Important Variables for performance parameters: Performance parameters:

• Input voltage, Vdc Harmonic Factor, HF

• output voltage, Vrms Total Harmonic Distortion
• output voltage fundamental, V1rms
Distortion Factor, DF
• Nth harmonic output voltage, Vnrms
Lowest Order Harmonic
• Input current, Idc,
• output current, Irms Switch Utilization Factor
• output current nth harmonics, Inrms  Electromagnetic
• Power factor, cosf1 interference
• Input power, VdcxIdc,
• output power, VrmsxIrmsxcosf
 DC AC Sink
Source INVERTER Frequency, Voltage

DC BUS DC BUS

Voltage Source Voltage Source

with Internal Inverter AC load with Internal Inverter AC load
Impedance Impedance
(a) Voltage stiff inverter (b) Current stiff inverter
 INVERTER
FAMILY

SINGLE THREE-
PHASE PHASE
1. Half Bridge Single-phase voltage source inverters

VL T/2 T/2
T1 Vd/2
Vdc/2 D1
IL
LOAD -Vd/2 T

Vdc/2 T2
D2 D1 T1 D2 T2 D1 T1 D2 T2
Typical voltage and current wave form (inductive load)
Half bridge single phase inverter

Note:- Current in the inductive load is

approximated to be triangular. In
 practice it rises and falls exponentially.
VL  a0   an sin nt The approximation error is decreases as
n 1 the period T decreases.
a0  0
2VD  1
an  
2Vd VL   sin nt
for n odd  n1 n
n
an  0 for n even 2VD 2 2V 6 2V 10
VL   sin t  D sin t  D sin t  ...
 T 3 T 5 T
 1T 2 1 T  Vd 2
 V 1T V
VRMS   f (t ) dt    dt VRMS  d  dt VRMS  d
T0 T 0 2  2 T0 2

1 T 2Vd 2 dt  2Vd
V01RMS   ( sin t ) V 
T0  01RMS


2VD  1
iL   sin(nt   n ) 1 nL 
 n1 n R 2  (nL) 2 Where;  n  tan  
 R 
2VD
I 01RMS  
 R  L 
2 2

Po  V01RMS I 01RMS cos 1

2VD 2VD R VD2 R 2R
P01     P01  2 2 2  I 01
2
 R  (L) 2  2
R  (L) 2  R  (L ) 2 5
Input power  output power
T T
VS  is (t )dt   2V01 sin(t ) 2I 01 sin(t  1)dt
0 0
T 2V01I 01 T 2V01I 01 cos 1 2 dt
 is (t )dt  V  sin(t ) sin(t  1)dt  V 2 0 2
 (  cos(2t )dt )
0 S 0 S

T V I
I S   is (t )dt  01 01 cos 1
0
VS
2. Performance Parameters
Vd
V HFn 
V0nRMS
 2 n 
1 1
HFn  0n V01RMS Vd n HFn 
V01 n
2

  2
2Vd   1  2
 2Vd  
 V0n 2     1
2
n  2  n   n  2 n THD    
THD  
THD  n2 2Vd 2Vd n2  n 
V01  

  V 2
  02n    1 2
n2  n  HD    3 
HD  n2  n 
V01
 vao
Vd/2

-Vd/2
p vbo
VS/2 D1 Vd/2
+ T1 T3 -Vd/2
vab
C1 VS
VS a D3
o b
D4 i0 -VS
+ i0 D1 D3 D1
VS/2 C2 T4 D2 T2 D2 D4 D2
T1
T2 T3
n T4
Single-Phase Full Bridge Inverter T/2 T/2
Full bridge inverter typical voltage and current wave
forms (inductive load)

During this time load

VS/2 D1 current increases from zero VS/2 D1
+ T1 T3 to its positive peak. + T1 T3
C1 C1
D3 VS a D3
VS o
a b o b
During this time load
i0 current decreases from D4 i0
+
D4 +
VS/2 C2 T4 D2 T2 peak to zero. VS/2 C2 T4 D2 T2
Single-Phase Full Bridge Inverter
Single-Phase Full Bridge Inverter (quadrant II)
(quadrant I) During this time load
current increases from zero D1
VS/2 D1 to its negative peak.
VS/2
+ T1 T3
+ T1 T3 C1
C1
D3 VS a D3
VS a b o b
o During this time load
i0 D4 i0
D4 current decreases from its +
+
T4 T2 negative peak to zero. VS/2 C2 T4 D2 T2
VS/2 C2 D2
Single-Phase Full Bridge Inverter
Single-Phase Full Bridge Inverter (quadrant IV)
(quadrant III)
 2T /2 2
VRMS   V dt  VS
T 0 S

 4VS  4VS
v0   sin nt i0   sin(nt   n )
n 1,3,5 n n1,3,5 n R  nL 
2 2

nL 
 n  tan 1
4VS
v01  sin t 
  R 
2 2VS 2 2VS
V01  I 01 
  R 2  L 2
Instantaneous power of input and output must be equal:-
Vs is  V01I 01 sin t sin(t  1 )
V I V I
is  01 01 sin t sin(t  1)  01 01 (cos 1  cos( 2t  1))
Vs Vs
 Problem with this type is its weight as the
result of the transformer. On the other hand
Vdc the isolation between the load and the
switching circuit and possibility of using
transformation ratio for desired output
voltage level are advantages.

