IEEE TRANSACTIONS ON POWER ELECTRONICS. VOL. 10, NO. 5 .

SEPTEMBER 1995

521

Regular-Sampled Harmonic-Elimination PWM Control of Inverter Drives

Sidney R. Bowes, Senior Member, IEEE, and Paul R. Clark
Abstract- Novel Harmonic Elimination PWM strategies for drives, uninterruptible power supplies and static power converters have recently been developed using modified RegularSampling techniques. These new PWM strategies can be generated on-line in real-time using a simple microprocessor software algorithm, without resorting to the usual time consuming offline mainframe computer harmonic elimination numerical techniques. These new PWM techniques can be used over the complete voltagdfrequency range of the drive up to and including the transition from PWM to Quasi-Square Wave operation. Results from an experimental microprocessorcontrolled PWM inverter drive are presented to demonstrate and confirm the special feature of the new Regular-Sampled Harmonic Elimination PWM control strategies.

NOMENCLATURE

tions. In addition the microprocessor implementation of these PWM strategies involves extensive look-up tables (LUTs), and time consuming interpolation between LUTs to provide quasicontinuous voltage control, with all the associated implementation complexities. Attempts to overcome some of the above problems have recently been reported [7]-[ lo], unfortunately, the approach taken in [7] through [lo] do not provide an understanding of the underlying modulation processes involved in producing these Harmonic-Elimination PWM strategies. This precludes the possibility of relating the Harmonic-Eliminationtechnique to those previously developed conventional Natural-Sampled [ 1 11-[ 131 and Regular-Sampled [ 131, [ 141 PWM techniques which can be readily implemented using standard digital hardware or microprocessor software implementation [ 151, The possibility of reproducing Optimized PWM [3], based on minimized total harmonic current distortion (THD), has previously been demonstrated using modified Regular-Sampling techniques [17], [18]. It has been shown that using these Regular-Sampled Optimal PWM techniques it is possible to closely reproduce the optimized (minimized THD) drive performance over the complete voltage/frequencyrange, up to and including, quasisquare wave operation. Moreover, these new Regular-Sampled optimal PWM techniques eliminate the problem previously referred to by others [ 11-[6], and provide a simple and efficient software algorithm for direct on-line real-time microprocessor generation of Optimized PWM 1191, 1201. This paper is concerned with continuing this development by exploring the possibility of reproducing the selected Harmonic-Elimination PWM technique [ 11, [2], again using a modified version of the simpler Regular-Sampled PWM technique [21], [22]. It will be shown how the previously developed RegularSampled Harmonic-Elimination PWM techniques [21], [22] can be further developed using recent fine-tuning techniques to significantly reduce the low-frequency harmonics, and thereby minimize the THD. It will also be demonstrated using well established RegularSampling techniques how a simple algebraic equation can be developed for Harmonic-Elimination, and this can easily be implemented on a microprocessor-based PWM controller. This microprocessor-base software algorithm can be used to calculate the Harmonic Elimination switching angles on line,

A4
N
THD

T Vl
k

4
ak

ACl
W

Modulation depth. Number of switches in quarter cycle of PWM waveform. Total harmonic current distortion. Time period of carrier wave. Fundamental of PWM voltage (1 per-unit voltage corresponds to a modulation depth M = 1). Integer. Instantaneous time. Phase angle. Switching angles. Degree of modulation. Angular frequency of modulating wave.

I. INTRODUCTION
EVELOPMENTS in microprocessor-based PWM controllers offer the possibility of implementing sophisticated Harmonic Elimination [ll, [2] and Optimized [3] PWM switching strategies. These PWM strategies can be designed to eliminate selective harmonics, minimize harmonic losses, reduce torque pulsations, speed ripple, etc. Unfortunately significant off-line computation and computing resources are involved in solving the transcendental equation associated with these PWM strategies [4]-[6], which has prevented their automatic use by industry in many applicaManuscript received July 14, 1994; revised May 5 , 1995. The authors are with the Department of Electrical and Electronic Engineering, Faculty of Engineering, University of Bristol, Bristol BS8 ITR, UK. IEEE Log Number 9413543.

0885-8993/95$04.00 0 1995 IEEE

522

IEEE TRANSACTIONS ON POWER ELECTRONICS. VOL. 10, NO. 5, SEPTEMBER 1995

90' W l

2T

Fig. 2. Regular-sampled harmonicelimination PWM.

