energies

Article
Selective Harmonic Elimination in a Wide
Modulation Range Using Modified Newton–Raphson
and Pattern Generation Methods for a
Multilevel Inverter
Mohammed Al-Hitmi 1 , Salman Ahmad 2 , Atif Iqbal 1, * ID
, Sanjeevikumar Padmanaban 3 ID
and
Imtiaz Ashraf 2
1 Department of Electrical Engineering, Qatar University, Doha Post Box No. 2713, Qatar;
m.a.alhitmi@qu.edu.qa
2 Department of Electrical Engineering, Aligarh Muslim University, Aligarh 202002, India;
salmanahmad19@gmail.com (S.A.); imtiazashraf@hotmail.com (I.A.)
3 Department of Energy Technology, Aalborg University, 6700 Esbjerg, Denmark; sanjeevi_12@yahoo.co.in
* Correspondence: atif.iqbal@qu.edu.qa; Tel.: +97-433-276-330

Received: 19 January 2018; Accepted: 11 February 2018; Published: 22 February 2018

Abstract: Considering the aim of having low switching losses, especially in medium-voltage and
high-power converters, the pre-programmed pulse width modulation technique is very useful
because the generated harmonic content can be known in advance and optimized. Among the
different low switching frequency techniques, the Selective Harmonics Elimination (SHE) modulation
method is most suitable because of its direct control over the harmonic spectrum. This paper
proposes a method for obtaining multiple solutions for selectively eliminating specific harmonics in a
wide range of modulation indices by using modified Newton–Raphson (NR) and pattern generation
techniques. The different pattern generation and synthesis approach provide more degrees of freedom
and a way to operate the converter in a wide range of modulation. The modified Newton–Raphson
technique is not complex and ensures fast convergence on a solution. Moreover, multiple solutions
are obtained by keeping a very small increase in the modulation index. In the previous methods,
solutions were not obtainable at all modulation indices. In this paper, only exact solutions to the
low-order harmonics elimination for Cascaded H-bridge inverter are reported for all modulation
indices. Analytical and simulation results prove the robustness and correctness of the technique
proposed in this paper.

Keywords: Modified Newton–Raphson(M-NR); selective harmonics elimination; multi-level inverter;

pulse width modulation; transcendental equations; modulation index

1. Introduction
The performance of a VSC mostly depends on the type of PWM strategy chosen for its operation.
The PWM schemes for power converters can be broadly classified as high switching frequency PWM,
such as sine PWM; space vector PWM; and low switching frequency, such as Selective Harmonics
Elimination (SHE), Space Vector Modulation (SVM), and selective harmonics mitigations (SHM)
schemes [1–10]. The high switching frequency PWM schemes (in kHz) are used in applications where
power quality is of more importance than switching losses (mainly low power applications). Whereas
low switching frequency (50–800 Hz) [11,12]. PWM schemes are employed in medium-voltage,
high-power voltage source converters, where switching losses arethe main constraint, along with
power quality. Among the different low switching frequency techniques, SHE is a pre-programmed
modulation method thatwas proposed to eliminate two lower-order harmonics by having additional

Energies 2018, 11, 458; doi:10.3390/en11020458 www.mdpi.com/journal/energies

Energies 2018, 11, 458 2 of 16

switching angles in the square wave voltage waveform [13]. It was developed into a generalized
meansof obtaining the desired voltage byselectively eliminating the lower-order harmonics [14]. The
SHE PWM exhibits some distinct features in comparison to other PWM techniques such as: (i) low
converter switching frequency, which contributes tothe reduction in switching losses and hence
increases the efficiency and reliability of the converter; (ii) in SHE-PWM, unlike other PWM techniques,
overmodulation is possible, which causes an increased utilization of the DC bus; (iii) selective
elimination of lower-order harmonics results in high power quality and lower harmonic losses;
(iv) high quality of output voltage and current also reduces the ripple in the DC link current and,
therefore, a reduction in the size of the DC link filter components can be achieved.
Multilevel converters represent a very important topic in modern power electronics and many
research groups are working on topologies, modulation techniques, and control algorithm strategies to
improve the global behaviour of the system. In medium- and high-power applications, it is not good
practice to use high switching frequencies because the thermal losses could damage the switching
devices. Therefore, low switching frequency modulation techniques based on pre-computed PWM
switching patterns can be very useful. The medium-voltage inverter operated with SHE normally
has aquarter wave symmetrical stepped voltage waveform at output at fundamental frequency.
However, several switchescan be done in one quarter of the cycle to obtain a better quality output
waveform as it will eliminate harmonics but at the cost of higher switching losses. The biggest
challenge in the implementation of the SHE-PWM technique is solving the set of trigonometric
equations with the multiplicity of angles obtained after applying a Fourier series analysis of the
output waveforms. These sets of equations are highly non-linear and transcendental in nature and
may exhibit multiple solutions, a unique solution, or no solution in a different range of modulation
index. The methods most commonly used to solve these equations are numerical methods, algebraic
methods, and evolutionary-algorithm-based optimization methods. The numerical methods include
the conventional Newton–Raphson (NR) algorithm [14] and sequential homotopy [15]. The algebraic
methods introduced recently include resultant elimination theory [16,17] and Groebner bases with
symmetric polynomials [18]. The evolutionary-algorithm-based optimization methods include random
searching methods thatoptimize an objective function based on a genetic algorithm [19], modified
species-based particle swarm optimization [20,21], the ant-colony-based algorithm [22], artificial
neural network real-time angle generation [23], the colonial competitive algorithm [24], and the bee
algorithm [25]. A universal method based on equal area criteria also introduced in [26] tries to solve
the problem by having only four equations, irrespective of number of voltage levels. In numerical
techniques, for fast and sure convergence, a good initial guess is necessary and finding multiple
solutions is difficult and involves complicated calculations. Metaheuristic-based optimization methods
may not converge onan exact solution of the equations but rather minimize an objective function and
give an approximate solution with a particular initial guess. The solution tothis method is highly
dependent on the formulation of the objective function and search space. Also, the solution depends on
the parameter assumed in the algorithm and requiresexpert programming for getting reliable solutions.
The limitations of numerical and metaheuristic methods can be overcome by algebraic methods thatcan
provide all the solutions at a particular modulation index. However, because of the involvement of a
high degree of polynomials, it is complicated and takes a lot oftime to evaluate all possible solutions.
In this paper, a pattern synthesis approach based on different voltage levels at different modulation
rangesis proposed and investigated. The trigonometric transcendental equations obtained from
different patterns have been solved using a modified NR method. The proposed modified NR method
is not sensitive to the initial guesses as in the case of the conventional NR method. Moreover, the
modified NR method is also capable of generating multiple solutions in amodulation range, which
is not possible with conventional NR methods. Different patterns have been synthesized for an
11-level cascaded H-bridge; three-phase inverter and switching angles are computed in a wide range of
modulation indices with multiple solutions. In the existing literature, the problem is aggravated when
the modulation index is low and generally few solutions are obtained. This limitation is overcome
Energies 2018, 11, 458 3 of 16

