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Electric Power Systems Research 40 (1997) 45. 49
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ELSEVIER

Harmonic elimination in pulse-width modulated inverters using

piecewise constant orthogonal functions
J. Nazarzadeh a, M. Razzaghi h,c.*, KY. Nikravesh a

Received 17 May 1996: accepted 8 July 1996

Abstract

A new method is presented for selective harmonic elimination in pulse-width modulated (PWM) inverter waveforms by the use
of piecewise constant orthogonal functions. The block-pulse functions are first applied and the relationships between these
functions with Walsh functions and Fourier series are used for harmonics elimination in a PWM inverter. The set of systems of
linear equations obtained replaces the system of nonlinear transcendental equations used in the Fourier analysis approach. As
compared with the Walsh domain technique. the present algorithm reduces the number of combinations for the case where more
than one angle is allowed to vary within a given interval. % 1997 Elsevier Science S.A.

KeJwordJ: Harmonic; Elimination; Piecewise: Orthogonal: Inverters

1. Introduction has the restriction that, within a given interval, only

one angle is allowed to vary; moreover, if there exists a
The principles and applications of pulse-width modu- solution that requires two or more angles to vary in the
lation (PWM) techniques have been investigated in the same selected interval, then such a solution can not be
literature extensively. There are three methods of PWM detected by the method in [8]. This shortcoming can be
waveform generation: the suboscillation technique [1:2], overcome by increasing the number of intervals which
distortion minimization [3.4] and harmonic elimination increases the number of cases to be considered. It is
[5,6]. All three have the common characteristic that the shown in [S] that the problem of harmonic elimination
analysis of PWM waveform generation takes place in using Walsh series is converted into a combinatorial
the Fourier domain. In particular, the harmonic elimi- problem.
nation approach given in [S] produces a system of The goal of this paper is the harmonic elimination of
nonlinear transcendental equations that requires the PWM waveforms using piecewise orthogonal functions
NewtonRaphson matrix method for its solutions. This and reducing the number of combinations given by the
algorithm requires starting values for the angle and algorithm in [8]. The present work first uses the block-
does not always converge to the required solution.
pulse functions and the relationships between the block-
Asumadu and Hoft [7] and Swift and Kamlibries [8]
pulse functions and Walsh seriesand Fourier seriesare
used a different approach to the problem of harmonic
given. The set of systems of linear equations obtained
elimination for PWM waveform generation. This ap-
replaces the system of nonlinear transcendental equa-
proach is based on the use of Walsh series expansion of
tions used in the Fourier series harmonic elimination
PWM waveforms rather than of the Fourier series.
More recently Razzaghi and Nazarzadeh [9] applied approach.
Walsh seriesfor optimum PWM patterns in an induc- Algorithms based on block-pulse functions are com-
tion motor. It is pointed out in [8] that their algorithm putationally more efficient and faster than those based
on Fourier analysis. Illustrative examples are given to
demonstrate the applicability of the proposed method.
* Corresponding author.

0378-7796 97 $17.00 e 1997 Elsevirr Science S.A. All rights reserved

PII SO378-7796(96)01 134-O
2. Walsh functions

Walsh functions form a complete orthogonal and

orthonormal set that take only two amplitude values.
+ 1 and - 1, in the time interval [0, 1). There are three
ways of ordering the Walsh functions (dyadic, natural,
and sequence ordering) depending on the method used
to generate them [lo]. Walsh functions have two argu-
ments; the order n and the normalized time I The
Fig. 2. PWM wavefbrm for the case of 0 < r < $
function is represented as

Wal(n. I)
Cl,, = - k ‘fir) Wal(0, I) dt (2)
Fig. 1 shows a set of the first eight dyadic-ordered I0
Walsh functions.
Similar to the Fourier series representation, the u,, = f ‘f(r) Wal(n, t) dt (3)
Walsh series representation of any periodic function s0
f‘(t) defined over [O, 7’j is given by A = [Ll,). NI...., a,y- ,I’ (4)
v-1 and
J’(t) = a,, Wal(0, f) + 1 u,, Wal(n, t) = ATW(t) (1)
I, = I IV(t) = [Wal(O, r). Wal(1, t) . . . . . Wal(N- 1, t)]’ (5)

where Eqs. (l)-(3) form a Walsh transform that applies to

a function defined in the time interval ]O, I). For the
piecewise continuous function, the integral of Eq. (3)
can result in a different answer. For example, for a
PWM waveform with one switching angle x, 0 < K < $,
using Fig. 2 and considering the coefficient u, we have
1
u; = J(r) Wal(7, 1)4[=4[l * df +i’k -df]
s0
= -4x (6)
and using Fig. 3 for the case f < 2 <i and considermg
the coefficient u, we have
14
Ll7 = 4 - dt = 43: - 1 (7)
I1
Thus, we get two different values for ~1~.
It is shown in [8] that, by using a Walsh series, 41 664
different cases should be considered for N = 64 in the
first quarter period and with 3 switching angles. TO
reduce the number of different cases we use the block-
pulse functions and the result will be converted to a
Walsh series using a conversion matrix.

