Comprehensive study on space-vector-PWM and

carrier-based-PWM correlation in multilevel invertors

N.V. Nho and M.-J. Youn

Abstract: The paper presents a theoretical analysis of the correlation between carrier-based
unipolar PWM (CPWM) and space-vector PWM (SVPWM) for the entire modulation-index
range of multilevel invertors, including overmodulation. By presenting corresponding parameters
of vector redundancies in a zero-sequence function, the carrier-based PWM has matched the
SVPWM technique. Carrier-SVPWM and discontinuous-PWM methods capable of obtaining any
approximate optimum offset are proposed. Among them, the minimum-common-mode PWM
methods can attain a proper balancing of switching loss. A unified unipolar carrier PWM
modulator is presented. Different PWM modes and the offset value can be controlled in an offset
generator. Without a look-up table, linear overmodulation can be implemented simply in an active
signal generator. The correlations and proposed PWM methods have been analysed
mathematically and demonstrated by simulations.

1 Introduction invertor, two forms of redundant vector control in SVPWM

The rapid development of the multilevel invertor in recent
years has introduced many modulation techniques, which
are simpler and more flexible than the initial conventional
space-vector-PWM (SVPWM) methods [1–3]. One of the
new trends is to convert the SVPWM equations into a new
form using an appropriate co-ordinate system [4, 5]. With
this approach, sophisticated problems of determining vector
location and dwelling-time calculation have been much
simplified; however, problems of redundancy control and
complexity in practical implementation have still remained.
Another approach, which can help to ease the implemen-
tation, is the use of the carrier-based-PWM (CPWM)
technique with an offset signal added to the reference
waveform. Nevertheless, understanding of the correlation
between SVPWM and CPWM is required in order to
design an appropriate offset so that the performance of
CPWM can be matched that of SVPWM.
For two-level invertors, the first complete correlation
between SVPWM and CPWM has been deduced in [6], that
time ratio of zero redundant vectors can be used as a
variable parameter for evaluating PWM performances.
Consequently, varying the time ratio of redundant vectors
will change the offset of modulating signals and influence
the PWM performance.
For multilevel invertors, the large number of redundant
vectors is an important characteristic. Using these vectors
appropriately can improve the performance of the invertor.
In [7], for balancing neutral-point voltages in a three-level
r IEE, 2006
IEE Proceedings online no. 20050046
doi:10.1049/ip-epa:20050046
Paper first received 15th August 2004 and in final revised form 20th April 2005
N.V. Nho is with the Department of Electrical Engineering, HochiminhCity
University of Technology, 268 Ly Thuong Kiet St., District 10, HCM City,
Vietnam
M.-J. Youn is with the Department of Electrical Engineering, Korea Advanced
Institute of Science and Technology, 373-1, Guseong-Dong, Yuseong-Gu,
Daejeon, 305-701, Republic of Korea
E-mail: nvnho@hcmut.edu.vn
have been utilised:
(i) changing the switching state sequence, and/or
(ii) varying the time ratio of two redundant vectors.
To be equivalent to SVPWM in this sense, it is clearly
required that the CPWM modulating signal can present
both mentioned redundant-vector control forms in its
offset. Several CPWM–SVPWM correlations have been
analysed in [8]. However, these results are derived for a
constant time ratio of active redundancies. In the areas of
low modulation index, several cases should be added to a
complete CPWM–SVPWM correlation. Another attempt
to prove the SVPWM–CPWM relationship for a variable
time ratio of redundancies has been introduced in [9]. Since
only a particular case has been explained, it has shown
limited success. In addition, these approaches have been
developed for a three-level invertor and further derivation
to higher-level invertors on the basis of these methods
would be rather complicated and, thus, inconvenient for
application.
In recent studies, several general offset formulations for
n-level invertors have been presented, for both continuous
PWM (equally centred PWM) [10] and discontinuous
PWM (DPWM) [11]. A common characteristic of these
methods is that each formulation is defined for a given
common mode (CM) and fixed time ratio of redundancies.
However, this method will require different offset formula-
tions corresponding to various common modes, and it is
therefore not convenient to apply the method in CPWM
with variable offset. Since in the CPWM, a variable offset is
the only signal for controlling PWM performances, [12, 13]
it is needed in order to find the correlation in this operating
condition.
This paper presents the complete correlation between
CPWM and SVPWM, in which zero sequence will be
analysed completely, related to switching-time duties and
vector-redundancy parameters. From the analysis, offset-
control methods are proposed. A novel proposed zero-
sequence-controlled PWM enables implementation of a

IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006 149
required SVPWM/DPWM; its offset can track any variable
optimum function. In particular, SVPWM with minimum
common mode shows a good balancing of switching loss.
A unified unipolar CPWM modulator will be described,
applicable to both under- and over-modulation. In the
modulator, the control principle between limit signals can
simply realise a linear carrier overmodulation and shows
potential for applications.
2 Terminology definitions and offset description
In the abc co-ordinates, any reference voltage vector V ¼
½va0 ; vb0 ; vc0
T in a triangle area can be expressed using its
three nearest pivot vectors U 1 , U 2 , and U 3 as follows:
V ¼ K1 U 1 þ K2 U 2 þ K3 U 3 ð1Þ
K1 þ K2 þ K3 ¼ 1
where U j ¼ ½Uaj ; Ubj ; Ucj
T , j ¼ 1; 2; 3; K1 , K2 , and K3 are
proportional to switching-time durations T1 , T2 , and T3 of
pivot vectors (i.e. Tj =Kj ¼ Ts ; TS is sampling time period;
j ¼ 1; 2; 3), respectively.
2.1 Modulating patterns, redundant factor,
level of redundancy
Carrier waves: Phase-disposition (PD) carriers as shown in
Fig. 1b are assumed in this paper. For a five-level invertor,
intersections between carrier waves as up1 , up2 , up3 and up4
with modulating signals vrx , x ¼ a; b; c determine switching
instants of switching pairs S1x ; S2x ; S3x and S4x of diode-
clamped (Fig. 1a) and cascade (Fig. 2a) invertors. Define
modulating pattern MP Pj ¼ ½Paj ; Pbj ; Pcj
T as
Pj ¼ ðn  1ÞU j =Vdc
where Vdc is a DC source voltage and n is the level number of
the invertor. In unipolar PWM, the MP represents three
modulating signals for generating a voltage state. For
example, for a five-level invertor, intersections between
three modulating signals Pa ¼ 0; Pb ¼ 1 and Pc ¼ 2 (from
MP [0,1,2]T) and carrier waves will generate voltage vector
½0; 1; 2
T xVdc =4. Define MP common mode as
CMPj ¼ ðPaj þ Pbj þ Pcj Þ=3 j ¼ 1; 2; 3 ð4Þ
and Pj0 as the MP with the smallest offset CMPj . Any from
redundant vectors PjNj can be derived from MP Pj0 as
PjNJ ¼ Pj0 þ Nj I 0  Nj  lrj ð5Þ
where I is a unit vector I ¼ ½1; 1; 1
T , the integer parameter
Nj termed redundant factor, indicates a relative difference
between the considered MP PjNJ and MP Pj0 . Parameter lrj
is level of redundancy, which represents the number of
redundant vectors, corresponding to a pivot vector U j .
In continuous PWM, for the sake of simplicity, suppose
ð2Þ that pivot vector U 1 in (1) is to be implemented with two
following active redundant voltage vectors in subsequence
as U 1;n0 and U 1;ðn0 þ1Þ , n0 ¼ 0; 1; . . . ; ðlr1  1Þ which
correspond to the switching-time duties as K1 ð1  x1 Þ and
K1 x1 , 0  x1  1. These two active vectors can be
represented by a unified MP P1 , determined as
P1 ¼ ð1  x1 ÞP1;n0 þ x1 P1;ðn0 þ1Þ ð6Þ
Using (5) and (6), the MP P1 and corresponding redundant
factor Z1 can be described as
P1 ¼ P10 þ Z1 I Z1 ¼ ðn0 þ x1 Þ ð7Þ
Generally, if an active redundancy appears at pivot vector
U j , the corresponding two active redundant MPs can be
represented by a MP Pj , described as
Pj ¼ Pj0 þ Zj I; Zj ¼ ðn0 þ x1 Þ
ð3Þ
n0 ¼ IntðZj Þ; j ¼ 1; 2; 3 ð8Þ
The integer part n0 is equal to the redundant factor of the
lower CM vector from two active redundant vectors and

s1a
Vdc /4 −22-2 −12-2 02-2 12-2 22-2
s2a
16
s3a −22-1 −12-1 02-1 12-1 22-1 21-2
Vdc /4
−11-2 01-2
−21-2 11-2
s4a 15
220 9 14
−220 −120 020 120 21-1 20-2
11-1
s1a' −11-1 01-1
−21-1 00-2 10-2
Vdc /4 −20-2 −10-2 8 13 12
121 221
s2a' 4 210 7
−221 −121 021 010 110 20-1
10-1 2-1-2
−210 110 −10-1 00-1 1-1-2
s3a' 3 0-1-2 6
Vdc /4 −20-1 −2-1-2 222 −1-1-2 11
−222 022 122 211 10
s4a' −122 111 1 2 200 5 2-1-1 2-2-2
−111 011 100 1-1-1
−211 −200 100
000
0-1-1 1-2-2
−1-1-1 0-2-2
a −2-1-1 212 −1-2-2
112 −2-2-2 201
−112 012 001 101 2-10
2.0 up1 −212 −101 1-10
−201 −1-10 0-10 1-2-1 2-2-1
1.5 −2-10 −1-2-1 0-2-1
−2-2-1
202
1.0 up2 −102 002 102 2-11
2-20
−202 1-11
−2-11 −1-11 0-11 1-20
0.5 0-20
−2-20 −1-20
0 up3
−1-12 0-12 1-12 2-12 2-12
−0.5 −2-12 2-21
−2-21 −1-21 0-21 1-21 1-21
−1.0 up4
−1.5 −2-22 2-22
−1-22 0-22 1-22
−2.0
c
0 1 2 3 4 5 6 7 8 9 10
b

Fig. 1 Circuit diagram of one leg, carrier waves and modulating pattern diagram of five-level inverter

150 IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006
 Pa11 Pa20 Pa30
2.0 vra
A

S1a 1.5
Pa10
Vdc /4 1.0
+
−
−
S2a 0.5

S 3a
−0.5
Pb30 Pc11 Pb11
Vdc /4
+ −1.0
− vrb
−
−1.5 vrc Pb10 Pb20 Pc10
S4a
Pc20 Pc30
−2.0
O
a

