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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 33, NO. 3, MAY/JUNE 1997

Analysis of a Hybrid PWM Based on Modied Space-Vector and Triangle-Comparison Methods

Vladimir Blasko, Member, IEEE
Abstract A classical space-vector pulsewidth modulator (PWM) with equal duration of application of zero-state vectors V0 and V7 was modied. A factor-variable k0 (proportional to the time of application of vector V7 ) was introduced. By changing k0 from zero to one, the duration of application of V7 can be changed from 0% to 100% of the combined application time for zero-state vectors. Correlation between modied space-vector and triangle-comparison methods (with added zero sequence) was established. The inuence of factor k0 on characteristics of the PWM was investigated. An expression for the optimal value of k0 that provides minimum ripple in the load current was derived. Salient features of the new algorithm are extended linearity (up to a modulation index of 1.154), reduced switching losses, and ability to change the current spectrum by changing k0 every sampling time. The developed algorithm is suitable for microprocessor and analog implementation. Since the new algorithm combines the theory of space-vector PWM with the ease of implementation of a triangle-comparison PWM, it is named hybrid PWM (HPWM). Index Terms PWM, space-vector modulation, switching losses, triangle comparison.

(a)

I. INTRODUCTION HE triangle-comparison pulsewidth modulator (TCPWM) compares a high-frequency triangular carrier with three reference signals and creates gating pulses for the switches in the power circuit. It can be easily implemented as an analog or a digital solution. Almost all the motor controllers available on the market today have hardware for a digital implementation of the symmetrical PWM (updated once per cycle) or the asymmetrical PWM (updated twice per cycle) or both. To extend linearity, a zero sequence signal is added to the three reference voltages [1]. The zero sequence moves locally averaged voltage of motor neutral (averaged over one period of the carrier) with respect to the center point of the dclink voltage [Fig. 1(a)]. However, neutral is not connected, and locally averaged motor phase voltages remain undistorted and follow reference voltages. Adding the zero sequence (third harmonic), the linearity of PWM is extended to about 15.5%. The space-vector method (SVPWM) [2], [3] operates in a complex plane divided in the six sectors separated by the switching-state vectors [Fig. 1(b)]. The switching-state vectors are dened by a combination of conducting/nonconducting switches in the power circuit of the inverter [Fig. 1(a)]. The
Paper IPCSD-9702, approved by the Industrial Power Converter Committee for presentation at the 1996 Industry Applications Society Annual Meeting, San Diego, CA, October 610. Manuscript released for publication January 6, 1997. The author is with Standard Drives Development, Rockwell AutomationAllen Bradley, Mequon, WI 53092 USA. Publisher Item Identier S 0093-9994(97)03624-4.

(b) Fig. 1. (a) Three-phase inverter with switches A; A; B; B; C; and The denition of switching-state vectors in the complex dq plane.
C

. (b)

complex reference vector is used to locate two adjacent in the rst sector) and to switching-state vectors ( and respectively) for which each one compute the time ( and , is active. For the remaining sampling time or (connecting all of the three-phase zero-state vectors winding to positive or negative rail of the dc bus) are active. SVPWM locally averages, over sampling period , adjacent and zero-state vectors to be equal to the reference vector. In this paper, classical SVPWM with equal duration of and [2], [3] was applications of zero-state vectors modied. The correlation between modied SVPWM and triangle-comparison method was established. A new hybrid PWM (HPWM) algorithm was developed. The inuence of

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The relationship between references in the three-phase system and (or for short) and two-phase system and is dened by

(5) Equations (1)(5) dene classical SVPWM for the rst sector. They can be easily expanded to the other sectors using Fig. 1. To correlate the triangle-comparison method with the spacevector method, one has to nd a set of input reference voltages that, on comparison with the triangle carrier, would produce the same gating pulses as would the space-vector method [Fig. 2(b)]. The equation describing the triangle wave form is (6) are instantaneous and peak values of triangle where and wave form, respectively. By introducing and from (1)(3) into (6) for , and normalizing all the voltages to the base value , the set of normalized reference voltages is obtained (7) (8) It can be seen from (7) that the new set of normalized reference voltages (or modulation functions), which are the inputs to TCPWM, was generated by adding zero sequence voltage to the old set of reference voltages . The zero sequence voltage contains the dc component ( - ) and the combination of the original-initial phase reference voltages. For a balanced system , the zero sequence component of the classical SVPWM follows as a special case of (8) (9) At this point, it is convenient to introduce modulation index , dened as a ratio of amplitude of sinusoidal input signal and peak of the triangle. When dealing with normalized quantities, the modulation index becomes equal to the amplitude of normalized reference . Equations (7)(9) were derived for the rst sector only. The same procedure was repeated for all the other sectors. The results are summarized as follows: (10) (11) (12) and are minimum, middle, and maxiwhere mum values, respectively, of the original input reference voltillustrated in Fig. 3. Working with the minimum, ages medium, and maximum voltages simplies the algorithm and

