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Analysis of voltage and current for multicarrier based multilevel inverter

Conference Paper · May 2014

DOI: 10.1109/SCES.2014.6880106

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 Analysis of Voltage and Current for Multicarrier
Based Multilevel Inverter
Mayank Kumar, Student Member, IEEE, and Rajesh Gupta, Senior Member, IEEE

Abstract-- This paper presents a mathematical analysis of level
shifted multicarrier carrier based naturally sampled pulse width
modulation (PWM) of multilevel inverter. The switching
waveforms are realized using double Fourier integral solution
and solved using Bessel’s function of first kind. The analysis is
generalized and can yield output of any level of the cascaded H-
bridge multilevel inverter. The mathematical equations are
obtained for the multilevel inverter output voltage. The
analytical results are obtained for the multilevel inverter current.
It is shown through the frequency response plot that the ripple
magnitude of the current decreases with both increase in number
of levels and carrier frequency. The mathematical computations
and frequency spectrum are obtained through the MATLAB
software to verify the results.
In this paper, the analytical approach for naturally sampled
PWM strategy using level shifted multicarrier has been
investigated for the multilevel inverter. Mathematical
expression using Fourier double integral technique has been
derived for the generalized n–level inverter using (n-1) level
shifted carriers. The Bessel's function of first kind is used to
derive the final mathematical expression for the inverter
output voltage. A closed-form solution to analyze the current
behavior flowing through the inductive load across the
multilevel inverters has been obtained. It is shown that at
higher switching frequency both the filtering effect and
lowering of harmonic amplitude, significantly reduces the
ripple component in the current.

Index Terms—Bessel’s function, double Fourier integral II. CARRIER BASED THREE-LEVEL INVERTER
solutions, natural sampling
Carrier based pulse width modulation techniques can be
I. INTRODUCTION used for the multilevel inverters with the multiple carriers

P
which are either phase shifted or level shifted. The basic level
ULSE width modulation (PWM) strategies have been
shifted carrier modulation is first reviewed for the three-level
the subject of many years of research effort in the area
inverter and then analyzed for higher level inverter.
of multilevel inverters for generating switching pulses
and analyzing its output. Multilevel inverters have significant A. H-Bridge Three-Level Inverter
importance in high and medium power industries. With
Fig. 1 shows a single phase H-bridge three-level inverter.
suitable choice of modulation method multilevel output
The switches for this inverter are shown as S1, S2, S3, S4, and
voltage can be obtained with low value of high frequency
realized using IGBT. The anti-parallel diodes used with
distortion [1].
switches are D1, D2, D3 and D4, respectively. The three output
Mathematical explanations are advantageous for
voltage levels are, –VDC, 0 and +VDC;, and can be synthesized
understanding the PWM strategies in particular applications.
using suitable combination of the switches. The pair of
For cascaded multilevel inverters the benefits of phase shifting
complementary switches are (S1, S4) and (S3, S2), i.e., when S1
or level shifting carrier waveforms have been well recognized
is ON, S4 is OFF, at the same time instant. A suitable dead
[2]-[3]. Complete mathematical explanation of these benefits
time is inserted between the turn ON and OFF time between
for naturally sampled PWM for cascaded multilevel inverters
the complementary switches to avoid any short circuit
is important for analysis of voltage and current of the inverter.
condition [9].
Some analytical solutions for the better known modulation
Fig. 2 shows carrier based PWM switching pulse
strategies have been developed in [4]-[6]. These solutions are
generation technique. The three-level inverter require two
challenging for understanding and implementation, and are
level shifted carriers which are in same phase and each one
not used commonly. The harmonic components present in the
PWM output need to be investigated to determine their has peak magnitude of Vtri with frequency of ωc, where ωo is
magnitudes [7]-[8]. the frequency of reference waveform. Fig. 3 shows the output
voltage waveform of the three-level inverter. Switching is
performed according to naturally sampled carries with respect
to the reference waveform.
Authors are with the Department of Electrical Engineering, Motilal Nehru
National Institute of Technology, Allahabad -211004 India (e-mail:
dedicatedmayank@gmail.com, rajgupta310@gmail.com).