I I G 8, , ,t

0 0.5 1

Fig. I The first e&It dyadic-ordered Walsh functions Fig. 3 PWM wdveform for the case of $ < Y < $
 A
where R is the block-pulse-Walsh conversion matrix.
+ ---------...
The inverse relation is also valid.
f C= R ‘A (15)
+1 - - -
for N = 4, we have [I l]

; 1
f-
1 1 1 1
1 1 1 -1 -1
b (16)
” a “+I t 4 1 -1 1 -1
-
N N R=- 1 -1 -1 1

Fig. 4. ,f is the incoming and f + is the outgoing waveform.

When the Walsh series representation of a time signal is
required to be converted to the more familiar Fourier
3. Block-pulse functions
series representation, then the Fourier transforms of the
Walsh functions are needed in the conversion equa-
Since the proposed method is essentially based on
tions. A recursive formula by Blachman [8] is used to
block-pulse functions, a short review of the relationship
evaluate the Walsh transforms of sinusoids. As a result,
between Walsh functions and block-pulse functions is
the following expression holds
given as follows. If N = 2d, where d is a positive integer,
both N Walsh functions Wal(n, t) and block-pulse func- HA = v (17)
tions b(n, t), n = 0, l,..., N - 1. can be defined on the where V is the vector containing the coefficients of the
interval te[O, 1) [l 11. The set of block-pulse functions is Fourier series expansion of the same time function and
a complete orthogonal set and is defined as H is the Fourier-Walsh conversion matrix.
1 for t~[niN, (n + 1);N)
b(n, t) = (8)
0 elsewhere
4. Harmonic elimination in PWM inverters
The block-pulse representation of a periodic function
f(t) defined over [0, 1) is given by a finite series as The proposed scheme first uses block-pulse functions
.v ~ I and then Walsh functions and eventually Fourier series
f(t) = 1 Nc,,b(n. t) = NCTB(r) (9) to eliminate a given harmonic in a PWM waveform. In
,I = 0 this scheme we first choose a fixed number for block-
where pulse functions, say N,, and some starting intervals for
(II+ I) .\ switching angles x,, x7,. , x,. We then eliminate the
c,, = f(t)b(n. t)dt, n=O, l,.,.. N- 1 (10) required harmonics and find zj, i = 1, 2 ,..., j. If the
i I, ,v calculated angles satisfy the starting intervals for all CI,,
C=[c,, (‘I,..‘. C.,7LJT i= 1. 2...., ,j then we obtain satisfactory results. Other-
(11)
wise we change the starting intervals for the same N,
and until we get the required r,, i = l,.... j. To increase our
accuracy we increase N, to 2N, and the same procedure
B(t) = [b(O, t), b(1, t) ,.... b(N- 1, r)]’ (12) will be carried out until the required precisions are
For a piecewise continuous waveform the integral of obtained. It should be noted that the intervals for the
Eq. (10) in the interval [n/N, (n + 1)/N) is given by switching angles in the second stage are obtained from
the results calculated in the first stage.
(13)