1:

' I
Aa3

Aa1 A%

parallel positive slopes. In addition, odd and even switching angles converge at zero fundamental voltage with an angular separation given by 271 T=3 ( N 1)'

in real-time [22], without resorting to any of the usual off-line main frame computer numerical computation [ 11-[ 101.
1 . BASICCHARACTERISTICS OF HARMONIC1 ELIMINATION PWM TECHNIQUES

The procedures used to develop the harmonic-elimination PWM techniques are well-known [l], [2]. It is therefore only necessary to highlight those features of the switching angle characteristics which have particular relevance to the application of regular-sampling techniques. Fig. 1 shows typical harmonic-elimination switching angle characteristics for a quarter-wave symmetric PWM waveform with the number of switches per quarter cycle N = 3; its possible to show that similar characteristic trends are also exhibited for odd N > 3. The characteristics shown in Fig. 1 represent harmonic elimination solutions when the switching angles, f 2 k , are all constrained to lie within the 0-60" range in the first quarter cycle of the PWM waveform. Close inspection of the characteristics shown in Fig. 1 reveals that all the switching angle characteristics exhibit approximately straight line characteristics in the range of fundamental voltage between zero and approximately 0.8 pu (per unit). Also all the odd switching angles exhibit parallelism with negative slopes, and all the even switching angles have

Above a fundamental voltage of approximately 0.8 pu the switching angle characteristics depart from the straight line approximation and become nonlinear up to a fundamental voltage of approximately 1.15 pu, as illustrated in Fig. 1. For fundamental voltages above 1.15 pu the harmonic elimination solution does not exist, and therefore an alternative solution needs to be found to provide the PWM to QuasiSquare Wave (QSW) transition, as described later in the paper. It is possible to show that these are typical Characteristics 3. for all odd N Based on these observations, it is possible to fit a regular sampling process, as defined earlier [21], to the harmonic elimination characteristic shown in Fig. 2.

>

111. HARMONIC ELIMINATION REGULAR-SAMPLING PROCESS To simplify the explanation, it is proposed to use the switching angle characteristics for N = 3, since these provide a clearer geometric interpretation of the approach. Fig. 1(a) is the switching-angle characteristic positioned to represent the switching angles in the first quarter-cycle of the PWM waveform. The center of a pulse, which also corresponds to the regular-sampling instant, is assumed to be coincident with the angular separation, given by t k = k T , at zero voltage. Which for N = 3, from (3), gives T = 30 degrees. Fig. 2 shows how the Regular-Sampling process [13]-[22] can be applied to reproduce the Harmonic-Elimination switching-angle characteristic for N = 3. A similar RegularSampling process can be applied for all N 3. The degree of modulation A a k , shown in Figs. 1 and 2, can be shown to be very closely sinusoidal for both odd and even IC, and all odd N 2 3, up to approximately 0.8 pu fundamental voltage; this is discussed below.

>

BOWES AND CLARK: REGULAR-SAMPLED HARMONIC-ELIMINATION PWM CONTROL OF INVERTER DRIVES

523

TABLE I MAXIMUM SWrCHING ANGLE ERROR (DEGREES) 0 FOR

5 VI 5 0.8 pU

kodd

even

odd

even

I 1
7
9
11

1 1

0.20
0.15
0.14

1
1

0.11 0.11

I
I

0.20
0.15
0.14

I
1

0.07 0.04

I
N-5
N=7

0.10

0.04

It has been shown previous [21] that two sinewaves suitably phase displaced can be Regularly Sampled, as shown in Fig. 2(a) and (b), to produce the degree of sinusiodal modulation required Aak. The modulation Auk (when suitably scaled) is subsequently used to asymmetrically modulate each edge of the pulse to produce the quarter-wave symmetric PWM waveform shown in Fig. 2(c). The results of this modulation process can be analytically described in the switching angles equations [ 131-[22] as follows: For the leading-edge with IC odd
ak

= (IC

+ 1)- - M -T sin [{IC+ 1)-T + 411 2 2 2

(1)

and for the trailing-edge with IC even

N=Q

N=ll

Fig. 3. Harmonics for constant

61.02, and

= ti.