978-1-4799-4939-7/14/$31.00 ©2014 IEEE

 where
ωc = carrier frequency
ωo = fundamental frequency
θc, θo = phase-shift for carrier and reference, respectively
Using two variables x and y, (1) can be generalized as below
[10], [11].
∞
ao ( y )
v ( x, y ) =
2
+ ∑
m =1
am ( y ) cos mx + bm ( y ) sin mx (4)

For any PWM strategy, the double Fourier integral

formulation (4) must be evaluated for each harmonic
frequency (mx+py). The complete time varying switched
Fig. 1. Configuration of H-bridge three-level inverter. waveform can be expressed in sinusoidal harmonic component
form as below [12].
∞
a0
v(t) =
2
+ ∑{a
p =1
0p cos py + b0 p sin py}

(dc-offset, fundamental and baseband harmonics)

∞
+ ∑{a
m =1
m0 cos mx + bm0 sin mx} (carrier harmonics)

∞ ∞
+ ∑ ∑ {a
m =1 p =−∞
mp cos(mx + py ) + bmp sin(mx + py )}

Fig. 2. Carrier and reference waveform for three-level multicarrier carrier p ≠0

level-shifted PWM.
(carrier sideband harmonics) (5)
Fig. 4 shows a single-pulse of three-level inverter which is
generated by naturally sampled PWM. The modulation
compares the reference waveform with the carrier waveform
as shown in the Fig. 4, where, 2π is period of the carrier
signal. Xr and Xf are rising and falling end, respectively, of the
generated pulse, from centre of the carrier waveform, and can
be defined as below.

Fig. 3. Output voltage of three-level inverter.

B. Mathematical Analysis
According to the principle of Fourier decomposition any
time varying periodic waveform v(t) can be expressed as an
infinite series of sinusoidal harmonics. i.e.,
∞
ao
v (t ) = + ∑
2 m =1
am cos mt + bm sin mt (1)

A function v(x, y) of two variable can be defined as below.

x (t ) = ω c t + θ c (2)
Fig. 4. Inner integral limits for naturally sampled PWM for three-level
inverter.
y (t ) = ωo t + θ o
(3)
X r = −π × M i cos y (6)

X f = +π × M i cos y (7)

Vm
Where, M i = , Modulation Index
Vtri

a0 = 2 × Mi × cos y (8)

2
am = sin ( Mi × m×π × cos y ) (9)
πm

bp = 0 (10)
Substituting (8), (9) and (10) in (4), it can be generalized as
(16.a) and (16.b), written later. Where, m is baseband index, p
is sideband index and Jp is Bessel’s function of first kind. The
frequency modulation ratio (fc/fo) has already been chosen
high, the spectral component in (16.a), (16.b), (17.a), and
(17.b) may be considered band limit, such that with increase
in both baseband and sideband index the strength of harmonic
component decreases [13].

III. CARRIER BASED HIGHER-LEVEL INVERTER

A. Cascaded H-Bridge Multilevel Inverter
Fig. 5 shows configuration of cascaded H-bridge n-level
inverter. The n-level inverter topology requires (n-1)/2 (=N)
independent DC power supplies, where N is the number of H-
Fig. 5. Configuration of n-level cascaded H-bridge inverter.
bridges. The magnitude of independent voltage sources are
2VDC/(n-1), with the net dc-link voltage is VDC. The n-level
output voltage, i.e., -VDC,...,-2VDC/N, -VDC/N, 0, +VDC/N,
+2VDC/N,...., +VDC, can be synthesized using suitable
combination of the switches.
The IGBT switches S11, S12,….,SN4 with anti parallel diode
are used for high switching frequencies. The voltage stress
across the IGBT switches are 2VDC/(n-1). The switches on the
same leg are complementary, i.e., switches SN1, SN4 and SN3,
SN2 are complementary with each other, where N is the
number of H-bridges in Fig. 5. The carrier based PWM
switching pulse generation technique is shown in Fig. 6. The
n-level inverter required (n-1) level shifted carriers defined as
below. Each of the carriers has peak magnitude of Vtri. Fig. 6. Carrier and reference waveforms for higher-level inverter using PWM.

