Power Electronics

Felix Rojas

Universidad de Santiago de Chile

Prof. Felix Rojas LAEEP-USACH

Lecture 4
Pulse Width Modulation PWM
Outline

PWM Zero-sequence

Overmodulation

Summary
Outline

PWM Zero-sequence

Overmodulation

Summary
 PWM Zero-Sequence Injection
VSI Output voltages
Ud /2
Ua0
Ud /2
Ud /2
Ub0
Ud /2
Ud /2 Up to here we know:
Uc0 I In block operation the magnitude of the
Ud /2 fundamental line voltage is:
2 Ud 0.636Ud

Block Operation
Ua0ref Ub0 Uc0ref
1 ref

-1
0.5Ud Ua0
-0.5Ud
0.5Ud Ub0
-0.5Ud
0.5Ud
Uc0
-0.5Ud

Sinusoidal-triangular PWM

L4: PWM 1/12

 PWM Zero-Sequence Injection
VSI Output voltages
Ud /2
Ua0
Ud /2
Ud /2
Ub0
Ud /2
Ud /2 Up to here we know:
Uc0 I In block operation the magnitude of the
Ud /2 fundamental line voltage is:
2 Ud 0.636Ud
I Using sinusoidal-triangular PWM it is possible to
obtain a linear modulation up to a maximum
Block Operation Ud
Ua0ref Ub0 Uc0ref fundamental line voltage of: = 0.5Ud
1 ref 2

-1
0.5Ud Ua0
-0.5Ud
0.5Ud Ub0
-0.5Ud
0.5Ud
Uc0
-0.5Ud

Sinusoidal-triangular PWM

L4: PWM 1/12

 PWM Zero-Sequence Injection
VSI Output voltages
Ud /2
Ua0
Ud /2
Ud /2
Ub0
Ud /2
Ud /2 Up to here we know:
Uc0 I In block operation the magnitude of the
Ud /2 fundamental line voltage is:
2 Ud 0.636Ud
I Using sinusoidal-triangular PWM it is possible to
obtain a linear modulation up to a maximum
Block Operation Ud
Ua0ref Ub0 Uc0ref fundamental line voltage of: = 0.5Ud
1 ref 2
I This magnitude can be increased in case of using
-1 Block Operation: However this dramatically
0.5Ud Ua0 increase the magnitude of low-order harmonics.
-0.5Ud
0.5Ud Ub0
-0.5Ud
0.5Ud
Uc0
-0.5Ud

Sinusoidal-triangular PWM

L4: PWM 1/12

 PWM Zero-Sequence Injection
VSI Output voltages
Ud /2
Ua0
Ud /2
Ud /2
Ub0
Ud /2
Ud /2 Up to here we know:
Uc0 I In block operation the magnitude of the
Ud /2 fundamental line voltage is:
2 Ud 0.636Ud
I Using sinusoidal-triangular PWM it is possible to
obtain a linear modulation up to a maximum
Block Operation Ud
Ua0ref Ub0 Uc0ref fundamental line voltage of: = 0.5Ud
1 ref 2
I This magnitude can be increased in case of using
-1 Block Operation: However this dramatically
0.5Ud Ua0 increase the magnitude of low-order harmonics.
-0.5Ud I In order to increase the magnitude of the
0.5Ud Ub0 fundamental waveform of the modulated signal, a
-0.5Ud zero-sequence can be injected in the reference
0.5Ud signals.
Uc0
-0.5Ud

Sinusoidal-triangular PWM

L4: PWM 1/12

 PWM Zero-Sequence Injection
VSI Output voltages

A Zero sequence component injected to each output

line voltage will be cancelled at the output line-to-line
voltages. Thereby, the zero-sequence added in line
voltages is not perceptible in the line-to-line voltages.
Uab = (Ua0ref + V0 ) (Ub0 + V0 )
ref
Uab = Ua0ref Ub0
ref

L4: PWM 2/12

 PWM Zero-Sequence Injection
VSI Output voltages

A Zero sequence component injected to each output

line voltage will be cancelled at the output line-to-line
voltages. Thereby, the zero-sequence added in line
voltages is not perceptible in the line-to-line voltages.
Uab = (Ua0ref + V0 ) (Ub0 + V0 )
ref
Uab = Ua0ref Ub0
ref

I In this regard, exist 4 well known zer-sequence

systems used to increase the possible magnitude
of the fundamental waveform of the line voltages
in the linear range.