K1(1 −
) K2 K3 K1
K1
K3 K 2 K1(1 −
) ×TS

Fig. 2 A-phase circuit of a cascade five-level invertor and demonstration of modulating patterns and carrier PWM equation for area 10
a Circuit
b Demonstration

the remainder xj is proportional to the time duration of the can be determined as follows:
higher CM active redundant vector. For being derived from vra ¼ K1 ð1  xÞPa10 þ K2 Pa20 þ K3 Pa30 þ
the condition of Zj ¼ 0, the MP Pj0 is called an MP with
zero redundant factor (ZRF). A PWM method becomes K1 xPa11 ¼ 1 þ ðK2 þ K3 þ K1 xÞ
discontinuous if three factors Zj are integer, and continuous By using (8), (11) can then be rewritten as
if one of them is of real type. From (8), for SVPWM, V r ¼ K1 P10 þ K2 P20 þ K3 P30
two equal-duration active redundant vectors give
Zj ¼ IntðZj Þ þ 0:5 ¼ n0 þ 0:5. þ ðZ1 K1 þ Z2 K2 þ Z3 K3 ÞI ð13Þ
Each redundant factor can be varied in the limited range where
as ðZ3 þ 1Þ  Z1  Z2  Z3  0 ð14Þ
0  Zj  lrj ð9Þ Rewrite (13) as
Example: For the area 1 in Fig. 1c, the parameters are defined ½vra ; vrb ; vrc
T ¼ ½vra ; vrb ; vrc
TZJ ¼0
as follows: P10 ¼ ½2; 2; 2
T ; P20 ¼ ½1; 2; 2
T and þ ðZ1 K1 þ Z2 K2 þ Z3 K3 ÞI ð15Þ
P30 ¼ ½1; 1; 2
T ; lr1 ¼ 4 and lr2 ¼ lr3 ¼ 3.
where ½vra ; vrb ; vrc
TZJ ¼0 are reference modulating signals of
discontinuous PWM by setting ðZ1 ; Z2 ; Z3 Þ ¼ ð0; 0; 0Þ in
2.2 General zero-sequence function of
(13).
unipolar CPWM in a multilevel invertor
Since every reference can be expressed as a sum of
Suppose that the indexes 1,2,3 from PWM equations are
fundamental vrxð1Þ , x ¼ a; b; c and its corresponding offset
arranged in an increasing sequence of ZRF MP common
mode, i.e. vr0 , (15) can be rewritten in other forms as follows
½vra ; vrb ; vrc
TZJ ¼0 ¼ ½vrað1Þ ; vrbð1Þ ; vrcð1Þ
T þ vr0 min I ð16Þ
Pa10 þ Pb10 þ Pc10 oPa20 þ Pb20
þ Pc20 oPa30 þ Pb30 þ Pc30 ð10Þ ½vra ; vrb ; vrc
T ¼ ½vrað1Þ ; vrbð1Þ ; vrcð1Þ
T þ vr0 I ð17Þ
Dividing (1) by Vdc =ðn  1Þ and using (3), the SVPWM where the function vr0 min presents a minimum offset derived
equation can be expressed in the form of small voltage from the condition of ðZ1 ; Z2 ; Z3 Þ ¼ ð0; 0; 0Þ. From pre-
signals as follows: vious equations, the general offset can be expressed as
vr0 ¼ vr0 min þ Z1 K1 þ Z2 K2 þ Z3 K3 ð18Þ
V r ¼ K1 P1 þ K2 P2 þ K3 P3 ð11Þ
Eqn. (18) indicates that the CPWM offset is a function of
where switching-time duties and related redundant factors.

V r ¼ ½Vra ; Vrb ; Vrc
T Pj ¼ ½Paj ; Pbj ; Pcj
T 3 Determination of parameters of the SVPWM-
ð12Þ
j ¼ 1; 2; 3 CPWM correlation

In area 10 in Fig. 1c, four MPs P10 ; P20 ; P30 and P11 are 3.1 Functions maximum, minimum and
implemented in a sequence, corresponding to time duties of integer
K1 ð1  xÞ; K2 ; K3 and K1 x, as shown in Fig. 2b. The Functions Max and Min are the largest and smallest values
reference A -phase modulating signal in the range of (1,2) of three fundamental modulating signals ðvrað1Þ ; vrbð1Þ ; vrcð1Þ Þ

IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006 151
and function Mid is that between the Max and Min values, Table 1: Functions Max, Mid and Min in six hexagonal
i.e. sectors

Sector k 1 2 3 4 5 6

Max ¼ maxðvrað1Þ ; vrbð1Þ ; vrcð1Þ Þ vra ð1Þ Max Mid Min Min Mid Max
Min ¼ minðvrað1Þ ; vrbð1Þ ; vrcð1Þ Þ ð19Þ vrb ð1Þ Mid Max Max Mid Min Min
vrc ð1Þ Min Min Mid Max Max Mid
Mid ¼ midðvrað1Þ ; vrbð1Þ ; vrcð1Þ Þ

In six sectors of the hexagonal diagram, functions Max,

Mid and Min related to fundamental signals are shown in 3.2 Determination of zero redundant factor
Table 1. patterns
Function Int is the integer function which chooses a The hexagonal diagram, as shown in Fig. 3d can be divided
round value of real number. into TVMINR (light) triangles, owning two pivot vectors
Functions Int(MaxMin), Int(MaxMid), and Int(Mid with lower levels of redundancies and TVMAXR (dashed)
Min) can be derived as in Appendix 1 (Section 8.1) and triangles, owning two pivot vectors with higher levels of
described in Figs. 3a, b, c. Function Int(MaxMin) redundancies, by the condition
achieves zero in the smallest hexagon and increases up to
the maximum value in the outermost triangles, as shown in

