ID PWM Inverters

PWM Inverters
Inverters
Classifications
Single phase & three phase
Voltage Source & Current source
Two-level & Multi-level
Voltage Source Inverter
Sinusoidal PWM

Space vector modulation
Topics
To control inverter output frequency (fundamental)
To control inverter output voltage (fundamental)
To minimize harmonic distortion
Why Use PWM Techniques?
Open loop voltage control
Closed loop current-control
VSI
AC
motor
PWM i
ref

i
f/back

VSI
AC
motor
PWM
v
ref

Inverter Configuration
4
Voltage Source Inverter (VSI)
Six-Step VSI
Waveforms of gating signals, switching sequence, line to negative
voltages for six-step voltage source inverter.
Gating signals, switching sequence and line to negative voltages
where, 561 means that S
5
, S
6
and S
1
are switched on
Six inverter voltage vectors for six-step voltage source inverter.
Switching Sequence:
561 (V
1
) 612 (V
2
) 123 (V
3
) 234 (V
4
) 345 (V
5
) 456 (V
6
) 561 (V
1
)
5
Six-Step VSI
Waveforms of line to neutral (phase) voltages and line to line voltages
for six-step voltage source inverter.
Line to line voltages (V
ab
, V
bc
, V
ca
) and line to neutral voltages (V
an
, V
bn
, V
cn
)
V
ab
= V
aN
- V
bN
V
bc
= V
bN
- V
cN
V
ca
= V
cN
- V
aN
Line to line voltages

V
an
= 2/3V
aN
- 1/3V
bN
- 1/3V
cN
Phase voltages

V
bn
= -1/3V
aN
+ 2/3V
bN
- 1/3V
cN
V
cn
= -1/3V
aN
- 1/3V
bN
+ 2/3V
cN
6
Six-Step VSI
Harmonic spectrum of a square wave
Six-Step VSI
Amplitude of line to line voltages (V
ab
, V
bc
, V
ca
)
Fundamental Frequency Component (V
ab
)
1
Harmonic Frequency Components (V
ab
)
h
: amplitudes of harmonics decrease inversely proportional to their harmonic order
dc dc
dc
V 78 . 0 V
6
2
V 4
2
3
~ = =
t t
(rms) ) (V
1 ab
3,.....) 2, 1, (n 1 6n h where,
V
78 . 0
dc ab
= =
=
h
(rms) ) (V
h
7
Six-Step VSI
AB DC
4
V (1) V cos (4(b))
n 2
o
| |
=
|
t
\ .
8
Characteristics of Six-step VSI
It is called six-step inverter because of the presence of six steps
in the line to neutral (phase) voltage waveform

Harmonics of order three and multiples of three are absent
from both the line to line and the line to neutral voltages and
consequently absent from the currents

Output amplitude in a three-phase inverter can be controlled
by only change of DC-link voltage (V
dc
)

Six-Step VSI
Sinusoidal PWM
Modulating and Carrier Waves
v
cr
Carrier wave (triangle)
Amplitude modulation index
cr
m
a
V
V
m
=
Frequency modulation index
m
cr
f
f
f
m =
0
v
mA
v
B m
v
C m
v
cr
v
cr
V
m
V
t e
v
m
Modulating wave (sine)
Sinusoidal PWM
m
f
should be an odd integer
if m
f
is not an integer, there may exist sub-hamonics at
output voltage
if m
f
is not odd, DC component may exist and even
harmonics are present at output voltage
m
f
should be a multiple of 3 for three-phase PWM inverter
An odd multiple of 3 and even harmonics are suppressed
Sinusoidal PWM
Gate Signal Generation
1 g
v
4 g
v
d
V
0
AN
v
t
t 2
mA
v
cr
v
0

cr mA
v v > 0
1
>
g
v ) 0 (
4
<
g
v
1
S on ) off (
4
S
d AN
V v =
Phase A
cr mA
v v <
0
4
>
g
v ) 0 (
1
<
g
v
4
S on ) off (
1
S 0 =
AN
v

