Power Electronics

Felix Rojas

Universidad de Santiago de Chile

Prof. Felix Rojas LAEEP-USACH

Lecture 3
Pulse Width Modulation
PWM
Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
 Basics in PWM
Voltage Source Inverter (VSI)

Ud /2 Sa Sb Sc
Ud Ua0
0 a b c
Ud /2 Sa Sb Sc

Wir nehmen Ud als konstant an. Ua0 ,Ub0 ,Uc0 {Ud /2, Ud /2}

L3: PWM 1/23

 Basics in PWM
Avergage Value Generation

Ua0
Ud
2 Mittelwert
Uref

t(s)
U2d

t1 t2

Ts

The proper selection of t1 and t2 , an average value between -Ud /2 and Ud /2 can be
generated.

L3: PWM 2/23

 Basics in PWM
Avergage Value Generation
Ua0
Ud
2 Mittelwert
Uref

t(s)
U2d

t1 t2

Ts
For a specific reference value and a given sampling time Ts , the values of t1 and t2
can be calculated.
Ud Ud
t1 2 t2 2 =Ts Uref
t1 + t2 =Ts

L3: PWM 3/23

 Basics in PWM
Avergage Value Generation
Ua0
Ud
2 Mittelwert
Uref

t(s)
U2d

t1 t2

Ts
For a specific reference value and a given sampling time Ts , the values of t1 and t2
can be calculated.
Ud Ud
t1 2 t2 2 =Ts Uref
t1 + t2 =Ts
Wenn Uref = U2d , [1, 1]
Ts
t1 = 2 (1 + )
L3: PWM 3/23
 Basics in PWM
Generation of an average value using a sawtooth function
Ua0
Ud
2
Ud
Uref = 4

t(s)

U2d

Ua0
Ud
2 Mittelwert

t(s)

U2d

Ts
The straight intersect the reference value at the point:
Ud Ud
Ts t1 2 =Uref
Ts
t1 = 2 (1 + )

L3: PWM 4/23

 Basics in PWM
Generation of an average value using a sawtooth function

Ud Ua0
U2d
Uref = 4

t(s)
U
2d
Ud Ua0
Mittelwert
2

t(s)
U
2d

Ts Ts

The reference value Uref is obtained in one period Ts .

L3: PWM 5/23

 Basics in PWM
Generation of an average value using a triangular function

Ud Ua0
U2d
Uref = 4

t(s)
U
2d
Ud Ua0 Mittelwert
2

t(s)
U
2d Ts

Ts

By using a triangular function a mirror pattern is generated and the commutation

frequency is reduced to average the same value.

L3: PWM 6/23

 Basics in PWM
Generation of an average value using a sawtooth and a triangular function

Sagenzahn
Dreiecke
Ud Ua0 Ud
Uref = 4
2

t(s)
U
2d Ts

Ua0 Ts Mittelwert
Ud
2

t(s)
U
2d
Ud Mittelwert
2

t(s)
U
2d Ts

Ts
The switching frequency is considerably reduced.

L3: PWM 7/23

 Basics in PWM
Generation of a time-variant value, using a triangular function

Sagenzahn
Uref (t) Dreiecke
Ud Ua0
2

t(s)
U
2d Ts

Ua0 Ts Mittelwert2
Ud
2
Mittelwert1 Mittelwert2

t(s)
U
2d
Ud
2

t(s)
U
2d Ts

Ts
By comparing the triangular with the reference functions. The averaged value of the
reference changes every period.

L3: PWM 8/23

 Basics in PWM
Amplitud and frequency modulation Indexes
Ua0ref Ub0 Uc0ref
ref
1
Uref Ucr

-1
0.5Ud
Ua0
0.5Ud

0.5Ud
Ub0
0.5Ud

0.5Ud
Uc0
0.5Ud

.
The relationship between the frequency of the triangular waveform (or carrier) and the
sinusoidal reference is called Frequency modulation index: mf = ffcr . Where fcr is
ref
the frequency of the triangular waveform and fref is the frequency of the reference.