(a)

(b) Fig. 2. Space vector and triangle comparison methods. (a) Timing of space vectors. (b) Timing of gating pulses of triangle comparison method.

the factor , which determines the durations of application of and on the PWM characteristics, was zero-state vectors investigated. The algorithm for the 50% reduction of switching losses in the inverter was proposed. II. CORRELATION BETWEEN MODIFIED SPACE-VECTOR AND TRIANGLE-COMPARISON PWM Fig. 2(a) illustrates the sequence and timing of application and and active vectors and of zero vectors in the rst sector. Note that vectors and are applied for time and , respectively, where . In and are applied for the classical SVPWM, zero vectors the same time interval (i.e., ). Durations and of gating pulses for switches A, B, and C in Fig. 2 are (1) (2) (3) The derivation of time intervals and during which and active vectors are applied can be zero found in [2] and [3]. A simpler approach that gives the same results follows by inspection of Fig. 2(a); it is evident that during and , bus voltage is applied between lines and , respectively. Time intervals and follow from the required equilibrium of volt-seconds of the reference line to and applied over line voltages , and bus voltage applied over and , respectively (4)

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3 ; v 3 ; and v 3 Fig. 3. Derivation of vmin max from the input reference voltmid 3 . ages va;b;c

eliminates the need for explicit sector identication. A more detailed derivation of (10)(12) can be found in [4]. The block diagram representation of the PWM algorithm based on (10)(12) is shown in Fig. 4(a). The algorithm is convenient for a microprocessor implementation. All the required operations (including sorting to determine maximum and minimum input reference) are simple and fast. The algorithm in Fig. 4(a) is also convenient for an analog implementation. The principle of operation of an analog sorting block is shown in Fig. 4(b). A three-phase rectier bridge with compensated voltage drops on diodes can be used for sorting. Fig. 4(c) shows the generation of a zero sequence component corresponding to classical SVPWM, as implemented on TCPWM hardware. The algorithm to determine the zero sequence voltage with factor as a variable is shown in Fig. 4(d). III. THEORETICAL ANALYSIS A. Rate of Change of Factor Depending on the hardware implementation of PWM, the can be changed twice per carrier period for an asymfactor metrical PWM or once per carrier period for a symmetrical PWM. To analyze the inuence of on characteristics of HPWM, it will be assumed that the frequency of the carrier is much higher than the frequency of the reference signals and that reference signals are constant over . The three-phase load element in Fig. 1(a) consists of inductance , resistance , and an electromotive force corresponding to the particular phase. Under these assumptions, the voltages and currents can be separated on the ripple components, which change over while the fundamental components remain constant over the same period. in the To investigate the trajectory of the ripple current complex plane of Fig. 1(b), the differential equation with only ripple components (designated with is sufcient (13) is the space vector of the ripple voltage equal to where the difference between the actual voltage vector and reference . Evidently, vector is equal to the reference vector during and to the vector with negative polarity
OF

Fig. 4. (a) Block diagram of HPWM. (b) Analog implementation of sorting block. (c) Zero sequence generation for k0 = 0:5. (d) Generation of zero sequence with k0 as a variable.

HPWM

difference between the active vectors (for the rst during and . All of sector) and reference vector and these voltage components are constant over With the resistance in (13) neglected, the voltage vector is applied only on the inductance . The change of current and follows from (13) during (14) (15) (16) Introducing and ing all voltage values to the base value the following is obtained: (18) (19) (20) where and are normalized current vectors and are normalized voltage from (14) to (16) and and . vectors for . For From (18), it follows that , the PWM is not able to provide required and starts to saturate. For the three-phase sinusoidal system with zero sequence added, it happens when the modulation index . Without adding zero sequence becomes , it is evident from Fig. 2(b) that PWM starts . to saturate already at from (4) into (14)(16), normalizand normalizing currents to (17)

