Switching Harmonics in A Three-PhasePWM Inverter

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SAE TECHNICAL
PAPER SERIES 2006-01-3078
Switching Harmonics in a Three-Phase

PWM Inverter
Hong Zhang and Qihua Zhao
Electric Power Systems, Honeywell Aerospace, CANADA
Power Systems Conference

New Orleans, Louisiana
November 7-9, 2006
400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (724) 776-4841 Fax: (724) 776-0790 Web: www.sae.org
Author:Gilligan-SID:4970-GUID:35197647-138.38.0.53
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2006-01-3078
Switching Harmonics in a Three-Phase PWM Inverter

Hong Zhang and Qihua Zhao
Electric Power Systems, Honeywell Aerospace, CANADA
Copyright © 2006 SAE International
ABSTRACT [1][5]. The switching harmonics associated with the

PWM has also been intensively studied and attention
This paper provides a simple but accurate method for has been dominantly focused on the output voltage of
calculating switching harmonics generated by the pulse the inverter. When designing a three-phase PWM
width modulation (PWM). This method can be used to inverter, it is equally important to understand the
design filter for converters and to evaluate EMI impacts. switching harmonics in the DC side. To avoid using
complex mathematics, this paper will firstly describe the
Three-phase PWM inverters have been wildly used as switching harmonic spectrum by simulation. Then, a
major power stages for a three-phase dc-ac power simplified method for calculating output voltage
conversions for many years. The maturation of harmonics as well as DC current harmonics will be
techniques on this type of inverter has expanded its presented.
applications from the general industry to the aerospace.
One of the side effects of this type of inverters is the
switching harmonics generated by the pulse-width
modulation (PWM). Many papers were published
regarding the harmonics analysis. However, most of
them were focusing on the output ac voltages only. In
addition, complex mathematics used in the analysis
prevents the practical engineers from understanding and
using them in the inverter design. This paper uses a
simple mathematical method for calculating switching
harmonics in the output voltage, as well as the switching
harmonics in the dc link. The paper will introduce the
relationship between the harmonic spectrum and the
mathematic equation associated with individual
harmonic components. The distribution of individual Figure 1 Three-Phase Voltage-Source Inverter
switching harmonic on the harmonic spectrum is
illustrated. The close form equations for calculating each
individual harmonics are provided. With this method, the SWITCHING HARMONIC SPECTRUM BY
power electronics designer can calculate the harmonics SIMULATION
before the converters are built and tested. The proper
filters can be designed based the harmonics calculation Study on the switching harmonics becomes very simple
and the EMI effects can also be addressed at the same and straightforward when various simulation tools are
time. capable of generating a PWM waveform and harmonics
spectrum using FFT
The method is verified by simulation using different
simulation tools. It is also validated by practical SWITCHING HARMONICS OF INVERTER OUTPUT
measurement in a high power converter application to VOLTAGE
be appreciated for use in the inverter design.
Figure 2 shows the output voltage, VA (with respect to
INTRODUCTION the center of the DC link) and its harmonic spectrum.
The followings can be observed from the simulation with
Pulse width modulation (PWM) techniques used for concerning the switching harmonics.
three-phase voltage-source inverters as shown in Figure
1 have been the subject of intensive study for many
years. A large variety of methods, different in concept
and performance, have been developed and described
Figure 3 Generic Pattern of Switching Harmonics of

Output Voltage VA
Figure 2 Output Voltage and its Harmonic Spectrum
1. The switching harmonics appears at the multiple of

the switching frequency fs.
2. For the 1st switching harmonic, the magnitude of C10
is dominant with only 1st sideband C11 is observed.
3. For the 2nd switching harmonic, there is no centered
harmonic, only its 1st and 2nd sidebands, C21 and C22,
are observed
4. For the 3rd switching harmonic, it is similar to the 1st
switching harmonic where both the centered and its
sideband harmonics exist. However, their
magnitudes are lower.
5. For the 4th switching harmonic, it is similar to the 2nd Figure 4 DC Link Current and its Harmonic Spectrum
switching harmonic with the lower magnitudes.
SWITCHING HARMONICS OF THE DC LINK