L4: PWM 2/12

 PWM Zero-Sequence Injection
VSI Output voltages

A Zero sequence component injected to each output

line voltage will be cancelled at the output line-to-line
voltages. Thereby, the zero-sequence added in line
voltages is not perceptible in the line-to-line voltages.
Uab = (Ua0ref + V0 ) (Ub0 + V0 )
ref
Uab = Ua0ref Ub0
ref

I In this regard, exist 4 well known zer-sequence

systems used to increase the possible magnitude
of the fundamental waveform of the line voltages
in the linear range.
I THIPWM: Third harmonic Injection PWM.
I SVPWM: Space-vector PWM.
I DPWM: Discontinuous PWM.
I DPWM1: Depenbrocks discontinuos PWM.
I v
a fundamental waveform of the fundamental
voltage. v
a Reference voltage. This enables
that: v
a > 1.

L4: PWM 2/12

 PWM Zero-Sequence Injection
VSI Output voltages

I The fundamental waveform is larger than the maximal allowable voltage.

I By the addition of a third harmonic component to the reference, it is possible to increase the magnitude of
the fundamental waveform maintaining the total reference below the maximal value of the triangular signal.
I With this method, the fundamental waveform of the output line voltage can be increased by a 15%.

L4: PWM 3/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the
amplitude of the triangular signal (which normalized
magnitude is 1).

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the
amplitude of the triangular signal (which normalized
magnitude is 1).
sin (3t) = sin (2t + t)
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t)

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the
amplitude of the triangular signal (which normalized
magnitude is 1).
sin (3t) = sin (2t + t)
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t)

With the same procedure for: sin (2t) und cos (2t):
sin (3t) = 3 cos (t)2 sin (t) sin (t)3
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the
amplitude of the triangular signal (which normalized
magnitude is 1).
sin (3t) = sin (2t + t)
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t)

With the same procedure for: sin (2t) und cos (2t):
sin (3t) = 3 cos (t)2 sin (t) sin (t)3
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the The maximal value for Ua0ref can not be greater than
amplitude of the triangular signal (which normalized 1.
magnitude is 1). With which angle do we obtain the peak value?
sin (3t) = sin (2t + t)
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t)

With the same procedure for: sin (2t) und cos (2t):
sin (3t) = 3 cos (t)2 sin (t) sin (t)3
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the The maximal value for Ua0ref can not be greater than
amplitude of the triangular signal (which normalized 1.
magnitude is 1). With which angle do we obtain the peak value?
sin (3t) = sin (2t + t)
d(Ua0 )
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t) ref = Ua0ref = 0
dt

With the same procedure for: sin (2t) und cos (2t):
sin (3t) = 3 cos (t)2 sin (t) sin (t)3
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the The maximal value for Ua0ref can not be greater than
amplitude of the triangular signal (which normalized 1.
magnitude is 1). With which angle do we obtain the peak value?
sin (3t) = sin (2t + t)
d(Ua0 )
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t) ref = Ua0ref = 0
dt

Ua0ref =
With the same procedure for: sin (2t) und cos (2t): (A + 3B) cos (t) 4B(3 sin (t)2 cos (t))
2 3
sin (3t) = 3 cos (t) sin (t) sin (t)
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the The maximal value for Ua0ref can not be greater than
amplitude of the triangular signal (which normalized 1.
magnitude is 1). With which angle do we obtain the peak value?
sin (3t) = sin (2t + t)
d(Ua0 )
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t) ref = Ua0ref = 0
dt

Ua0ref =
With the same procedure for: sin (2t) und cos (2t): (A + 3B) cos (t) 4B(3 sin (t)2 cos (t))
2 3
sin (3t) = 3 cos (t) sin (t) sin (t) sin (t)2 = 1 cos (t)2
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3
sin (3t) = 3 sin (t)) 4 sin (t)3

Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
Demonstrate that the addition of a third harmonics to the reference voltage allows to increase the output
line-to-line voltage in a 15.5%.