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(a)

intervals and and current ripple vector on horizontal phase axis in Fig. 5(a). Using (4) to calculate time intervals and , voltage and current wave forms of all three phases can be constructed by scalar projections of voltage and current vectors in Fig. 5(a) on phase axes and . The vectors and are in Fig. 5(a) ; located between points and vector and vector ; and and vector . Note and have the same directions that vectors as and , respectively. Factor determines the distribution of zero-state vectors and (at the end and beginning of ) over and . Thus divides the vector over these two states and moves it (together with the corresponding triangle) with respect to the origin in Fig. 5(a). Change of from zero to one moves the rst triangle in Fig. 5(a) in the direction of along the side , with being in origin for and being in origin for . For , the origin is in the middle of the side of the triangle (or in the middle of . For the change of from zero to one, the second triangle moves in the opposite direction of along the side , with being in origin for and being in the origin for . For , the origin divides on two unequal parts: between and between . Evidently, given the factor , (4) and (18)(20) are sufcient for the construction of Fig. 5(a) and for determining wave forms of voltage and current ripple in all three phases. Change of in the middle of the carrier from to affects the shape of polygon (which combines two triangles) and moves its centroid from the origin Fig. 5(a). Thus it effects both the ripple and the fundamental component of current. The effect of change of on the fundamental component can be quantied through (21) (22) where and are local average values of ripple averaged during the rst half, second half, and current whole carrier period, respectively. The vectors and in Fig. 5(a) and average values and in Fig. 5(b) were obtained by simulation using (13), (21), and (22). Note that tips of vectors and are not located at the centroids of (similar) triangles created by locus of . By changing in the center of the carrier, the gating pulses A, B, and C in Fig. 5(b) shift by the interval (23) Vector vector applied on during creates the average current (24) Normalizing (24) for and and using (18), it follows: (25)

(b)
~ v

 and voltage vectors ~ i Fig. 5. (a) Trajectory of the current ~ v1 ; ~ v2 , and 3 in a complex plane. (b) The corresponding phase a quantities in time   domain. Phase ripple current and voltage ia and va , factor k0 changed from av ; iav , k01 = 0:5 to k02 = 0:9 in the middle of triangle vt , average values i a1 a2  and iav a of current ia , and gating pulses A, B, and C.

The results of simulation of normalized (13) are shown in Fig. 5. Fig. 5(a) shows trajectory of the space vector and voltage vectors and in a complex plane. The triangles and are created by vector during the rst and the second sampling interval (i.e., and ). Fig. 5(b) shows the corresponding time domain results for phase . The reference vector having a magnitude of 0.8 (or ) and phase angle was assumed in the simulation. The time instances in Fig. 5(a) correspond to those in Fig. 5(b). and in Fig. 5(b) Voltage and current wave forms are scalar projections of vectors and during time

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It is visible from (25) that average current vector has the same direction as (or the opposite direction of ) for positive . The results of simulation in Fig. 6 show positions of triangles or locus of ripple current , with constant (a)(c) over carrier period , and changed (d) at in the middle of the triangle. Note that keeping constant over and changing it from zero to one causes the triangles from Fig. 6(a) to slide along the common side in the direction for shown by dashed lines toward the position in Fig. 6(c) for . Fig. 6(b) shows the intermittent position of triangles . Regardless of the value for classical SVPWM with of , the triangles in Fig. 6(a)(c) are positioned in such a way that centroids of resulting polygons are in the origins of coordinate systems. Average ripple space vectors are related as , with the resultant vector equal to zero. Thus, change of every affects the current ripple but does not affect the fundamental component on locally average bases over . On the other hand, change of in the center of the triangle from zero to one (like in Fig. 6(d), which can be viewed as a combination of Fig. 6(a) for and Fig. 6(c) for ) creates a resultant average current component. The locus of space-vector ripple component is the same as in Fig. 6(b), shifted by created average component . Change of from to in the middle of the triangle creates the maximum value of as predicted by corresponds to the length (25), where the magnitude of of the common side of the triangles in Fig. 6(d). B. Inuence of the Factor on Current Ripple