in theEnergies 2018, 11, x FOR PEER REVIEW 
proposed approach, which provides   more flexibility and degrees of freedom and at3 of 17 
least one
solution forthe entire range of the modulation index.
the  problem  is  aggravated  when  the  modulation  index  is  low  and  generally  few  solutions  are 
obtained. This limitation is overcome in the proposed approach,which provides more flexibility and 
2. Eleven-Level Cascaded H-Bridge Inverter
degrees of freedom and at least one solution forthe entire range of the modulation index. 
The cascaded H-bridge multilevel inverter can have several H-bridge cells connected in cascades
2. Eleven‐Level Cascaded H‐Bridge Inverter 
to obtain higher voltage and power at output with fewerrating power switches [27–35]. It consists
of severalThe  separate DC sources
cascaded  H‐bridge tomultilevel 
produce ainverter 
stepped waveform
can  veryH‐bridge 
have  several  close to the sinusoidal
cells  connected voltage
in 
cascades to obtain higher voltage and power at output with fewerrating power switches [27–35]. It 
waveform with lesser THD. Its modular structure and circuit flexibility makes it more suitable for
consists of several separate DC sources to produce a stepped waveform very close to the sinusoidal 
medium-voltage and high-power applications. Further the modulation method can be extendedfor
more voltage 
numberwaveform of phaseswith  (>3) lesser  THD. increasing
by simply Its  modular 
thestructure 
numberand  circuit 
of legs flexibility  makes  it  more 
horizontally.
suitable for medium‐voltage and high‐power applications. Further the modulation method can be 
In this paper a three-phase balanced system has been considered, which is mostly used in
extendedfor more number of phases (>3) by simply increasing the number of legs horizontally.   
medium-voltage, high-power applications in industry. Figure 1 shows a three-phase H-bridge inverter
In  this  paper  a  three‐phase  balanced  system  has  been  considered,  which  is  mostly  used  in 
with medium‐voltage, 
five separate DC sources in each leg connected in a cascade. The number of levels in the
high‐power  applications  in  industry.  Figure  1  shows  a  three‐phase  H‐bridge 
output voltage is given by 2N + 1, where N is the number of separate DC sources; since there
inverter with five separate DC sources in each leg connected in a cascade. The number of levels in 
are five separate DC sources here, it will be an 11-level inverter and its phase voltage is given by
the output voltage is given by 2N + 1, where N is the number of separate DC sources; since there are 
V an =five separate DC sources here, it will be an 11‐level inverter and its phase voltage is given by V
(V a1 + V a2 + V a3 + V a4 + V a5 ). Each cell can generate three voltage levels of +V dc , 0 and −V dc
an = 

(V  + V  + V  + V  + V ). Each cell can generate three voltage levels of +V

at its terminal depending upon the switching states of power switches. The switching states and
a1 a2 a3 a4 a5 dc, 0 and −V dc at its terminal 
depending output
corresponding upon  the  fromswitching  states  of  power 
a cell areshown switches. 
in Table The  switching 
1. The main objectivestates 
of theand  corresponding 
SHE-PWM technique
output from a cell areshown in Table 1. The main objective of theSHE‐PWM technique is to obtain a 
is to obtain a desired output waveform very close to sinusoid and eliminate some undesired harmonics
desired output waveform very close to sinusoid and eliminate some undesired harmonics (usually 
(usually lower-order harmonics) from the variable output voltage in a wide range of operations. In all
lower‐order harmonics) from the variable output voltage in a wide range of operations. In all the cell 
the cell switches, SX1 (where X denotes the respective voltage source) and SX4 operate together, while
switches,SX1 (where X denotes the respective voltage source) and SX4 operate together, while SX2 and 
SX2 andSX3 Soperate 
X3 operate simultaneously
simultaneously  but  in but in a complementary
a  complementary  way.
way.  To  Todirect 
avoid  avoidshort 
direct short circuiting
circuiting  in  the  in
the cell, some dead band is also provided, which is normally in the range of microseconds.
cell,some dead band is also provided, which is normally in the range of microseconds. 

Van Vbn Vcn

Leg-1 Leg-2 Leg-3

Sa11 Sa12 Sb11 Sb12 Sc11 Sc12

Va1 Vb1 Vc1
Sa13 Sa14 Sb13 Sb14 Sc13 Sc14

Sa21 Sa22 Sb21 Sb22 Sc21 Sc22

Va2 Vb2 Vc2
Sa23 Sa24 Sb23 Sb24 Sc23 Sc24

Sa31 Sa32 Sb31 Sb32 Sc31 Sc32

Va3 Vb3 Vc3
Sa33 Sa34 Sb33 Sb34 Sc33 Sc34

Sa41 Sa42 Sb41 Sb42 Sc41 Sc42

Va4 Vb4 Vc4
Sa43 Sa44 Sb43 Sb44 Sc43 Sc44

Sa51 Sa52 Sb51 Sb52 Sc51 Sc52

Va5 Vb5 Vc5
Sa53 Sa54 Sb53 Sb54 Sc53 Sc54

Figure 1. Eleven-level, three-phase cascaded H-bridge inverter.