Ua0ref = A sin t + B sin 3t

The goal is to obtain the optimal amplitude for the third
harmonic component to maximize the value of the
fundamental waveform Ua0ref without exceeding the The maximal value for Ua0ref can not be greater than
amplitude of the triangular signal (which normalized 1.
magnitude is 1). With which angle do we obtain the peak value?
sin (3t) = sin (2t + t)
d(Ua0 )
sin (3t) = sin (2t) cos (t) + cos (2t) sin (t) ref = Ua0ref = 0
dt

Ua0ref =
With the same procedure for: sin (2t) und cos (2t): (A + 3B) cos (t) 4B(3 sin (t)2 cos (t))
2 3
sin (3t) = 3 cos (t) sin (t) sin (t) sin (t)2 = 1 cos (t)2
sin (3t) = 3(1 sin (t)2 ) sin (t) sin (t)3 Wenn: cos (t) = X
sin (3t) = 3 sin (t) 3 sin (t)3 sin (t)3 Ua0ref = (A + 3B)X 12B(1 X2 )X
sin (3t) = 3 sin (t)) 4 sin (t)3 Ua0ref = (A 9B)X + 12BX3

(A 9B)X + 12BX3 = 0
Dann:
Ua0ref = A sin t + B(3 sin (t)) 4 sin (t)3 )
Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 4/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B
Through the values Ua0ref with t2,3 we obtain:
q q 3
Ua0ref = (A + 3B) 3B+A 12B 4B
3B+A
12B

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
The searched angle is:
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B
Through the values Ua0ref with t2,3 we obtain:
q q 3
Ua0ref = (A + 3B) 3B+A 12B 4B
3B+A
12B

The value for Ua0ref for the angle t2,3 represents

the peak value of the function. The angle s dependent
from the relationship between the amplitude of the third
harmonic waveform and the amplitude of the
fundamental waveform.

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
Thus, the maximal relationship between the amplitude of
the fundamental waveform and the amplitude of
The searched angle is: Ua0ref as a function of A and B must be obtained.
cos (t1 ) = 0
q
cos (t2,3 ) = 9BA12B
The known function Ua0ref is:

Ua0ref = (A + 3B) sin t 4B sin (t)3

but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B
Through the values Ua0ref with t2,3 we obtain:
q q 3
Ua0ref = (A + 3B) 3B+A 12B 4B
3B+A
12B

The value for Ua0ref for the angle t2,3 represents

the peak value of the function. The angle s dependent
from the relationship between the amplitude of the third
harmonic waveform and the amplitude of the
fundamental waveform.

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
Thus, the maximal relationship between the amplitude of
the fundamental waveform and the amplitude of
The searched angle is: Ua0ref as a function of A and B must be obtained.
cos (t1 ) = 0
q Dividing:
cos (t2,3 ) = 9BA12B Ua01
g= ref
The known function Ua0ref is: Ua0
ref
Ua0ref = (A + 3B) sin t 4B sin (t)3
but: q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B
Through the values Ua0ref with t2,3 we obtain:
q q 3
Ua0ref = (A + 3B) 3B+A 12B 4B
3B+A
12B

The value for Ua0ref for the angle t2,3 represents

the peak value of the function. The angle s dependent
from the relationship between the amplitude of the third
harmonic waveform and the amplitude of the
fundamental waveform.

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
Thus, the maximal relationship between the amplitude of
the fundamental waveform and the amplitude of
The searched angle is: Ua0ref as a function of A and B must be obtained.
cos (t1 ) = 0
q Dividing:
cos (t2,3 ) = 9BA12B Ua01
g= ref
The known function Ua0ref is: Ua0
ref
Ua0ref = (A + 3B) sin t 4B sin (t)3 Ua01ref : maximal value of the fundamental waveform
but: of Ua0ref .
q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B Ua0ref : maximal value of the reference Ua0ref .
therefore:
q q
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B
Through the values Ua0ref with t2,3 we obtain:
q q 3
Ua0ref = (A + 3B) 3B+A 12B 4B
3B+A
12B

The value for Ua0ref for the angle t2,3 represents

the peak value of the function. The angle s dependent
from the relationship between the amplitude of the third
harmonic waveform and the amplitude of the
fundamental waveform.

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1
X((A 9B) + 12BX2 ) = 0
X1 = 0
(A 9B) + 12BX2 = 0
q
X2,3 = 9BA
12B
Thus, the maximal relationship between the amplitude of
the fundamental waveform and the amplitude of
The searched angle is: Ua0ref as a function of A and B must be obtained.
cos (t1 ) = 0
q Dividing:
cos (t2,3 ) = 9BA12B Ua01
g= ref
The known function Ua0ref is: Ua0
ref
Ua0ref = (A + 3B) sin t 4B sin (t)3 Ua01ref : maximal value of the fundamental waveform
but: of Ua0ref .
q
2
cos (t2,3 ) = 1 sin (t2,3 ) = 9BA
p
12B Ua0ref : maximal value of the reference Ua0ref .
therefore: dg dg
q q Using: dA = 0 or dB =0
sin (t2,3 ) = 1 9BA
12B =
3B+A
12B A
g=  
3B+A 4B 3B+A 3/2
q
Through the values Ua0ref with t2,3 we obtain: (3B+A) 12B 12B
3
A  12B
q q
Ua0ref = (A + 3B) 3B+A 3B+A g=
12B 4B

12B 3B+A 2B+ 2 3A
The value for Ua0ref for the angle t2,3 represents
the peak value of the function. The angle s dependent
from the relationship between the amplitude of the third
harmonic waveform and the amplitude of the
fundamental waveform.

