of the SVPWM
based on artificial neural network is feasible to permanent magnet synchronous motor vector
control system. The system has not only fast response performance, and good disturbances ability.
From the current spectrum diagram we can see, in the high frequency and low frequencies, the high
harmonic wave components are relatively low, current waveform distortion rate is 1.66%, thus
effectively reduced torque ripple, harmonic heat loss and other bad influence.

Fig.6 Speed response curve Fig.7 Phase voltage response curve

1396 Advanced Materials and Manufacturing Technology II

Conclusion
The new method of applying BP neural network for fitting SVPWM modulation wave is
presented in this paper. After the training of BP neural network is finished, the value of weight and
threshold will be autosaved. When modulating with triangular carrier, only the output function
needs to be calculated，thereby the computational complexity of sector judgement and the time for
vector computation can be avoided, which has a strong guiding significance for the digital control
system based on DSP to reduce the amont of computation and to improve control accuracy. The
simulation results show the feasibility and validity of this method. Although this algorithm is
relatively complex, but the structure of controller is simplified, system adaptive ability greatly has
been improved, higher harmonic of current is to be effectively controlled, which help to reduce the
torque ripple and further reduce the higher harmonic of input current.

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