SPWM

Power Electronics and
Drives (Version 2): Dr.

Zainal Salam, 2002
1
4.4.1 SPWM
Natural sampling
Amplitudes of the triangular wave
(carrier) and sine wave
(modulating) are compared to
obtain PWM waveform
Modulating Waveform Carrier waveform
1
M
1 +
1
0
2
dc
V
2
dc
V
0
0
t
1
t
2
t
3
t
4
t
5
t
Zainal Salam, 2002
2
SPWM (2)
Implementation example
Analogcomparator chip that
compares the 2 waveforms
Generation of the carrier signal
Zainal Salam, 2002
3
SPWM (3)
Generation of the modulating signal
Zainal Salam, 2002
4
SPWM (4)
Regular sampling
Asymmetric and symmetric
T
sample
point
t M
m
sin
1
1 +
1
4
T
4
3T
4
5T
4
2
dc
V
2
dc
V
0
t
1
t
2
t
3
t
t
asymmetric
sampling
symmetric
sampling
t
Generating of PWM waveform regular sampling
Zainal Salam, 2002
5
SPWM (5)
( )
(1,2,3...) integer an is and
signal modulating the of frequency the is where
M
: at located normally are harmonics
The . frequency" harmonic " the to related is M
waveform modulating the of Frequency
veform carrier wa the of Frequency
M
) ( M RATIO MODULATION
ly. respective voltage, (DC) input and voltage
output the of l fundamenta are , where
M
: holds ip relationsh linear the 1, M 0 If
versa. vice and high is output wave sine the
then high, is M If magnitude. tage output vol
wave) (sine l fundamenta the to related is M
veform carrier wa the of Amplitude
waveform modulating the of Amplitude
M
: M INDEX MODULATION
R
R
R
R
1
I 1
I
I
I
I
I
k
f
f k f
p
p
V V
V V
m
m
in
in
=
= =
= =

=
< <
=
=
Zainal Salam, 2002
6
SPWM (6)
Bipolar switching
Pulse width relationships
k 1
k 2
2
carrier
waveform
modulating
waveform
pulse
kth
2
Zainal Salam, 2002
7
SPWM (7)
Characterisation of PWM pulses
for bipolar switching
k 1
k 2
2
S
V +
2
S
V

Zainal Salam, 2002
8
SPWM (8)
Determination of switching angles
for kthPWM pulse
v Vmsin ( )
A
p2
A
p1
2
dc
V +
2
dc
V
A
S2
A
S1
2 2
1 1
second, - volt the Equating
p s
p s
A A
A A
=
=
Zainal Salam, 2002
9
SPWM (9)
[ ]
) sin( sin 2

cos ) 2 cos( sin
sinusoid, by the supplied second - volt The
where ;
2
Similarly,
where
2 2
2
) 2 (
2
: as given is pulse PWM the of
cycle half each during voltage average The
2
1
2
2 2 2
1
1
1
1
1 1
1
o k o m
k o k m m s
o
o k
k
dc
k k
o
o k
k
s
k
o
o k dc
o
k o k dc
k
V
V d V A
V
V
V V
V
V
k
o k

=
= =

Zainal Salam, 2002
10
SPWM (11)
) sin(
) 2 (
) sin( 2 2
2
edge leading for the Hence,
;
strategy, modulation the derive To
2
2
; 2
2
, waveforms PWM the of seconds - volt The
) sin( 2
Similarly,
) sin( 2
, small for sin
Since,
1
1
2 2 1 1
21 2 1 1
2
1
o k
dc
m
k
o k m o o
dc
k
s p s p
o
dc
k p o
dc
k p
o k m o s
o k m o s
o o o
V
V
V
V
A A A A
V
A
V
A
V A
V A

=
=
= =
=
+ =
=

Zainal Salam, 2002
11
SPWM (12)
[ ]
[ ] ) sin( 1
and
) sin( 1
width, - pulse for the solve to ng Substituti
) sin(
: derived be can
edge trailing the method, similar Using
) sin(
Thus,
1. to 0 from It varies depth. or index
modulation as known is
2
ratio, voltage The
2
1
1
1
2
1
o k I o k
o k I o k
o
o k
k
o k I k
o k I k
dc
m
I
M
M
M
M
) (V
V
M