L3: PWM 9/23

 Basics in PWM
Amplitud and frequency modulation Indexes
Ua0ref Ub0 Uc0ref
ref
1
Uref Ucr

-1
0.5Ud
Ua0
0.5Ud

0.5Ud
Ub0
0.5Ud

0.5Ud
Uc0
0.5Ud

.
The relationship between the frequency of the triangular waveform (or carrier) and the
sinusoidal reference is called Frequency modulation index: mf = ffcr . Where fcr is
ref
the frequency of the triangular waveform and fref is the frequency of the reference.
Uref
For the amplitude modulation index:m = . Uref is the amplitude of the
Ucr
reference and Ucr is the amplitude of the triangular waveform. In the linear range: m
[0,1]. Usually Ucr is constant (equal to 1) while Uref changes in time.

L3: PWM 9/23

 Basics in PWM
Amplitud and frequency modulation Indexes
Ua0ref Ub0 Uc0ref
ref
1
Uref Ucr

-1
0.5Ud
Ua0
0.5Ud

0.5Ud
Ub0
0.5Ud

0.5Ud
Uc0
0.5Ud

.
The relationship between the frequency of the triangular waveform (or carrier) and the
sinusoidal reference is called Frequency modulation index: mf = ffcr . Where fcr is
ref
the frequency of the triangular waveform and fref is the frequency of the reference.
Uref
For the amplitude modulation index:m = . Uref is the amplitude of the
Ucr
reference and Ucr is the amplitude of the triangular waveform. In the linear range: m
[0,1]. Usually Ucr is constant (equal to 1) while Uref changes in time.
The switching frequency of each device can be obtained as: fsw =fcr =mf fref

L3: PWM 9/23

 Basics in PWM
Amplitud and frequency modulation Indexes

Ua0ref Ub0 Uc0ref

ref
1
Uref Ucr

-1
0.5Ud
Ua0
0.5Ud

0.5Ud
Ub0
0.5Ud

0.5Ud
Uc0
0.5Ud

.
Around the peak value of triangular waveforms the null-vector are applied. The
maximum reference value for line voltages is U2d =0.5Ud . Much smaller compared to
value obtained with block operation 2U d
0.636Ud .

L3: PWM 10/23

 Basics in PWM
line and line-to-line voltages

Ua0ref Ub0 Uc0ref

ref
1
Uref Ucr

-1
0.5Ud
Ua0
-0.5Ud

0.5Ud
Ub0
-0.5Ud
Ud
.
Uab
-Ud
The fundamental waveform of the line-to-line voltages is obtained based on
a
waveform formed by three voltage levels. The peak value is given by (Ud /2) 3.

Uc0

L3: PWM 11/23

 Basics in PWM
Symmetry of the line-to-line voltages

Uab

Ubc

Uca

The line-to-line voltage is a half symmetric waveform f(t)=-f(t+T/2), but does not
possesses quarter symmetry f(t)=f(T/2-t).

L3: PWM 12/23

 Basics in PWM
Symmetry in the sampled line voltages
Modulierte Signal PWM Ua0

The sampled waveform is a half symmetric waveform f(t)=-f(t+T/2), but does not
possesses quarter symmetry f(t)=f(T/2-t).

L3: PWM 13/23

 Basics in PWM
Symmetry in the sampled line voltages

In order to obtain half and quarter symmetry, the peak value of the references must be
synchronized with the peak values of the triangular function. Additionally, mf > 9
and multiple of 3.

L3: PWM 14/23

 Basics in PWM
Symmetry in the line-to-line voltages

Uab

Ubc

Uca

The line-to-line voltage possesses half and quarter symmetry f(t)=-f(t+T/2) and
f(t)=f(T/2-t). The magnitude of the low order harmonics have decreased and it is
much easier to filter them (smaller filters).

L3: PWM 15/23

Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
 Synchronous and Asynchronoues PWM
Synchronous PWM

fsin = 50Hz fcr = 450Hz mf = 9 fsin = 60Hz fcr = 480Hz mf = 8

For Synchronous PWM the frequency modulation index mf = ffcr is a integer

ref
number. By that, the frequency of the triangular function, fcr , changes synchronously
with the frequency of the reference signal fref . Therefore, the switching frequency
fsw = fcr = mf fref is not constant and depends on the operation point.