Center taped transformer (Push-pull ) isolating the load and power supply.

iD P
+ +
Vdc/2 T1 If the capacitors are identical, they can
io
- +v divide the dc-link voltage into two equal
o
Vdc - parts avoiding use of two power sources.
+ T2
Vdc/2
- -
N

Center taped capacitor reducing requirement of two power source.

 v ( t )  Vo  V1 cos(t )  V2 cos(2t )  V3 cos(3t )  ...
T  
1
Vrms 
T   V V
0 n 0 m  0
n m cos(nt ) cos(mt )dt

T 
1
  V cos2 ( nt )dt
2
Vrms nm
T 0 n 0

 
Vn2 Vrms  V02  Vn2,rms
Vrms  V0  
2
n 1 V
n 1 2 Vn,rms  n
2


Vrms  V02  V01
2
,rms  Vn2,rms
n2
 
2  V 2 V 2
Vrms 0 01,rms  Vn,rms  V01,rms  Vn2,rms
2 2
n2 n2 V02 0 11
 Rearranging:- 
 2 2
Vrms  V01,rms  Vn2,rms
2 V 2
Vrms 01,rms   n,rms
V 2

2
 n2
2
n2 V01 ,rms V01,rms
2 V 2
 V  2 Vrms 01,rms
VHD    n    THD 2
2
n2  V1  V01 ,rms
2 V 2
Vrms  THD 2V 2
01,rms 01,rms
2 V 2
Vrms  THD 2V 2  V 2 V 2 (1  THD 2)
01,rms 01,rms rms 01,rms

Vrms  V01,rms 1  THD 2

Vrms The RMS value of the voltage wave form

V01,rms The RMS value of the fundamental component (first harmonic) voltage.
12
THD Total harmonic distortion of the voltage wave form.
 P
+ S1 S3 S5
Each switch conducts for 180 degree or half period of the
output frequency as shown in Fig. Below.
C c
P P P P P
a
P Vdc b
a
a a a a
a 0 0 0 0 0 0
c S6 0
c
c c
b
S2 S4
b c b c b b b
N N N
N N
VaN Vdc

Vdc - N
VbN
Vdc
VcN

VAB
Vdc VAB and VBC are instantaneous
line voltages, respectively,
VBC terminal of phase A voltage with
respect to phase B terminal and
Va0 terminal phase B voltage with
respect to phase C terminal.
S1 ON
S2 ON

S3 ON
S4 ON ON Va0 is phase a voltage with respect
S5
S6
ON
ON
ON
to the neutral point, 0.

In the figure VaN, VbN, and VcN represent respectively,

phase a, b and c voltage with respect to the negative
terminal of the dc power supply (dc-link voltage).
 
v0  Vn sin(nt )
n 1
 2 

2VS 3 1 3 2  1 
Vn    sin ntd (t )   sin ntd (t )   sin ntd (t )
 03  3 2 3 
 3 3 
  2 
2VS   
Vn  cos nt 0  2 cos nt   cos nt 2
3 3
3n  

3 3


2VS
Vn  n  1,5,7,...
n
In six step inverters the magnitude of the output voltage can be varied only by
varying the dc input voltage.
The concept of pulse width modulation has been introduced for two main reasons.
One is to control the voltage magnitude while the other is to minimize the
harmonic components.

• Single-Pulse-Width modulation

• Multiple-Pulse-Width modulation

• Sinusoidal-Pulse-Width modulation

• Modified-Pulse-Width modulation

• Phase Displacement Control

 5.1 Single-Pulse-Width modulation a/2
T1 T1
(single-phase) aa/2
T2 T2
T3 T3 a/2
VS/2
+
D1
T1 T3 T4 T4 a/2 a
C1
VS a D3 b
o b VDC vL VDC
D4 i0
+ 2 
VS/2 C2 T4 D2 T2 
/2
a
a/2
Single-Phase Bridge Inverter
(a) Square wave (b) Single-PWM
 b
2 2 2 d (t )  V b
Vrms   V S
2   b S 
2
 4VS na
vL    cos( ) sin nt
n 1,3,5... n 2