+ + =
+ =
=
=
=
=
Zainal Salam, 2002
12
SPWM (13)
[ ]
k I o k
k k
k k
M

sin 1
, Modulation Symmetric For
different. are and i.e , Modulation
Asymmetric for valid is equation above The
: edge Trailing

: edge Leading
: is pulse kth the of angles switching the Thus
k 2k 1k
2k 1k
1
1
+ =
= =
+
Example
For the PWM waveform shown,
calculate the switching angles for all the
pulses.
Zainal Salam, 2002
13
SPWM (14)
V 5 . 1
V 2
2
1 2 3 4 5 6 7 8 9
t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 t12
t13
t14
t15
t16
t17
t18
2
1
carrier
waveform
modulating
waveform
Harmonics of bipolar PWM
waveform
Zainal Salam, 2002
14
SPWM (15)
{
} ) 2 ( cos ) ( cos
) ( cos ) ( cos
) ( cos ) 2 ( cos
: to reduced be can Which
sin
2
2
sin
2
2
sin
2
2
sin ) (
1
2
: as computed be can pulse PWM
(kth) each of content harmonic symmetry,
wave - half is waveform PWM the Assuming
2
1 2
1
2
2
0
2
2
1
1
o k k k
k k k k
k k o k
dc
nk
dc
dc
dc
T
nk
n n
n n
n n
n
V
b
d n
V
d n
V
d n
V
d n v f b
o k
k k
k k
k k
k k
o k

+ + +
+ +
=
'
'
'
'
+
+
+

Zainal Salam, 2002
15
SPWM (16)
[
]

equation. this of n computatio
the shows page next on the slide The
: i.e. period, one over pulses
for the of sum isthe waveform PWM
for the coefficent Fourier ly.The productive
simplified be cannot equation This
2 cos cos 2
) 2 ( cos ) ( cos
2
Yeilding,
1
1 1
=
=
+
=
p
k
nk n
nk
o k
k k k k
dc
nk
b b
p b
n n
n n
n
V
b


Zainal Salam, 2002
16
SPWM (17)
Harmonics spectra
p
p 2 p 3 p 4
0 . 1 = M
8 . 0 = M
6 . 0 = M
4 . 0 = M
2 . 0 = M
Amplitude
Fundamental
0
2 . 0
4 . 0
6 . 0
8 . 0
0 . 1
NORMALISED HARMONIC AMPLITUDES FOR
SINUSOIDAL PULSE-WITDH MODULATION
Depth of
Modulation
Zainal Salam, 2002
17
SPWM (18)
Spectra observations
Amplitude of fundamental
decreases/increases linearly in
proportion to the depth of modulation
(modulation index). Relationship given
as:
V
1
= M
I
V
in
Harmonics appear in clusters with
main components at frequencies of :
f = kp(f
m
) k=1,2,3....
where f
m
: frequency of the modulation
signal
Side-bands exist around main
harmonic frequencies
Zainal Salam, 2002
18
SPWM (19)
Amplitude of the harmonics changes
with M
I
. Its incidence (location on
spectra) does not
When p>10, or so, the harmonics can be
normalised (as shown in Figure). For
lower values of p, the side-bands clusters
overlap, and the normalised results no
longer apply
Zainal Salam, 2002
19
SPWM (20)
Normalized Fourier coefficients
h
M
I
0.2 0.4 0.6 0.8 1.0
1 0.2 0.4 0.6 0.8 1.0
M
R
1.242 1.15 1.006 0.818 0.601
M
R
+2 0.016 0.061 0.131 0.220 0.318
M
R
+4 0.018
2M
R
+1 0.190 0.326 0.370 0.314 0.181
2M
R
+3 0.024 0.071 0.139 0.212
2M
R
+5 0.013 0.033
3M
R
0.335 0.123 0.083 0.171 0.113
3M
R
+2 0.044 0.139 0.203 0.716 0.062
3M
R
+4 0.012 0.047 0.104 0.157
3M
R
+6 0.016 0.044
4M
R
+1 0.163 0.157 0.008 0.105 0.068
4M
R
+3 0.012 0.070 0.132 0.115 0.009
4M
R
+5 0.034 0.084 0.119
4M
R
+7 0.017 0.050
Zainal Salam, 2002
20
SPWM (21)
Example
( )

harmonics. dominant the of some and voltage
frequency - l fundamenta the of values the
Calculate 47Hz. is lfrequency fundamenta
The 39. M 0.8, M 100V, V
inverter, PWM phase single bridge - full In the
: Example
M of function a as
2
: from computed are harmonics The

