Despite having received three payments, I'm unable to find any corresponding invoices for these transactions.
You are the supplier, Apple is the customer. Apple pays you for the apps. It is YOU who needs to generate invoices, not Apple.
clarify whether developers in Spain are required to submit a monthly invoice in PDF format.
I don't think so. Apple certainly doesn't care. There are some countries where businesses are required to always supply an invoice; I think Italy is one, or used to be one. The typical story is that you go to Italy on holiday, and when you leave a restaurant you leave the paid bill on the table; the waiter then runs down the street after you to give you the bill that you have forgotten, in case a "financial policeman" asks you for it. I don't think this ever happened in Spain, so I guess that you don't need to do this.