The study of the output voltage reveals the following: (a) The amplitude of the fundamental component of the

ac output o1 satisfies the following equation: voltage v vi o1 ma for m a 1.0 v 2 Therefore the range m a 1.0 is referred to as the linear range. (b) For odd values of the normalized carrier frequency m f the normalized harmonics in the ac output voltage are h lm f k l 1, 2, 3, ...... where k 2, 4, 6,...... and k 1, 3, 5,......
for l 1, 3, 5,....... for l 2, 4, 6,.......

(c) The amplitude of the ac output voltage harmonics is a function of the modulation index m a and is independent of normalized carrier frequency m f for
m f 9 ( which is always the case , except in very

high power ratings) (d) The harmonic mf should be an odd number. This results in only odd sine terms (e) For small values of m f ( m f 21 ) carrier signal and the control signal should be synchronized to each other ( m f should be an integer), if this is not the case, subharmonics will be present in the ac output voltage

(f) For large m f ( m f 21 ), the subharmonics are negligible if an asynchronous PWM technique is used, however the very loworder subharmonics can still produce undesirable effects and its use should be avoided (g) In the overmodulation region ( ma > 1) loworder harmonics are generated but a higher fundamental ac output voltage is obtained. o1 does not vary However in this range v linearly with ma .

Sinusoidal pulse width modulation Single-phase half-bridge VSI contd High carrier frequency makes filtering of harmonic voltages easy but causes high switching losses (losses are proportional to the frequency). In most applications fc < 6 kHz or fc > 20 kHz to be above the audible range.

Sinusoidal pulse width modulation

Single-phase full bridge VSI
The

modulation techniques include - PWM with bipolar switching and - PWM with unipolar voltage switching.

PWM with bipolar voltage switching The diagonally opposite switches are switched together. With this type of PWM switching, the ac output voltage waveform is identical to that of the half-bridge. It should be noted that the switch state of S1+ and S2- in the full-bridge corresponds to the state of S+ in the half- bridge. Similarly, the state of S1- and S2+ corresponds to the state of S-

PWM with bipolar voltage switching

Identical

conclusions can be drawn for the frequencies and amplitudes of the harmonics in the ac output voltage, and for operations at smaller and larger values of odd mf. This type of switching is called PWM with bipolar voltage switching because the output voltage switches between vi and +vi

PWM with unipolar voltage switching Here, the legs 1 and 2 are controlled separately by comparing v with vc and -vc , respectively.

 The

comparison of vc with the triangular waveform results in the following logic signals to control the switches in leg 1: - vc > v S1+ on and - vc < v S1- on For controlling the leg 2 switches, -vc is compared with the same triangular waveform, which gives the following: - -vc > v S2+ on and - -vc < v S2- on

PWM with unipolar voltage switching contd From the waveforms shown on the next slide (Figure 5.12), it is observed that there are four combinations of switch on states And the corresponding voltage levels are:
S1+ on, S2- on: v an vi ; vbn 0; vo v an vbn vi S1- on, S2+ on: v an 0; vbn vi ; vo vi S1+ on, S2+ on: v an vi ; vbn vi ; vo 0 S1- on, S2- on: v an 0; vbn 0; vo 0

PWM with unipolar voltage switching contd

From the waveforms shown on the next slide (Figure 5.10), it is observed that there are four combinations of switch on states

And the corresponding voltage levels are:

S1+ on, S2- on: v an vi ; vbn 0; vo v an vbn vi S1- on, S2+ on: v an 0; vbn vi ; vo vi S1+ on, S2+ on: v an vi ; vbn vi ; vo 0 S1- on, S2- on: v an 0; vbn 0; vo 0

These give three voltage levels, -vi, 0. +vi In this type of PWM scheme, when switching occurs, the output voltage changes between zero and +vi or between zero and -vi. It is for this reason that this scheme is called PWM with a unipolar switching.

PWM with unipolar voltage switching Contd This scheme has the advantage of producing the effect of double switching frequency as far as the output harmonics are concerned. Also, the voltage jumps in the output voltage at each switching reduce to as compared to in the previous scheme. Identical conclusions can be drawn for the amplitude of the fundamental component and harmonics in the ac output voltage, and for operations at smaller and larger values of mf.

Three-Phase Inverters It is similar to the SPWM for single-phase VSIs. The SPWM is discussed with reference to the figure shown on the next slide (Figure 5.11). To produce balanced three-phase output voltages, the same triangular voltage waveform is compared with three sinusoidal control voltages that are 120o out of phase as shown (Figure 5.12a). Figure 5.12 shows all the waveforms of the threephase VSI SPWM.

Fig. 5.11 Three-phase VSI circuit

Three-Phase Inverters Contd The frequency ratio should be an odd multiple of 3. This would give identical phase voltages vaN, vbN and vcN 120o out of phase without even harmonics. Again, harmonics at frequencies which are multiples of 3 would be identical in amplitude and phase in all phases. As a result they are eliminated from the line-to-line voltages. Choosing to mf be odd eliminates even harmonics and choosing mf as a multiple of 3 eliminates the triplen harmonics in the line voltages.

Three-Phase Inverters Contd The PWM considerations are summarized as follows:

- For low values of mf , to eliminate the even

harmonics, a synchronized PWM should be used and mf should be an odd integer. Moreover, mf should be a multiple of 3 to cancel out the most dominant harmonics in the line-to-line voltage. - For large value of mf (mf > 21), the comments made for single-phase half-bridge still apply. - During overmodulation (ma >1 ), regardless of the value of mf the conditions pertinent to small mf should be observed.

Three-Phase Inverters Contd In the linear region ( m 1 ), the value of the fundamental frequency component in one of the inverter leg is V m
a

AN 1

vi 2

Therefore, the line-to-line rms voltage at the fundamental frequency can be written as V 3V 3v m 0.612m v
AN1 i L1

2 2

a i

To further increase the amplitude of the load voltage, the amplitude of the modulating signal can be made higher than the amplitude of the carrier signal, which leads to overmodulation. The relationship between the amplitude of the fundamental ac output line voltage and the dc link voltage then becomes nonlinear.