Analysis of Output and Input

Ripples of PWM Inverters

Pekik Argo Dahono
School of Electrical Engineering and Informatics,
Institute of Technology Bandung, Indonesia

Research Program, 2013

Background
Minimum ac output current ripple is desirable
in most PWM inverter applications to reduce
motor heating. In PWM rectifier applications,
minimum ac input current ripple is desirable
to comply with the ac grid code.
Minimum dc input ripples are desirable to
minimize the electrolyte dc filter capacitor.

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Background on PWM Techniques

PWM Techniques can be classified into:
Sampling-Based : - carrier-based
- regular sampling
- space vector technique
Programmed : - Harmonic elimination
- Minimum total harmonic
content
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Background on Single-Phase PWM

Converters
Commonly used in low and medium power
applications up to 10 kW
Basic building block for very high power
applications
Synchronous reference frame cannot be used
here

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Background on Three-Phase PWM

Inverters/Rectifiers
Duncan, et.al., have shown that one-sixth third-harmonic injection
can be used increase the maximum output voltage.
Bowes et.al., empirically have shown that one-fourth thirdharmonic injection results in minimum ac current harmonics.
Kolar et.al., have shown analytically that sinusoidal plus one-fourth
third-harmonic injection is indeed the optimum reference signal.
Van DeBrook, et.al., have shown that space-vector PWM technique
results in less current harmonics and higher output voltage.
Dahono, et.al., have shown that third harmonic injection can be
used to minimize both ac and dc sides ripples.

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Background on Multiphase PWM Techniques

Multiphase techniques are gaining interests to
improve the reliability and power density of ac
drives.
Various PWM techniques have been proposed.
No work has shown what is the optimum
reference signal.
Levi et.al. have shown that zero-sequence signal
can be used to increase the maximum output
voltage of multiphase PWM inverters. No
discussion on what is the effect of zero-sequence
signal on the output current ripple.
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Background on Current-Type PWM Inverters

Voltage-type and current-type PWM inverters
are always considered totally different and
developed separately.
Nonplanarity of the circuits have made the
duality principles cannot be applied here.

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Conduction Losses
Conduction Losses :
vT = VT + RT iT
vD = VD + RDiD
pT = VT iT +

2
RT iT

IF S1 is ON AND iu > 0 THEN iT 1 = iu

2
IF S1 is OFF AND iu > 0 THEN iD 2 = iu
pD = VDiD + RDiD
2
PT = VT ITav + RT ITrms Conduction losses are influenced by
duty factor and load power factor.
2
Switching frequency has no influence
PD = VD I Dav + RD I Drms
on the conduction losses.
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Switching Losses

psw = Ed f s C0 + C1iu + C2iu2

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Output Current Ripple Analysis of

Single-Phase PWM Converters

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Single-Phase Half-Bridge Inverter

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Output Current Ripple Analysis

di
vuo = Riu + L u + e
dt
~
~
vuo = vuo + vuo
iu = iu + iu
di
vuo = Riu + L u + e
dt
~
~
d iu
d iu
~
~
vuo = R iu + L
L
dt
dt
1
~ 1 ~
iu = vuo = (vuo vuo )dt
L
L
T T E
E
vuo = 1 o d = vur d
2
2
Ts
vur = k sin
T1 1 1 r
= + vu
Ts 2 2

(
( )
(

To 1 1 r
= vu
Ts 2 2

)
(
)

for to < t t1
1 + vur (t to )

~ Ed
r To
iu =
+ 1 vur (t t1 ) for t1 < t t3
1 + vu
2
2L
for t3 < t t 4
1 + vur (t t 4 )

1 t ~
~
I u2 = t 4 iu2 dt
Ts o
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~
Ih =

1 2 ~ 2
I u d
2 0

Output Ripple Analysis

E
1
~
Iu = d
1 k 2 sin 2
Lf s 8 3
E
~
I pp = d 1 k 2 sin 2
4 Lf s

1/ 2
3
~ Ed 1

2
4

I h =
1 k + k
8
Lf s 8 3

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Single-Phase Full-Bridge Inverter

We can change so freely without

affecting the average output waveform.

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Simulated Results

So is equal to 0.5

So is a square wave

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Simulated Result

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Ripple Analysis
1
~ 1 ~
iu = vuv = (vuv vuv )dt
L
L
T
r
vuv = 1 Ed = vuv
Ed
Ts
r
vuv
= k sin

T1
r
= vuv
Ts

To
r
= 1 vuv
Ts

(t to )
vuv
for to < t t1

E r To
~
r
(t t1 ) for t1 < t t3
iuv = d vuv
+ 1 vuv
L
2
r
(t t4 )
vuv
for t3 < t t 4

1 t ~
~2
I uv
= t 4 iuv2 dt
Ts o

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~
Ih =

1 2 ~ 2
I uv d
2 0

Hysteresis Current Controller

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Hysteresis Current Controller

