Archiv fiXr Elektrotechnik 57 (1975) 281--289

9 by Springer-Verlag 1975

Improvement of Pulse Width Modulation Techniques*

G. B U / A and G. INDRI, Padova ~

Gontents : Pulse width modulation (P.W.M.) techniques, adopted in inverters for modern variable speed drives, allow an easy
adjustment of the fundamental component of the output voltage.
Their use, however, entails certain disadvantages such as the complexity of the electronic control circuits and especially the
deterioration of the performance of the inversion circuit. There such disadvantages can be reduced by resorting to improved
modulation techniques.
This paper deals with an advantageous modification of the shape of the modulating wave in the suboscillation P.W.M. tech-
nique.
l~bersicht: Pulsbreite-Modulationsverfahren, wie sie bei Wechselrichtern ffir Drehzahl-Regelantriebe verwendet werden,
gestatten eine einfache Steuerung der Grundschwingungen der Ausgangsspannung. Bei der Anwendung sind allerdings verschie-
dene Nachteile, vor allem hinsichtlich der I4omplexititt der elektrischen Steuerung und der Wechselrichterschaltung in Kauf zu
nehmen. Diese Nachteile lassen sich jedoch durch verbesserte Modulationsverfahren mildern. Der Beitrag beschreibt eine vor-
teilhafte Version yon Unterschwingungs-Modulationsverfahren.

Introduction In order to operate the machine near the optimal

When applying forced commutation inverters for
the supply of a.c. variable speed machines, for
example induction motors, the amplitude of the
fundamental component of the output voltage is
a function of frequency, as shown in fig. 1.
1 The authors are with the Istituto di Elettrotecnica ed
Elettronica, UniversitA di Padova, 351o0 Padova, Italy.
* Research for this article was supported by the Consiglio
Nazionale delle Ricerche (CNR -- Gruppo Maechine Elettri-
che), Padova, Italy.
electric and magnetic conditions, the voltage rises
linearly at lower frequencies; thus approximately
constant flux and maximum torque are maintained.
At higher frequencies, however, the voltage is con-
stant due to the voltage limitations of the inverter;
this condition provides approximately constant
power while the maximum torque decreases with fre-
quency.
With the use of the P.W.M. it is possible to vary
the fundamental component of the output voltage by
adjusting the widths of the pulses. This can be done
by applying different modulation methods [1]. Accord-

v1t

1 o,/,o~
Fig. 1. Typical voltage-angular frequency characteristic of an asynchronous motor. Vfl~ and ~oN indicate the nominal values
282 G. Buja and G. Indri : Improvement of Pulse Width Modulation Techniques
ing to the method used, different harmonic spectra
are presented at the output of the inverter.
When the inverter is feeding an a.c. machine, these
harmonics give rise to additional iron and copper
losses [2]; there are also pulsating torques, whose
effects are often a m a j o r inconvenience [3].
When choosing the modulation method, it is there-
fore advisable to take the amount of unwanted har-
monics into account. To evaluate the efficiency of
the method of modulation, the RMS value I~ of the
harmonic currents circulating in the machine can be
considered. This value is significant from the point
of view of the additional copper losses, if the skin
effect in the windings is neglected [4]. Furthermore,
it can provide an estimate as to the value of the
pulsating torques, especially if they are not too large
and if it can be assumed t h a t the flux in the air
gap of the machine is sinusoidal.
With the assumption t h a t no subharmonics are
present, the harmonic currents m a y be considered to
be limited b y the leakage inductance of the motor.
If this is assumed constant, the value of Io is:
F 2 , > 1 \ XO~oL]
where
V~ -----peak value of the pulsation component of the
phase voltage minus the zero sequence com-
ponent, if the neutral of the three-phase load
is not connected.
L = leakage inductance of the machine.
~o0 = fundamental frequency of the output voltage.
The various modulation techniques m a y be charac-
terized b y an index; for this purpose the equation (1)
is expressed as follows:
I~ = ka
where
2 l/~oL'
and a, which represents a measure of distortion, is:
= ~ (2)
In (2) V~ indicates the d.c. voltage feeding the
inverter.
In the usual P.W.M. method based on the method
of suboscillation, the instants of commutation are
determined by the crossings of two waves with diffe-
rent shapes and frequencies as seen in fig. 2. This
method gives satisfactory results, so t h a t it is com-
monly used also in inverters working with a constant
output voltage. However, it involves the disadvan-
tage t h a t V 1, i.e. the peak value of the phase voltage
fundamental, cannot exceed VB/2. I t is thus consid-
erably lower than 4/~z" VB/2, which is the value
obtainable with a nonmodnlated or rectangular wave
voltage.
A higher value of the fundamental component m a y
be obtained b y resorting to other methods, but these
generally involve an increase of a E4, 5]-
Techniques have also been proposed where the
instants of commutation are determined in such a way
that certain harmonics of the output voltage are
eliminated [6, 7]. Howerver, these techniques offer
the disadvantage of requiring a more complex elec-
tronic control equipment.
A modification of the usual P.W.M. method of
suboscillation is proposed in the following. I t seems
to be quite interesting as it produces an increased
fundamental component V1 while maintaining the
benefits of the reduced harmonics and of the simple
realization typical of the suboscillation technique.
C h a r a c t e r i s t i c s of t h e S u b o s c i l l a t i o n M e t h o d
To illustrate the proposed modification, the limits
and merits of the suboscillation method are first
recalled.
With reference to fig. 2, the modulated wave m a y
be described as follows [87:
v(t)= • • --Js ~rm sin (s+r 9
r~X --oo~s ~r
+ m VB sin (mot + q~) , (3)
2
where
coo = angular frequency of the modulating wave
= angular frequency of the carrier wave
Js = Bessel function of degree s
m = modulation index
2no
-~- = distance of the triangular wave from the origin
~0 = distance of the modulating wave from the origin
In (3) there appears a basic t e r m proportional to
the modulating wave together with sets of terms
centred on the multiples of the carrier wave frequen-
cy; in each set the amplitudes of the terms decrease
Arch. [. Elektrotech. 57 (1975)
 G. B u j a and G. I n d r i : I m p r o v e m e n t of Pulse W i d t h ~Iodulation Techniques 283