Fig. 3a. Similarly, functions Int(MaxMid), and Int 1 for TVMAXR areas
S¼ ð20Þ
(MidMin) are deduced and drawn in Fig. 3b and c. 0 for TVMINR areas

b
b

3 3 3 3 3 3 3 3 3 3 2 2 1 1 0 0 0

3 3 2 2 2 2 2 2 2 3 3 2 2 2 2 1 1 0 0 0 0 1

3 3 2 2 1 1 1 1 1 2 2 3 3 1 1 1 1 1 1 0 0 0 0 1 1 2

3 3 2 2 1 1 0 0 0 1 1 2 2 3 3 0 0 0 0 0 0 0 0 0 0 1 1 2 2 3

1 1 0 0 0 1 1 2 2 3 3 a a
3 3 2 2 0 0 0 0 0 0 0 0 0 0 1 1 2 2 3

3 3 2 2 1 1 1 1 1 2 2 3 3 1 1 1 1 1 1 0 0 0 0 1 1 2

3 3 2 2 2 2 2 2 2 3 3 2 2 2 2 1 1 0 0 0 0 1

3 3 3 3 3 3 3 3 3
3 3 2 2 1 1 0 0 0

c c

a b

b
b
0 0 0 1 1 2 2 3 3
0 0 0 0 0 0
1 0 0 0 0 1 1 2 2 2 2
0 0 0 0 0 0 0
2 1 1 0 0 0 0 1 1 1 1 1 1
0 0 0 0 0 0 0 0
3 2 2 1 1 0 0 0 0 0 0 0 0 0 0
a 0 0 0 0 0 0 0 0 0
a
3 2 2 1 1 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
2 1 1 0 0 0 0 1 1 1 1 1 1
0 0 0 0 0 0 0
1 0 0 0 0 1 1 2 2 2 2
0 0 0 0 0 0
0 0 0 1 1 2 2 3 3
0 0 0 0 0 0
TVMINR area
c c TVMAXR area

c d

Fig. 3 Description of functions

a IntðMax  MinÞ
b IntðMax  MidÞ
c IntðMid  MinÞ
d S ¼ IntðMax  MinÞ  IntðMid  MinÞ  IntðMax  MidÞ

152 IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006
where 4.1 Offset analysis
S ¼ IntðMax  MinÞ  IntðMid  MinÞ Since at least two redundant factors are integer, offset (18)
can be analysed into one of the three following forms as
 IntðMax  MidÞ ð21Þ 8
< vr0 min þ n0 þ x1 K1 if 0  vr1  K1
From Fig. 1c and Fig. 3, three ZRF MPs can be derived as vr0 ¼ vr0 min þ n0 þ K1 þ x2 K2 if K1 ovr1  K1 þ K2
follows: :
vr0 min þ n0 þ K1 þ K2 þ x3 K3 if K1 þ K2 ovr1 o1
½Pa10 ; Pb10 ; Pc10
T ¼ ½Pmin ; Pmin ; Pmin
T ð30Þ
 T
þ Intðvrað1Þ  MinÞ; Intðvrbð1Þ  MinÞ; Intðvrcð1Þ  MinÞ where
T T
½Pa20 ; Pb20 ; Pc20
¼ ½Pa10 ; Pb10 ; Pc10
vr1 ¼ vr0  vr0 min  n0 ; n0 ¼ Intðvr0  vr0 min Þ ð31Þ
(
½fmida ; fmidb ; fmidc
T for TVMAXR areas 0  n0  lr3 0  vr1 o1 0  xj  1 j ¼ 1; 2; 3 ð32Þ
þ T
½fmaxa ; fmaxb ; fmaxc
for TVMINR areas Using (22) and (30), switching sequence and time-duty ratio
½Pa30 ; Pb30 ; Pc30
T ¼ ½Pa10 ; Pb10 ; Pc10
T of active redundant vectors can be obtained from a given
function vr0 . If 0  vr1  K1 , two active redundant vectors
þ ½fmida þ fmaxa ; fmidb þ fmaxb ; fmidc þ fmaxc
T appear at pivot vector U 1 and the two remaining conditions
ð22Þ correspond to active redundant vectors at vectors U 2 and
where Pmin is equal to the smallest value from all MP U 3 , respectively. The meanings of parameters xj and n0
components and equal to Pmin ¼ ðn  1Þ=2 for odd-level have already been explained in (6)–(8). The parameter n0
invertor, and can be varied in the range of 0  n0  lr3 . This change in

the offset presents a move of modulating signals between
1 for vrxð1Þ ¼ Max x ¼ a; b; c carrier bands and gives rise to an appropriate balancing of
fmaxx ¼ ð23Þ
0 else switching loss among switching devices. Parameters xj

contribute to the implementation of PWM methods. To
1 for vrxð1Þ ¼ Mid x ¼ a; b; c reduce current ripple with two active equal-duration
fmidx ¼ ð24Þ
0 else redundant vectors in the SVPWM, the parameter xj is set
equal to 0.5. Similarly, by setting xj to 0 and 1, then
3.3 Level of redundancies discontinuous PWM happens, resulting in a reduced
These can be deduced using Fig. 1c and Fig. 3 as follows: number of switchings.
lr1 ¼ n  1  IntðMax  MinÞ 4.2 Redundant-factor-controlled offset
lr2 ¼ n  2  IntðMid  MinÞ  IntðMax  MidÞ ð25Þ This PWM method would be appropriate if the required
lr3 ¼ lr1  1 redundant factor functions were known.

4.2.1 SVPWM offset: Reduced current ripple is

3.4 Switching-time duties achieved by using the SVPWM offset, which can be
For a triangle in Fig. 1c, by considering the switching states, produced by a direct substituting into (18) any from the
corresponding to the redundant factor sets as ðZ1 ; Z2 ; Z3 Þ ¼ following redundant factor sets as (0.5,0,0), (1,0.5,0),y.
ð0; 0; 0Þ and ðZ1 ; Z2 ; Z3 Þ ¼ ð1; 0; 0Þ, and using Fig. 3, the The set (0.5,0,0) corresponds to minimum SVPWM offset
parameters vr0 min and K1 can be derived as and the sets ðlr1  0:5; lr2 ; lr3 Þ (for TVMINR areas) and
vr0 min ¼ Pmin  Min ð26Þ ðlr1 ; lr2  0:5; lr3 Þ (for TVMAXR areas) correspond to

maximum SVPWM offset. Diagrams of reference signals
1 þ IntðMax  MinÞ  ðMax  MinÞ for S ¼ 0 for two previous cases are shown in Fig. 4a and b.
K1 ¼
1 þ IntðMid  MinÞ  ðMid  MinÞ for S ¼ 1
4.2.2 DPWM offset: A reduction in the number of
ð27Þ switchings is achieved by using the discontinuous PWM
The remaining parameters K2 and K3 can also be deduced offset, which can be produced by a direct substitution into
(see Appendix 2, Section 8.2) as (18) of any from the following redundant factor sets as