2lr T=3 ( N 1) the Regular-Sampling process can be easily determined to where k = 1,2, ... , N , and N = number of switches per assess the accuracy. The maximum switching angle errors quarter cycle of the modulating wave. are shown in Table I for N = 5,7,9, and 11. As illustrated As stated earlier the degree of modulation Auk has been in Table I, these errors are extremely small, less than 0.25 confirmed to be sinusoidal, as a function of both odd and even degrees over the complete voltage range, and as shown deIC for all N 2 3, and all fundamental voltages up to 0.8 pu. crease as N increases. The effects of these switching angle This was achieved by curve fitting a sinewave to the respective errors on the normally Eliminated harmonics are shown Auks at each of the sampling points for each N , resulting in in Fig. 3. As illustrated in Fig. 3, the effect of the small negligible errors. During this curve-fitting procedure it was switching angle errors shown in Table I is to reintroduce assumed that the modulation index, M , was equal, in per a small amplitude harmonic at the harmonic frequency corunit (pu) terms, to the fundamental of the P W M voltage, responding to the Eliminated harmonic when the exact thus providing a simple direct means of voltage control. In switching angles are used. However, the majority of these addition, it was also possible to derive generalized approximate harmonics are less than 2%, and as shown in these figures relationships for the sinusoidal modulating wave phase-angles all the harmonics decrease with increasing N as the RegularSampling process more accurately reproduces the Harmonic 41 and 4 2 of (1) and (2), respectively, in the form Elimination process. 4 = NT/2 for IC odd 1 Using constant $1 and $2 results in approximately linear 4 2 = T/4 for IC even (4) relationships between Vl and M , with a maximum error of less Using (1) to (4) analytically defines the Regular-Sampled than 3.5% over the complete voltage range. This error can be Harmonic Elimination PWM process for all odd N 2 3, up reduced to virtually zero, to give a linear relationship between the VI (demand) and V (fundamental) using the relationship I to M = 0.8 pu.

Using these switching angle equations the errors between the exact harmonic switching angles, numerically determined on the mainframe computer, and those produced from

M I = 0.0047 + 0.878 Vi M2 = v,

+ 0.139 V :

(5)

524

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. IO, NO. 5, SEFTEMBER 1995

=Is
I1

-_.......... ._ _ _ _ - _ _ _ _ - - - - _ _ _ _ _ - -- -.. - - - ......................... _ _._

13

* r

01

02

oa

OI

as

os

DI

0
I )

Desired fundamentalvoltage V p U
N-57.9.11

DI 02 os D. 05 as 0 7 Desired fundamental voltage V p U

ai

a2

03 a i a5 as Modulationdepth P.U.

a7

an

a?

a2

03 a . as 06 Modulabondepth p U

n7

N=5.7.9.11

N=5

N=7

: L
a
ai

az

a3

ad

a5

a6

07

a8

N=O

N=ll

Desiredfundamentalvoltape V p.u
N=5.7.9.11

Desiredfundamental voltage V P.U

N=5.7.S.11

l Fig. 5. Harmonics for curve-fit d .d2, and linear -21 = 1i

(b)

(a) Fig. 4. Curve-fit 41,dz; constant

01.

(b) 62 = F ( M ) .

where M I and M2 are the modulation depths for each sinewave. It can be shown that using ( 5 ) also produces further slight reductions in all the harmonics shown in Fig. 3. It is important to note that it is possible to further reduce the harmonics by fine-tuning the phase-angles $1 and $2 to more accurately reproduce the exact harmonic elimination switching angles. The curve fitting investigations have shown that 41 is approximately constant, and $2 varies as a function of VI, over the voltage range 0 5 VI 5 0.8 pu, as illustrated in Fig. 4. Noting that Fig. 4(a) for the odd phase angle $1 was produced using the curve-fitting routine to fit a sinewave to the degree of modulation, Auk, for k odd, and adjusting the phase angle 41 and modulation depth M I to minimize the least-squared error. A similar curve-fitting procedure was used to produce Fig. 4(b) for 4 2 and M2. As illustrated in Fig. 4(a), 41 remains approximately constant over the voltage range 0 VI 0.8, for N > 3, at a constant angle given by (4). However, the relationship between the fundamental voltage VI and modulation depth M I is slightly nonlinear, as shown in Fig. 4(a), and can be expressed by (5).