V
g1
and V
g4
are complementary
Sinusoidal PWM
Line-to-Line Voltage v
AB
AB
v
BN
v
AN
v
0
0
0
v
mA
v
B m
v
C m
v
cr
v
cr
V
m
V
d
V
d
V
d
V
t t 2
t e
t e
t e
t e
1 AB
v
1
S
2
S
3
S
5
S
4
S
6
S
B
C
P
N
d
V
A
Sinusoidal PWM
Waveforms and FFT
m
a
= 0.8, m
f
= 15,
f
m
= 60Hz, f
cr
= 900Hz
Switching frequency
f
sw
= f
cr
= 900Hz
0.1
0.2
0
0
0
THD = 92.07%
THD = 92.07%
THD = 7.73%
THD = 92.07%
d
V
3 / 2
d
V
AB
v
AO
v
A
i
2
f
m
1 2
f
m
2 3
f
m 1 4
f
m
n
t 3
t 3 t 2
t 2 t
t
0
1 5 10 15 20 25 30 35 40 45 50 55 60
d
V V
AB
49 . 0
1
=
d n
V V
AB
/
Sinusoidal PWM
Over-Modulation
Fundamental voltage

Low-order harmonics
0
0.1
0.2
0
d
V
t 2 t 3 t
0
1
2
-1
-2
mA
v
mC
v
mB
v
cr
v
AB
v
n
0
A
i
t 2 t 3 t
d
V V
AB
744 . 0
1
=
d n
V V
AB
/
n 1 5 10 15 20 25 30 35 40 45 50 55 60
Sinusoidal PWM
(a)

c c m
1 AO DC
c m
2 c c AO DC
c c m c c m DC
AO c
c c c
DC m
c
T V v (t)
S ON period = 2 V is V 2
2 2Vc
V v (t)
S ON period = T T V is V 2
2Vc
T T v (t) T T v (t) V 1
V average for a period T + +
T 2 2V 2 2V 2
V v (t)
..........(5)
2 V
+ | |

|
\ .
+ | |

|
\ .
| |
=
|
\ .
=
Space Vector Modulation
Switching States (Three-Phase)
Eight switching states

1
S
2
S
3
S
5
S
4
S
6
S
B
C
P
N
d
V
A
Space Vector Diagram
o
1
V
r
0
V
r
3
V
r
2
V
r
4
V
r
5
V
r
6
V
r
| j
POO
PPO OPO
OPP
OOP POP
ref
V
r
u
OOO PPP
SECTOR I SECTOR III
SECTOR IV SECTOR VI
SECTOR V
SECTOR
II
e
Active vectors: to
(stationary, not rotating)
Zero vector:
1
V
r
6
V
r
0
V
r
Six sectors: I to VI
Space Vectors
Three-phase voltages
0 ) ( ) ( ) ( = + + t v t v t v
CO BO AO
Two-phase voltages
(
(
(
(
(
(
=
(
) (
) (
) (
3
4
sin
3
2
sin 0 sin
3
4
cos
3
2
cos 0 cos
3
2
) (
) (
t v
t v
t v
t v
t v
CO
BO
AO
t t
t t
|
o
Space vector representation
) ( ) ( ) ( t v j t v t V
| o
+ =
r
(2) (3)
| |
3 / 4 3 / 2 0
) ( ) ( ) (
3
2
) (
t t j
CO
j
BO
j
AO
e t v e t v e t v t V + + =
r
where
x j x e
jx
sin cos + =
(3)
(1)
(2)
(4)
Space Vectors (Example)
Switching state [POO] S
1
, S
6
and S
2
ON
d CO d BO d AO
V t v V t v V t v
3
1
) ( ,
3
1
) ( ,
3
2
) ( = = =
(5) (4)
0
1
3
2
j
d
e V V =
r
3
) 1 (
3
2
t
=
k j
d k
e V V
r
. 6 ..., , 2 , 1 = k
o
1
V
r
0
V
r
3
V
r
2
V
r
4
V
r
5
V
r
6
V
r
| j
POO
PPO OPO
OPP
OOP POP
ref
V
r
u
OOO PPP
SECTOR I SECTOR III
SECTOR IV SECTOR VI
SECTOR V
SECTOR
II
e
Active and Zero Vectors
Space Vector
Switching State
(Three Phases)
On-state Switch
Vector
Definition
[PPP]
5 3 1
, , S S S
Zero
Vector
0
V
r