⎛ 2 ⎞ B. Mathematical Analysis of Multilevel Output Voltage

Vtri1 = ⎜ ⎟ Vtri (11)
⎝ n −1 ⎠ The terms Xr and Xf for multilevel inverter can be defined
as below.
⎛ n−3⎞ π
Vtri 2 = ⎜ ⎟ Vtri (12) Xr = − × {(n − 1) M i cos y + (3 − n)}
⎝ n −1 ⎠ (13)
2

π
Xf =+ × {(n − 1) M i cos y + (3 − n)} (14)
2
 ∞ ∞
⎧ (3 − n) ⎫ 4 1 ⎧ mM i π ⎫ ⎧π ⎫
un (t ) = ⎨
⎩ (n − 1)
+ M i cos(ωo t + θ o ) ⎬ + ∑∑Jp ⎨
⎭ π (n − 1) m =1 p =−∞ m ⎩ 2
(n − 1) ⎬ sin ⎨ (m(3 − n) + p) ⎬ cos {m(ωc t + θ c ) + p(ωo t + θ o )}
⎭ ⎩2 ⎭

(15)
∞ ∞
4VDC 1 ⎛ mM iπ ⎞ ⎧ π ⎫
V3 (t ) = VDC + VDC M i cos y +
π ∑ ∑ mJ
m =1 p =−∞
p ⎜ 2 ⎟ sin ⎨ 2 (m + p ) ⎬ cos(mx + py )
⎝ ⎠ ⎩ ⎭
(16.a)

∞ ∞
4VDC 1 ⎛ mM iπ ⎞ ⎧π ⎫
V3 (t ) = VDC + VDC M i cos(ωo t + θ o ) +
π ∑ ∑ mJ
m =1 p =−∞
p ⎜ 2
⎝
⎟ sin ⎨ 2 (m + p) ⎬ cos {m(ωc t + θ c ) + p(ωo t + θ o )}
⎠ ⎩ ⎭
(16.b)

∞ ∞
VDC (3 − n) 4VDC 1 ⎧ mM i π ⎫ ⎧π ⎫
Vn (t ) =
(n − 1)
+ VDC M i cos y + ∑∑ Jp ⎨
π (n − 1) m =1 p =−∞ m ⎩ 2
(n − 1) ⎬ sin ⎨ (m(3 − n) + p) ⎬ cos( mx + py )
⎭ ⎩2 ⎭
(17.a)

∞ ∞
VDC (3 − n) 4VDC 1 ⎧ mM iπ ⎫ ⎧π ⎫
Vn (t ) =
(n − 1)
+ VDC M i cos(ωo t + θ o ) + ∑∑
Jp ⎨
π (n − 1) m =1 p =−∞ m ⎩ 2
( n − 1) ⎬ sin ⎨ ( m(3 − n) + p) ⎬
⎭ ⎩ 2 ⎭
cos {m(ωct + θc ) + p(ωot + θo )} (17.b)

Substituting (19)-(21) in (4), it can be generalized as (17.a)

and (17.b), with the help of Jacobi-Anger expression.
C. Mathematical Analysis of Inverter Current:
The load is supplied to the multilevel inverter having
inductance L and resistance R as shown in Fig. 5. Using KVL,
diL
unVDC − L − RiL = 0 (22)
dt
Where un is defined in (15), with the first term denotes the
fundamental component and the remaining components are
Fig. 7. Inner integral limits for naturally sampled PWM for n-level inverter.
responsible for carrier, baseband and sideband harmonic
The switching logic can be defined as follows, components. By increasing the value of carrier frequency the
dominant harmonic components gets shifted to the higher
⎧ 2 ⎫ frequency region. By increasing the number of levels in the
⎪+ ,Vref > Vtri ⎪ multilevel inverter the magnitude of the harmonic component
⎪ ( n − 1) ⎬ and Vref > 0 both in baseband and sideband decreases. Both these factors
⎪
⎪ 0, Vref < Vtri ⎭⎪ reduces the ripple components in the load current. This can be
un (t ) = ⎨ (18) illustrated using the frequency domain approach. Following
⎪ − 2 ,V ⎫
< Vtri ⎪ transfer function can be derived using (22).
⎪ (n − 1) ref
⎪ ⎬ and Vref < 0
⎪⎩ 0, Vref > Vtri ⎪⎭ I (s) V
= DC (23)
U n (s) sL + R
Using the values of rising and falling end of the symmetric
pulse in x-axis from (13) and (14), the Fourier series Fig. 8 shows the bode plot of the transfer function (23), for
component can be easily determined as below. L = 8 mH and R = 10 Ω. It can be seen from the frequency
2 response plot that fundamental frequency component of (15)
a0 =
n −1
{( n − 1) cos y + ( 3 − n )} (19) will generate the sinusoidal load current at the fundamental
frequency, following the circuit admittance function. The high
frequency component of (15) will generate the ripples at the
am =
4
π ( n − 1) m
sin {
mπ
2
{( n − 1) cos y + ( 3 − n )} } (20) base frequency of carrier with the magnitude decreasing at the
higher frequencies, i.e., the ripples gets attenuated at higher
frequencies.
bp = 0 (21)
 Fig. 11. Output current for five-level inverter at fc=3 kHz and Mi=0.9.