Single-band

fs =

1 Ed
=
(1 k sin )(1 + k sin )
Ts 4hL

f s ,av

k2
= f 1
2

s
sm

~
I o,av = h / 3

Double band

Ed
fs =
(1 k sin ) k sin
2hL

Ed 2 k
f s,av =
k
2hL 2
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Modified Double Band

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Comparison
0.3

f s hL / E d

0.25

Single - band

0.2

0.15

Double - band

0.1
0.05

Proposed

0
0

0.2

0.4

0.6

0.8

Modulation index k

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1 .0

Comparison
10A

io

0
10A

10A

5V

S1 0

io

5V

S4

0
- 10A

0
5V
Time 5 ms/div

S 4'

10A

io

S1'

0
5V

0
Time 5 ms/div

10A

S1
S4

5V

0
5V

0
Time 5 ms/div

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Challenges
How to reduce the output current ripple
without increasing the switching losses by
changing the switching frequency?
How to change the hysteresis band so that the
switching losses are reduced without
sacrificing the current ripple

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Output Current Ripple Analysis of

Multiphase PWM Inverters

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Three-Phase PWM Inverter

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Total Harmonic of AC Side Current

~
16 I h
K1

Output Current Ripple Comparison

0.8

SIN

S36

0.7

SV

0.6

S34

0.5
0.4
0.3
0.2
0.1

0
0

0.2

0.4

0.6

0.8

Modulation index (k)

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1.0

1.2

Multiphase PWM Inverter

L

S1u

S 2u

S Nu

S 3u

Ed

3
2

1
S1b

S 2b

Multiphase
Motor

S Nb

S 3b

L
R

i12

R
L

e
e

e
4

e
6

Nine phase
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e
3

i12

Five phase

Reference Signal for Multiphase PWM Inverters

1.0

v8r v9r v1r

v2r v3r v4r v5r v6r v7r

Reference signal for N - phase system :

v1r = k sin ( ) + so

0.5

= t
0

0.5
1.0

v2r = k sin ( ) + so
v3r = k sin ( 2 ) + so
M
v Nr = k sin ( ( N 1) ) + so
where

= 2/N

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Phase Current Ripple

Phase current ripple :
1 ~
1
~
i12 =
v12 dt =
(v12 v12 )dt
L
L
Time intervals :
To 1 1 r
= v1
Ts 4 4

carrier

T1 1 r
= v1 v2r
Ts 4

v1r
0

v2r

s1

s2

T2 1 1 r
= + v2
Ts 4 4

v
12
L

~
i12 =

v12
L

v12
(t t o )
L
E v12
(t t1 )
To + d
L
v
12 (t t 3 )
L
E v12
T3 + d
(t t 4 )
L
v
12 (t t 6 )
L

1
0
Ed

for t o t t1
for t1 t t 2

v12
0

~
i12

for t 2 t t 4
for t 4 t t 5
for t 5 t t 6
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Ts

To
to t1

T1

2T2

t 2 t3 t 4

T1

To
t5 t 6

Phase Current Ripple

~
1
I 122 =
Ts

t o +Ts

~2
i12 dt

If only terms containing so are considered :

~2
K 2 r2 2
I '12 =
v12 6 so + 6 Dkso sin ( )
384
K 2 r2 2
~2
I ' 23 =
v23 6 so + 6 Dkso sin ( )
384

r 2 To3

2
r2 2
r
r
+

v
v
T
T
v
2
v
T
T

12 o 1
12
12 o 1
E d 12 3

=
2
3
3

Ts L
r 2 T1
r 3 T2
+ 2 v12

+ v12
3
3

~
K *2
I122 =
v12 2 2kC sin ( + ) + 3k 2 + 6 so2 + 6 Dkso sin ( )
384
where
K=

Ed
Lf s

D = 2(1 + cos )

= /2

~2
K 2 r2 2
I '34 =
v34 6 so + 6 Dkso sin ( 2 )
384

~2
K 2 r2 2
I ' 45 =
v45 6 so + 6 Dkso sin ( 3 )
384
M

~2
K 2 r2 2
I ' N1 =
v N 1 6 so + 6 Dkso sin[ ( N 1) ]
384

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Minimization of Total Current Ripple

Total current ripple :
~2
~2 ~2 ~2
~2
I 'tot = I '12 + I ' 23 + I '34 + L + I ' N 1
Minimization :
~2
dI 'tot
=0
dso
Results
so = 0
so =

for N 3

k
sin 3
4

The optimum reference

signal is a pure sinusoidal
signal.
Harmonic injection cannot
be used to reduce the
output current ripple.
Third harmonic injection is
only useful for three-phase
PWM inverter.

for N = 3

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Nonsinusoidal EMF
Average output voltage for five-phase PWM inverter:

Ed
[k sin + b sin (3 )]
vu =
2
The optimum injected signal is:

so = k [c1 sin (5 3 ) + c2 sin (5 6 )]

0.8b
c1 =
0.69 + 1.81b 2
1.07b 2
c2 =
0.69 + 1.81b 2
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RMS Current Ripple Over

One Fundamental Period

~2
I12 d

1/ 2

5 - phase
3 phase
7 phase
9 - phase

1.4
1.2

KkC 16C
3 2
~
I rms =
2

k
+
k

3
2
16 3
where
C = 2(1 cos(2 / N ))

1.6

1/ 2

~
I rms 16 3 / K

~
1
I12rms =

1.0
0. 8
0. 6

0. 4
0. 2

0
0

0. 5

1.0

Modulation index k

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1.5

RMS Output Current Ripple and

Fifth-Harmonic Injection
Output current ripple under sinusoidal reference signal :
KkC 16C
3 2
~
I rms =
2

k
+
k

3
2
16 3

1/ 2

Fifth harmonic injection :

k
sin (10 )sin (5 )
5
RMS current ripple :
so =

1/ 2

KkC 16C
78 2
~
I rms =
k+ k
2

50
16 3
Under this modulation signal, maximum output voltage is
5% higher than under sinusoidal.
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Discontinuous Reference Signal

1 .0

v5r

v1r

v3r

v2r

v4r

0.5
= t

0
0.5
1.0
0.06

DISC
0.05

SIN5
DISC1.25fs

~
I rms / K

0.04
0.03
0.02

0.01
0
0

0.5

1 .0

Modulation index ( k )

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1 .5

Experimental Results

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Input Ripple Analysis

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Assumptions
Output currents are sinusoidal
DC voltage source is ripple free

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Input Current Ripple

The shape of modulation signal has no effect
on the input current ripple.
The switching frequency has no effect on the
input current ripple.
The rms value of input current ripple is
reduced by the increase of phase number.

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Input Voltage Ripple

The optimum reference signal for three-phase
PWM inverter that results in minimum input
voltage ripple is a sinusoidal signal plus 25 %
third harmonic injection.
The optimum reference signal for multiphase
PWM inverter that results in minimum input
voltage ripple is a sinusoidal signal.

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~
16Vdh
DC Side Voltage Ripple
K2

Input Voltage Ripple Comparison

1.0
0.9
0.8
0.7

SIN

0.6
0.5
0.4

S36

0.3
0.2
0.1
0

SV

S34 & S34'

0.2

0.4

0.6

0 .8

Modulation index (k)

Unity Power Factor

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1.0

1.2

Challenges
How to reduce the output and input ripples by
changing the switching frequency?
Can we extend to higher phase numbers?

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Dual Relationships

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Voltage-Type and Current-Type Inverters

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AC Side Equivalent Circuits

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DC Side Equivalent Circuits

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PWM Technique

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Dual Relationships
Voltage-Type Inverters
v

Current-Type Inverters

Phase switching signal su , sv , sw

Phase-to-phase switching states suv , svw , swu

v

Phase-to-phase switching states suv , svw , swu

Phase switching signals su , sv , sw

Line-to-zero voltages

Phase currents

Line-to-line voltages

Line currents

Phase-to-phase currents

Line-to-line voltages

Input current

Input voltage

Input voltage

Input current

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Challenges
As the system is not really planar, what are the
problems and what are the solution?

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Double-Stator AC Drives
The machine can be asynchronous or
synchronous machine.
The machine has double three-phase stator
windings with separated neutrals.
If phase displacement between the two stator
windings is 60 degrees, the machine is called
symmetrical six-phase machine.
At present, most of the works are
concentrated on 30o phase displacement.
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Six-Phase AC Drives

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Six-Phase AC Drives
Under square-wave mode of operation, 30
degrees phase displacement results in
minimum torque ripple and input current
ripple.
Under PWM mode of operation, 60 degrees
phase displacement results in minimum input
current ripple and torque ripple (not yet
published).
The question is how to combine both
features?
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Double-Ended AC Drives

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Merits and Demerits

Under the same switching, the output current
ripple is lower.
The phase current can be controlled
independently.
The zero sequence current can flowing and
increasing the losses.
The conduction losses can be higher.

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Achievements and Challenges

Output and input current ripple analysis of
double-ended three-phase and five-phase AC
drive systems have been done.
How about nine-phase ac drive systems?

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Three-Level PWM Inverters

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New Results (Not Yet Published)

25% third harmonic injection into the
sinusoidal reference signal results in minimum
output current ripple.
The optimum harmonic injection that results
in minimum neutral current depends on the
ac side power factor. Under unity power factor
(i.e. as PWM rectifier), the optimum harmonic
injection is 25% third harmonic injection.
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Research Challenges
What is the optimum phase number in terms
of reliability, power density, ripple, etc.
How to reduce the input and output ripples of
multiphase PWM system?

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Thank You

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