(0,0,0), (1,0,0); . . . ; ðlr1 ; lr2 ; lr3 Þ. Two extreme DPWM
Max  Mid  IntðMax  MidÞ for S ¼ 0
K2 ¼ offsets, in particularly, are derived in (26) and (29). The
1  ðMax  MidÞ þ IntðMax  MidÞ for S ¼ 1 approach described can be used to perform SVPWM/
K3 ¼ 1  K1  K2 DPWM offset, approximate to any optimum function.

However, the calculation can be simplified and reduced to
Mid  Min  IntðMid  MinÞ for S ¼ 0
¼ a flexible calculation, termed zero-sequence-controlled off-
Max  Min  IntðMax  MinÞ for S ¼ 1 set, described below.
ð28Þ
4.3 Zero-sequence-controlled offset
Minimum zero-sequence function is given by (26). Max- This approximates to any optimum function vr0;ref and can
imum zero sequence can be obtained by setting ðZ1 ; Z2 ; Z3 Þ be described in a unified form, for both carrier SVPWM
¼ ðlr1 ; lr2 ; lr3 Þ into (18) as and DPWM methods, as
vr0 max ¼ Pmin þ n  1  Max ð29Þ vr0;PWM ¼
8
4 Offset analysis and offset-control methods < vr0 min þ n0 þ c1
> if 0  vr1  K1
vr0 min þ n0 þ K1 þ c2 if K1 ovr1  K1 þ K2
An analysis of the offset function offers a simple SVPWM– >
:
vr0 min þ n0 þ K1 þ K2 þ c3 if K1 þ K2 ovr1 o1
DPWM implementation, while the offset is made to track
any optimum function. ð33Þ

IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006 153
 2.0 2.0

1.5 1.5

1.0 1.0

0.5 0.5

0 0

−0.5 −0.5

−1.0 −1.0

−1.5 −1.5

−2.0 × 10−3 −2.0 × 10−3

0 5 10 15 20 0 5 10 15 20
time, s time, s
a b

2.0 2.0

1.5 1.5

1.0 1.0

0.5 0.5

0 0

−0.5 −0.5

−1.0 −1.0

−1.5 −1.5

−2.0 × 10−3 −2.0 × 10−3

0 5 10 15 20 0 5 10 15 20
time, s time, s
c d

2.0

1.5

1.0

0.5

−0.5

−1.0

−1.5

−2.0 × 10−3
0 5 10 15 20
time, s
e

Fig. 4 Five-level inverter: diagrams of offsets and reference modulating signals

a Minimum-offset SVPWM method, m ¼ 0.85
b Maximum-offset SVPWM method, m ¼ 0.85
c Medium CM SVPWM, m ¼ 0.75
d Minimum CM SVPWM, m ¼ 0.75
e Minimum CM discontinuous PWM, m ¼ 0.75

