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4
L
I
=
=
,.. 5 , 3 , 1
sin
2
sin
4
) (
n
t n
n
n
L
I
t
o
i
=
+ =
,.. 5 , 3 , 1
) 79 . 10 ( )
6
( sin
6
cos
2
) (
n
t n
n
n
L
I
t
a
i
2 / 1
2 ) (
s
V t d
s
V
o
V =
2 ) (
2 ) (
) (
2
2
2
4
n
V
The Fourier series of output voltage
yields:
=
=
,.. 5 , 3 , 1
sin
2
sin
4
) (
n
t n
n
n
s
V
t
o
v
y
Fig. 10-12 shows the harmonic
profile of modulation index M profile of modulation index, M.
The dominant harmonic is the
third, and the distortion factor
increases significantly at low
output voltage.
Example [2, p.654] A single-phase full-wave inverter uses
single-pulse width modulation, and is required to eliminate the single pulse width modulation, and is required to eliminate the
third harmonics from the output wave. Determine the width of
pulse, .
Solution: From the Fourier series, we obtain the rms value of
third harmonics is:
3
sin
4
s
V
V =
2
sin
2 3
3
s
V =
To eliminate the third harmonics, V
3
=0, thus
0
2
3
sin =
=180
2
3
= = 120 180
3
2
Multiple-Pulse-Width-Modulation
The harmonic content can be reduced by using several pulses in The harmonic content can be reduced by using several pulses in
each half-cycle of output voltage.
The generation of gating signals for turning on and off of e ge e o o g g s g s o u g o d o o
transistor is shown in Fig. 10-13(a) by comparing a reference
signal with a triangular carrier wave.
The frequency of reference signal, f
r
, sets the output frequency,
f
o
, and the carrier frequency, f
c
, determines the number of
pulses per half cycle p pulses per half-cycle, p.
The rms output voltage
is controlled by is controlled by
modulation index (or
ratio). )
This type of modulation
is also known as uniform
pulse-width modulation
(UPWM).
The number of pulses per half-cycle is found
from: 2 2
f
m
o
f
c
f
p = =
o
f
Where m
f
= f
c
/f
o
is defined as the frequency modulation ratio
(or index). The variation of modulation index M from 0 to 1 ( )
varies the pulse width from 0 to /p and the output voltage
from 0 to V
s
.
If is the width of each
pulse, the rms output
lt b f d
p
s
V
p
t d
s
V
p
o
V =
+
=
2 / 1
2 ) / (
) (
2
2
2
voltage can be found
from:
s
V
p
t d
s
V
o
V
2 ) / (
) (
2
The general form of Fourier
series for the instantaneous
output voltage is: output voltage is:
= sin ) ( t n
n
B t
o
v
= ,.. 5 , 3 , 1 n
n o
If the positive pulse of mth pair starts at t =
m
and ends at
t =
m
+, the Fourier series coefficient for a pair of pulses is:
+ +
+
=
2
) ( cos ) ( cos
1
m
m
m
m
t td n t td n
n
b
i i i
+ + + =
2
sin
2
sin
2
sin
2
m
n
m
n
n
n
s
V
The coefficient B
n
can be found by adding the effects of all
pulses:
+ + + =
p
m
n
m
n
n
n
s
V
n
B
2
sin
2
sin
2
sin
2
m
m m n n
1
2 2 2
Advantages
(i) Distortion factor are reduced compared to single-pulse- ( ) p g p
modulation.
(ii) As value of p increases amplitudes of lower harmonic
d reduces.
Disadvantages
(i) With increased number of pulses switching losses are (i) With increased number of pulses, switching losses are
increased.
(ii) Control scheme is complex. (ii) Control scheme is complex.
Sinusoidal Pulse-Width-Modulation (SPWM)
In this modulation technique, the width of pulse is varied in In this modulation technique, the width of pulse is varied in
proportion to the amplitude of a sine-wave evaluated at the
center of the same pulse.
By comparing a sinusoidal reference signal of frequency, f
r
, (of
amplitude, A
r
), with a triangular carrier wave of frequency, f
c
,
(of amplitude A ) the gating signals are generated as shown (of amplitude, A
c
), the gating signals are generated, as shown
in Fig. 0-15(a).
Within the constraint Within the constraint
that two transistors
of the same arm (Q
1
(Q
1
and Q
4
) cannot
conduct at the same
time, the
instantaneous output
voltage is shown in voltage is shown in
the following figure.