L4: PWM 5/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

dg
dB =0

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

dg
dB =0

    
12A
( 3B+A(2B+2/3A)) A 12B 3 (2B+2/3A)+ 3B+A2
2 12B 2 3B+A
=0
(3B+A)(2B+2/3A)2

6A(3B+A)(2B+2/3A)A 123B2 (3(2B+2/3A)+4(3B+A))
=0
(3B+A)(2B+2/3A)2 2 3B 3B+A

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

dg
dB =0

    
12A
( 3B+A(2B+2/3A)) A 12B 3 (2B+2/3A)+ 3B+A2
2 12B 2 3B+A
=0
(3B+A)(2B+2/3A)2

6A(3B+A)(2B+2/3A)A 123B2 (3(2B+2/3A)+4(3B+A))
=0
(3B+A)(2B+2/3A)2 2 3B 3B+A

(3B + A)(2B + 2/3A) B (3(2B + 2/3A) + 4(3B + A)) = 0

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

dg
dB =0

    
12A
( 3B+A(2B+2/3A)) A 12B 3 (2B+2/3A)+ 3B+A2
2 12B 2 3B+A
=0
(3B+A)(2B+2/3A)2

6A(3B+A)(2B+2/3A)A 123B2 (3(2B+2/3A)+4(3B+A))
=0
(3B+A)(2B+2/3A)2 2 3B 3B+A

(3B + A)(2B + 2/3A) B (3(2B + 2/3A) + 4(3B + A)) = 0

B= A
6

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

g= A  12B 
3B+A 2B+ 3 2A

dg
dB =0

    
12A
( 3B+A(2B+2/3A)) A 12B 3 (2B+2/3A)+ 3B+A2
2 12B 2 3B+A
=0
(3B+A)(2B+2/3A)2

6A(3B+A)(2B+2/3A)A 123B2 (3(2B+2/3A)+4(3B+A))
=0
(3B+A)(2B+2/3A)2 2 3B 3B+A

(3B + A)(2B + 2/3A) B (3(2B + 2/3A) + 4(3B + A)) = 0

B= A 6
We found a a value for the relationship between A and B that maximize the amplitude of the fundamental
waveform A. That means that the relationship of one sixth between A and B maximizes the fundamental waveform
of the reference signal accomplishing with Ua0ref < 1.

L4: PWM 6/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 1
4

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 14
 
t2,3 = arcos 12

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 14
 
t2,3 = arcos 12

t2,3 =
3

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

Calculation of the angle for the maximum value of the

Ua0ref
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 14
 
t2,3 = arcos 12

t2,3 =
3
Replacing the angle we obtain:
Ua0ref = A sin 3 + B sin 3

Ua0ref = A sin + A
6 sin 3
3
Ua0ref = A 23

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

U
The maximal value for the reference voltage is 2d and
Calculation of the angle for the maximum value of the the maximal value for its fundamental waveform is:

Ua0ref A 23 6 1
q
cos (t2,3 ) = 9BA12B
but:
B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 14
 
t2,3 = arcos 12

t2,3 =
3
Replacing the angle we obtain:
Ua0ref = A sin 3 + B sin 3

Ua0ref = A sin + A
6 sin 3
3
Ua0ref = A 23

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

U
The maximal value for the reference voltage is 2d and
Calculation of the angle for the maximum value of the the maximal value for its fundamental waveform is:

Ua0ref A 23 6 1
Then there is a maximum value for A given by
q
cos (t2,3 ) = 9BA12B
A = 2
but: 3

B= A
6
then:
q
cos (t2,3 ) = 3B
12B
q
cos (t2,3 ) = 14
 
t2,3 = arcos 12

t2,3 =
3
Replacing the angle we obtain:
Ua0ref = A sin 3 + B sin 3

Ua0ref = A sin + A
6 sin 3
3
Ua0ref = A 23

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

U
The maximal value for the reference voltage is 2d and
Calculation of the angle for the maximum value of the the maximal value for its fundamental waveform is:

Ua0ref A 23 6 1
Then there is a maximum value for A given by
q
cos (t2,3 ) = 9BA12B
A = 2
but: 3

B= A With this method we obtain a modulation index of:

6 ma = Ua01 = 2
then: 3
q Thereby, the reference value is always smaller than the
cos (t2,3 ) = 3B peak of the triangular waveform. Compared to a
12B
q Sinusodal-triangular comparison, in this method we
cos (t2,3 ) = 14 obtain a 15.58% more of amplitud for the modulation
  index and we are still in the linear range.
t2,3 = arcos 12

t2,3 =
3
Replacing the angle we obtain:
Ua0ref = A sin 3 + B sin 3

Ua0ref = A sin + A
6 sin 3
3
Ua0ref = A 23

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

U
The maximal value for the reference voltage is 2d and
Calculation of the angle for the maximum value of the the maximal value for its fundamental waveform is:

Ua0ref A 23 6 1
Then there is a maximum value for A given by
q
cos (t2,3 ) = 9BA12B
A = 2
but: 3

B= A With this method we obtain a modulation index of:

6 ma = Ua01 = 2
then: 3
q Thereby, the reference value is always smaller than the
cos (t2,3 ) = 3B peak of the triangular waveform. Compared to a
12B
q Sinusodal-triangular comparison, in this method we
cos (t2,3 ) = 14 obtain a 15.58% more of amplitud for the modulation
  index and we are still in the linear range. In some
t2,3 = arcos 12 publications, the modulationindex is refered to the
U
maximal value for block operation as: ma = 1 ).
t2,3 =
3
6Ud

Replacing the angle we obtain:
Ua0ref = A sin 3 + B sin 3

Ua0ref = A sin + A
6 sin 3
3
Ua0ref = A 23

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1

U
The maximal value for the reference voltage is 2d and
Calculation of the angle for the maximum value of the the maximal value for its fundamental waveform is:

Ua0ref A 23 6 1
Then there is a maximum value for A given by
q
cos (t2,3 ) = 9BA12B
A = 2
but: 3

B= A With this method we obtain a modulation index of:

6 ma = Ua01 = 2
then: 3
q Thereby, the reference value is always smaller than the
cos (t2,3 ) = 3B peak of the triangular waveform. Compared to a
12B
q Sinusodal-triangular comparison, in this method we
cos (t2,3 ) = 14 obtain a 15.58% more of amplitud for the modulation
  index and we are still in the linear range. In some
t2,3 = arcos 12 publications, the modulationindex is refered to the
U
maximal value for block operation as: ma = 1 ).
t2,3 =
3
6Ud

Replacing the angle we obtain: Regarding our definition, the modulation index is defined
Ua0ref = A sin 3 + B sin 3
based on the maximum value of the fundamental
waveform that maintain the reference in the linear range:
Ua0ref = A sin + A
6 sin 3 Ud U
3 is. ma = U 1
2
Ua0ref = A 23 d
2
Calculation of the
peak value of the line-to-line voltages:
Uab = 2 3 = 2
3

L4: PWM 7/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3

L4: PWM 8/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3
Peak value for the fundamental Peak value for the fundamental
waveform for the line-to-line Peak value for the fundamental
waveform for the line-to-line waveform for the line-to-line
voltages: voltages:
2 3Ud voltages:
Uab1 = 3Ud
Uab1 = Uab1 = Ud
2

L4: PWM 8/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3
Peak value for the fundamental Peak value for the fundamental
waveform for the line-to-line Peak value for the fundamental
waveform for the line-to-line waveform for the line-to-line
voltages: voltages:
2 3Ud voltages:
Uab1 = 3Ud
Uab1 = Uab1 = Ud
2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the line fundamental waveform for the line fundamental waveform for the line
voltages: voltages: voltages:
2U
Ua01 = d Ua01 = d
U U
d
Ua01 =
2 2 3
2 2

L4: PWM 8/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3
Peak value for the fundamental Peak value for the fundamental
waveform for the line-to-line Peak value for the fundamental
waveform for the line-to-line waveform for the line-to-line
voltages: voltages:
2 3Ud voltages:
Uab1 = 3Ud
Uab1 = Uab1 = Ud
2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the line fundamental waveform for the line fundamental waveform for the line
voltages: voltages: voltages:
2U
Ua01 = d Ua01 = d
U U
d
Ua01 =
2 2 3
2 2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the fundamental waveform for the fundamental waveform for the
line-to-line voltages:
line-to-line
voltages: line-to-line voltages:
2 3U 6Ud U
Uab1 = d = 3Ud Uab1 = d
2 Uab1 = 2
2 2