Energies 2018, 11, 458 4 of 16

Table 1. Switching angles in different quadrants.

Case Switches’ States Cell Output Voltage

i. (1, 3) → 0 and (2, 4) → 0 0
ii. (1, 3) → 0 and (2, 4) → 1 −Vdc
iii. (1, 3) → 1 and (2, 4) → 0 +Vdc
iv. (1, 3) → 1 and (2, 4) → 1 0

3. Problem Formulation and Mathematical Modelling

The AC output voltage of the cascaded H-bridge is given by the sum of voltages from different
H-bridges connected in cascades. To analyse the output voltage waveform from the inverter, the Fourier
series expansion technique is used. The general Fourier series expansion can be expressed as:
∞
f ( t ) = a0 + ∑ an cos(nωt) + bn sin(nωt), (1)
n =1

where Fourier coefficients are given by:

rT

1
a0 = f (t)dt


T 

0 



rT


2
bn = T f (t) sin(nωt)dt . (2)
0 



T
r


2

bn = T f (t) sin(nωt)dt 


0

The general L-level inverter output voltage waveform was generated inthe fundamental
frequency switching scheme from the multilevel inverter by considering equal separate DC voltage.
After applying the Fourier series theory to the output voltage waveform of a multilevel inverter, which
has the odd quarter-wave symmetry shown in Figure 2, a0 = 0 and an = 0. Also, because of even wave
symmetry, all even-numbered terms in bn coefficients will be zero. The third harmonics need not be
considered for elimination because the triple harmonics automatically get cancelled in the line-to-line
voltages for a balanced three-phase system and will not appear in final output waveforms. The Fourier
series coefficients are obtained as in Equation (3):

N

4E
∑ cos(nαk ), for odd n


nπ
bn = k =1 , (3)

0, for even n


where bn is the amplitude of the nth harmonics and N is the number of separate DC sources or
maximum attainable level in the output waveform. Therefore, the phase to neutral output voltage can
be expressed as:
∞
" #
4E N
Vout = ∑
nπ k∑
cos(nαk ) sin(nωt). (4)
n =1 =1
Energies 2018, 11, 458 5 of 16
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Figure 2. Generalized quarter wave symmetrical L‐level output voltage waveform. 
Figure 2. Generalized quarter wave symmetrical L-level output voltage waveform.

In a more general form, the output voltage can be written as: 
In a more general form, the output voltage can be written as:
 " 4 E N #

Vout 
∞ 
4E N  cos( n )  sin(n t) . 
k
Vout = ∑  nπ ∑ ± cos(nαk ) sin(nωt).
n 1
(5) 
(5)
n =1
nπ kk=11
For the rising edge of αk, the sign will be “+” and for the falling edge of αk it will be “−”. Thus, the 
For the rising edge of αk , the sign will be “+” and for the falling edge of αk it will be “−”. Thus,
equation for the fundamental frequency switching control method can be expressed as: 
the equation for the fundamental frequency switching control method can be expressed as:

4E
V ( t∞
) 
4E nπ
( cos(n1 )  cos(n 2 )  ...  cos(n N )) sin(n t ) .  (6) 
V (ωt) = ∑ nπ
n 1,3,5...
(± cos(nα1 ) ± cos(nα2 ) ± ... ± cos(nα N )) sin(nωt). (6)
n=1,3,5...
Considering only rise edges, Equation (6) can be developedas follows: 
Considering only rise edges, EquationN (6) can be developedas follows:

N
k 1

cos  k  M  0 

∑ cos αk − M = 0  
N 
 
k =1 
 

cos(5 ) 0 

k

N
  

(7) 

∑k 1cos(5αk ) = 0  


k= 1
 (7)
... N 


cos(n k )  0  


 

N

k 1
∑ cos(nαk ) = 0 



k =1
V V1 m
M 1     (8) 
V V m
M = V1max1
= 4 N E1 π =N (8)
V1max 4NE/π N
or the SHE equation can be formulated as 
or the SHE equation can be formulated as
m in im ize f (  )
minimize f (α)
su b ject to
subject to
g k( )  0 , k  1, 2 ,  M .  (9) 
gk (α) ≤ 0, k = 1, 2, ... M . (9)
h t(  )h (α) 0=,0, t =t 1,2, ...
1,T2 ,  T
t

L  Li ≤i αi ≤UU ii, ,i = 1,i 2,... N

i
1, 2 ,  N
The feasible range of solutions in mathematical notation can be represented by 
Energies 2018, 11, 458 6 of 16

Energies 2018, 11, x FOR PEER REVIEW    6 of 17 
The feasible range of solutions in mathematical notation can be represented by

 Ω = 
 α=
n h
2 ,3 N   R N g    0, h    0,
 1 ,α1 ,2α,  3 N N i
Li αi ≤i Ui U
, α , ... α  ∈ R | gkk(α) ≤ 0, ht (tα) = 0, Li ≤ ∀i 
i
. i
o
 .  (10) 
(10)

Here  the first
Here the first four
four non-triple
non‐triple lower
lower harmonics,
harmonics, i.e.,
i.e., 5th,
5th, 7th,
7th, 11th
11th and
and 13th,
13th,areconsidered  for 
areconsidered for
elimination and the required fundamental voltage magnitude at the output is achieved. For linear 
elimination and the required fundamental voltage magnitude at the output is achieved. For linear
operation of the converter, the modulation index M should be 0 < M < 1. For a cascaded multilevel 
operation of the converter, the modulation index M should be 0 < M < 1. For a cascaded multilevel
inverter operated at fundamental frequency with five separate DC sources, a total, 255 =
inverter operated at fundamental frequency with five separate DC sources, a total, 2 = 32 different 
32 different
switching  patterns 
switching patterns are 
are possible. 
possible. OutOut  of  a of
of a total total  of  32  patterns, 
32 patterns, 16 are just16  are  just 
a mirror a  mirror 
image image  of 
of thehorizontal
thehorizontal 
axis and only axis 
nineand  only  nine 
patterns patterns 
are useful forare  useful  for 
generating generating 
physically physically 
correct correct  waveforms,as 
waveforms, as shown in
shown in Figure 3. 
Figure 3.