If
m
is the width of mth pulse, the
rms output voltage as follows:
=
p
m
s
V
o
V
= m
s o
1
= sin ) ( t n
n
B t
o
v
instantaneous output voltage is:
= ,.. 5 , 3 , 1
) (
n
n o
sin sin sin
2
+ + +
p
m
n
m
n
m
n
s
V
B
.. ,......... 7 , 5 , 3 , 1 for
1
2
sin
2
sin
2
sin
=
=
+ + + =
n
m
m
m
n
m
m
n
m
n
s
n
B
s
V
o
V =
Fig. 10-20
The instantaneous voltages equation can be expressed as
follows:
2V
2V
follows:
=
=
,.. 5 , 3 , 1
sin
2
n
t n
n
Vs
ao
v
=
=
,.. 5 , 3 , 1
) ( sin
2
n
t n
n
Vs
bo
v
=
= =
,.. 5 , 3 , 1
) ( sin sin
2
n
t n t n
n
Vs
bo
v
ao
v
ab
v
=
=
,.. 5 , 3 , 1
)
2
( cos
2
sin
4
n
t n
n
n
Vs
ab
v
n
Vs
V =
voltage is: 2
2
1
The above equation indicates that the output voltage can be
varied by varying the delay angle .
This type of control is especially useful for high-power
li ti i i l b f t i t i applications, requiring a large number of transistors in
parallel.
Advanced Modulation Techniques q
Th SPWM hi h i t l d ff The SPWM which is most commonly used, suffers
from drawbacks (e.g. low fundamental output
lt ) voltage).
The other techniques that offer improved
f performances are:
Trapezoidal modulation,
St i d l ti Staircase modulation,
Stepped modulation,
H i i j ti d l ti d Harmonic injection modulation, and
Delta modulation
Delta Modulation
In delta modulation, triangle wave is allowed to oscillate within a , g
defined window V above and below the reference sine wave v
r
.
The inverter switching function, which is identical to the output
lt i t d f th ti f th t i l voltage v
o
is generated from the vertices of the triangular wave v
c
as
shown in Fig. 10-27. It is also known as hysteresis modulation.
If the frequency of the modulating wave is changed keeping the slope of the
triangle wave constant, the number of pulses and pulses widths of the
modulated wave would change.
Th f d l The fundamental output
voltage can be up to V
s
and
is dependent on the peak p p
amplitude A
r
and frequency
f
r
of the reference voltage.
Th d lt d l ti The delta modulation can
control the ratio of voltage
to frequency (v/f control), q y ( ),
which is a desired feature in
ac motor control.
Harmonic Reductions
A pair of unwanted harmonics at the output of single-phase A pair of unwanted harmonics at the output of single phase
inverters can be eliminated by introducing a pair of
symmetrically placed bipolar voltage notches as shown in Fig.
10.28.
The Fourier series of output voltage can be expressed as
) 46 . 10 (
,.. 5 , 3 , 1
sin ) (
=
=
n
t n
n
B t
o
v
1
0
2 /
2
) ( sin
2
1
) ( sin ) ( sin
4
t td n t td n t td n
s
V
n
B
) 47 . 10 (
2
cos 2
1
cos 2 1
4
0
2 1
n
n n
s
V
n
B
+
=
+ + n n n n
s
V
B ) 48 . 10 ( ..
4
cos 2
3
cos 2
2
cos 2
1
cos 2 1
+ + =
n n n n
n
s
n
B
The third and fifth harmonics would be eliminated if B
3
= B
5
=0 e d d o cs wou d be e ed
3 5
0
and Eq. (10.47) gives the necessary equations to be solved.
= = + 5 . 0
1
3 cos
1
cos
3
1
2
or 0
2
3 cos 2
1
3 cos 2 1
1
= = + 5 . 0
2
5 cos
1
cos
3
1
1
or 0
2
5 cos 2
1
5 cos 2 1
Th ti b l d it ti l b i iti ll i These equations can be solved iteratively by initially assuming
1
= 0 and repeating the calculation for
1
and
2
. The result is
= 23 62
o
and = 33 3
o
2
23.62 , and
2
33.3 .
A pair of unwanted harmonics at the output of single-phase
inverters can also be eliminated by introducing a pair of
symmetrically placed unipolar voltage notches.
With unipolar voltage notches, the co-efficient B
n
is given by
1
0
2 /
2
) ( sin ) ( sin
4
t td n t td n
s
V
n
B
+ =
) 49 . 10 (
2
cos
1
cos 1
4
n
n n
s
V
n
B
+
=
The third and fifth harmonics would be eliminated if
0
2
3 cos
1
3 cos 1 = +
The third and fifth harmonics would be eliminated if
0
2
5 cos
1
5 cos 1 = +
The result is
2
= 17.83
o
,
2
17.83 ,
and
2
= 37.97
o
.
The modified sinusoidal PWM techniques can be applied to
generate the notches which would eliminate certain harmonics generate the notches which would eliminate certain harmonics
effectively in the output voltage as shown in Fig. 10-30.