l t-

I
Fig. 2. Modulated v o l t a g e w i t h the u s u a l t e c h n i q u e of suboscillation

v~
i

0.41 ~Q~ lOoJ 0

I , I L-l-- [_LI

!
I0 20 30 40 50 60 70 w/0%
i
~ 20~ o

[ !0 20 30 40 50 60 70 e:'7~o

.,"2: 30 w~
!'
I Iftl,_
: 10 20 30 40 5~0 6'0 7'0 ~o

.,c2; 40 e~0

10 20 30 40 50 60 7'0
I

0.4- ~7: 50~ o

. . . . r
10 20 30 40 50 60 70 w/w 0

Fig. 3. Spectra of t h e m o d u l a t e d voltage for different values of Q / w 0 a n d m = 1

Arch. ]. Elektrolech, 57 (1975)

284 G. Buja and G. I n d r i : I m p r o v e m e n t of Pulse W i d t h Modulation Techniques

rapidly as soon as they move away from the central ~.10 -z

frequency.
A convenient feature of this modulation is that the
variation of the ratio Q/co0 involves o n l y a translation
of the sets of terms without modification of their
amplitudes.
Furthermore, if in a three phase system the same
carrier wave is used, the central terms of each group
with frequency r Q and those with frequency r~Q +
+ no~o, with n being a multiple of plus or minus
three, are in phase with one another; therefore they
do not result in a circulating current in systems
without the common neutral.
As shown in fig. 3 towards the upper part of the
spectrum, the amplitude of the main t e r m of each
set becomes gradually less marked, while in the
lower part of the spectrum the adjacent terms de-
crease more rapidly. Then some sets, whose number
increases with zQ/co0, are separated one from another.
If R represents the number of separate sets, the
amplitude of the harmonics of angular frequency lower
than R Q + [Q/2J 2 is equal to that of the correspond-
ing set terms, so t h a t in this band the spectrum is:

V(CO) = z~ ~ , •rm sin (r+s) 9 0 ~ li0 210 3i0 410 50 ~

r~ 1 -- [D]2too]<s
Fig. 4. a versus the ratio .O[~o for voltage modulated with the
technique of suboscillation and m ~ 1 (curve 1) and for non
9 0(co -- rzQ -- sco0) + m - ? ~ ( c o 0 ) . (4) modulated or rectangular wave voltage (curve 2)