 
Figure 
Figure 3.3. Differentpattern
Differentpattern  synthesis 
synthesis switching 
switching transitions 
transitions from from  the  11‐level 
the 11-level cascaded cascaded 
H-bridgeH‐bridge 
inverter.
inverter. 
(a) α1↑ , α2(a) 
,  , , , ,
↑ 3↑1 4↑ 25↑ 3 4
α α α 
; (b),  α ,,
1↑ 52
α ,;  (b) 
,  , ,  ; ,
(c)
↑ 3↑ 4↑1 5↓ 2 31↑ 42↑ 53
α α α α , 
, α ,,α , α , α ; , 
(d) α, 
↑ 4↓ 5↑1 2 1↑3 2↑ 43↓ α54↑ ; 
;  (c)  , α , , α , 
, , α(d) 
5↑ ;
1α,
(e) 1↑ , α,2
2 ↓ 33,↑ 44↑,  55
, α , α , α ↑ ; (f) 1↑ , α2
;  α(e)  , α3, 
↑1  ↑ 24,↓ 35↓,  4 ,  51
, α , α ; (g) α ↑ , α2; ↑ , α(f)  3↓ , α4
5,↓ 2 ,  31,↑ 42↑,  53↓ 4; ↓ (g) 
↑ ,1α ; (h) α , α , α , α , α5↑ ;
(i) α1↑ , α2↓ , α3↑ , α4↓ , α5↑ .
1 , 2 ,3 , 4 ,5 ; (h)  1 , 2 ,3 , 4 ,5 ; (i)  1 , 2 ,3 , 4 ,5 . 
4. Modified NR Algorithm to Solve the SHE Problem
4. Modified NR Algorithm to Solve the SHE Problem 
The Modified NR method begins with any random initial guess in the range 0 to (π/2) (assuming
The  Modified  NR  method  begins  with  any  random  initial  guess  in  the  range  0  to  (π/2) 
quarter wave odd symmetry in the PWM waveform) and generally converges at a zero of a given
(assuming quarter wave odd symmetry in the PWM waveform) and generally converges at a zero of 
system of nonlinear equations. If there exists a solution, it usually runs for a large number of iterations.
a given system of nonlinear equations. If there exists a solution, it usually runs for a large number of 
Here the algorithm is run in a discrete numbers of points, usually in very small steps of modulation
iterations. Here the algorithm is run in a discrete numbers of points, usually in very small steps of 
index change (in this paper, modulation steps of 0.0001 areconsidered). The multiplicity of solutions in
modulation index change (in this paper, modulation steps of 0.0001 areconsidered). The multiplicity 
a particular range of modulation index is due to its convergence at different solution sets at different
of solutions in a particular range of modulation index is due to its convergence at different solution 
M in the neighbourhood. One can still decrease the step size to search for more solutions in some
sets  at  different  M  in  the  neighbourhood.  One  can  still  decrease  the  step  size  to  search  for  more 
particular range of M. The flow chart is given in Figure 4.
solutions in some particular range of M. The flow chart is given in Figure 4. 
Energies 2018, 11, 458 7 of 16
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Figure 4. Flow chart of modified NR for solving SHE problem. 
Figure 4. Flow chart of modified NR for solving SHE problem.

This isexecuted repetitively in the complete range of the modulation index, i.e., from 0 to 1, to 
This isexecuted repetitively in the complete range of the modulation index, i.e., from 0 to 1,
find multiple solutions for PWM with guaranteed convergence. The algorithm ensures all possible 
to solutionsare 
find multiplegenerated, 
solutions starting 
for PWMwith 
witha guaranteed
random  initial convergence.
guess.  The The algorithm
THD  ensures has 
for  all  solutions  all possible
been 
solutionsare generated, starting with a random initial guess. The THD for all solutions has been
calculated at different modulation index using Equation (9); here harmonics of the order upto 200 
calculated at different modulation index using Equation (9); here harmonics of the order upto 200 are
are considered for the calculations: 
considered for the calculations:
v  200  Vn   
2

%THDu u

  200  2 100 . 
u  n 5,7,11,13,... VV n  
(11) 
%THD = t  ∑  1  × 100. (11)
n=5,7,11,13,...
V1
Energies 2018, 11, 458 8 of 16