[OOO]
2 6 4
, , S S S
0
0
= V
r

1
V
r
[POO]
2 6 1
, , S S S
0
1
3
2
j
d
e V V =
r

2
V
r
[PPO]
2 3 1
, , S S S
3
2
3
2
t
=
j
d
e V V
r

3
V
r
[OPO]
2 3 4
, , S S S
3
2
3
3
2
t
=
j
d
e V V
r

4
V
r
[OPP]
5 3 4
, , S S S
3
3
4
3
2
t
=
j
d
e V V
r

5
V
r
[OOP]
5 6 4
, , S S S
3
4
5
3
2
t
=
j
d
e V V
r

Active
Vector
6
V
r
[POP]
5 6 1
, , S S S
3
5
6
3
2
t
=
j
d
e V V
r

Active Vector: 6

Zero Vector: 1
Redundant switching
states: [PPP] and [OOO]
1
S
2
S
3
S
5
S
4
S
6
S
B
C
P
N
d
V
A
(8)
Reference Vector V
ref
Definition
o
1
V
r
0
V
r
3
V
r
2
V
r
4
V
r
5
V
r
6
V
r
| j
POO
PPO OPO
OPP
OOP POP
ref
V
r
u
OOO PPP
SECTOR I SECTOR III
SECTOR IV SECTOR VI
SECTOR V
SECTOR
II
e
Angular displacement
}
=
t
dt t
0
) ( e u
(9)
u j
ref ref
e V V =
r
Rotating in space at
f t e 2 =
Relationship Between V
ref
and V
AB
V
ref
is approximated by two active
and zero vectors

V
ref
rotates one revolution,
V
AB
completes one cycle

Length of V
ref
corresponds to
magnitude of V
AB
1
V
r
2
V
r
ref
V
r
u
1
V
T
T
s
a
r
2
V
T
T
s
b
r
SECTOR I
Q
Dwell Time Calculation

Volt-Second Balancing

+ + =
+ + =
0
0 0 2 1
T T T T
T V T V T V T V
b a s
b a s ref
r r r r
(10)
T
a
, T
b
and T
0
dwell times for and
,
2 1
V V
r r
0
V
r
T
s
sampling period
Space vectors
0
0
= V
r
, and
(11) (10)
=
+ =
b d s ref
b d a d s ref
T V T V
T V T V T V
3
1
) (sin
3
1
3
2
) (cos
u
u
: Im
: Re
(11)
(12)
1
V
r
2
V
r
ref
V
r
u
1
V
T
T
s
a
r
2
V
T
T
s
b
r
SECTOR I
Q
d
j
ref ref
V V e V V
3
2
,
1
= =
r r
u
3
2
3
2
t
j
d
e V V =
r
Dwell Times

Solve (12)

=
=
=
b a s
d
ref s
b
d
ref s
a
T T T T
V
V T
T
V
V T
T
0
sin
3
)
3
( sin
3
u
u
t
3 / 0 t u < s
(13)
V
ref
Location versus Dwell Times

ref
V
r
Location 0 = u

6
0
t
u < <
6
t
u =
3 6
t
u
t
< <
3
t
u =
Dwell Times
0
0
=
>
b
a
T
T
b a
T T >
b a
T T =
b a
T T <

0
0
>
=
b
a
T
T

1
V
r
2
V
r
ref
V
r
u
1
V
T
T
s
a
r
2
V
T
T
s
b
r
SECTOR I
Q
Modulation Index
=
=
=
c b s
a s b
a s a
T T T T
m T T
m T T
0
sin
)
3
( sin
u
u
t
(15)
d
ref
a
V
V
m
3
=
(16)
Modulation Range
V
ref,max
3 2
3
3
2
max ,
d
d ref
V
V V = = (17)
o
1
V
r
0
V
r
3
V
r
2
V
r
4
V
r
5
V
r
6
V
r
| j
POO
PPO OPO
OPP
OOP POP
ref
V
r
u
OOO PPP
SECTOR I SECTOR III
SECTOR IV SECTOR VI
SECTOR V
SECTOR
II
e
(17) (16)
m
a,max
= 1

Modulation range: 0 s m
a

s 1
(18)
Switching Sequence Design
Basic Requirement:

Minimize the number of switchings per
sampling period T
s
Implementation:

Transition from one switching state to
the next involves only two switches in
the same inverter leg.