plot(x,abs(sin((3.14-x)/2)),x,1/3*abs(sin(3*(3.14-x)/2)),x,1/5*abs(sin(5*(3.14-x)/2)),x,1/7*abs(sin(7*(3.14-x)/2)),x,1/9*abs(sin(9*(3.14-
x)/2)),x,1/11*abs(sin(11*(3.14-x)/2)),x,1/13*abs(sin(13*(3.14-x)/2)))
 
v 0 ( t )   b n sin nt
n 0
T
2
bn 
T0 v 0 ( t ) sin(nt )dt

 a  a  a 
4VDC 
2V  2 2  
bn  S   sin(nt )dt   sin(nt )dt   sin(nt )dt 
bn  1  2 sin(n ) n=1, 3, 5, 7, …
  0  a  a  n  2  18
 2 2 
1.Determine the Fourier series
expansion of the two notch block
PWM inverter and determine the
expression for the performance
parameters. Simulate and
demonstrate the harmonics
amplitude variation as the notch
width varies. Hint: normalized
harmonic amplitude is given by

1  5n   na 
(1  4 sin  sin 
h  12   2 
where; n=1, 5, 7, 11, …

19
20
5.4 Sine-Triangle Modulation

Assumption:
• The reference voltage remains approximately constant because one carrier
frequency period is very short compared to the reference sine wave period.
• The switch is ideal and switches on or off in no time

1  1 
T T T1 T Vm
Vav    VDC dt   VDC dt   VDC dt  Vav  VDC sin t
T 0 T T1  Vtp
 T1 
VDC
 T1   T  T1  T1   T  T  T1 
T
+
V
Vav  DC T  4T1   VDC (1  4 1 )
T T  Vm sin t 
T1  1
T T 4 Vtm 
T  Vm sin t 
1  V sin t 
4  Vtm  VDC (1  1  m
Vav  VDC (1  4 )  )
T  Vtm 
V sin t
Vav  VDC m  MVDC sin t
Vtm
The output voltage on three-phase inverter using one triangular wave has two main
components and can be expressed by the following equation according to the works
of H.S. Black ”Modulation Theory” D. Van Nostrand & Co. Princetown N.J., 1953.
VDC 2VDC    
V1n  M I cos( f t )   J 0  mM I  sin(m ) cos(mct ) 
2  n1  2 2
 
J  mM 
2VDC   n  2  
I

 m
 m1 n 1
sin ( m  n )
2 
cos(mc t  nf t )

Where f is frequency of the fundamental in radians per second, c is the

carrier frequency in radians per sec, MI is modulation index as defined above,
J0, …Jn are Bessel functions of the first kind. 22
5.5 Space Vector Modulation
• Voltage Vector Concept and the eight switching combinations
u v w
00 ,1 1 0 0
600 ,2 1 1 0
1200 ,3 0 1 0
1800 ,4 0 1 1
2400 ,5 0 0 1
3000 ,6 1 0 1
 1 1 1
 0 0 0
• The Switching Frequency and the Voltage Magnitude
The switching period is divided into three;
• Period during which voltage vector Va is produced (Ta)
• Period during which voltage vector Va60 is produced (Ta60)
• Period during which zero voltage is produced (T0) 23
The alpha-beta resolved voltage Vector u  U m cos t
2 4
u x  u cos 0 v cos
3
w cos
3
u   v  U m cos(t  120o )
 y  u cos  v cos  w cos
5
2 6 6
w  U m cos(t  240o )
1 1
Ux  u  v  w
2 2
3 3
Uy  v w
2 2
1 3 1 3
U x  U m cos t  U m cos t  sin t  U m cos t  sin t
4 4 4 4
3
U x  U m cos t
2
3 Um 3 1 3
Uy  ( cos t  U m sin t  U m cos t  sin t
2 2 2 2 2
3
U y  U m sin t
2
  3
U  U x 2  U y 2  U m
2
 y
Ua T  Ta  T  T0
Ua60 a 600
U(a60y Ur
Ua y
600
a Ta
Ua  a  60 Ua  60  0 0  U r
Ury
T T
Urx Uax
T T T
U(a60x x

Ta T 
Uax  a 60 U a 60 x  j  a Uay  a 60 U a 60  y   U rx  jU ry
T T
T T T T 

Uax a  U a 60 x a 60  0  0  U rx

T T T
Uax  U m cos a
T T T
Uay  U m sin a
Uay a  U a  60  y a 60  0  0  U ry
T T T
T T T
Ta Ta  600 T0 U (a 60) x  U m cos(a  60)
  1
T T T U (a 60) y  U m sin(a  60) 25
 The relative time slot in a carrier frequency period allocated to the vector along a, a+60 and zero vectors to generate
voltage vector in the sector between a and a+60 with magnitude Ur=Urx + Ury can be solved using symbolic Math
toolbox of MATLAB (tta=a).
syms tta Vm urx ury
A=[Vm*cos(tta) Vm*cos(tta+pi/3) 0; Vm*sin(tta) Vm*sin(tta+pi/3) 0; 1 1 1];
B=[urx;ury;1];
C=inv(A)*B;
D=simple(C)

