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SAE TECHNICAL
PAPER SERIES 2006-01-3078
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2006-01-3078
3. For the 2nd switching harmonic, the centered The 2nd and 3rd row of equation (1) define the magnitude
harmonics C20 is dominant. Its sideband is hardly of odd order switching harmonics. The centered
observed. harmonic is given by:
4. For the 3rd switching harmonic, it is similar to the 1st
switching harmonic where only the sideband 4 ⎛ Vdc ⎞ ⎛ π ⎞
harmonics exist. However, their magnitudes are Cn0 = ⎜ ⎟ J 0 ⎜ n × M ⎟ , for odd n (3)
lower. nπ ⎝ 2 ⎠ ⎝ 2 ⎠
5. For the 4th switching harmonic, it is similar to the 2nd
switching harmonic with the sideband harmonics
with lower magnitudes.
, and its sideband is determined by:
Similarly, the spectral content of the DC link current can
be generically illustrated in Figure 5. 4 ⎛ Vdc ⎞ ⎛π ⎞
C nk = ⎜ ⎟ J 2 k ⎜ n × M ⎟ , for odd n (4)
nπ ⎝ 2 ⎠ ⎝2 ⎠
The 3rd and 5th row define the magnitude of even order
switching harmonics. The centered harmonic is zero
and its sideband is determined by:
4 ⎛ Vdc ⎞ ⎛π ⎞
C nk = ⎜ ⎟ J 2 k −1 ⎜ n × M ⎟ , for even n (5)
nπ ⎝ 2 ⎠ ⎝2 ⎠
Figure 5 Generic Pattern of Swiching Harmonics of DC
Link Current Idc
J0(x), J2k(x) and J2k-1 in the equations are the zero, 2kth or
(2k-1)th order of Bessel function.
ANALYTICAL APPROACH
Using (3),(4) and (5), together with Figure 3 or equation
(1), the switching harmonics of the output voltage can be
The Bessel approximation is a simple yet accurate way
analyzed. Equations show the following important
that gives a close form expression for calculating the
characteristics of the switching harmonics of the output
switching harmonics of the output voltage [2]. The
voltage:
method is described in Appendix.
1. The magnitude of each switching harmonic
The close form expression for output voltage is given by:
component, both the centered harmonics and their
V A (t ) = V f cos(2πf )
sideband, is a Bessel function with variables related
∞
to multiplication of the modulation index M and the
+ C10 cos(2πf s t ) + ∑ C1k {cos[2π ( f s + 2kf )t ] + cos[2π ( f s − 2kf )t ]} harmonic order n. Figure 6 illustrates the
k =1 st th
relationship of 1 to 4 switching harmonics and the
+ 0 + ∑ C 2 k {cos[2π (2 f s + (2k − 1) f )t ] + cos[2π (2 f s − (2k − 1) f )t ]} modulation index.
2. The magnitude of each switching harmonic
∞
component, both the centered harmonics and their
+ C 30 cos[2π (3 f s )t ] + ∑ C 3k {cos[2π (3 f s + 2kf )t ] + cos[2π (3 f s − 2kf )t ]}
k =1 sideband is inversely proportional to its harmonic
∞ order, n and proportional to the DC link voltage Vdc.
+ 0 + ∑ C 4 k {cos[2π (4 f s + (2k − 1) f )t ] + cos[2π (4 f s − (2k − 1) f )t ]}
k =1
3. Equation (1) and Figure 3 show the distribution of
+ ............................................... each switching harmonic.
+ ................................................
Using similar method, the close form expression for
(1) calculating the switching harmonics of the DC link
current can be obtained. The detail method is presented
The first row in equation (1) defines the magnitude of in Appendix.
voltage at the fundamental frequency f:
The close form expression for DC link current is given
V by:
V f = M dc (2)
2
, where M is the modulation index.
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I dc = I dco
0.250
∞
+ 0 + ∑ C1k {cos[2π ( f s + (6k − 3)t )t ] + cos[2π ( f s − (6k − 3) f )t ]}
k =1
0.200
∞
Magnitude of Harmonics
+ C 20 cos[2π (2 f s )t ] + ∑ C 2 k {cos[2π (2 f s + 6kf )t ] + cos[2π (2 f s − 6kf )t ]}
k =1
0.150
∞
+ 0 + ∑ C 3k {cos[2π (3 f s + (6k − 3) f )t ] + cos[2π (3 f s − (6k − 3) f )t ]}
k =1
0.100
∞
+ C 40 cos[2π (4 f s )t ] + ∑ C 4 k {cos[2π (4 f s + 6kf )t ] + cos[2π (4 f s − 6kf )t ]}
k =1
0.050
+ ................................................................................................