The amplitude of V1 is now given only b y the last

t e r m of equation (4), which is proportional to the
modulating wave.
In its surrounding area there are no harmonics
with a large amplitude, so that in a low pass system,
such as a motor, the modulated wave can be con-
sidered a good reproduction of the modulating wave.
Furthermore in a three phase system the funda-
mental and each harmonic given in (4) are symme-
trical components, some of which, in particular, are
of zero sequence.
Conversely at low values of zQ/coo no one set is
separated and low frequency components appear,
including the subharmonics, too. If the ratio Y2/coo is
rational, a d.c. component can be present; besides,
each harmonic is now the sum of several terms of
appreciable value and its amplitude and phase
depend on both Q/coo and the phase between carrier
and modulating wave. This can give rise in a three-
phase system to nonsymmetrical components for
each harmonic.
2 With [,Q/2a~o]we indicate the integer part of ~Q/2a~0.
The index a, calculated for a three-phase system
without the common neutral, decreases as the ratio
Q/coo increases, as shown in fig. 4 (curve I) [8].
The same figure also shows the value of a for the
non modulated rectangular wave (curve 2). By com-
parison it is clear t h a t the P.W.M. suboscillation
technique limits the effects of harmonic currents as
long as the ratio Q/co0 is not lower than 8.
However, with this technique the peak fundamen-
tal component of the phase voltage cannot exceed
VB/2. As has been stated previously, this value is
notably lower than that of the rectangular wave;
this involves poor utilization of the m a x i m u m voltage
of the inverter thyristors.
Increase of the Fundamental Component
The peak value of the fundamental component for
a modulated voltage with the suboscillation technique
can be increased b y modifying the shape of the mo-
dulating wave with the addition of one or more
harmonics to the fundamental. The improvement

~4rch. [. Elektrotech. 57 (1975)

 G. Buja and G. Indri: Improvement of Pulse Width Modulation Techniques
must maintain the following advantages:
a) the linear relationship between the amplitudes of
the fundamental component of the output voltage
and of the modulating wave fundamental compo-
nent.
b) the low value of a.
Point (a) implies that the amplitude of the carrier
wave must be greater than that of the modulating
wave and its frequency must be higher than all the
harmonic frequencies in the modulating wave; thus
the low frequency components of the modulated
voltage are proportional to those of the modulating
wave. (Appendix 1).
Point (b) suggests adding to the first harlnonic of
the modulating wave some harmonics that are mul-
tiples of three. In a three phase system without neu-
tral the zero sequence components in the output
voltage do not result in corresponding currents and it
can be expected that the index a will not be substan-
tially increased.
The above considerations limit the choice of the
modulating wave: the harmonics which cause the
largest peak will be used, since a corresponding
advantage for the modulated voltage will be achieved.
Therefore the modulating wave must not contain
harmonics of an even order, including multiples of
three, while the others have the same phase angle as
the fundamental.
First of all we shall analyse the case in which only
a third harmonic of the modulating wave is introduced.
For point (a) the following equation must be satisfied
for each t:
A 1 sin coot + A 3 sin 3O)ot < A
where
A1 = peak value of the fundamental of the modulat-
ing wa~ e
A 3 = peak value of the third harmonic of the modu-
lating wave
A = peak value of the triangular wave.
The maximum value of A l I A as a function of Aa/A 3
is shown in curve 2 of fig. 5, which is deduced in
Appendix 2. The same figure also shows that the
maximum value of A d A with A a = o is unity
(curve 1).
In this way A d A may be increased by 2/[/3(~a5~o)
with regard to the case of the purely sinusoidal
modulating wave. At the m a x i m u m of curve 2 the
value of A d d ~ is equal to 1/6, while with d 3 equal to
only 1/9 of x~ 1 a n improvement of over aO~ is
achieved.
Arch. /. Elehtrolech. 57 (1975)
285
The voltage so modulated can be described by the
following series (A.a.2):
oo c~ oo 2 VB [ 1 ]
v(t) = Z Z X .~7# J'~ [ T ~r'*' t "
r:l ~'x~s 1 - - 3 o ~ s a
9 cos (r.Q+slco o+s3cOo) t - s 1 ~1--
VB .
9 sin (coot + ~Vl) + ma - ~ sin (3coot + %) . (5)
The amplitude of the fundamental component is
due to the contribution of the last but one addend
of equation (5) and of all the terms for which the
following equation is valid:
(rf2 + slco0 + sa3co0) = coo 9 (6)
Clearly equation (6) can be satisfied only if Q/co o
is rational 9 If g2/coo is irrational, the fundamental
component is reduced to the last but one addend of
equation (5), but there exist harmonic components
quite close to it. As Q/co0 increases, these components
become almost negligible with the exception of the
third harmonic 9 This is shown in fig. 6, which also
gives the corresponding curve for a purely sinusoidal
modulating wave9 It can be observed how, in the
presence of the third harmonic, V1 is almost indepen-
dent of the ratio Q/coo for Q/coo >-- lo. In this case,
too, the first set of harmonics of output voltage is
practically separated from the low frequency harmo-
nics due to tile modulating wave9 The spectra of the
voltage thus modulated for different values of Q/co0
are shown in fig. 7.
The value of a computed for m 1 2/~/3 and ma =
=
= 1/6 is practically coincident for Q/coo >-- lO with
those of a purely sinusoidal modulating wave.
No improvement was obtained by introducing
other odd harmonics that were multiples of three and
higher than the third order. It was observed that
a further increase of the maximum value of V1 cannot
be obtained, while very high values of Q/coo would be
required 9
In conclusion, the best results are achieved b y
adding to the fundamental a third harmonic equal
to 1/6 of the fundamental, that is when the shape
of the modulating wave is as stlown in fig. 8.
286 G. ]3uja and G. Indri: I m p r o v e m e n t of Pulse W i d t h Modulation Techniques