In constrast, as shown in Fig. 4(b), 4 2 varies nonlinearly with modulation depth M2 and can be approximately expressed in the form

42 = 4(0)(1 - M 2 )

<

<

where 4(0) = 0.168( is the phase angle at m = 0, for a given N . Fig. 4(b) shows that the relationship between the fundamental voltage VI and modulation depth, M2, is substantially linear for all N > 3. Using constant $1 (see (4)) and variable $2 (see (6))together with the simpler relationship A41 = M2 = M , results in the harmonics shown in Fig. 5. As illustrated in Fig. 5, using variable $2 reduces the majority of the harmonics to less than 1% over the complete voltage range. The relationship between VI and A is the same as discussed earlier for constant 41 4 and 4 2 and this can be linearized, if required using ( 5 ) , as discussed previously. It can be concluded from the above results that using the simpler constant $ l r 4 2 (see (4)) and M = VI relationship results in a very close approximation to the exact Harmonic-Elimination results with less than 2% harmonics. Using these very simple relationships produces a very simple Regular-Sampled microprocessor PWM implementation with a

v)

(6)

BOWES AND CLARK REGULAR-SAMPLED HARMONIC-ELIMINATIONPWM CONTROL OF INVERTER DRIVES

525

'I
Modulationdepth M p.u N-3
1.1

5 -

5 '

,. . .

ModulationdepthM P.U. N-5

Fig. 7. Total harmonic current distortion (THD) for N = 5, 7, 9, and 11; -exact elimination PWM. - - - regular-sampled PWM.

t
Modulationdepm M P.u N-3.5

Modulaiion depth M P.U.

N-3.5

Fig. 6. High voltage harmonics using sampling function T* with xz

N-11 N-13

simple direct means of continuous voltage control. This simple Regular-Sampled Harmonic-Elimination PWM technique produces harmonic results which would be acceptable for the vast majority of drive applications. For those applications which require "exact" harmonic elimination then variable 4 2 (see (6)) can be included to reduce the "ideally eliminated" harmonics to less than 1%. It can be concluded from the above results that the "Harmonic Elimination" PWM strategy can, for all practical purposes, be reproduced using the significantly simpler RegularSampling PWM technique. The above investigations have concentrated on reproducing the Harmonic-Elimination switching angle characteristics, and accepting the harmonics which result. However, it is of interest to consider an alternative approach which involves minimizing those harmonics which are "Normally Eliminated" in the Harmonic-Elimination strategy. This approach involves the minimization of a performance index (PI) based upon the THD of the form
3N-2
1/2

-- I

N-11.13

Fig. 8. Extended regular-sampling with fixed sampling positions.

for odd n excluding triples.

17) ,,,

The results of minimizing the performance index (7) produces harmonic amplitudes equal to those shown for HarmonicElimination curve-fit & , 4 2 harmonic results given earlier in Figs. 4 and 5. This suggests that the earlier Harmonic-Elimination Regular-Sampled results are entirely consistent with the

526

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 10, NO. 5 , SEWEMBER 1995

minimization of the current harmonics resulting from the Normally Eliminated voltage harmonics in the HarmonicElimination strategy. This provides further evidence of the effectiveness of the new Harmonic-Elimination RegularSampled PWM technique. IV. HIGH VOLTAGE HARMONIC ELIMINATION

A comparison of THD for the exact and approximate Regular-Sampled Harmonic Elimination PWM techniques are shown in Fig. 7 for N = 5, 7, 9 and 11, and these confirm the very close approximation, which improves with increasing

N.