 Fig. 6. Trajectory of the space vector ~ i , with k0 constant over carrier period Tcarr = 2Ts . (a) k0 = 0. (b) k0 = 0:5. (c) k0 = 1. Dashed lines show the direction of movement of triangles when k0 increases from zero to one. (d) k0 changed in the middle of the triangle at t = Ts from k01 = 0 to k02 = 1.
with coefcients

moves the triangles created by the space vector Factor of current ripple in the complex plane. Thus, it affects the current ripple in all three phases, and for or , it causes one leg of the inverter to stop switching [Fig. 2(a)]. It has substantial impact on characteristics of PWM and losses of the inverter. The inuence of on current ripple can be quantied by the cumulative square rms current in all three phases [6][8] of the load (26) are normalized ripple components of currents in where all three phases, with the base value dened by (17). As a similar analysis exists in [6][8], only the principal results will be presented here. To derive analytical expression for current , the load in Fig. 1(a) was transformed from into delta connection. This provides simpler wave forms of ripple voltage on inductances of the load and simplies the derivation of (26). Fig. 2(a) was used for the time distribution of over particular windings. The solution of integral (26) gave the polynomial dependence of current on factor (27)

where and . Averaging (27) over a sector provides current , which can be used for the comparisons of different modied reference wave forms (28) The optimal factor , which provides minimum cumulative rms current (27), follows as a solution of the equation

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opt Fig. 7. The dependence of k0 on modulation index space reference vector.

m and angle

of the

33 ; reference voltage v 3 ; Fig. 9. Wave forms of modied reference voltage va a 3 at m = 1:155 and different factors k . (a) and zero sequence voltage vzs 0 k0 = 0. (b) k0 = 0:5. (c) k0 = 1.

the approximation with , as in classical SVPWM, produces only a marginal improvement; reduction in is less than 3 for . Apparently, in addition to , only factors and , which provide reduction of switching by one-third, remain to be considered in the optimization process to minimize switching losses on the semiconductor devices or to minimize ripple current in the load. The distributions of over the rst sector for three characteristic cases, i.e., and , are presented in Fig. 8. Factor being close to optimum provides the smallest cumulative ripple current of all the three at the beginning and end of the cases. The reduction of sector in Fig. 8(a) for higher modulation indexes was explained in [10] as being caused by the reduction of the ripple voltage vector on the load when the reference vector comes in the vicinity of one of the active state vectors. The surfaces for and are not symmetrical around the center of the sector. They lean toward one side of the sector and on average are smaller in one-half of it. Parts (b) and (c) of Fig. 8 are mirror images of each other across the center of the sector. Figs. 7 and 8 can be used in all the sectors, relabeling only the axis. For instance, in sector two, the angle labels 0 , 20 , and 40 should be replaced with 120 , 100 , and 80 , respectively (note that gures are ipped across the 60 line between sectors). C. Inuence of the Factor
Fig. 8. Dependence of current i2 rms on modulation index space vector . (a) k0 = 0:5. (b) k0 = 0. (c) k0 = 1.

on Reference Voltage

and angle of

The dependence of on modulation index and angle of the space vector is presented in Fig. 7. Factor is close to 0.5 almost through the entire plane of the sector. The differences start to be signicant only if the modulation index is higher than one. As a result, use of rather than

HPWM modies reference voltages, depending on , by adding zero sequence to them according to (7) and (8). With , Fig. 9 shows zero sequence modulation index and reference voltages for characteristic constant values of and . Reference voltages for and are mirror images of each other. For one-third of or peak the (fundamental) period, they are equal to the value of , causing continuous conduction and reduction of switching by one-third. Voltage reference for all the factors

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33 ; reference voltage Fig. 10. Wave forms of modied reference voltage va 3 3 va ; and zero sequence voltage vzs at m = 1:0, with step change of k0 in the middle of sectors (a) and (b) and at the ends of sectors (c) and (d).

are nonsymmetrical around the time axis. For the modulation index smaller then 1.155, reference voltage is between 0 and 1 at any , providing extended linearity as predicted by (18). Fig. 10 illustrates the characteristic wave forms of HPWM with step change of factor between zero and one with frequency three times higher than the frequency of reference signals. Factor as a function of time in Figs. 9 and 10 in plane in Fig. 1(b) becomes a function of angle . The change of occurs in the middle of the sector for Fig. 10(a) and (b) and at the ends of the sectors for Fig. 10(c) and (d). The innite set of modulation functions, with those in Fig. 10 as typical, can be generated using HPWM and by gradual time shifting of the discontinuous function in Fig. 10(c) from 0 and 120 . All the reference wave forms (Figs. 9 and 10) generated by the HPWM have also been generated by different PWM schemes reported in [2], [5], [6], and [9]. References [5] and [6] provide further (historic) information related to the wave forms of Figs. 9 and 10. D. Optimal HPWM Changing factor in Fig. 10(a) from one to zero in the middle of the sector selects a portion of Fig. 8(c) with and part of Fig. 8(b) with . surfaces in Fig. 8(b) and Thus, it selects the peaks of (c), causing the highest current ripple of all the modulation functions in Figs. 9 and 10. On the other hand, the opposite change of factor from zero to one, as in Fig. 10(b), in Fig. 8(b) and (c), resulting selects the valleys of in the smallest current ripple. Note that with the increase of modulation index above one, the optimal factor in