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Mathematical equations for PWM output waveforms have been developed. The modified NR
Mathematical equations for PWM output waveforms have been developed. The modified NR 
method discussed in Section 4 is applied to evaluate the switching instants for the bidirectional power
method  discussed  in  Section  4  is  applied  to  evaluate  the  switching  instants  for  the  bidirectional 
switches. The technique presented in this work was first tested on the well-known results available
power  switches.  The  technique  presented  in  this  work  was  first  tested  on  the  well‐known  results 
in theavailable 
literature—for instance, theinstance, 
in  the  literature—for  five-angle the  case for a case 
five‐angle  three-phase system eliminating
for  a  three‐phase  non-triple,
system  eliminating 
low-order harmonics—and the results obtained arecompared. Some new switching
non‐triple,  low‐order  harmonics—and  the  results  obtained  arecompared.  Some  new  switching  angles were found
by this method. For instance, at M = 0.55, for all rising edge cases, there were three sets of switching
angles were found by this method. For instance, at M = 0.55, for all rising edge cases, there were three 
anglessets of switching angles {34.46, 44.57, 54.24, 65.40, 78.04}, {19.75, 39.10, 56.52, 63.57, 88.20}, and {4.05, 
{34.46, 44.57, 54.24, 65.40, 78.04}, {19.75, 39.10, 56.52, 63.57, 88.20}, and {4.05, 37.30, 41.98, 79.31,
37.30, 
88.63}, for α41.98,  79.31,  88.63},  for  α1,  α2,  α3,  α4,  and  α5.  The  third  set  obtained  here  is  novel  and  may 
1 , α2 , α3 , α4 , and α5 . The third set obtained here is novel and may havebetter performance
havebetter performance than the first two sets; in addition, it provides higher redundancy. It clearly 
than the first two sets; in addition, it provides higher redundancy. It clearly reflects the robustness of
reflects the robustness of the technique.   
the technique.
The selective solutions for the entire pattern shown in Figure 3 have been evaluated using the 
The selective solutions for the entire pattern shown in Figure 3 have been evaluated using the modified
modified NR method and the results are shown for the different patterns in Figure 5. The switching 
NR method and the results are shown for the different patterns in Figure 5. The switching instants for a
instants for a particular pattern are obtained at output in the modulation range of 0 to 1 (in steps of 
particular pattern
0.0001).    are obtained at output in the modulation range of 0 to 1 (in steps of 0.0001).

(a)  (b) (c) 

(d)  (e) (f) 

(g)  (h) (i) 

Figure 5. Switching angles (in radians) as function of modulation M for various switching transition 
Figure 5. Switching angles (in radians) as function of modulation M for various switching transition
(a)  1 ,  2 , 3 ,  4 , 5 ;  (b)  1 ,  2 , 3 ,  4 , 5 ;  (c)  1 ,  2 , 3 ,  4 , 5 ;  (d) 
(a) α1↑ , α2↑ , α3↑ , α4↑ , α5↑ ; (b) α1↑ , α2↑ , α3↑ , α4↑ , α5↓ ; (c) α1↑ , α2↑ , α3↑ , α4↓ , α5↑ ; (d) α1↑ , α2↑ , α3↓ , α4↑ , α5↑ ;
(e) α1↑ , α2↓ , α3↑ , α4↑ , α5↑ ; (f) α1↑ , α2↑ , α3↑ , α4↓ , α5↓ ; (g) α1↑ , α2↑ , α3↓ , α4↑ , α5↓ ; (h) α1↑ , α2↑ , α3↓ , α4↓ , α5↑ ;
(i) α1↑ , α2↓ , α3↑ , α4↓ , α5↑ .
Energies 2018, 11, x FOR PEER REVIEW    9 of 17 

1 , 2 ,3 , 4 ,5 ;  (e)  1 , 2 ,3 , 4 ,5 ;  (f)  1 , 2 ,3 , 4 ,5 ;  (g) 
 , , , 4 ,5 ; (h)  1 , 2 ,3 , 4 ,5 ; (i)  1 , 2 ,3 , 4 ,5 . 
 211, 458
3
Energies 12018, 9 of 16

The total harmonics distortion, as a function of the modulation index for the entire pattern, is 
The total harmonics distortion, as a function of the modulation index for the entire pattern, is
shown in Figure 6. It clearly shows that there is a wide variation in %THD for different solution sets 
shown in Figure
and  patterns.  6. Itresult 
The  clearly shows
for  that there
switching  is a shows 
angles  wide variation
multiple  insolutions, 
%THD forunique 
differentsolutions, 
solution sets
and and
no 
patterns.
solution  The result formodulation 
in  different  switching angles shows
ranges.  When  multiple solutions,
all  the  patterns unique solutions,
are  grouped  and no solution
together,  a  lot  of 
in different
solutions  modulationto 
are available  ranges.
operate  When all the patterns
the  converter,  even  at are grouped together,
a  very low  modulation  a lot of solutions area 
index. Selecting 
available to operate the converter, even at a very low modulation index. Selecting
particular  option  from  anumber  of  solutions  is  normally  application‐dependent.  One  can  select  a particular optiona 
from anumber
particular  of solutions
solution  simply  is normally
based  application-dependent.
on  the  lower  THD  obtained One cantakinginto 
or  by  select a particular solution
account  the  next 
simply
low‐order based on the lower THD
non‐eliminated  obtained
harmonics.  or bycriteria 
Other  takinginto account
could  the next
be  based  on low-order
the  minimum  non-eliminated
switching 
harmonics. Other criteria could be based on the minimum switching transition in order to further
transition in order to further reduce the power losses in the switches. Based on optimal THD criteria, 
reduce the power losses in the switches. Based on optimal THD criteria, the optimum switching angles
the optimum switching angles in different ranges of M for all possible patterns of Figure 3 have been 
in different
given  in  Figure  M for
ranges6. ofThe  all possible
switching  patterns
angles  of Figure
for  the  range 3of have been given
modulation  in Figure
index  6. entire 
of  the  The switching
pattern 
angles for the range of modulation index of the entire pattern aregiven and compared in Figure 7.
aregiven and compared in Figure 7. It is evident that there are several options available to operate 
It is evident
the  inverter that
in  there are several
different  optionsranges 
modulation  availableto  to operate
obtain  thedesired 
the  inverterperformance. 
in different modulation
From  the 
ranges to obtain the desired performance. From the computational results, it
computational results, it is clear that at a higher modulation value the THD is better than at lower is clear that at a higher
modulation value the THD is better than at lower modulation. At a lower modulation range, one can
modulation. At a lower modulation range, one can utilize a high switchingfrequency technique like 
utilize
space  avector 
high switchingfrequency
PWM  by  operating  technique like spacewith 
power  switches  vector PWMPWM, 
hybrid  by operating
which power
could switches with
be  an  active 
hybrid PWM, which could be an active research area. The maximum error in the harmonics function
research area. The maximum error in the harmonics function evaluation and the harmonics profile 
evaluation and the harmonics profile for pattern ‘a’ are shown in Figure 8. It is evident from the figure
for pattern ‘a’ are shown in Figure 8. It is evident from the figure that an accurate solution tothe SHE 
that an accurate solution
equation  is  obtained  tothe
and  the SHE equation
targeted  is obtained
harmonics  are and the targeted
completely  harmonics
eliminated  are the 
from  completely
output 
eliminated from the output waveform. This is one of the major advantages of utilizing the modified
waveform. This is one of the major advantages of utilizing the modified Newton Raphson technique 
Newton Raphson technique tosolve SHE equations.
tosolve SHE equations. 