Whose output is:-

D=[ 1/3*(2*3^(1/2)*urx*sin(tta+1/3*pi)-2*3^(1/2)*ury*cos(tta+1/3*pi))/Vm]
[ 1/3*(-2*3^(1/2)*urx*sin(tta)+2*3^(1/2)*ury*cos(tta))/Vm]
[ 1/3*(2*3^(1/2)*urx*sin(tta)-2*3^(1/2)*urx*sin(tta+1/3*pi)-
2*3^(1/2)*ury*cos(tta)+2*3^(1/2)*ury*cos(tta+1/3*pi)+3*Vm)/Vm]

Which can be rewritten as:-

 2   
 (U rx sin(a  )  U ry cos(a  ) 
3 3 3
 
 V m 
 Ta   2
(U rx sin(a )  U ry cos(a )) 
T  T 3 
 a  60   
Vm
 T0   
    
Vm  (U rx sin(a )  U rx sin(a  )  U ry cos(a )  U ry cos(a  ) 
2 3

 3 2 3 3 
 
 V m 
 
Note that:- T0  T  Ta  Ta  60
26
 t   , t 60   60 ,
Let T T T Vr
t0  0 , M
Va60 y Va T T T Vdc
Vr Note that:-
3 3
M=
Vr
Va(max) Va (max)  V(a 60) max  Vdc Vr  Vmp  Vml
2 2
600
Vmp  Peak phase reference voltage ( fundamental )
a 
Vml  Peak reference line voltage ( fundamental )
x 3 3
Vmp Vml
M2 , M 2
Vdc Vdc

 
t Vdc cos   t  Vdc cos(  )  Vr cos a t Vdc sin   t  Vdc cos in(  )  Vr sin a
 3  3
3 3
t  t   t0  1

3
 Vr 
t cos   t  cos(  )  cos a  t cos   t  cos(  )  M cos a
 3 Vdc  3
3 3
 Vr 
t sin   t  cos in(  )  sin a  t sin   t  cos in(  )  M sin a
 3 Vdc  3
3 3
 2    
 M sin(  a  ) 
 ta   3  3 

t  
2
M sin(  a ) 
 a 60   3 
 t0   1 
1  M  3 sin(   a )  cos(  a )  

27
Example:- 1. An inverter is supplied from a DC link voltage of 100 volts. It is desired to generate a voltage vector of
50 volts at 90 degrees using space vector modulation. The switching frequency is 500mS.
a. Determine the relative periods the switch is to stay at V60 , V120 and V0.
b. Draw the possible switching pattern in one switching cycle
c. Determine the phase voltage peak and RMS voltages
d. Determine the line peak and RMS voltages
e. Draw the wave form of the three phase voltage during the switching period
2  
(U rx sin(a  )  U ry cos(a  )
y
Ta  T60  500mS 3 3 3
Ua Vdc
Ua60
2   
U(a60y Ur
Uay (0  sin(a  )  0.5 100  cos(  )
600 Ta  T60  500mS 3 3 3 3
a/3 100
Ury T60  144.3376 mS,  28.87%
U(a60x Urx Ua x x 2
(U rx sin(a )  U ry cos(a ))
T120  500mS  3
Vm
2
(0  sin(a )  0.5  100 cos(60))
Ur = 0.5 Vdc T120  500mS  3
Urx = 0 100
Ury = Ur T120  144.3376 mS,  28.87%
T=500mS
Vdc  100V T0  T  T60  T120  500 mS  144.3376 mS  144.3376 mS

T0  211.3249,  42.26%
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T1 T1 T1

T2 T2 T2

T3 T3 T3
211.32mS

144.33mS

211.32mS

144.33mS
144.33mS

144.33mS
T4 T4 T4

T5 T5 T5

0.5T0

0.5T0
T6 T6 T6
T60 T0 T120 T60 T0 T120 T60 T120

3 3
Vr  50Volts  Vmp Vr  50Volts  Vml
2 2
2 2
 Vmp   50Volts  33.33V  50Volts  57.73V  Vml 
3 3
2 2
 Vrms, phase   50Volts  23.57V  Vrms,line   50Volts  40.82V
3 3

29
U U T1

V V

0.5T0

0.5T0
W W W

T60 T0 T120 T60 T0 T120 T60 T120

e-1) Phase Voltage possible wave forms

U-V U-V U-V

V-W V-W
V-W

0.5T0

0.5T0
W W-U W

T60 T0 T120 T60 T0 T120 T60 T120

e-2) Line Voltage possible wave forms

30