A1,~t
S
11

0 5 110 15 2ro 2r5 A1/A3

Fig. 5. M a x i m u m value of A1/A w i t h A a = o (curve 1) a n d versus AlIA a (curve 2)

I I E I l ~ ] I I l I L I I ]

V1
v~
1,1

f ~ I
1,C

!
O,c /
i
J
f

0,8

,.j
I
I
"\\\\

oT 1 3
I
5
I I ILII
10
I
20
I
30 40 50
I T
100
~/co 0 ~,,

Fig. 6. Typical relative value of V1 of t h e o u t p u t v o l t a g e versus ~Q/oJ0 for m o d u l a t e d v o l t a g e w i t h sinusoidal m o d u l a t i n g wave

(curve 1), with p r o p o s e d m o d u l a t i n g w a v e (curve 2) a n d for n o n m o d u l a t e d voltage (curve 3)

Arch. f. Elehtrotech. 57 (1975)

 G. Buja u n d G. I n d r i : I m p r o v e m e n t of Pulse W i d t h Modulation Techniques 287

0.4 = lOcao

, LL~L,J i I~ I l l . . . . . I '' ''' i.,.; ....... 1~ I ......... ;,,, .............

lO 20 30 40 50 60 70 ~o/mo

s o
t

-. . . . . .
10 20 310 40 50 60 70 o.,~
o,_

i
0.41 ~]=30m o

o4!
,__I [~ __ , I I l, ~ I i ,
1'0 2'0 30 4'0 5'0 60 7'0 o/r%

Q:40~o o

10 20 3'0 40 50 6'0 7~o ~/%

0.4 i ~:50m

dl
1'0 2'0 3'0 4'0 . . . . 50 6'0 7'0 ~o~oo

Fig. 7- S p e c t r a of t h e m o d u l a t e d voltage w i t h the p r o p o s e d m o d u l a t i n g w a v e for different values of ~/r 0 a n d w i t h

m 1 = 2/V3 a n d m 2 = 1/6

V~

Fig. 8. T i m e b e h a v i o u r of p r o p o s e d m o d u l a t i n g w a v e

Arch. f. Elektrotech. 57 (1975)

288 G. Buja and G. Indri: Improvement of Pulse Width Modulation Techniques

Conclusions We wish to find the value of A 3 for which A~ is

maximum while f(A 1, A 3, o~) < A.
By means of a simple modification of the shape of Taking into account the s y m m e t r y characteristics
the usual modulating wave used in the P.W.M. sub- of f(A 1, A 3, ~) with respect to 6, it is sufficient to
oscillation technique, a notable increase can be limit the analysis to the interval [o, ~/2]. By deriving
achieved in the m a x i m u m peak value of the output (A.2.1) with respect to e we obtain:
voltage fundamental component. For three-phase
inductive load systems without a common neutral, f 'A
( 1, A3, ~) = A1 cos ~ + 3A~ cos 3x (A.2.2)
such as asynchronous and synchronous motors, the
improvement does not involve any loss of the charac- (A.2.2) can be written in the form:
terics of the usual suboscillation technique.
f'(A 1, A3, ~) = cos ~ [(A 1 -- 9A8) + 12A3 cos e ~]
(A. 2.3)
Acknowledgements
which is zero for the following values of a:
The authors thank Professor Luciano Merigliano
0~1 = 7/;/2
who encouraged this research and Professor Luigi
Malesani who followed its development. Correspondingly the function (A.2.1) is maximum
if its second derivative with respect to e, given by

Appendix 1 f " ( A v A~, ~) ~- -- sin ~ [(A 1 -- 9A~) + 36A 3 cos ~ ~?