 
Figure 6. % Line THD for the entire pattern as a function of modulation index M. 
Figure 6. % Line THD for the entire pattern as a function of modulation index M.
Energies 2018, 11, 458 10 of 16
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Figure 7. Switching angle as a function of m for all the patterns. 
Figure 7. Switching angle as a function of m for all the patterns.
Figure 7. Switching angle as a function of m for all the patterns. 
1
1

0.8
0.8
Magnitude
NormalizedMagnitude

0.6
0.6
Normalized

0.4
0.4

0.2
0.2

0
00 10 20 30 40 50
0 10 20 30 40 50
Harmonics Order
Harmonics Order
(a)  (b)
(a)  (b)
Figure 8. (a) Maximum error in the function for pattern “a”; (b) harmonics profile at M = 0.845. 
Figure 8. (a) Maximum error in the function for pattern “a”; (b) harmonics profile at M = 0.845. 
Figure 8. (a) Maximum error in the function for pattern “a”; (b) harmonics profile at M = 0.845.
To  validate  the  computational  results  for  switching  angles,  a  simulation  is  carried  out  in 
To  validate  the  computational  results  for  switching  angles,  a  simulation  is  carried  out  in 
MATLAB/SIMULINK  software  tool  results
To validate the computational R2017a for (9.2.0.538062)  for  an  11‐level, 
switching angles, a simulation three‐phase 
is carriedcascaded 
out in
MATLAB/SIMULINK  software  tool  R2017a  (9.2.0.538062)  for  an  11‐level,  three‐phase  cascaded 
H‐bridge inverter. The DC source for each H‐bridge unit is considered 100 V. The simulation results 
MATLAB/SIMULINK software tool R2017a (9.2.0.538062) for an 11-level, three-phase cascaded
H‐bridge inverter. The DC source for each H‐bridge unit is considered 100 V. The simulation results 
cover the whole range of M for the entire pattern. Selected simulation resultsarepresented in Figure 
H-bridge inverter. The DC source for each H-bridge unit is considered 100 V. The simulation results
cover the whole range of M for the entire pattern. Selected simulation resultsarepresented in Figure 
9.  The the
cover simulation 
whole rangeresults 
of M for 
forphase  voltage at 
the entire pattern. modulation  index, M = 
Selected simulation 0.6, are  shown  in in
resultsarepresented Figure 
Figure9a, 
9.
9.  The  simulation  results  for  phase  voltage at  modulation  index, M =  0.6, are  shown  in  Figure  9a, 
where all the H‐bridge cells are producing +100 V at the output. In this case, in a quarter of a full 
The simulation results for phase voltage at modulation index, M = 0.6, are shown in Figure 9a, where
where all the H‐bridge cells are producing +100 V at the output. In this case, in a quarter of a full 
output cycle, the S
all the H-bridge cells X1 and S X3 switches of the first, second, third, fourth, and fifth cells of the first leg 
are producing +100 V at the output. In this case, in a quarter of a full output cycle,
output cycle, the SX1 and SX3 switches of the first, second, third, fourth, and fifth cells of the first leg 
are turned on at instant α
the SX1 and SX3 switches 1 of = 26.65°, α = 43.95°, α
the first,2 second, 3 = 51.56°, α
third, = 62.43° and α
fourth, 4 and fifth cells of5 = 72.54°, respectively, or 
the first leg are turned
are turned on at instant α 1 = 26.65°, α2 = 43.95°, α3 = 51.56°, α4 = 62.43° and α5 = 72.54°, respectively, or 
◦ , ms,  ◦ , α 2.86  ◦ ,3.46  ◦ and ◦ , respectively,
at 
on time  instants 
at instant α1 =of  1.48 
26.65 α2 = 2.44 
43.95ms,  = ms, 
51.56 α = ms, 
62.43 and  4.03 
α ms, 
= respectively. 
72.54 Similarly,  the 
or at time
at  time  instants  of  1.48  ms,  2.44  ms, 32.86  ms,  3.46  4
ms,  and  4.03 5 ms,  respectively.  Similarly,  the 
switches S
instants of X2  and S
1.48 ms, X3  of the first, second, third, fourth, and fifth cells are turned ON at instant 
2.44 ms, 2.86 ms, 3.46 ms, and 4.03 ms, respectively. Similarly, the switches SX2 and α1 = 
switches SX2 and SX3 of the first, second, third, fourth, and fifth cells are turned ON at instant  α1 = 
206°, α 2 = 223.95°, α
SX3 of the 3 = 231.56°, α
first, second, 4 = 242.43°, and α
third, fourth, and fifth cells are turned ON at instant α1 = 206◦ , α2 = 223.95◦ ,
5 = 252.54°, respectively, or at time instants 11.48 ms, 
206°, α2 = 223.95°, α 3 = 231.56°, α4 = 242.43°, and α5 = 252.54°, respectively, or at time instants 11.48 ms, 
α3 = 231.56◦ , α4 = 242.43◦ , and α5 = 252.54◦ , respectively, or at time instants 11.48 ms, 12.44 ms, 12.86 ms,
12.44 ms, 12.86 ms, 13.46 ms, and 14.03 ms. The switches remain turned ON for a duration of 35.19%, 
12.44 ms, 12.86 ms, 13.46 ms, and 14.03 ms. The switches remain turned ON for a duration of 35.19%, 
25.58%, 
13.46 ms,21.35%, 
and 14.0315.32%, 
ms. Theand switches
9.70%  of  a  full  turned
remain cycle,  respectively.  The  simulation 
ON for a duration of 35.19%,results 
25.58%,obtained 
21.35%,
25.58%,  21.35%,  15.32%,  and  9.70%  of  a  full  cycle,  respectively.  The  simulation  results  obtained 
following asimilar procedure arein close agreement withthe analytical results. Hence it confirms the 
15.32%, and 9.70% of a full cycle, respectively. The simulation results obtained following asimilar
following asimilar procedure arein close agreement withthe analytical results. Hence it confirms the 
robustness arein
procedure and  correctness 
close agreement of  the withthe
technique  adopted. 
analytical It  can Hence
results. be  seen 
it that  the  low 
confirms theorder  non‐triple 
robustness and
robustness  and  correctness  of  the  technique  adopted.  It  can  be  seen  that  the  low  order  non‐triple 
harmonics such as 5th, 7th, 11th, and 13th are eliminated from the line‐to‐line output voltage and the 
correctness of the technique adopted. It can be seen that the low order non-triple harmonics such as
harmonics such as 5th, 7th, 11th, and 13th are eliminated from the line‐to‐line output voltage and the 
THD is very close to the calculated value. 
5th, 7th, 11th, and 13th are eliminated from the line-to-line output voltage and the THD is very close to
THD is very close to the calculated value. 
the calculated value.
Energies 2018, 11, 458 11 of 16
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(a)