Seven-segment Switching Sequence
d
V
2
0
T
2
a
T
2
b
T
2
a
T
BN
v
AN
v
CN
v
0
1
V
r
1
V
r
2
V
r
0
V
r
2
V
r
POO OOO PPO PPP PPO POO OOO
d
V
d
V
4
0
T
4
0
T
2
b
T
s
T
0
0
0
V
r
0
V
r
Total number of switchings: 6
Selected vectors:
V
0
, V
1
and V
2

Dwell times:
T
s
= T
0
+ T
a
+ T
b
Undesirable Switching Sequence
Vectors V
1
and V
2
swapped
d
V
2
0
T
2
a
T
2
b
T
2
a
T
BN
v
AN
v
CN
v
0
1
V
r
1
V
r
2
V
r
2
V
r
POO
OOO
PPO PPP PPO POO OOO
d
V
d
V
4
0
T
4
0
T
2
b
T
s
T
0
0
0
V
r
0
V
r
0
V
r
Total number of switchings: 10
Switching Sequence Summary (7segments)
Sector Switching Sequence
0
V
r

1
V
r

2
V
r

0
V
r

2
V
r

1
V
r

0
V
r

I
OOO POO PPO PPP PPO POO OOO
0
V
r

3
V
r

2
V
r

0
V
r

2
V
r

3
V
r

0
V
r

II
OOO OPO PPO PPP PPO OPO OOO
0
V
r
3
V
r
4
V
r
0
V
r
4
V
r
3
V
r
0
V
r

III
OOO OPO OPP PPP OPP OPO OOO
0
V
r
5
V
r
4
V
r
0
V
r
4
V
r
5
V
r
0
V
r

IV
OOO OOP OPP PPP OPP OOP OOO
0
V
r
5
V
r
6
V
r
0
V
r
6
V
r
5
V
r
0
V
r

V
OOO OOP POP PPP POP OOP OOO
0
V
r

1
V
r

6
V
r

0
V
r

6
V
r

1
V
r

0
V
r

VI
OOO POO POP PPP POP POO OOO

Note: The switching sequences for the odd and ever sectors are different.
Simulated Waveforms
AB
v
AO
v
0
0
0
A
i
d
V
3 / 2
d
V
t t 2 t 3
t t 2 t 3
VI VI
Sector
I
II
III
IV
V
I
II
III
IV
V
f
1
= 60Hz, f
sw
= 900Hz, m
a
= 0.696, T
s
= 1.1ms
Waveforms and FFT
0
0.1
0.2
n
0
0
AB
v
AO
v
A
i
THD =80.2%
THD =80.2%
THD =8.37%
THD =80.2%
d
V
3 / 2
d
V
t 2
d
V V
AB
566 . 0
1
=
1 5 10 15 20 25 30 35 40 45 50 55 60
d n
V V
AB
/
0
t 2 t t 3
Even-Order Harmonic Elimination
BN
v
AN
v
CN
v
0
5
V
r
4
V
r
0
V
r
OOP OOO OPP PPP OPP OOP OOO
0
0
0
V
r
0
V
r
AB
v
0
d
V
4
V
r
5
V
r
d
V
d
V
d
V
Type-A sequence
(starts and ends with [OOO])
BN
v
AN
v
CN
v
0
0
0
AB
v
0
d
V
5
V
r
OOP
4
V
r
OPP
d
V
d
V
d
V
4
V
r
OPP
5
V
r
OOP PPP
0
V
r
0
V
r
OOO PPP
0
V
r
Type-B sequence
(starts and ends with [PPP])
Even-Order Harmonic Elimination
1
V
r
3
V
r
2
V
r
4
V
r
5
V
r
6
V
r
SECTOR I SECTOR III
SECTOR IV SECTOR VI
SECTOR V
SECTOR II
a
b
a
a
a
a
a
b
b
b
b
b
Type-A sequence
Type-B sequence
30
30
Space vector Diagram

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