L4: PWM 8/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3
Peak value for the fundamental Peak value for the fundamental
waveform for the line-to-line Peak value for the fundamental
waveform for the line-to-line waveform for the line-to-line
voltages: voltages:
2 3Ud voltages:
Uab1 = 3Ud
Uab1 = Uab1 = Ud
2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the line fundamental waveform for the line fundamental waveform for the line
voltages: voltages: voltages:
2U
Ua01 = d Ua01 = d
U U
d
Ua01 =
2 2 3
2 2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the fundamental waveform for the fundamental waveform for the
line-to-line voltages:
line-to-line
voltages: line-to-line voltages:
2 3U 6Ud U
Uab1 = d = 3Ud Uab1 = d
2 Uab1 = 2
2 2
Maximum modulation index to Maximum modulation index to
avoid overmodulation: avoid overmodulation:
Ud
Ua0 Ua0
ma = U 1 = 1 ma = U 1 = U 3 = 1.1547
d d d
2 2 2

L4: PWM 8/12

 PWM Zero-Sequence Injection
Example 1
BLock operation: Sinusoidal-triangular PWM: THI-PWM:

Peak value for the fundamental Peak value for the fundamental Peak value for the fundamental
waveform for the line voltages: waveform for the line voltages:
2Ud
waveform for the line voltages:
Ua01 = Ud U
Ua01 = 2 Ua01 = d
3
Peak value for the fundamental Peak value for the fundamental
waveform for the line-to-line Peak value for the fundamental
waveform for the line-to-line waveform for the line-to-line
voltages: voltages:
2 3Ud voltages:
Uab1 = 3Ud
Uab1 = Uab1 = Ud
2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the line fundamental waveform for the line fundamental waveform for the line
voltages: voltages: voltages:
2U
Ua01 = d Ua01 = d
U d
Ua01 =
U
2 2 3
2 2
Effective value for the Effective value for the Effective value for the
fundamental waveform for the fundamental waveform for the fundamental waveform for the
line-to-line voltages:
line-to-line
voltages: line-to-line voltages:
2 3U 6Ud U
Uab1 = d = 3Ud Uab1 = d
2 Uab1 = 2
2 2
Maximum modulation index to Maximum modulation index to
avoid overmodulation: avoid overmodulation:
Ud
Ua0 Ua0
ma = U 1 = 1 ma = U 1 = U 3 = 1.1547
d d d
2 2 2
for the alternative
definition: for the alternative definition:
3Ud Ud
U U
ab1 ab1
ma = = 2 2 =0.785 ma = = 2 =0.907
6Ud 6Ud 6Ud 6Ud

L4: PWM 8/12

Outline

PWM Zero-sequence

Overmodulation

Summary
 PWM Zero-Sequence Injection
Example 1

Overmodulation is used when the reference signal is

greater than the triangular waveform. In this case the
modulation is not linear any more. By
sinusoidal-triangular method we achieve overmodulation
of ma > 1. By THI-PMW we achieve overmodulation
by ma > 2 . This means a greater linear range.
3

Overmodulation: ma = 2, mf = 15. Frequency for the

fundamental waveform fm = 60Hz [2].

L4: PWM 9/12

Outline

PWM Zero-sequence

Overmodulation

Summary
 Conclusion

I By Sinusoidal.triangular method, the maximal amplitude for the fundamental

wavefor of the line votages is U2d =0.5Ud . Comparatively, by THI-PWM this
value is U
d 0.5774Ud .
3
I By THI-PWM we obtain a 15.6% more of modulated voltage in linear range.
I Overmodulation is applied when the reference value is greater than the peak
value of the trianguar signal. From this point on, the modulation is not linear
any more.

L4: PWM 10/12

 Referenzen

[1] Hava, A.M.; Kerkman, R.J.; Lipo, T.A., Carrier-based PWM-VSI overmodulation strategies: analysis,
comparison, and design, Power Electronics, IEEE Transactions on , vol.13, no.4, pp.674,689, Jul 1998

[2] Bin Wu, High Power Converters nad AC Drives. IEEE Press, Wiley-Interscience.

L4: PWM 11/12

 Homework

L4: PWM 12/12

 Questions

Next Lecture