Using the results for odd N presented earlier for the voltage range 0 5 VI 5 0.8 pu together with those produced VI 1.27 pu, As illustrated earlier in Fig. 1(a), the Harmonic-Elimination above for the higher voltage range 0.8 allows a suitable range of N to be selected to provide a switching angle characteristics become progessively nonlinear as the fundamental voltage increases above 0.8 pu. For a gear-changing strategy [ 181-[20]. This gear-changing can fundamental voltage in the region of 1.15 pu a Harmonic- be designed to Eliminateminimize the harmonics over the Elimination solution does not exist, and therefore an alternative complete voltage/frequency range of the drive upto QSW solution is required to allow PWM operation up to the Quasi- operation. The above results have concentrated on those applications Square Wave (QSW) mode. requiring the PWM to QSW transition as an inherent part It has been shown previously [18], [19] that a HarmonicMinimization PWM solution exists at high voltages, and can of the operational requirements. For applications which do not require QSW operation it is possible to greatly simplify be used up to the transition from PWM to QSW operation. To produce the Harmonic Elimination switching angles in the PWM strategy simply by extending the Regular-Sampling 0.8 pu, the high voltage range (0.8 VI 5 1.15 pu), it is necessary technique developed for the voltage range 0 5 VI into the high voltage range. In this case the high voltage PPM to modify the Regular-Sampling process, previously defined 0.8, to incorporate some form of optimal Pulse- technique is nor required, and the Regular-Sampling positions for VI Position Modulation (PPM). This can be straightforwardly (pulse centers) remain fixed with a sampling period as defined achieved by defining the sampling points (or equivalently the in (3). Extending the Regular-Sampling technique defined previpulse positions) to be a nonlinear function of the fundamental ously in this paper, by (4)-(6) into the high voltage range voltage. There are in general a number of possibilities for achieving optimal PPM [ 181, [ 191, however, investigations gives the harmonic results shown in Fig. 8, using N = 11 have shown that one relatively simple approach is to use a and 13 as typical examples. As illustrated in these figures, the resulting voltage harmonics remain extremely small, less sampling function with a time period of the form than 2%, over the complete voltage range 0 5 VI 5 1.2 T* = (1 +cos (x2:)) where x = T).- 0.8 M (8) pu, with the exception of the 31st for N = 11 and 37th for 2 N = 13, which increase above 2% at VI = 0.8. Noting that As illustrated in Fig. 1, when the fundamental voltage, the 31st harmonic ( N = 11) and the 37th harmonic ( N = VI, is increased toward the QSW voltage (1.273 pu) the 13) represent the highest order ideally eliminated harmonics, sampling positions move toward the 0 position, according which for drive applications would be heavily attenuated by to (7) to follow the general shape of the switching angle the motor impedance to produce insignificant, virtually zero, trajectories. This results in the PWM pulse positions and current harmonics. Also, as shown in Fig. 8 the relationship associated switching angles migrating toward the 0 position between the demanded VI and the fundamental of the PWM as the fundamental voltage increases toward the QSW voltage, voltage remains substantial linear over the complete voltage as shown in Fig. l(a). This migration of the arcs toward the 0 range. Similar improved results to those shown in Fig. 8 can position follows a smooth, continuous variation, without any also be demonstrated for all odd N > 13. It is also important to note that, whereas, this paper has pulse-dropping until just prior to the PWM to QSW transition, (this will be discussed and experimentally demonstrated later concentrated on drive applications, the new extended RegularSampling Harmonic-Elimination techniques can equally be in this paper). It is important to note that using the sampling function applied to Uninterruptible Power Supplies (UPS) and Static defined in (8) allows close approximations to Harmonic- Frequency Changes (SFC). In UPS and SFC applications Elimination for 0.8 VI 1.15 pu and Harmonic- the usual harmonic performance specification requiring less than 3% individual harmonics and 5% THD can easily be Minimization for 1.15 Vl 1.273 pu (QSW). The results of using this sampling function are shown in achieved, with the minimum switching frequency and filtering, Fig. 6 for N = 3 and 5. As illustrated in Fig. 6 using the using the Regular-Sampling PWM techniques described in this nonlinear sampling function results in an approximately linear paper. Experimental results confirming the above theoretirelationship between the fundamental voltage and modulation depth M , with a maximum error of less than 1.5% over the calkomputed results, including the PWM to QSW transition, complete voltage range. Also, as shown in Fig. 6, the 5th and are presented below. 7th harmonic (noting that these are the normally Eliminated harmonics for N = 3) are both less than 3% over the voltage V. EXPERIMENTAL RESULTS 1.21 pu, and above 1.21 pu voltage a range 0.8 5 VI progressive increase in these harmonics takes place upto their The Regular-Sampled Harmonic-Elimination PWM strateQSW values. gies presented in this paper can be straightforwardly im-

<

<

<

<

<

< <

<

<

<

BOWES AND CLARK: REGULAR-SAMPLED HARMONIC-ELIMINATIONPWM CONTROL OF INVERTER DRIVES

521

11

23

25

(0
Fig. 9. Regular-sampled harmonic elimination l i l ( e ) Line voltage. (f) Line voltage spectrum.