.................................................................................................... 0.000
0 0.2 0.4 0.6 0.8 1
(6) Modulation Index M
0.1
3⎛M ⎞
I dc 0 = ⎜ ⎟ I m cos θ (7) 0.09
2⎝ 2 ⎠ 0.08
Magnitude of Harmonics
0.07
0.500
Modulation Index
0.400
C41 C42 C43 C44
0.300
0.14
0.12
for odd n (8)
0.1
The 3rd and 5th row define the magnitude of even order
0.08
switching harmonics. The centered switching harmonics
0.06
are determined by:
0.04
0.02
6 1 ⎛π ⎞
0
C n0 = Im J 1 ⎜ n × M ⎟ cos θ
0 0.2 0.4 0.6 0.8 1
π n ⎝2 ⎠
Modulation Index M
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M a g n itu d e o f H a rm o n ic s
0.4
for even n (10)
0.3
0.2
dC 20 0.0800
=0
By solving dM
0.0600
, the maximum magnitude of
0.0400
switching harmonic is obtained when M = 0.58.
0.0200
0.25
Magnitude of Harmonics
0.25 0.2
0.2 0.15
Magnitude of Harmonics
0.1
0.15
0.05
0.1
0
0.05 0 0.2 0.4 0.6 0.8 1
-0.05
Modulation Index M
0
0 0.2 0.4 0.6 0.8 1 C40 C41 C42
-0.05
Modulation Index M
Figure 7 Switching Harmonics of the DC Link Current vs
C11 C12 Modulation Index
(Magnitude of harmonics in a pu value, cosθ=0.866,
Im=1pu)
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Calculation using equations derived in this paper are 3. P.D Evans and R.J. Hill-Cottingham, “DC Link
compared with the results from simulation Table 1 Current in PWM Inverters” IEE Proc. B, Vol 133,
summarizes the comparison between calculations using No.4, July 1986, pp217~224
equations derived in this paper and simulation. 4. J. Rosa, “The harmonic Spectrum of DC Link
Currents in Inverters”, PCI March 1982
It can be seen from Table 1 that the calculated values 5. Joachim Holts, “Pulsewidth Modulation – A
are very close to the simulated values (within 4%). Survey “, IEEE Trans. Ind. Electronics, Vol, 39,
No. 5, Dec. 1992, pp.410~420
CONCLUSION
A simple and easy-to-use method to calculate the
harmonics generated by the pulse width modulation has
been derived using Bessel approximation. This method Figure 8 Generation of PWM
has been verified with simulation results and proved to
be very accurate. The equations presented in this paper
can be used to calculate the harmonic contents and to OUTPUT VOLTAGE SPECTRAL COMPONENTS
evaluate the EMI effect of the harmonics before the
actual converter is built and tested. Consider a triangular wave Vt(t) and a modulated
REFERENCES voltage Vm(t), as shown in Figure 8. The modulated
voltage Vm(t) is defined by:
1. D.Grahame Holmes and Thomas A. Lipo, “Pulse
Width Modulation for Power Converter – Vm (t ) = M cos θ (A-1)
Principle and Practice”, IEEE Press Series on
Power Engineering 2003, Wiley-Interscience, A
John Wiley &Sons Inc. Publication ,where M is the modulation index and θ = 2πft . f is the
2. T.H. Barton, “Pulse Width Modulation fundamental frequency of the output wave.
Waveforms – The Bessel Approximation”,
IAS78, pp1125~1129
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The output waveform, Vo(t), is the result of comparison , where Jk(x) is the k-th order of Bessel function
of Vt(t) and Vm(t). The equation to represent Vo(t) is (A-6)
given by:
⎛V ⎞ ∞
Vo (t ) = Vm (t ) • ⎜ dc ⎟ + ∑ An cos(n • N • θ ) (A-2) Substituting (A-1) into (A-5) and considering (A-6) yield:
⎝ 2 ⎠ n =1
4 ⎛ Vdc ⎞ ⎛ π ⎞⎧ ∞
⎫
An = ⎜ ⎟ sin ⎜ n ⎟⎨ J 0 ( β n ) + 2∑ (−1) k J 2 k ( β n ) cos 2kθ ⎬
nπ ⎝ 2 ⎠ ⎝ 2 ⎠ ⎩ k =1 ⎭
,where Vdc is the dc link voltage. N = fs/f is the frequency
for odd n
ratio between triangular and modulated voltage. fs is the
switching frequency determined by the triangular wave.