Fig. 7 tends toward the approximation with discontinuous function in Fig. 10(b), for and for , and is opposite to in Fig. 10(a). Factor constant over one or more sectors, as in Fig. 9(a) and (c) and Fig. 10(c) and (d), causes current ripple as in Fig. 8(b) or (c). The average value of current ripple over the sector(s) is between the extremes: maximum in Fig. 10(a) and minimum in Fig. 10(b). In [6] and [7], it was pointed out that the highest reduction in switching losses for discontinuous modulation function is achieved when the peaks of the load current are in the center of at parts (1 or 1) of the modulation function. Then one of the legs in the inverter does not switch for 60 when the current has maximum value in this particular leg. Thus switching losses are reduced up to 50%, although reduction of effective switching frequency is only 33%. Clearly, one of the methods to reduce switching losses is to keep at parts of the modulation function aligned and symmetrical around peaks of load (sinusoidal) current. The continuous modulation function with in Fig. 9(b) provides the smallest current ripple over the entire sector [Fig. 8(a)] of all the discontinuous modulation functions. It gives the opportunity to operate HPWM with reduced frequency (at 50% of rated value) at smaller modulation indexes (or at smaller speeds of the drive) without excessive current ripple. At high-modulation indexes, the surface of in Fig. 8(a) comes close to those for the discontinuous modulation in Fig. 8(b) and (c). At higher speeds (above 50 base speed), HPWM can be switched to rated (double) frequency but to discontinuous modulation. Function (similar to Fig. 10) should be shifted along time axes to maintain current and at parts of in phase and to keep switching losses at the same 50 level. The above optimal strategy to minimize the losses in the inverter with inductive load (current lagging voltage for 30 ) is presented in Fig. 11. From Fig. 11(a), it is visible that and is continuous modulation with maintained for up to , as dened by (30) After that, and were selected in the rst sector. Equation (30) was determined experimentally to provide easy microprocessor implementation and smooth transition between continuous and discontinuous modulation without a big impact on , as illustrated in Fig. 11(b). The PWM strategy optimizing current ripple rather than losses in inverter was proposed in [11]. IV. RESULTS OF SIMULATION AND EXPERIMENTAL RESULTS The results of simulation in Fig. 12 illustrate the operation of HPWM with random change of around 0.5 every sampling interval Hz. The random change of adds a random component to and makes of current in Fig. 12(c) uniformly distributed. spectrum It affects the acoustic noise produced by the drive. The spectrum of the current obtained under the same conditions

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Fig. 11. The algorithm for reduction of switching losses to . (a) Dependence of k0 and frequency f =fmax . (b) Corresponding current ripple 2 irms over the rst sector.

50%

but with constant [Fig. 12(b)] is mostly below 60 dB for frequency range 2001500 Hz. Fig. 13 gives experimental verication of HPWM. It presents wave forms and , with changed between zero and one with three times the fundamental frequency as in Fig. 10(a). The wave forms were taken on a 100-kW three-phase regenerative voltage-source converter (VSC) with unity power factor [9] at input voltage 480 V, dc bus voltage 730 V, line reactor 0.5 mH, and carrier frequency 5 kHz. Since a VSC typically operates with a unity power factor and high modulation index, the PWM strategy according to Figs. 10(a) or 13 is suboptimal; it provides minimum losses in the power devices. However, the PWM strategy of Fig. 10(b) would provide smaller current ripple in the utility currents. V. CONCLUSION Space-vector PWM was modied to enable change of the duration of the application of zero vectors and . The correlation between modied space-vector and trianglecomparison PWM was established. A variable , proportional to the duration of application of vector , was introduced. By changing from zero to one, the duration of application of can be changed from 0% to 100% of the combined duration and . of application of zero vectors A new algorithm suitable for analog and digital implementation of the modied space-vector method was developed. The algorithm is universal and exible in nature. It allows easy generation of various PWM schemes reported in the literature and provides means of smooth transition between them by changing .