= 7 . M = 0.8, 32 Hz; (a) PWM voltage. (b) Current. (c) Voltage spectrum. (d) Current spectrum

plemented on any 8-b or 16-b conventional microprocessor. Only minor modifications to the previously developed microprocessor-basedRegular-Sampled PWM implementation [19], [22] are required to accommodate the new HarmonicElimination Regular Sampled PWM strategy. Typical experimental results obtained from the microprocessor-controlled experimental drive when operating with the new Regular-

Sampled Harmonic-Elimination PWM, for N = 7 and 11 are shown in Figs. 9 and 10 for VI = 0.8 pu. As illustrated in these figures the ideally eliminated voltage harmonics are virtually zero. For example, the ideally eliminated voltage harmonics for N = 7 are 5,7, 11, 13, 17, and 19 and as clearly demonstrated in Fig. 9 these are virtually undetectable in the voltage harmonic spectrum; resulting in the first significant

528

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 10, NO. 5, SEPTEMBER 1995

35

(0
Fig. 10. Regular-sampled harmonic elimination -V= 11,M = 0.8, 32 Hz; (a) PWM voltage. (b) Current. (c) Voltage harmonic spectrum. (d) Current spectrum. (e) Line voltage. (f) Line voltage spectrum.

current harmonic equal to the 23rd. Similar trends exist for N = 11 as illustrated in Fig. 10. Consequently the THD resulting from the new Regular-Sampled HarmonicElimination PWM strategy is extremely low, confirming earlier THD results presented in Fig. 7. Fig. 11 shows the computed PWM current waveforms and current spectra corresponding to Figs. 9 and 10. These computed results were produced using a previously developed

CAD drives package [23]. Comparison of the experimental and computed results confirms the accuracy of the modeling techniques used in the CAD drives package and demonstrates the considerable potential of the CAD approach for developing novel PWM drive control strategies. The improvements in the THD using the pulse-position modulation technique (PPM) are shown in Figs. 12 and 13 for N = 5 and 7, respectively. As clearly illustrated in

BOWES AND CLARK: REGULAR-SAMPLED HARMONIC-ELIMINATION PWM CONTROL OF INVERTER DRIVES

529

3
Q
c

i?

liiiie p.u.
N=7
1

aa
0 .-

.........................................

..........................

.. .... ...... ................,.. .... ..

S
a .

as
0.4

0.2

11

13

17

19

23

(ci
a5

b 2

;3 " 4 "

s .

'5 .

s .

IO 1

lime p.u. N=ll

11

13

17

19

23

(di Fig. 12. High voltage PWM, S = 5 , I; = 1.1 pu, 43 Hz. (a) (Top) PWM voltage. (bi (Bottom) Current. (c) Voltage harmonic spectrum. (d) Current spectrum.

Harmonic order N=ll

(b)
Fig. 11. Computed current and harmonic spectrum. (a) N = 7 corresponding to Fig. 9. (b) N = 11 corresponding to Fig. 10.

these figures, the pulse-position modulation (PPM) technique significantly improves the harmonic spectrum at low switching frequencies and high voltages. Noting that the "uneliminated" triple harmonic voltages do not produce harmonic currents in the 3-phase, 3-wire, system, as clearly demonstrated in these figures.

530

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 10, NO. 5, SEPTEMBER 1995

11

13

17

19

23

25

(c)

(c)

= ; Fig. 14. PWM gear-changing transitions. (a) AT 7 to 5, 1 = 1.1 pu. (b) d = 5 to 3, I; = 1.18 pu. (c) = 3 to QSW, t i = 1.27 PU. V
5 7
11

13

17

19

23 25

(d)

Fig. 13. High voltage PWM, S = 7, Ii = 1.0 pu, 39 Hz. (a) (Top) P W voltage. (b) (Bottom) Current. (c) Voltage harmonic spectrum. (d) Current spectrum.

