Comparison of carrier-based pulse-width modulation techniques
for three-phase four-leg inverters
*GE Power Conversion, Rugby, UK, igor.musulin@ge.com
Keywords: auxiliary power supply converter, carrier-based
pulse-width modulation, non-symmetrical load, three-phase
four-leg inverter.
Abstract
In this paper comparison of constant switching frequency
carrier-based pulse-width modulation techniques for three-
phase four-leg inverters is presented. Space vector, one-sixth
and one-fourth third-harmonic injection and sinusoidal pulse-
width modulation are compared based on output voltage total
harmonic distortion, power losses and DC voltage utilization.
If switching frequency of the fourth leg for sinusoidal modu-
lation is equal to switching frequency of the phase legs an
optimal compromise between power losses and voltage dis-
tortion is achieved. In case of symmetrical loads one-sixth
third-harmonic injection exhibits highest DC voltage utiliza-
tion while lowest voltage distortion is obtained for one-fourth
third-harmonic injection. In case of non-symmetrical loads an
improved algorithm for calculating third-harmonic injection
waveform is proposed that reduces output voltage harmonic
content. All modulations are implemented in Texas Instru-
ments DSP environment and tested using hardware-in-the-
loop setup.
1 Introduction
Today in modern railway vehicles various sub-systems are
present: communication and information system (SCADA),
power supply system (AC and DC), energy storage systems,
etc. Auxiliary power supply converter supplies many of these
sub-systems via 230 / 400 VAC or 24 VDC voltage output as
Step down chopper DC/DC converter Three-phase inverter
= = = 1
VDC
= =
Battery charger
= C
24 VDC
= E
Figure 1: Example of a block diagram of an auxiliary power
supply converter; AC outputs: line-to-line 400 VAC (12,
23, 31) and line-to-neutral 230 VAC (1N, 2N, 3N)
Igor Musulin*
shown in Figure 1. AC auxiliary converter loads can include
multiple air-conditioning units, evaporators, condenser blow-
er fans, main and ambient lighting, passenger information and
entertainment equipment, auxiliary and main inverter fans,
transformer fans and 230 VAC general purpose power sockets
for passenger use depending on the train or tram model. This
means that converter, i.e. three-phase inverter, must be able to
generate three-phase as well as single-phase output. In mod-
ern auxiliary power supply converters this is achieved using
following solutions: a) single-phase 400/230 VAC transformer,
b) delta-wye three-phase transformer connected to the invert-
er outputs or c) split DC-link capacitors with neutral ground-
ed point connected to the DC-link capacitor midpoint, Table
1. Advantages and disadvantages of each solution are already
well-known and documented in technical papers, including
the paper previous published by the author [1]. Even though
three-phase four-leg inverter topology presents a promising
alternative it has not been extensively used in commercial
applications mainly due to its complex space vector control
scheme. Therefore, simple, easy-to-implement and fast execu-
tion carrier-based PWM control strategies are investigated in
this paper.
In Chapter II a short overview of three-phase four-leg inverter
topology is given. Different constant frequency carrier-based
PWM methods are described in Chapter III and the improved
algorithm for calculating third-harmonic waveform that re-
duces output voltage harmonic content is proposed. In Chap-
ter IV simulation model and comparison criteria are covered
including power loss calculation algorithm. Chapter V and VI
presents simulation and experimental results with discussion.
Paper ends with the conclusion.
option
Manufacturer Power*, kVA
a) b) c)
2
A 24 / 2,2
3
3400 VAC
+
A 55 / 2,3
~
~ 230 VAC
B 80 / 3,7
N
B 15 .. 120 /
50 / 3,4
C 42,5 / 2,5
D 135 / 2
13 / 4
* Three-phase / single-phase output
Table 1: List of manufacturers of auxiliary power supply con-