2
PWM, bipolar phase - single bridge full for : Note
R I DC
I
' ,
= = =
=
= =
DC
n
RG
RG
G R
RG
RR
o
V
V
v
v v v v
Zainal Salam, 2002
21
SPWM (22)
Three-phase inverters
Effect of odd triplens
For three-phase inverters, there is
significant advantage if pis chosen to
be:
odd and multiple of three (triplens)
(e.g. 3,9,15,21, 27..)
With odd p, the line voltage shape looks
more sinusoidal
Even harmonics are absent in the phase
voltage (pole switching waveform) for p
odd
Spectra observations
The absence of harmonics no. 21 & 63
in the inverter line voltage due to p as a
multiple of three
Zainal Salam, 2002
22
SPWM (23)
Overall, spectra of the line voltage is
more clean (lower THD, line voltage
is more sinusoidal)
More concern with the line voltage
Phase voltage amplitude is 0.8
(normalised) for modulation index =0.8
Line voltage amplitude is square root
three of phase voltage due to the three-
phase relationship
Waveform
Zainal Salam, 2002
23
SPWM (24)
2
dc
V
2
dc
V
2
dc
V
2
dc
V
2
dc
V
2
dc
V
2
dc
V
2
dc
V
dc
V
dc
V
dc
V
dc
V
2
RG
V
RG
V
RY
V
RY
V
YG
V
YG
V
6 . 0 , 8 = = M p
6 . 0 , 9 = = M p
ILLUSTRATION OF BENEFITS OF USING A FREQUENCY RATIO
THAT IS A MULTIPLE OF THREE IN A THREE PHASE INVERTER
Zainal Salam, 2002
24
SPWM (25)
0
2 . 0
4 . 0
6 . 0
8 . 0
0 . 1
2 . 1
4 . 1
6 . 1
8 . 1
Amplitude
voltage) line to (Line 3 8 . 0
Fundamental
41 43
39
37
45
47
23 19
21 63
61
59
57
65
67
6977
79
81
83 85
87
89
91
19 23
43
47
41
37
61
59
65
67
83
79
85
89
COMPARISON OF INVERTER PHASE VOLTAGE (A) & INVERTER LINE VOLTAGE
(B) HARMONIC (P=21, M=0.8)
A
B
Harmonic Order
Harmonics
Zainal Salam, 2002
25
SPWM (26)
Overview
It is desirable to push pto as large as
possible. When p is high, the harmonics
will be at higher frequencies based on : f
= kp(f
m
), wheref
m
is the frequency of the
modulating signal
Although the voltage THD improvement
is not significant, but the current THD
will improve greatly because the load
normally has some current filtering effect
If a low pass filter is to be fitted at the
inverter output to improve voltage THD,
higher harmonic frequencies is desirable
because it makes smaller filter
component.
Zainal Salam, 2002
26
SPWM (27)
Example
The amplitudes osthe pole switching
waveform harmonics of the red phase of a
three-phase inverter is shown in the
following Table. The inverter uses a
symmetric regular sampling PWM scheme.
The carrier frequency is 1050Hz and the
modulating frequency is 50Hz. The
modulation index is 0.8. Calculate the
harmonic amplitudes of the line-to-voltage
(i.e. red to blue phase) and complete the
Table.
Zainal Salam, 2002
27
SPWM (28)
Harmonic
number
Amplitude (pole switching
waveform)
Amplitude (line-to
line voltage)
1 1
19 0.3
21 0.8
23 0.3
37 0.1
39 0.2
41 0.25
43 0.25
45 0.2
47 0.1
57 0.05
59 0.1
61 0.15
63 0.2
65 0.15
67 0.1
69 0.05
Zainal Salam, 2002
28
SPWM (29)
Unipolar switching
2 pair of switches operating at carrier
frequency
Zainal Salam, 2002
29
SPWM (30)
Frequency spectrum, M
I
= 1
Normalized Fourier coefficients
(V
n
/V
DC
)
Zainal Salam, 2002
30
SPWM (31)
2 pair of switches operating at carrier
frequency, other pair at reference
frequency

SPWM

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SPWM

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Power Electronics and

Drives (Version 2): Dr.

Power Electronics and

Power Electronics and

Power Electronics and

Power Electronics and

Power Electronics and

: from computed are harmonics The

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