 
(b)

 
(c)
Figure  9.  Simulation  result  for  pattern  ‘a’  at  M  =  0.6000  (a)  Phase  voltage;  (b)  line  voltage;  (c) 
Figure 9. Simulation result for pattern ‘a’ at M = 0.6000 (a) Phase voltage; (b) line voltage; (c) harmonics
harmonics spectrum. 
spectrum.
5. Hardware Setup and Experimental Results 
5. Hardware Setup and Experimental Results
The computational result is validated by a prototype developed in the laboratory. The switches 
of  H‐bridge 
The inverter 
computational are  is
result bidirectional 
validated byinsulated  gate  developed
a prototype bipolar  transistors  (IGBT)  selected 
in the laboratory. from  of
The switches
Semikron  SKM100GB12T4.  The  control  code  for  harmonics  elimination  is  built  using 
H-bridge inverter are bidirectional insulated gate bipolar transistors (IGBT) selected from Semikron Xilinx’s 
field‐programmable  gate  array  FPGA  from  VIRTEX‐5  XC5VLX50T  (Xilinx,  San  Jose,  CA, USA).  A 
SKM100GB12T4. The control code for harmonics elimination is built using Xilinx’s field-programmable
gate array FPGA from VIRTEX-5 XC5VLX50T (Xilinx, San Jose, CA, USA). A harmonics spectrum
analyser is also used in conjunction withthe scope for FFT analysis. The complete hardware setup is
Energies 2018, 11, x FOR PEER REVIEW    12 of 17 
Energies 2018, 11, x FOR PEER REVIEW    12 of 17 
Energies 2018, 11, 458 12 of 16
harmonics  spectrum  analyser  is  also  used  in  conjunction  withthe  scope  for  FFT  analysis.  The 
harmonics  spectrum  analyser  is  also  used  in  conjunction  withthe  scope  for  FFT  analysis.  The 
complete  hardware  setup  is  shown  in  Figure  10.  The  switching  pulses  from  FPGA  were  given  to 
complete  hardware  setup  is  shown  in  Figure  10.  The  switching  pulses  from  FPGA  were  given  to 
high‐speed 
shown in Figure IGBT 10. gate 
Thedrivers, 
switchingwhich  in  turn 
pulses fromsupply 
FPGAa wereconditioned 
given toand  proper  signal 
high-speed to  the 
IGBT gate IGBT 
drivers,
high‐speed  IGBT  gate  drivers,  which  in  turn  supply  a  conditioned  and  proper  signal  to  the  IGBT 
switches. 
which   supply a conditioned and proper signal to the IGBT switches.
in turn
switches.   
The DC voltage for each cascaded H‐bridge has been kept at 35 V. The first experiment has been 
The DC voltage for each cascaded H-bridge has been kept at 35 V. The first experiment has
The DC voltage for each cascaded H‐bridge has been kept at 35 V. The first experiment has been 
carried 
been carriedout  for 
outpattern  ‘a’  at 
for pattern ‘a’modulation 
at modulation index  M M
index =  0.432 
= 0.432for 
forcorresponding 
correspondingswitching 
switching angles 
angles of
carried  out  for  pattern  ‘a’  at  modulation  index  M  =  0.432  for  corresponding  switching  angles  of
11  0.622 22
α = 0.622, ,  
α 
= 0 .833
0.833,,  
α 33 
= 1 .049 , 
1.049, 
α 4 
= 1.313 , and 
1.313, and 
α 5 
= 1.561 . Figure 11 shows the output waveform 
1.561. Figure 11 shows the output waveform
1  0.622 ,  2  0.833 ,  3  1.049 ,   4  1.313 , and  5  1.561 . Figure 11 shows the output waveform 
and harmonics spectrum. The time axis is divided into10 ms/div, while the vertical axis is 49 V/div.
and harmonics spectrum. The time axis is divided into10 ms/div, while the vertical axis is 49 V/div. 
and harmonics spectrum. The time axis is divided into10 ms/div, while the vertical axis is 49 V/div. 
The fft
The  fft spectrum
spectrum  shown confirms
shown  that the
confirms  that targeted harmonics
the  targeted  for elimination
harmonics  are completely
for  elimination  eliminated
are  completely 
The  fft  spectrum 
from the output waveform. shown  confirms  that  the  targeted  harmonics  for  elimination  are  completely 
eliminated from the output waveform. 
eliminated from the output waveform. 
Similarly, the hardware results for ‘b’ and ‘g’ are shown in Figures 12 and 13, respectively. The FFT
Similarly, the hardware results for ‘b’ and ‘g’ are shown in Figures 12 and 13, respectively. The 
Similarly, the hardware results for ‘b’ and ‘g’ are shown in Figures 12 and 13, respectively. The 
spectrum of these waveforms also shows that the targeted non-triple harmonics (5th, 7th, 11th, and
FFT spectrum of these waveforms also shows that the targeted non‐triple harmonics (5th, 7th, 11th, 
FFT spectrum of these waveforms also shows that the targeted non‐triple harmonics (5th, 7th, 11th, 
13th order) considered for elimination are completely absent. In asimilar fashion, experimental results
and 13th order) considered for elimination are completely absent. In asimilar fashion, experimental 
and 13th order) considered for elimination are completely absent. In asimilar fashion, experimental 
can be obtained for the entire modulation range of different possible structures.
results can be obtained for the entire modulation range of different possible structures. 
results can be obtained for the entire modulation range of different possible structures. 