L3: PWM 16/23

 Synchronous and Asynchronoues PWM
Synchronous PWM

fsin = 50Hz fcr = 450Hz mf = 9 fsin = 60Hz fcr = 480Hz mf = 8

For Synchronous PWM the frequency modulation index mf = ffcr is a integer

ref
number. By that, the frequency of the triangular function, fcr , changes synchronously
with the frequency of the reference signal fref . Therefore, the switching frequency
fsw = fcr = mf fref is not constant and depends on the operation point.
Using Synchronous PWM, the modulated voltages posses lower magnitudes for the
low order harmonics. This makes easier to remove them by filtering (smaller filter).
Synchronous PWM is very important when low switching frequency is required (as in
high power applications).

L3: PWM 16/23

 Synchronous and Asynchronoues PWM
Asynchronous PWM

fsin = 50Hz fcr = 450Hz mf = 9 fsin = 60Hz fcr = 450Hz mf = 7.5

In Asynchronous PWM the frequency of the triangular waveform fcr is always

constant. Thereby, the frequency modulation index mf = ffcr changes as the
ref
frequency of the reference signal changes. In this operation mode, mf can be a
non-integer value. The low order harmonics in this case are higher compared to
Synchronoues PWM. Additionally, as mf can be a non-integer value, inter-harmonics
which are not multiple of fref are generated.Nevertheless, the implementation is easier
and the switching frequency is always constant. This is typically used when the
switching frequency is fcr > 1 2kHz.

L3: PWM 17/23

Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
 Frequency Spectrum

In order to obtain the minimum low order

harmonics, the following conditions has to
be followed:
I Reference must be symmetrically
sampled.
I A synchronous PWM method should
be employed. (mf integer)
I mf is multiple of 3 and greater than
9.

L3: PWM 18/23

 Frequency Spectrum

In order to obtain the minimum low order

harmonics, the following conditions has to
be followed:
I Reference must be symmetrically
sampled.
I A synchronous PWM method should
be employed. (mf integer)
I mf is multiple of 3 and greater than
9.
Somit:
I The harmonic conctent of Vab , Vbc
, Vca with frequency lower than
(mf -2) are eliminated.
I The harmonic component are placed
around mf and its multiple, it is:
2mf ,3mf ,...

L3: PWM 18/23

 Frequency Spectrum

In order to obtain the minimum low order

harmonics, the following conditions has to
be followed:
I Reference must be symmetrically
sampled.
I A synchronous PWM method should
be employed. (mf integer)
I mf is multiple of 3 and greater than
9.
Somit:
I The harmonic conctent of Vab , Vbc Example for ma =0.8, mf =15,
fref =60Hz and fsw =900Hz.[1]
, Vca with frequency lower than
(mf -2) are eliminated.
I The harmonic component are placed
around mf and its multiple, it is:
2mf ,3mf ,...

L3: PWM 18/23

Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.
2. For the fundamental waveform:

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.
2. For the fundamental waveform:
U
Ua0max = 2d .

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The

Asynchronous PWM method is used.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
250 =0.8165;
ma = 306.18
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
250 =0.8165;
ma = 306.18
U
Ua0max = 2d .
mf [ 5000 5000
120 , 20 ]
The effective value is:
U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
250 =0.8165;
ma = 306.18
U
Ua0max = 2d .
mf [ 5000 5000
120 , 20 ]
The effective value is:
U
Ua0Effekmax = d = 500 =176.776V mf [41.6, 250]
2 2 2 2

The effective value for the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
250 =0.8165;
ma = 306.18
U
Ua0max = 2d .
mf [ 5000 5000
120 , 20 ]
The effective value is:
U
Ua0Effekmax = d = 500 =176.776V mf [41.6, 250]
2 2 2 2
3. With Asynchronous PWM the reference value is
The effective value for the line-to-line

voltages is:
not symmetrically sampled. Therefore the phase
U 3
Uab = d =176.776V 3 of the reference values is not important.
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 1:

With Ud = 500V you want to obtain an effective value of 250V as the fundamental voltage of the line-to-line
output voltages of a 2-level VSI. If the switching frequency is 5kHz and the frequency of the reference vary
between 20Hz and 120Hz, obtain:

1. Which PWM method would you use? (Synchronous or Asynchronous PWM)

2. Calculate the indexes ma and mf .
3. Which value take the phase angles for the reference signals. Why is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. Due to the switching frequency is constant. The The normalized reference voltage is:
Asynchronous PWM method is used. Ur ef
Urefnorm = Umax
2. For the fundamental waveform:
250 =0.8165;
ma = 306.18
U
Ua0max = 2d .
mf [ 5000 5000
120 , 20 ]
The effective value is:
U
Ua0Effekmax = d = 500 =176.776V mf [41.6, 250]
2 2 2 2
3. With Asynchronous PWM the reference value is
The effective value for the line-to-line

voltages is:
not symmetrically sampled. Therefore the phase
U 3
Uab = d =176.776V 3 of the reference values is not important.
Effekmax 2 2
4. Simulation sehen.
Uab =306.18V
Effekmax

L3: PWM 19/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.
2. For the fundamental waveform:

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.
2. For the fundamental waveform:
U
Ua0max = 2d .

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value of the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. As the switching frequency is low, the

Synchronous PWM is the suitable method.
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value of the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

The normalized reference voltage is:

Ur ef
1. As the switching frequency is low, the Urefnorm = Umax
Synchronous PWM is the suitable method.
280 =0.91;
ma = 306.18
2. For the fundamental waveform:
U
Ua0max = 2d .

The effective value is:

U
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value of the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

The normalized reference voltage is:

Ur ef
1. As the switching frequency is low, the Urefnorm = Umax
Synchronous PWM is the suitable method.
280 =0.91;
ma = 306.18
2. For the fundamental waveform:
U 3. For fsin = 109Hz
Ua0max = 2d .
The frequency modulation index is
The effective value is: mf = 1200
109 =11.09; but mf must be an integer
U number.
Ua0Effekmax = d = 500 =176.776V
2 2 2 2

The effective value of the line-to-line

voltages is:
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

The normalized reference voltage is:

Ur ef
1. As the switching frequency is low, the Urefnorm = Umax
Synchronous PWM is the suitable method.
280 =0.91;
ma = 306.18
2. For the fundamental waveform:
U 3. For fsin = 109Hz
Ua0max = 2d .
The frequency modulation index is
The effective value is: mf = 1200
109 =11.09; but mf must be an integer
U number.
Ua0Effekmax = d = 500 =176.776V
2 2 2 2
Then mf = 11,
The effective value of the line-to-line

voltages is: fsw =fcr =mf fsin =11 109Hz=1199Hz
U 3
Uab = d =176.776V 3
Effekmax 2 2

Uab =306.18V
Effekmax

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

The normalized reference voltage is:

Ur ef
1. As the switching frequency is low, the Urefnorm = Umax
Synchronous PWM is the suitable method.
280 =0.91;
ma = 306.18
2. For the fundamental waveform:
U 3. For fsin = 109Hz
Ua0max = 2d .
The frequency modulation index is
The effective value is: mf = 1200
109 =11.09; but mf must be an integer
U number.
Ua0Effekmax = d = 500 =176.776V
2 2 2 2
Then mf = 11,
The effective value of the line-to-line

voltages is: fsw =fcr =mf fsin =11 109Hz=1199Hz
U 3 In the same way:
Uab = d =176.776V 3
Effekmax 2 2 fsw =fcr =mf fsin =36 33Hz=1188Hz
fsw =fcr =mf fsin =60 20Hz=1200Hz
Uab =306.18V
Effekmax

L3: PWM 20/23

 PWM
Example 2:
With Ud = 500V you want to obtain a a contant effective value of the fundamental waveform of the line-to-line
voltages equal to 280V. The frequency of the reference values variate between 20Hz and 120hz-. The maximum
switching frequency is limited to 1.2kHz.

1. Which PWM method would you use? (Synchronous or Asynchronous PWM). Why?
2. Calculate de ma index.
3. Calculate the switching frequency for each device for the followinfg frequencies of the reference voltages:
109Hz, 33Hz and 20Hz?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

The normalized reference voltage is:

Ur ef
1. As the switching frequency is low, the Urefnorm = Umax
Synchronous PWM is the suitable method.
280 =0.91;
ma = 306.18
2. For the fundamental waveform:
U 3. For fsin = 109Hz
Ua0max = 2d .
The frequency modulation index is
The effective value is: mf = 1200
109 =11.09; but mf must be an integer
U number.
Ua0Effekmax = d = 500 =176.776V
2 2 2 2
Then mf = 11,
The effective value of the line-to-line

voltages is: fsw =fcr =mf fsin =11 109Hz=1199Hz
U 3 In the same way:
Uab = d =176.776V 3
Effekmax 2 2 fsw =fcr =mf fsin =36 33Hz=1188Hz
fsw =fcr =mf fsin =60 20Hz=1200Hz
Uab =306.18V
Effekmax
4. See simulation.