33 ; triangle Fig. 12. Wave forms. (a) Normalized discrete reference voltage va vt ; and factor k0 . (b) Current ia and switching function A. (c) Spectrum Ck of current ia k0 changed randomly around 0.5 with twice the carrier frequency. : constant. (d) Spectrum Ck when k0

= 05 =

3 ; v 33 ; v 3 , and current i , Fig. 13. Experimental results. Wave forms of va a a zs with k0 changed between zero and one as in Fig. 10(a).

The factor/variable can be changed within every sampling interval to provide relative movement between the center of the PWM pattern and the center of the triangle, affecting the

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spectrum of the current and audible noise of the drive. Change of every even multiple of sampling intervals affects the current ripple without changing the fundamental component. The HPWM strategy is proposed for electrical drives, which reduces switching losses approximately 50%. The operation with 50% reduced switching frequency and continuous modulation at smaller speeds corresponding to modulation index of approximately 0.5 is selected. At higher modulation indexes, HPWM operates with rated frequency but with switched between zero and discontinuous modulation, with one to have continuous conduction of one leg of the bridge for 60 when the current is at the maximum in this leg. REFERENCES
[1] J. A. Houldsworth and D. A. Grant, The use of harmonic distortion to increase output voltage of a three-phase PWM inverter, IEEE Trans. Ind. Applicat., vol. IA-20, pp. 11241228, Sept./Oct. 1984. [2] H. W. van der Broeck, H. C. Skudelny, and G. Stanke, Analysis and realization of a pulse width modulator based on voltage space vectors, in Proc. IEEE IAS Annu. Meeting, Denver, CO, 1986, pp. 244251. [3] J. S. Kim and S. K. Sul, A novel voltage modulation technique of the space vector PWM, in Conf. Rec. IPECYokohama 95, pp. 742747. [4] V. Blasko, A hybrid PWM strategy combining modied space vector and triangle comparison methods, in Conf. Rec. PESC-96 Annu. Meeting, Baveno, Italy, June 2327, 1996. [5] H. W. van der Broeck, Analysis of the harmonics in voltage fed inverter drives caused by PWM schemes with discontinuous switching operation, in Proc. EPE Annu. Meeting, Firenze, Italy, 1991, pp. 32613-266. [6] J. W. Kolar, H. Ertl, and F. C. Zach, Inuence of the modulation method on the conduction and switching losses of a PWM converter system, in Conf. Rec. 25th IEEE IAS Annu. Meeting, Seattle, WA, Oct. 712, 1990, pp. 502512. , Minimizing the current harmonics RMS value of three-phase [7] PWM converter system by optimal and suboptimal transition between

[8]

[9] [10] [11]

continuous and discontinuous modulation, in Conf. Rec. 22nd IEEE Power Electron. Specialist Conf., Cambridge, MA, June 2427, 1991, pp. 372381. , Minimization of the harmonic RMS content of the mains current of a PWM converter system based on the solution of an extreme value problem, in Proc. 4th Int. Conf. Harmonics in Power Syst., Budapest, Hungary, Oct. 46, 1990, pp. 234243. V. Kaura and V. Blasko, Operation of a voltage source converter at increased utility voltage, in Conf. Rec. PESC-95 Annu. Meeting, Atlanta, GA, June 1822, 1995, pp. 523527. J. Holtz and B. Bayer, Optimal pulsewidth modulation for ac servos and low-cost industrial drives, IEEE Trans. Ind. Applicat., vol. 30, pp. 10391047, July/Aug. 1994. S. Ogasavara, H. Akagi, and A. Nabae, A novel PWM scheme of voltage source inverters based on space vector theory, in Conf. Rec. 3rd European Conf. Power Electron. and Applicat., Aachen, Oct. 912, 1989, pp. 11971202..

Vladimir Blasko (M89) received the B.Sc., M.S., and Ph.D. degrees in electrical engineering from the University of Zagreb, Croatia, in 1976, 1982, and 1986, respectively. From 1976 to 1988, he worked in the Power Electronics and Automatic Control Department of the Electrotechnical Institute Rade Koncar, Zagreb, Croatia. From 1989 to 1992, he was with the Research and Development Center of the Otis Elevator Company, Farmington, CT. Since 1992, he has been with the Standard Drives Division of Rockwell AutomationAllen Bradley Company, Mequon, WI. He has been working on research, development, and design of high-power transistor choppers, drives for electrical vehicles, high-performance ac elevator drives, and lowharmonics regenerative three-phase voltage source converters. His primary areas of interest are ac drives, intelligent power management, power electronics, applied modern control theory, and technology. Dr. Blasko was with the University of Wisconsin-Madison during the 198889 academic year as a recipient of the IREX scholarship.