Scope
Scope DC
DCsupply
Supply
Scope
Scope DC
DCsupply
Supply

PC HH--Bridge
Bridge
PC
PC HH--Bridge
Bridge
PC

Fluke
Fluke
FPGA Board
FPGA Board
Fluke
Fluke
FPGA Board
FPGA Board  
 
Figure 10. Experimental setup. 
Figure 10. Experimental setup.
Figure 10. Experimental setup. 

 
 
(a)  (b) 
(a)  (b) 
Figure  11.  Experimental  results  for  pattern  ‘a’  (a)  output  voltage  waveform  at  M =  0.432;  (b)  FFT 
Figure 11.
Figure 11. Experimental
Experimental  results 
results forfor  pattern 
pattern ‘a’ 
‘a’ (a) (a)  output 
output voltagevoltage 
waveformwaveform  at  M = 
at M = 0.432; (b)0.432;  (b)  FFT 
FFT spectrum.
spectrum. 
spectrum. 
Energies 2018, 11, 458 13 of 16
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(a) 
(a)  (b) 
(b) 
Figure  12.  Experimental  results  of  output  voltage  and  THD  of  pattern  of  Figure  3b  in  (a,b) 
Figure 12.
Figure 12. Experimental
Experimental  results 
results of  output 
of output voltage 
voltage and ofTHD 
and THD of of
pattern pattern 
Figure of  Figure 
3b in 3b  in  (a,b) 
(a,b) respectively.
respectively. 
respectively. 

A LUT flip flop pair for this architecture represents one LUT paired with one flip flop within
A LUT flip flop pair for this architecture represents one LUT paired with one flip flop within a 
A LUT flip flop pair for this architecture represents one LUT paired with one flip flop within a 
a slice. A control set is a unique combination of clock, reset, set, and enable signals for a registered
slice. A control set is a unique combination of clock, reset, set, and enable signals for a registered 
slice. A control set is a unique combination of clock, reset, set, and enable signals for a registered 
element. The 
element.  The Figure 14 14 shows the 
the design summary 
summary report for 
for case “a”, 
“a”, which contains 
contains device
element.  The  Figure 
Figure  14  shows 
shows  the  design 
design  summary  report 
report  for  case 
case  “a”,  which 
which  contains  device 
device 
utilization information.
utilization information. 
utilization information. 

  
(a) 
(a)  (b) 
(b) 
Figure  13. Experimental
Experimental  results 
results of  output 
of output voltage 
voltage and ofTHD 
and THD of  of
pattern pattern 
Figure of  Figure 
3c in 3c  in  (a,b) 
(a,b) respectively.
Figure 13.
Figure 13.  Experimental  results  of  output  voltage  and  THD  of  pattern  of  Figure  3c  in  (a,b) 
respectively. 
respectively. 
Energies 2018, 11, 458 14 of 16

Energies 2018, 11, x FOR PEER REVIEW    14 of 17 

 
Figure 14. Summary report presenting FPGA devices’ utilization. 
Figure 14. Summary report presenting FPGA devices’ utilization.
6. Conclusions 
6. Conclusions
In  this  paper,  two  different  approaches  have  been  proposed  for  obtaining  multiple  sets  of 
solutions 
In in  a  two
this paper, wide different
range  of  modulation 
approachesindices.  The  modified 
have been proposedNR  forapproach 
obtainingensures 
multipleall  possible 
sets of solutions
solutions  at  a  particular  modulation  index,  whereas  the  pattern  synthesizing  approach  ensures 
in a wide range of modulation indices. The modified NR approach ensures all possible solutions at a
coverage  of  almost  the  whole  range  for  modulation  indices.  Selected  lower‐order  non‐triple  odd 
particular modulation index, whereas the pattern synthesizing approach ensures coverage of almost the
harmonics  are  considered  for  elimination  from  the  output  voltage.  The  multiple  sets  of  solutions 
whole range for modulation indices. Selected lower-order non-triple odd harmonics are considered for
elimination from the output voltage. The multiple sets of solutions have been found in different ranges
of the modulation index;whichset areoptimal is application-dependent. For instance, one can choose
asolution based on optimum THD or one can select asolution based on minimum transition of power
switches. From the results it is confirmed that at higher modulation indices the THD is low; however,
at very low modulation indices the THD is very high, so further research can be done for hybrid PWM.
Energies 2018, 11, 458 15 of 16

However, insome modulation ranges (or in overmodulation), no solution was found. Selected simulation
results are presented in this paper to confirm the validity of the theoretical and computational results.

Acknowledgments: This (publication, report, etc.) was made possible by NPRP grant # [X-033-2-007] from the
Qatar National Research Fund (a member of Qatar Foundation).
Author Contributions: All authors contributed equally to the proposed research work in its final version to be
decimation as full article.
Conflicts of Interest: The authors declare no conflict of interest.

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