To demonstrate the effects of reducing pulse number, as part of a gear-changing strategy, using the pulse-position modulation technique at high voltage, Fig. 14(a), (b), and (c) shows the effects of reducing the number of switches per quarter cycle N from N = 7 to 5 , 5 to 3, and finally N = 3 to QSW. This reduction in pulse numbers is necessary during the transitional stage from PWM to QSW operation, as discussed

earlier, and as shown in the figures takes place with minimum THD. Also, as demonstrated in Fig. 14, the fundamental of voltage, and hence current, are matched at either side of each transition, and therefore the average motor torque and speed are unchanged, providing a smooth transition from PWM to QSW operation.

VI. CONCLUSION
It has been shown that the problems associated with the off-line calculation and implementation of Harmonic Eliminationloptimized PWM can be completely eliminated using well-established Regular-Sampled PWM techniques, suitably

B O W S AND CLARK REGULAR-SAMPLED HARMONIC-ELIMINATION PWM CONTROL OF INVERTER DRIVES

53 1

modified to include two phase-shifted modulating waves and a pulse position modulation technique. The theoretical developments presented in this paper have demonstrated the possibility of implementing the new RegularSampling PWM techniques in various forms. As shown, each implementation depends upon the degree of accuracy or approximation to the exact Harmonic-Elimination PWM technique considered necessary for a particular application. The simplest implementation involves constant phase angles, (51,g52, and a linear relationship between the fundamental voltage VI and the modulation depth M. This simple implementation results in all the ideally eliminated voltage harmonics being less that 2% over most of the voltage range, for all odd N > 1; and therefore would be acceptable for the majority of drive applications. Further fine-tuning in particular using 4 2 = f ( M ) as defined in (6), further reduces the ideally eliminated harmonics to less than 1%, which for all practical purposes produces virtually the exact Harmonic-Elimination PWM techniques, as demonstrated in the experimental results. This fine-tuned implementation is suitable for drive applications where power frequency signalling component interference needs to be avoided, for example, in traction applications. In addition, it has also been demonstrated that the RegularSampled techniques can be straight forwardly extended to include, in addition to ultrasonic frequency drives, UPS, SFC, and similar application areas. The optimal Regular-Sampled PWM strategy combines the advantages of a well-defined modulation process which can be simply and efficiently implemented, with the potential for generating on-line, in real-time, Harmonic-EliminatiodOptimized PWM with minimized THD. Using this harmonic minimized Regular-Sampled PWM strategy produces an optimized PWh4 drive performance over a wide voltage/frequency range up to QSW operation, with a smooth low harmonic distortin, transition from PWM to QSW mode. Only minor modifications to the previously developed and now well-established microprocessor-based Regular-Sampled PWM implementation are required to accommodate the new Harmonic-Elimination PWM technique. These involve slight modification to the sampled modulating wave stored in ROM, and the pulse-position modulation equation, thus existing PWM implementations can be straightforwardly updated to include the new Harmonic-Elimination PWM techniques.
REFERENCES [ l ] H. S. Patel and R. G. Hoft, Generalized techniques of harmonic elimination, IEEE Trans. Ind. Applicat., vol. IA-9, pp. 310-317, 1973. Generalized techniques of harmonic elimination and voltage [2] -, control in thyristor inverters, Part 2--Voltage control techniques, IEEE Trans. Ind. Applicat., vol. IA-10, pp. 666473, 1974. [3] G. S. Buja and G. B. Indri, Optimal pulse-width-modulation for feeding AC motors, IEEE Trans. Ind. Applicat., vol. IA-13, pp. 38-44, 1977. [4] E. Dwyer and B. T. Ooi, A look-up table based microprocessor controller for a three-phase PWM inverter, in IEEE, IECI Proc.: Ind. Contr. Applicat. Microprocessors, 1979, pp. 19-22. [5] S. Soni and Y. Huri, Harmonic elimination of microprocessor controlled PWM inverter for electrical traction, in IEEE, IECI Proc.: Ind. Contr. Applicat. Microprocessors, 1979, pp. 278-283. [61 G. S. Buja and P. Fiorini, A microprocessor-based quasicontinuous output controller for PWM inverters, in IEEE, IECI Pmc.: Ind. Contr. Applicat. Microprocessors, 1980, pp. 107-1 11.