For a modulating wave rn(t) of the type: (A.2.4)

re(t) ~ A~ sin (~o0t + ~q) ~ A s sin (2co0t + q0~) + is negative at ~I2; that is for:

+ ... + A N sin (Ncoot + q)N) = 9A 3 -- A 1 < o (A.2.5)

N
2~ A , sin (no)0 + %) (A. 1.1.) I t can be checked that, even if the left hand side
of (A.2.5) is equal to zero, the function still presents
the time behaviour of the modulated voltage with a maximum. If (A.2.5) is valid, the derivative (A.2.3)
a triangular carrier is given b y : does not admit of any other zero and the maximum
is absolute. Given that A = f(A 1, A 3, oq), we obtain:
oo oo 2V~ / 1 \ /: k
= I I ,, t-;"mN)" A = A 1 -- A 3. (A,2.6)
Jell - - (x) ( S l l ,,,l~J

9sin r+ s cos r D + Zs,nc~ t+ With the ratio AlIA 3 defined as x, the equation
n=l (A.2.6) can be expressed in the form
A 1 1
+ ~= s,~(% -- ~2 ) +r~r(2c-- @) ] (A. 1.2) -- (A.2.7)
A 1
1 -- --
X
with the symbols as in (3) and where
valid for x > 9
s, = current index relating to the harmonic n of
(a.l.1), 1/9A~-- -A' (A. 2.8)
~2 = arcc~ V 12Aa "
m~ = modulation index relating to the harmonic n
of (A.I.1).
This zero value of (A.2.3) exists only when
The function (A.1.2) can be obtained b y extending
the process which gives rise to equation (3) [8]. 9A3 -- A 1 > o
that is for

Appendix 2 x_<9

Let us consider the function: The expression (A.2.4) computed in ~2 is always

negative so that f(A 1, A 2, ~) assumes in ~2 maximum
f(A1, A3, o,) = A 1 sin ~ + A 8 sin 3~ (A.2.1) value. Since in the other zero xl of (A.2.3), which
with A~ ~ o and A~ > o. always exists, f(A 1, A 3, ~) becomes minimum for

Arch. [. Elektrolech~. 57 (2975)

 G. 13uja and G. Indri: I m p r o v e m e n t of Pulse W i d t h Modulation Techniques 289

x < 9, t h i s m a x i m u m is a b s o l u t e . G i v e n t h a t A = 2. Largiader, H.: Quelques aspects du dimensionement des

= f ( A 1, A a, ~ ) , w e o b t a i n : moteurs asynchrones alimentds p a r convertisseurs statiques
de fr6quence pour la traction 61ectrique. Brown Boveri
t~ev., No. 4 (197 ~ 152--167
A =A 1sin arccos 12A3 ]+ 3. De Carli, A.; Pagano, E. ; Peres, M. : Coppie alternative nei

+A asin3
,/9..)
V 12Aa (A. 2.9)
nlotori asineroni controllati in frequenza. Elettrotecnica 55
(1968) 31o--317
4. Mfiller, E.; Ricke, F.: L'effect des diff6rentes techniques
de commande utilis6es dans le proc~d6 de la sous-oscill~tion
sur la tension de sortie de l'onduleur. Brown ]3overi Rev.,
E q u . (A.2.9) c a n b e e x p r e s s e d i n t h e f o r m No. I (1973) 35--44
A1 1 5- Buja, G.; Indri, G.: Impiego della P.W.M. nell'alimenta-
o<x<6, zione delle macchine a commntazione elettronica. Atti del
A ] +- 1 -- (9 -- x) Simposio sulle macchine a comnmtazione, Napoli 1974
6. Turnbu]l, F . G . : Selected harmonic reduction in static
(A.2.1o) dc-ac inverters. I E E E Trans. Commun. Electron. 83 (1964)
374--378
AI 1
_ m z
6<x< 9 . 7. Jackson, S. P.: Multiple pulse modulation in static inver-
A ~3+x 1 ~ 1 x2 ters reduces selected o u t p u t harmonics and provides smoofla
-- 1 -- (9 -- x)
12 X 1~ adj ustement of fundamentals. I E E E Trans. Ind. Gen. Appl.
IGA-6 (197o) 357--36o
(A.2.1x)
8. Buja, G. ; Indri, G. : Invertitori a P.W.M. per alimentazione
T h e e q u a t i o n s (A.2.7), (A.2.xo), ( A . 2 . a l ) a r e s h o w n di motori: caratteristiche della tensione di uscita. UPee,
i n c u r v e 2 of fig. 5. I t r e a c h e s t h e m a x i m u m , e q u a l t o a975

2/r 1,15) , f o r X = 6.
Eingegangen am 26. J u n i 1975

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Motor Drives. I E E E Trans. Ind. Gen. Appl. IGA- 3 (1967) Universitfi~ di P a d o v a
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Arch. [. Elektrotech. 57 (1975)