Generally, the spectral content of the output voltage can CURRNET
be illustrated in Figure 3 where Cn0 presents the
magnitude of the centered harmonic at the nth switching
frequency and Cnk presents the magnitude of the kth Figure 4 shows the DC link current Idc and its harmonic
sideband around the nth switching frequency. For spectrum. The followings can be observed from the
example, C10 represents the 1st centered switching simulation with concerning the switching harmonics:
harmonic, and C11 represents the 1st sideband centered
around it. 1. The switching harmonics appears at the multiple of
the switching frequency fs.
2. For the 1st switching harmonic, there is no centered
harmonic, only its 1st sideband is observed.
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.
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
C30 C31 C32 C33 C34

The first row of equation (6) defines the DC component
of Idc:
0.1
3⎛M ⎞
I dc 0 = ⎜ ⎟ I m cos θ (7) 0.09
2⎝ 2 ⎠ 0.08
0.07
where, Im is the magnitude of output current at the AC 0.06
side and θ is phase angle between output voltage and 0.05
output current. 0.04

0.03
0.02
0.700
0.01
0.600 0
0 0.2 0.4 0.6 0.8 1
0.500
Modulation Index
0.400
C41 C42 C43 C44
0.300
0.200 Figure 6 Switching Harmonic of Output Voltage vs

Modulation Index
0.100 (Magnitude of harmonics in a pu value. Vdc=1 pu)
0.000
0 0.2 0.4 0.6 0.8 1
Modulation Index M The 2nd and 3rd row of equation (1) define the magnitude
C10 C11 C12 C13 C14 of odd order switching harmonics. The centered
switching harmonics are zero and their sidebands are
determined by:
0.2
0.18 3 1 ⎛π ⎞ ⎛π ⎞ ⎛π ⎞ ⎛π ⎞
C nk = Im J 62k − 4 ⎜ n × M ⎟ + J 62k − 2 ⎜ n × M ⎟ − 2 J 6 k − 4 ⎜ n × M ⎟ J 6 k − 2 ⎜ n × M ⎟ cos 2θ
π n ⎝2 ⎠ ⎝2 ⎠ ⎝2 ⎠ ⎝2 ⎠
0.16
M agnitude of H arm onics
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
C21 C22 C23 C24 for even n (9)
Their sidebands are governed by:

0.6
3 1 ⎛π ⎞ ⎛π ⎞ ⎛π ⎞ ⎛π ⎞
C nk = Im J 62k −1 ⎜ n × M ⎟ + J 62k +1 ⎜ n × M ⎟ − 2 J 6 k −1 ⎜ n × M ⎟ J 6 k +1 ⎜ n × M ⎟ cos 2θ 0.5
π n ⎝2 ⎠ ⎝2 ⎠ ⎝2 ⎠ ⎝2 ⎠
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
The switching harmonics of the DC link current can be 0.1

analyzed with (6)-(10). Equations show the following 0
important characteristics of the switching harmonics of 0 0.2 0.4 0.6 0.8 1
the DC link current: -0.1
Modulation Index M
1. Similar to output voltage, the magnitude of each
switching harmonic component, both the centered C20 C21 C22
harmonics and their sideband, is a Bessel function
with variables related to multiplication of the
modulation index M and the harmonic order n. 0.1600
Figure 7 illustrates the relationship of 1st to 4th 0.1400
switching harmonics and the modulation index. It
0.1200
shows that the 2nd centered switching harmonic, C20,
Magnitude of Harm onics

is a dominated harmonic. 0.1000
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
2. The magnitude of each switching harmonic 0.0000

component, both the centered harmonics and their -0.0200
0 0.2 0.4 0.6 0.8 1
sideband is inversely proportional to its harmonic Modulation Index M
order, n and proportional to the magnitude of the
output current Im and power factor cosθ. C31 C32
3. Equation (6) and Figure 5 show the distribution of

each switching harmonic.
0.3
0.25
0.25 0.2
0.2 0.15
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)
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
Output Simulations Calculations APPENDIX