L3: PWM 20/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be
calculated analytically. Thus, the harmonics are
positioned at: mf 2.

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be
calculated analytically. Thus, the harmonics are
positioned at: mf 2.

When fsin = 50Hz; mf = f50

cr .

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be
calculated analytically. Thus, the harmonics are
positioned at: mf 2.

When fsin = 50Hz; mf = f50

cr .

mf 2 < 650
50 , then:

fcr
50 2 < 13

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be
calculated analytically. Thus, the harmonics are
positioned at: mf 2.

When fsin = 50Hz; mf = f50

cr .

mf 2 < 650
50 , then:

fcr
50 2 < 13

fcr =15 50 = 750Hz

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be 280 =0.91;
calculated analytically. Thus, the harmonics are 2. ma = 306.18
positioned at: mf 2. mf = 750
50 =15

When fsin = 50Hz; mf = f50

cr .

mf 2 < 650
50 , then:

fcr
50 2 < 13

fcr =15 50 = 750Hz

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be 280 =0.91;
calculated analytically. Thus, the harmonics are 2. ma = 306.18
positioned at: mf 2. mf = 750
50 =15

When fsin = 50Hz; mf = f50

cr .
3. The peak value of the reference and the
triangular signals must be synchronized.
mf 2 < 650
50 , then:

fcr
50 2 < 13

fcr =15 50 = 750Hz

L3: PWM 21/23

 PWM
Example 3:

With Ud = 500V you want to obtain an effective value of 280V for fundamental waveform of the line-to-line
output voltages in a 2-level VSI. The modulated waveform has fundamental frequency of 50Hz. Select the minimal
possible switching frequency to obtain null harmonics of the 12th order.

1. Which is the frequency for the selected triangular waveform?

2. Calculate the indexes ma and mf .
3. Which phase angle have your reference signals? Is that important?
4. Draw the line voltages Ua0 and Ub0 and the line-to-line voltage Uab .

1. For Synchronous PWM with mf bigger than 9

and multiple of 3, considering symmetric
sampling, the harmonic spectrum can be 280 =0.91;
calculated analytically. Thus, the harmonics are 2. ma = 306.18
positioned at: mf 2. mf = 750
50 =15

When fsin = 50Hz; mf = f50

cr .
3. The peak value of the reference and the
triangular signals must be synchronized.
mf 2 < 650
50 , then:

fcr
4. See Simulation.
50 2 < 13

fcr =15 50 = 750Hz

L3: PWM 21/23

Outline

Basics in PWM

Synchronous and Asynchronoues PWM

Frequency Spectrum

Beispiele

Zusammenfassung
 Folgerung

I Bei Sinus-Dreieck-PWM betragt die maximal mogliche Amplitude der

Grundwelle der Phasenspannungen U2d =0.5Ud . Im Vergleich dazu gilt fur den
Blockbetrieb 2U d
0.636Ud .
I Bei Asynchroner PWM liegt konstante Schaltfrequenz vor und sie ist einfacher
zu implementieren
I Asynchrone PWM hat einen hohen Gehalt an Harmonischen niedriger
Frequenzen und erzeugt Zwischenharmonische
I Synchronisierte PWM reduziert den Anteil Harmonischer niedriger Frequenz und
wird bei niedrigen Schaltfrequenzen genutzt
I Bei synchroner PWM variiert die Schaltfrequenz und sie ist schwieriger zu
implementieren
I Fur synchrone Pulsmuster mit mf groer als 9 und Vielfaches von 3, sowie
symmetrischer Abtastung der Referenz kann das Harmonischenspektrum
analytisch berechnet werden.
I Normalerweise nutzt man fur Schaltfrequenzen groer als 1-2 kHz asynchrone
Pulsmuster. Fur kleinere Schaltfrequenzen werden synchrone Pulsmuster
bevorzugt eingesetzt.

L3: PWM 22/23

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L3: PWM 23/23

 Fragen

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um 09:45 Uhr