Fig. 8. Frequency response of multilevel inverter.

The n-level inverter equations (17.a and b) can be used to

generate output voltage waveform. In the next section, these
equations are used to generate output waveform in the
MATLAB software. Fig. 12. Nine-level output voltage waveform of inverter at fc=3 kHz and
Mi=0.9.
IV. SIMULATION RESULT
The output voltage and current are determined for R = 10
Ω, and L = 8 mH at different modulation index. Fig. 9 shows
the output switched voltage waveform using mathematical
expression at 1 kHz and 0.9 modulation index, for a three-
level inverter.

Fig. 13. Output current for nine-level inverter at fc=3 kHz and Mi=0.9.

Fig 14 and 15 shows the output voltage and current

Fig. 9. Three-level switched output voltage waveform at fc = 1 kHz and Mi =
0.9.
waveform for nine-level inverter at carrier frequency of 3 kHz
and modulation index of 0.4. The fundamental component
decreases owing to decreased modulation index. However the
ripple magnitude remains same as that shown in Fig. 12 due to
same carrier frequency and number of levels.

Fig. 10-13 shows the output voltage and current waveforms

for five and nine levels at carrier frequency of 3 kHz and
modulation index of 0.9, respectively. It can be seen that the
fundamental component of the current in both the cases
remains same owing to the same modulation index that
corresponds to the fundamental component gain in Fig. 8. The
ripple magnitude decreases at higher inverter level due to
reduced magnitude of harmonic voltage component from (15). Fig. 14. Nine-level output voltage waveform of inverter at fc=3 kHz and
Mi=0.4.

Fig. 10. Five-level output voltage waveform of inverter at fc=3 kHz and Fig. 15. Nine-level inverter output of current waveform at fc=3 kHz and
Mi=0.9. Mi=0.4.
 Fig. 16 shows the magnitude spectrum of the load current ∞
π
harmonics at three and seven-level inverter with carrier
frequency of 3 kHz, modulation index of 0.9, R = 10 and L =
cos(ξ cos θ ) = J 0 (ξ ) + 2 ∑ cos(k 2 )J
k =1
k (ξ ) cosk θ (25)

1 mH. The results are repeated for seven-level inverter with

carrier frequency of 6 kHz and shown in Fig. 17. The VI. CONCLUSION
magnitude of fundamental component in three cases are the
This paper presented the generalized analytical approach to
same 8.986 A, and with the total harmonic distortion of
determine the voltage and current harmonic components for n-
24.07%, 8.43% and 4.88%, respectively. This verifies that the
level inverters using level-shifted multicarrier PWM. The
harmonic components in the output current decrease with the
method is applicable for any carrier and fundamental
increase in number of level and switching frequency.
frequency. It is shown through the time-plot and frequency
spectrum that the ripple magnitude in the current decreases
with both increase in number of levels and carrier frequency.

VII. REFERENCES
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V. APPENDIX
Jacobi-Anger expression:
∞
π
sin(ξ cos θ ) = 2 ∑ sin(k 2 )J
k =1
k (ξ ) cosk θ (24)

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