Voltage
1st Switching Harmonics The method to derive the equations to calculate the
C10 0.408 0.409 output voltage spectral is based on the familiar triangular
C11 0.106 0.110 wave modulation technique. Dead time effect on the
nd
2 Switching Harmonics switching harmonics is ignored in this paper. The
C21 0.159 0.157 analytic solution for a dc modulated waveform can be
C22 0.073 0.070 extended to the ac modulated case by the application of
3rd Switching Harmonics Bessel function [2]. The dc current spectral can be
C30 0.087 0.085 derived using the similar method.
C31 0.088 0.088
C33 0.054 0.052
DC Link Simulations Calculations

Current
1st Switching Harmonics
C11 0.1603 0.1621
2nd Switching Harmonics
C20 0.4093 0.4098
3rd Switching Harmonics
C31 0.1149 0.1151
4th Switching Harmonics
C40 0.1381 0.1366
C41 0.0581 0.0577
Table 1 Comparison of Calculation and Simulation Result
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
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 ⎭
Substituting (A-1) into (A-2) yields: for even
(A-7)
∞ From (A-3), (A-4) and (A-7), the magnitude of each

V0 (t ) = V f cos(2πft ) + ∑ An cos(n × 2πf s t ) (A-3) harmonic can be derived as shown in the equations (1)
n =1 ~5 in the paper.
where magnitude of the output voltage, Vf, is determined

by :
DC LINK SPECTRAL COMPONENTS
V
V f = M dc (A-4) The dc link current can be expressed by the switching
2
functions as:
The harmonic components, An, are defined by:
idc (t ) = i A (t ) S A (t ) + iB S B (t ) + iC SC (t ) (A-8)
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:
⎛ 1 + V Am (t ) ⎞ ∞ The harmonic components, Bn, are defined by:

S A (t ) = ⎜ ⎟ + ∑ AAn cos(n 2πft )
⎝ 2 ⎠ n =1 ∞
⎛ 1 + VBm (t ) ⎞ ∞ Bn = ∑ (−1) 3k − 2 C nk cos[(6k − 3)2πf s t − θ nk )]

S B (t ) = ⎜ ⎟ + ∑ ABn cos(n 2πft ) (A-11) k =1
⎝ 2 ⎠ n =1
for n odd (A-14)
⎛ 1 + VCm (t ) ⎞ ∞
S C (t ) = ⎜ ⎟ + ∑ ACn cos(n2πft )
⎝ 2 ⎠ n =1 where
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 ⎦ ∞
2 ⎡ π ⎤ Bn = C n 0 + ∑ (−1) 3k +1 C nk cos[(6k × 2πf s t − θ nk )]

A Cn = sin ⎢n (1 + VCm (t ) )⎥ k =1
nπ ⎣ 2 ⎦
for n even (A-15)
Substituting (A-9), (A-10) and (A-11) into (A-8) and
considering expression in (A-6) yields: where
∞ 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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Switching Harmonics in a Three-Phase PWM Inverter

ABSTRACT [1][5]. The switching harmonics associated with the

Figure 3 Generic Pattern of Switching Harmonics of

Figure 2 Output Voltage and its Harmonic Spectrum

1. The switching harmonics appears at the multiple of

SWITCHING HARMONICS OF THE DC LINK

C30 C31 C32 C33 C34

where, Im is the magnitude of output current at the AC 0.06

side and θ is phase angle between output voltage and 0.05

output current. 0.04

0.200 Figure 6 Switching Harmonic of Output Voltage vs

C21 C22 C23 C24 for even n (9)

Their sidebands are governed by:

The switching harmonics of the DC link current can be 0.1

Magnitude of Harm onics

2. The magnitude of each switching harmonic 0.0000

3. Equation (6) and Figure 5 show the distribution of

Output Simulations Calculations APPENDIX

DC Link Simulations Calculations

Substituting (A-1) into (A-2) yields: for even

∞ From (A-3), (A-4) and (A-7), the magnitude of each

where magnitude of the output voltage, Vf, is determined

⎛ 1 + V Am (t ) ⎞ ∞ The harmonic components, Bn, are defined by:

⎛ 1 + VBm (t ) ⎞ ∞ Bn = ∑ (−1) 3k − 2 C nk cos[(6k − 3)2πf s t − θ nk )]

2 ⎡ π ⎤ Bn = C n 0 + ∑ (−1) 3k +1 C nk cos[(6k × 2πf s t − θ nk )]

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