where .f’- and f” are the incoming and outgoing 5. Illustrative examples
waveforms respectively (see Fig. 4). In the case of a
PWM waveform, from zero to one we get f - = 0 and 5.1. E~~unple 1 (eliminution of’ the jifth hurmonic in u
f’ = 1 and from one to zero we have f- = 1 and half-bridge incerter)
f'=O.
The block-pulse series representation of a time signal Let L’,,, denote the nzth harmonics of the voltage
can be converted to the Walsh series representation by supply and let 2, and rz define the two angles used to
a conversion matrix given in [ll]. Using Eqs. (4) and eliminate the fifth harmonic cg and control the funda-
(11) the following expression holds: mental component L‘, to a value of 0.8391 in a half-
bridge inverter. Fig. 5 shows the waveform of the
RC=A (14) inverter output in the first quarter period.
 We choose N, = 16 block-pulse functions and the
starting intervals for switching angles as
oat;<&, +ei:<& (18)
By using Eq. (13). we first find the coefficients. For cg
we have fP = 1 and f’ = - 1 and for C, we have
f - = - 1 and f + = 1. Thus we get
c(,=[X)-o]-[+rj]=2rf-& (19) Fig. 6. Full-bridge inverter.
and
c,= -[x:-&]+[+cf;]= -2%Af& (20)
u11= a13= - 1 + 81: + 8a;
Furthermore, C~ = cj = & and in a similar manner ci,
i = 5, 6,..., 15 can be calculated. Using Eq. (14) we get u,lJ = Cl*, = - 4 - 8x; + 8nf
the following nonzero coefficients for the Walsh func- u25=U3,=~-sa~-8X~
tions:
Furthermore, c, and L’~ are given by:
cl, = 1 + 8%; -8x?
z’, = 1.691816+4.63710+ 10.13411~;
u,=8ci; -8~;
t15= - 1.42381 + 15.29121~; + 4.46027~~:
all = a13 = -1+Zrf+8r;
By setting c, = 0.8391 and L’~= 0 we get the following
and using Eq. (17) we obtain the following harmonics solutions:
for the Fourier series:
XT = 0.06033 and Y; = 0.11238 (23)
u, = 1.63141 + 3.10143~; - 8.83212~;
The solutions in Eq. (23) are in the starting intervals
u3 = 0.825461 + 8.38391a; - 14.80070~; given in Eq. (22); hence to obtain better precision we
us = - 0.28432 + 11.267 1Oa ; - 2.64364~; increase N, to 64 and choose the starting intervals for
2: and xl as
c’,= - 1.11131+ 11.1981ocr; -9.49319cc;
&<x;<&. &<Z:<& (24)
Since the fundamental voltage is to be controlled and
the fifth harmonic is to be eliminated we set In this case, we get the following solutions

L+ = 0.8391 and rs = 0 2; = 0.062497 ( = 22.499”)

This yields the following solutions for ,xi and CC;: and

cx) = 0.05044 and x; = 0.10742 2; = 0.113999 (= 41.039”)

(21)
To increase our accuracy, since the solutions in Eq. (21) 5.2. E.vumple 2 (&.ninution oj’ the fjih and seventh
are in the starting intervals, we increase N, to 32 and hurmonics in u fill-bridge inL)erter)
choose starting intervals for x: and xf as
Let x,, x, and xi define the three angles that elimi-
j+:+. &<2;<& (23)
nate L-‘~and C, and give the value of the fundamental
In this case the nonzero coefficients for the Walsh component L', = $, Fig. 6 shows the waveform of the
functions are given by inverter output in the first quarter period. Let NI = 16
and
u, = i + 8~; - 8x;
1 2 2 3 3 4
,,<x t <z. ~iIyI‘<16’ ik<“:<G (25)
A
+1 -
The coefficients for the block-pulse functions in the
first quarter period are given by
0 b
“1 O12 a1 0.5 1
I
C” =[o.+x;,a:-&,~-“:] (26)
Using Eq. (14) we get the following nonzero coefficients
-1 -
for the Walsh functions:
Fg 5. Half-bridge inverter u, = 1-4x; +4x;-4%:
 J. ~Va~arzudeh er al. /Electric Polcer Systems Reaetrrc/~ 40 (I 997) 45-49 49

UT= -4x;-4x:+4x: verters. An analysis of PWM waveforms in this way

shows that linear solutions can be obtained relating
all = -2f4cr; +4cr;+4cr:
angles and voltage fundamentals. The method substi-
a13 = - 1+4a) -4cr;-4cI: tutes linear algebraic equations for the nonlinear
and using Eq. (17) we obtain the following harmonics equations required in Fourier series harmonic elimina-
for the Fourier series: tion. Compared with the Walsh method the present
method reduces the number of combinations for the
u, = 1.67486 - 4.41606 + 3.0~; + 6.60911~; case where, within a give interval, more than one
- 7.79596~~; angle is allowed to vary (see [S]). The method is
efficient and faster than those based on Fourier anal-
u3 = - 0.827386 - 7.40034n; + 1.47202~: + 6.27371~;
ysis. The given numerical examples support these
u5 = 1.93694 - 1.32182~; - 6.64524cr; - 3.76422~; claims.
c’,= - 1.26821 f4.74662~; f3.17157rwi-t 1.11371sr;
Since the fundamental voltage is to be controlled and References
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= u, = 0 (27) et>’ Annu. Meet.. 1976, pp. 961-913.

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(28)
[31 J. Caste1 and R. Hoft, Optimum PWM waveforms of a mi-
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471-478.
[I 11 Z.H. Jiang, New method for computing the inverse of a ma-
This paper is based on the use of block-pulse func- trix whose elements are linear combinations of Walsh func-
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