[7] J. A. Taufiq, B. Mellitt, and C. J. Goodman, Novel algorithm for generating near optimal PWM waveforms for ac traction drives, in IEE Proc., vol. 132, no. 2, 1986, pp. 85-94. [8] P. Enjeti and J. F. Lindsay, Solving nonlinear equations of harmonic elimination PWM in power control, IEE Electron. Lett., vol. 23, no. 12, pp. 656-657, 1987. [9] P. Enjeti, P. D. Ziogas, and J. F. Lindsay, Programmed PWM techniques to eliminate harmonics, a critical evaluation, in IEEE Cont Rec. Ind. Applicat., 1988, pp. 418-430. [IO] A. Maheshwari and K. D. T. Ngo, Synthesis of six-step pulsewidthmodulated waveforms with selective harmonic elimination, IEEE Trans. Power Electron., vol. 8, no. 4, pp. 554-560, 1993. [l I] A. Schonung and H. Stemmler, Static frequency changers with subharmonic control in conjunction with reversible variable speed ac drives, Brown Boveri Rev., vol. 51, pp. 555-577, 1964. [12] S. R. Bowes and B. M. Bird, Novel approach to the analysis and synthesis of modulation processes in power converters, in IEE Proc., vol. 122, no. 5 , 1975, pp. 507-513. [I31 S. R. Bowes, New sinusoidal pulsewidth modulated inverter, in IEE Proc., vol. 122, no. 11, 1975, pp. 1279-128. [I41 S. R. Bowes and R. R. Clement, Computer aided design of PWM inverter systems, in IEE Proc., E, Elect. Power Appl., vol. 129, no. 1, 1982, pp. 1-17. [I51 S. R. Bowes and M. J. Mount, Microprocessor control of PWM inverters, in IEE Proc, B., Elect. Power Appl., vol. 128, no. 6, 1981, pp. 293-305. [I61 S. R. Bowes and T. Davies, Microprocessor-based development system for PWM variable-speed drives, in IEE Proc., E , vol. 132, no. 1, 1985, pp. 18-45. [I71 S. R. Bowes and A. Midoun, Suboptimal switching strategies for microprocessor-controlled PWM inverter drives, in IEE Proc., B, vol. 132, no. 3, 1985, pp. 133-148. [ 181 -, A new PWM switching strategy for microprocessor-controlled inverter drives, in IEE Proc., B, vol. 133, no. 4, 1986, pp. 237-254. [ 191 -, Microprocessor implementation of new optimal P W M switching strategies, in IEE Proc., B, vol. 133, no. 2, 1988, pp. 1-12. [20] S. R. Bowes and P. R. Clark, Transputer based optimal PWM control of Inverter Drives, in Proc. IEEE, IAS I988 Con$, pp. 315-321. Transputer based harmonic-elimination PWM control of In[21] -, verter Drives, IEEE Trans. Ind. Applicat., vol. 28, no. 1, pp. 72-80, 1992. , Simple microprocessor implementation of new regular-sampled [22] harmonic-elimination PWM techniques, IEEE Trans. Ind. Applicat., vol. 28, no. 1, pp. 89-95, 1992. [23] S. R. Bowes and J. C. Clare, Steady-state performance of PWM inverter drives, in IEE Proc. B, vol. 130, no. 4, 1983, pp. 229-244.

Sidney R Bowes (SM89) received the B.Sc., . Ph.D., and D.Sc. degrees from the University of Leeds, England, UK. He spent six years in the Chief Mechanical and Electrical Engineers Department, British Rail, before joining the Reluctance Motor Drive Research Group, University of Leeds, as a Research Fellow. He subsequently became a Lecturer, Reader and Professor, University of Bristol. He has been engaged in the research and development of PWM Controlled Drives and Power Electronic Systems for over 25 years, has been a Consultant to numerous international companies, and served on several Institution of Electrical Engineers Committees. Dr. Bowes IS a Fellow of the Institution of Mechanical Engineers, the Institution of Electncal Engineers, and the Royal Society of Arts. He has been awarded three IEE Premiums, the F. W. Carter Prize, and the European Globe Award

Paul R. Clark received the B.Sc. degree from the

University College, Swansea, UK, and the Ph.D. degree from the University of Bristol, UK, in 1982 and 1993, respectively. From 1986 to 1990, he was a Research Assistant in the Department of Electrical and Electronic Engineering, University of Bristol, UK. He is presently Senior Development Engineer for Remonsys Ltd, Bristol, and continues his research interests at Bristol University.