154 IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006
where parameters n0 and vr1 are obtained by setting vr0 ¼ Table 2: Number of extra switchings in a fundamental
vr0;ref into (31) and parameters cj , j ¼ 1; 2; 3 are set period for a five-level invertor
differently below.
For SVPWM method: The parameters cj are set as Modulation index Minimum CM Medium CM
SVPWM SVPWM
cj ¼ 0:5Kj ; j ¼ 1; 2; 3 ð34Þ
0–0.433 6 6
For DPWM method: The parameters cj are simply deduced 0.433–0.5 18 6
in relation to Kj as 0.5–0.577 18 30
8 0.577–1.0 18 18
> K1
< K1 if vr1 
c1 ¼ 2
>
:0 K 1
if vr1 o
2
8 5 Unified unipolar CPWM modulator,
> K2
< K2 if ðvr1  K1 Þ  overmodulation
c2 ¼ 2 ð35Þ
>
:0 K 2 5.1 Unified unipolar CPWM modulator
if ðvr1  K1 Þo
2 In the proposed modulator as shown in Fig. 5, two
8
> K3 separated function blocks termed ‘active signal generator’
< K3 if ðvr1  K1  K2 Þ 
2 and ‘offset generator’ are intended to produce correspond-
c3 ¼
>
:0 K 3 ing active and offset signals, respectively. The two generator
if ðvr1  K1  K2 Þo outputs are then summed to generate reference modulating
2
signals as
The difference between the reference vr0;ref and function
vrx ¼ vrx12 þ vr0;PWM x ¼ a; b; c ð38Þ
vr0;PWM can be determined as d0 ¼ jxj Kj  cj j  0:5Kj
where Eqn. (38) is valid for the entire modulation range including
8 overmodulation.
< K1 if 0  vr1  K1
Kj ¼ K2 if K1 ovr1  K1 þ K2 ð36Þ 5.2 Offset generator
:
K3 if K1 þ K2 ovr1 o1 This receives active signals in the input and produces a
PWM offset vr0;PWM in the output. Two additional inputs,
As can be seen from (30) and (33), vector-redundancy namely required offset vr0;ref and PWM-mode settings, are
control, i.e. to have a direct access to both switching-state needed for achieving the required PWM performance. The
sequence and time-duty ratio of active redundant vectors equations described in Sections 2–4 for undermodulation
can be implemented flexibly in CPWM methods. remain unchanged for overmodulation on the assumption
that the Max, Mid and Min functions, the switching-time
4.4 Optimum offset duties K1, K2 and K3 and other related functions such as
An appropriate design of reference offset vr0;ref in (33) is vr0 min and vr0 max are derived from the active signals. In a
decisive to PWM performances. For obtaining a minimum conventional sinusoidal PWM, the offsets vr0;ref , vr0;PWM are
common mode, it is defined as set independently as vr0;PWM ¼ vr0;ref ¼ 0. Because of the
8 constraint as vr0 min ovr0;ref ovr0 max , its modulation index
< vr0 max if vr0 max o0 can reach a maximum of 0.866. In the switching-frequency
vr0;ref ¼ 0 if vr0 max  0  vr0 min ð37Þ optimal-PWM method (SFO–PWM) [2], offset vr0;ref is set
: equal to the average value of the corresponding two
vr0 min if vr0 min 40
extremes as vr0;PWM ¼ vr0;ref ¼ ðvr0 min þ vr0 max Þ=2 and the
The diagrams of offsets and modulating signals for linear PWM is extended to the entire undermodulation
minimum CM SVPWM and minimum CM DPWM are range.
calculated and drawn for a five-level invertor as shown in In a general case, to fulfill PWM mode setting and get
the Fig. 4d and e. In comparison with medium CM closest to any optimal function vr0;ref , the output offset
SVPWM [10], whose offset is approximate to the function vr0;PWM can be proposed by the algorithm (33).
vr0;ref ¼ 0:5ðvr0 max þ vr0 min Þ ¼ ðmax þ minÞ=2, the
number of extra switchings of minimum CM SVPWM 5.3 Active signal generator
has been deduced in a function of modulation index in This produces three-phase active signals from an effective
Table 2. From waveform diagrams in Fig. 4c and d, the (implemented) voltage vector and sends them to the
minimum CM SVPWM gives a better balance of switching offset-generator inputs. Active signals influence the offset
losses among switching pairs than the medium CM operating range and give rise to harmonic content in
SVPWM. The behaviours of these methods are the same overmodulation. The two possibilities for deducing these
for low level invertors ðn ¼ 2; 3Þ. are the space-vector approach and the carrier-based
The ability to achieving SVPWM and DPWM modes approach.
easily while adhering closely to a required optimum offset,
presents a particular advantage, which is not attainable 5.3.1 Space–vector approach: In this approach,
in other CPWM methods. In diode-clamped invertors, the active signals are produced based on the existingFspace
optimum offset can be set as a reference for a reducing DC vector methods [14, 15]. In undermodulation ðK ¼ 0Þ, the
neutral point or by properly distributing the switching loss effective vector is equal to the fundamental. In over-
among switching devices. The problem of balancing DC- modulation ðK ¼ 1Þ, the effective vector is generated by
neutral point for certain current circumstances will be modifying the phase angle and amplitude of the funda-
investigated in detail. mental. The modifying process is usually implemented in

IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006 155
 reference offset PWM mode
vr 0.ref setting
offset generator
1−K

offset calculation
PWM offset
vr 0.PWM
+ veff
 extreme

max. mid. min

vr x12 max. offset vr 0 max

selector
Vref linear
K + mid. vr 0 min vr a
(m, ) compensator min.
(meff ,eff ) abc vr b
Sw. time vr c
co-ordinate duties K1,K2,K3
transform reference
modulating
active signal generator
signals
active signals

Fig. 5 Block diagram of a unified unipolar CPWM modulator from the space-vector approach

r active
cos  vr x,m vra,m + vrb,m + vr c,m vr 0,m
 signals
cos( − 2 /3) −
cos( + 2 /3) 3 vr x 12,m
limiter +
(m = mmid )
a

generator of the 1st-

limit active signals 1−M
+
m=1
+
generator of the 2nd- M

limit active signals vr x12,m1
m = mmid
1−M + vr x12,m2 vr x12,m
generator of the 3rd- (1−
m )vr x 12,m1 +
mvrx12,m2
M + active
limit active signals
m = 1.1 signals
m −1
1− M mmid −1 +
m
m
m −mmid +
M
1.1− mmid

Fig. 6 Two generators

a Generator of limit active signals from sinusoidal overmodulation for m ¼ mmid
b Generator of active signals for two-mode overmodulation

the linear-compensation block by the use of a look-up table. Implementing the principle (40) requires several limit active
This drawback can be avoided by introducing the ‘control signals. For m ¼ 0 and m ¼ 1, the corresponding active
principle between two limit trajectories’, then the effective signals are described as
vector is presented in an analytical expression [16]. In the
vrx12;m¼0 ¼ 0; x ¼ a; b; c ð41Þ
last stage, the vector veff is transformed into the three-phase
active signals vrx12 , x ¼ a; b; c by (39) as p
vrx12;m¼1 ¼ ðn  1Þfx = 3 x ¼ a; b; c ð42Þ
vra12 ¼ vreff cos yeff vrb12 ¼ vreff cosðyeff  2p=3Þ
ð39Þ where fx are functions of phase angle y of the fundamental
vrc12 ¼ vreff cosðyeff þ 2p=3Þ vector defined as
where vreff ¼ ðn  1ÞVeff =Vdc ; Veff and yeff are the ampli- fa ¼ cosðyÞ fb ¼ cosðy  2p=3Þ
tude and phase angle of the effective vector. ð43Þ
fc ¼ cosðy þ 2p=3Þ
5.3.2 Carrier-based approach: In this approach, For m ¼ mmid , 1ommid o1:1, the active signals vrx12;m can
the active signals are produced based on the ‘control be derived by subtracting the modulating signals from the
principle between two limit active/modulating signals’ [17]. corresponding offset as shown in Fig. 6a, as
Let vrx12;m1 and vrx12;m2 , x ¼ a; b; c be two limit active signal
sets, corresponding to the modulation indices of m1 and m2 , vrx12;m ¼ vrx;m  ðvra;m þ vrb;m þ vrc;m Þ=3 ð44Þ
respectively. The active signals vrx12;m , x ¼ a; b; c for a The limit signals vrx;m can be deduced from sinusoidal
required modulation index m1 omom2 can be defined as overmodulation as
8
vrx12;m ¼ ð1  xm Þvrx12;m1 þ xm vrx12;m2 < Pmin for rfx 4  Pmin
m  m1 ð40Þ vrx;m ¼ rfx for Pmin 4rfx 4Pmin ð45Þ
xm ¼ :
m2  m1 Pmin for rfx oPmin