4 ⎛ Vdc ⎞ ⎛ π ⎞⎧ ∞ ⎫
An = ⎜ ⎟ cos⎜ n ⎟⎨2∑ (−1) k +1 J 2 k −1 ( β n ) cos(2k − 1)θ ⎬
nπ ⎝ 2 ⎠ ⎝ 2 ⎠⎩ k =1 ⎭
(A-7)
4 ⎛ Vdc ⎞ ⎡ π ⎤ iA(t), iB(t) and iC(t) are the output currents in each phase
An = ⎜ ⎟ sin ⎢n (1 + Vm (t ) )⎥ and SA(t), SB(t) and SC(t) are switching function for each
nπ ⎝ 2 ⎠ ⎣ 2 ⎦ phase. The output current and modulating voltages in
each phase can be defined by:
or
i A (t ) = I m cos(2πft + ϕ )
4 ⎛ Vdc ⎞ ⎛ π ⎞ ⎛ π ⎞
An = ⎜ ⎟ sin ⎜ n ⎟ cos⎜ n Vm (t ) ⎟ for odd n 2π
nπ ⎝ 2 ⎠ ⎝ 2 ⎠ ⎝ 2 ⎠ i B (t ) = I m cos(2πft + ϕ + ) (A-9)
3
2π
4 ⎛ Vdc ⎞ ⎛ π ⎞ ⎛ π ⎞ iC (t ) = I m cos(2πft + ϕ − )
An = ⎜ ⎟ cos⎜ n ⎟ sin ⎜ n Vm (t ) ⎟ for even n 3
nπ ⎝ 2 ⎠ ⎝ 2 ⎠ ⎝ 2 ⎠
VAm (t ) = M cos(2πft )
(A-5)
2π
VBm (t ) = M cos(2πft + ) (A-10)
3
2π
Considering the following expression: VCm (t ) = M cos(2πft − )
3
∞
cos[α sin β ] = J 0 (α ) + 2 J 2 (α ) cos 2 β + 2 J 4 (α ) cos 4β + 2∑ J 2 k (α ) cos 2kβ
k =3
where Im is the magnitude of the output current and is
phase shift between output voltage and output current.
∞
sin[α cos β ] = 2 J 1 (α ) sin β + 2 J 3 (α ) sin 3β + 2∑ J 2 k −1 (α ) cos(2k − 1) β
k =3
A similar method used for output voltage can be used to
derive the switching functions:
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where 6 1
C nk = Im J 62k − 4 ( β n ) + J 62k − 2 ( β n ) − 2 J 6 k − 4 ( β n ) J 6 k − 2 ( β n ) cos 2ϕ
π n
J (β ) + J 6k −4 ( β n )
2 ⎡ π ⎤ tan θ nk = 6k −2 n tan ϕ
A An = sin ⎢n (1 + V Am (t ) )⎥ J 6 k −2 ( β n ) − J 6 k −4 ( β n )
nπ ⎣ 2 ⎦
2 ⎡ π ⎤
A Bn = sin ⎢n (1 + VBm (t ) )⎥
nπ ⎣ 2 ⎦ ∞
∞ 6 1
idc (t ) = I dc 0 + ∑ Bn cos(n2πft ) (A-12) C n0 =
π 2
Im J 1 ( β n ) cos ϕ
n =1
6 1
C nk = I m J 62k −1 ( β n ) + J 62k +1 ( β n ) − 2 J 6 k −1 ( β n ) J 6 k +1 ( β n ) cos 2ϕ
π n
The dc component Idc0 is defined by:
J ( β ) + J 6 k −1 ( β n )
tan θ nk = 6 k +1 n tan ϕ
J 6 k +1 ( β n ) − J 6 k −1 ( β n )
3⎛M ⎞
I dc 0 = ⎜ ⎟ I m cos ϕ (A-13)
2⎝ 2 ⎠ From (A-12) ~ (A-15), the magnitude of each harmonic
component can be derived as shown in equations (6)
~10) in the paper.
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