156 IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006
 2.0 mmid ¼ 1:055, can be determined, and drawn those are in
1.5 Fig. 7d [17]. If r ! 1, m ¼ 1:1, these limit modulating
1.0 signals become square waveforms, and the corresponding
0.5
0
active signals vrx12;m¼1:1 are simply described by (46) as
−0.5
−1.0 vrx;m¼1:1 ¼ 0:5ðn  1Þsgnðfx Þ
−1.5 vrx12;m¼1:1 ¼ vrx;m¼1:1  ðvra;m¼1:1 þ vrb;m¼1:1 þ vrc;m¼1:1 Þ=3
−2.0 × 10−3
0 5 10 15 20 ð46Þ
time, s
a

2.0 5.4 Two-mode overmodulation

1.5 The active signals for 0omo1 (undermodulation) derived
1.0 from (40)–(42) can be simplified as
0.5
0 mðn  1Þfx
−0.5 vrx12 ¼ vrx12;m ¼ p ð47Þ
−1.0 3
−1.5
−2.0 × 10−3
To implement the principle (40) in two-mode overmodula-
0 5 10 15 20 tion, the active signals are derived from (42), (44) for 1o
time, s mommid in mode 1 ðM ¼ 0Þ and (44), (46) for mmid o
b mo1:1 in mode 2 ðM ¼ 1Þ, as shown in Fig. 6b. The
2.0
diagrams of minimum CM SVPWM and DPWM offset
1.5 and modulating signals in mode 1 are calculated and shown
1.0 in Fig. 7a and c. By comparing them with the diagrams of
0.5 medium CM SVPWM [10] shown in Fig. 7b, only a
0 negligible difference can be seen. The difference becomes
−0.5 larger for a higher-level n. For mode 2, from the diagrams
−1.0
of limit modulating signals for mmid ¼ 1:055 (Fig. 7d) and
−1.5
m ¼ 1.1 (six-step mode), it can be deduced that the active-
−2.0 × 10−3
0 5 10 15 20
switching-state vectors are located on the outer hexagonal
time, s periphery. The offset vr0;PWM is equal to the offset extremes
c and its control is impossible, i.e.
2.0 vr0;PWM ¼ vr0 max ¼ vr0 min ð48Þ
1.5 B C A
1.0
As a result, only discontinuous PWM with uncontrollable
0.5
0
offset exists in mode 2 and the corresponding diagrams are
−0.5 shown in Fig. 7e.
−1.0
−1.5
5.5 Lower-order harmonics
−2.0 × 10−3
The content of harmonics of low orders in two-mode
0 5 10 15 20
time, s
overmodulation of a multilevel invertor remains the same as
d that of a two-level invertor [17] . A low level of harmonics
occurs in mode 1. In mode 2, harmonic amplitudes are
2.0 much increased until they reach those of the six-step mode.
1.5
1.0
0.5 6 Conclusions
0
−0.5 The theoretical analysis of the correlation between SVPWM
−1.0
and carrier-based unipolar PWM, including linear over-
−1.5
−2.0 × 10−3
modulation, has been presented. The specific characteristic
0 5 10 15 20
of the multilevel invertor as vector redundancy control,
time, s which has been mostly solved by space–vector PWM
e methods, has been described completely in the offset
function. Among the zero-sequence-controlled PWM meth-
Fig. 7 Five-level inverter ods, the SVPWM and DPWM with minimum common
Overmodulation: mode 1 with m ¼ 1.01
mode are advantageous for balancing the switching loss of
a Modulating signal and offset for minimum CM SVPWM
b Modulating signal and offset for medium CM SVPWM
switching pairs. Further improvement in a small modula-
c Modulation signal and offset for minimum CM discontinuous PWM tion index can be obtained by shifting the modulating
Overmodulation: mode 2 signals between carrier bands. The agreement between
d Limit modulating signals for m ¼ 1.055 under- and over-modulation, and between DPWM and
e Modulating signals and offset in DPWM for m ¼ 1.08 SVPWM methods has been described in a unified PWM
modulator. For mathematical simplicity and without a
look-up table, the control principle between two limit
where functions fx are defined by (43) and parameter r trajectories shows an easy approach for compensating the
satisfies the condition r4ðn  1Þ=2. If r ¼ ðn  1Þ, nonlinear overmodulation, and its corresponding carrier
the limit modulating signals vrx;m , corresponding to PWM algorithm presents a possible solution.

IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006 157
7 References value as:
1 Van der Broeck, H.W., Skudelny, H.C., and Stanke, G.V.: ‘Analysis vrc ¼ 2 ¼ Pmin ð49Þ
and realization of pulse width modulator based on voltage space
vector’, IEEE Trans., 1988, IA-24, pp. 142–150 The offset is derived as
2 Steike, J.K.: ‘Control strategy for a three phase ac traction drive with
a 3-level GTO PWM inverter’. Proc. IEEE Conf. PESC’88, 1988, vr0 ¼ vrc  vrcð1Þ ð50Þ
pp. 431–430
3 Rodriguez, J., Moran, L., Correa, P., and Silva, C.: ‘A vector control The remaining A- and B-phase references can be derived as
technique for medium voltage multilevel inverters’, IEEE Trans., 2002,
IE-49, pp. 882–887 vra ¼ vrað1Þ þ vr0 vrb ¼ vrbð1Þ þ vr0 ð51Þ
4 Wei, S., Wu, B., Li, F., and Liu, C.: ‘A general space vector PWM
control algorithm for multilevel inverters’. Proc. IEEE Conf. APEC, The following conditions can be derived
2003, pp. 562–568
5 Celanovic, N., and Boroyevich, D.: ‘A fast space vector modulation 0ovra o1  1ovrb o0 ð52Þ
algorithm for multilevel three phase converters’, IEEE Trans., 2001,
IA-37, pp. 637–641 Function Int(MaxMin)
6 Blasko, V.: ‘A hybrid PWM strategy combining modified space vector Using (49)–(52) and noting that, in this case,
and triangle comparison methods’. Proc. IEEE PESC Conf., 1996, pp.
1872–1878 vrað1Þ ¼ Max, vrbð1Þ ¼ Mid and vrcð1Þ ¼ Min, the following
7 Seo, J.H., Choi, C.H., and Hyun, D.S.: ‘A new simplified space-vector conditions can be obtained as
PWM method for three-level inverters’, IEEE Trans., 2001, PE-16, (4)
8 Wang, F.: ‘Sine-triangle versus space vector modulation for three 0ovrað1Þ  2  vrcð1Þ o1 ) 2oMax  Mino3 ð53Þ
level PWM voltage source inverters’, IEEE Trans., 2002, IA-38,
pp. 500–506 The function Int(MaxMin) will become Int(Max
9 Wu, H., Deng, Y., Liu, Y., and He, X.: ‘A new clew for research on
PWM methods of multilevel inverters: principle and applications’. Min) ¼ 2.
Proc. IEEE Power Conversion Conf., 2002, Vol. 3, pp. 1251–1256 Similarly, function Int(MidMin) can be determined as
10 McGrath, B.P., Holmes, D.G., and Lipo, T.: ‘Optimized space vector Int(MidMin) ¼ 1.
switching sequences for multilevel inverters’, IEEE Trans., 2003,
PE-18, pp. 1293–1301 To determine function Int(MaxMid), discontinuous
11 Loh, P.C., Holmes, D.G., Fukuta, Y., and Lipo, T.A.: ‘Reduced PWM with the highest CM MPs (2,1,0), (2,0,1) and
common-mode modulation strategies for cascaded multilevel inver-
ters’, IEEE Trans., 2003, IA-39 (2,1,1) is considered and we can obtain Int(Max
12 Lee, Y.H., Kim, R.Y., and Hyun, D.S.: ‘A novel SVPWM strategy Mid) ¼ 1.
considering DC-link balancing for a multi-level voltage source By applying the previous procedure to other areas,
inverter’. APEC’99, Vol. 1, pp. 509–514
13 Bendre, A., Venkataramanan, G., Srinivasan, V., and Rosene, D.: functions such as Int(MidMin), Int(MaxMid) and
‘Modeling and design of a neutral point voltage regulator for a three- Int(MidMin) can be evaluated for the entire hexagonal
level diode-clamped inverter using multiple carrier modulation’. EPE diagram as shown in Fig. 3a–c.
2003 Conf., CD-ROM proceedings
14 Holtz, J., Lotzkat, W., and Khambadkone, X.: ‘On continuous
control of PWM inverters in the overmodulation range including the 8.2 Appendix 2
six step mode’. IECON, 18th Ann. IEEE Industrial Electronics Conf.,
1992, pp. 307–312 Using (13)–(17) and (26) gives
15 Bolognani, S., and Zigliotto, M.: ‘Novel digital continuous control of 2 3 2 3
SVM inverters in the overmodulation range’, IEEE Trans., 1997, vrað1Þ þ Pmin  Min K1 Pa10 þ K2 Pa20 þ K3 Pa30
IA-33, (2), pp. 525–530 4 vrbð1Þ þ Pmin  Min 5 ¼ 4 K1 Pb10 þ K2 Pb20 þ K3 Pb30 5
16 Nho, N.V., and Youn, M.J.: ‘Two-mode overmodulation in two-
level voltage source inverter using principle control between limit vrcð1Þ þ Pmin  Min K1 Pc10 þ K2 Pc20 þ K3 Pc30
trajectories’. Proc. IEEE Conf. Power Electronics and Drive Systems,
2003, pp. 1274–1279 ð54Þ
17 Nho, N.V., and Youn, M.J.: ‘A novel simple linear pulse width
modulation technique in two-level voltage source inverter’. Proc. IEEE By summing all components of vectors
P from both sides of
Conf. Power Electronics and Drive Systems, 2003, pp. 1241–1244 (54) and using the condition vrxð1Þ ¼ max þmidþ
min ¼ 0, it becomes
X X
8 Appendixes 3Pmin  3Min ¼ K1 Px10 þ K2 Px20
x¼a;b;c x¼a;b;c
X
8.1 Appendix 1 þ K3 Px30 ð55Þ
In Fig. 1, consider area 7 (TVMINR area). All MPs are x¼a;b;c
(1,1,2), (2,0,1), (1,0,2), (2,1,1), (0,1,2), (1,0,1), P
(2,1,0). From them, three ZRF patterns are (0,1,2), From ZRF MP (22), x¼a;b;c Pxj0 ðj ¼ 1; 2; 3Þ can be
(1,1,2) and (1,0,2). In a discontinuous PWM mode determined. Using the results and noting (2) and (27), the
from ZRF patterns, the C-phase reference obtains the parameters K2 and K3 can be deduced.

158 IEE Proc.-Electr. Power Appl., Vol. 153, No. 1, January 2006