verters for railway vehicles
1
2 Three-phase four-leg topology
Although today some applications using three-phase four-leg
inverter are commercially available, mainly in the field of
active power filters to the best knowledge of the author this
topology, despite its obvious advantages, has not been used in
auxiliary power supply converters for rail vehicles. The neu-
tral wire is connected to the neutral point of the fourth leg to
make a return path for the current when non-symmetrical
conditions are present (in = (ia + ib + ic)), Figure 2. There is
no need to use bulky transformers (option a) and b)) or high
capacity DC capacitors to stabilize input DC voltage oscilla-
tions (c)). Other advantage is higher utilization of input volt-
age of more than 15 % (depending on the modulation) com-
pared to classical three-leg inverter. Although complex space
vector modulation and large number of semiconductor devic-
es can be considered as a disadvantage, this type of the in-
verter offers an optimal solution for four-wire systems sup-
plying non-symmetrical and single-phase loads since it allows
independent control of voltages of each phase.
3 Three-phase four-leg control
One of the main challenges when using three-phase four-leg
inverter is the control of semiconductor switches, especially
those of the fourth leg. Two control strategies are often used:
i) carrier-based pulse-width modulation, and ii) three dimen-
sional (3D) space vector PWM.
For this paper the author has chosen to primarily deal with the
constant frequency carrier-based PWM techniques. Although
in [2] it is shown that in the case of hysteresis control when
the switching frequency of the fourth leg is square pulse of
constant frequency, hysteresis controllers of the phase legs
tune themselves to the same switching frequency; it is not a
carrier-based modulation. Also, 3D space vector modulation
is excluded from the comparison since this algorithm is not
by comparing high-frequency triangular carrier waveform and
control waveforms (va0, vb0, vc0 and vn0), Figure 3.a).
V max
 2 , V min ! 0
V
v n0 
min
, V max  0 (1)
2
 V max  V min , otherwise
2
where Vmin = min (va0, vb0, vc0), and Vmax = max (va0, vb0, vc0).
Zero-sequence component does not affect line-to-line (l-l)
output voltage since it cancels between phases. This means
that an amplitude modulation index can be increased beyond
one without entering overmodulation region. Same is with
line-to-neutral (l-n) voltages where zero-sequence voltage
cancels between phase and neutral leg and only fundamental
waveform is present. When three-phase three-leg inverters are
used l-l voltage contains only fundamental harmonic, while l-
n voltage contains zero-sequence component. For that reason
space vector and any zero-sequence based modulation are not
suitable for supplying single-phase loads using option c). In
case of three-phase four-leg inverter modulation signal of the
fourth leg must be equal to the zero-sequence waveform vn0.
3.2 Third-harmonic injection pulse-width modulation
Concept of third-harmonic injection PWM techniques is al-
ready well-known from the control of the three-phase three-
leg inverter-fed induction motors. There it is used to increase
VDC/2
van va0
+

based on a carrier-based principle. + + S1

va0
vn0
+
S2
3.1 Space vector carrier-based pulse-width modulation vbn vb0

+

+ + S3
If zero-sequence voltage from Equation (1) is added to con- +
vn0
vb0
trol waveforms switching states equal to symmetrical space S4

vector PWM are achieved [3]. Switching states are obtained vcn vc0
+

+ + S5
vc0
vn0
+
S6

van vn0
+

vbn + S7
+ S7 S1 S3 S5 vcn
VDC (1) vn0
2 ia Lf 1 R3f
S8
a
i)
Lf V12 V31 R3f
ib 2
0 n b 3rd harmonic 3rd harmonic Const.
V23 vn0 van vn0 vn0
ic Lf 3 R3f vbn 0
+ c vcn
VDC
2 Cf Cf Cf R1f
S8 S2 S4 S6

ii) iii) iv)
V3N

in
Figure 2: Topology of three-phase four-leg inverter; single-
phase load is connected between terminals 1 and N
Ln N
Figure 3: Carrier-based PWM block diagram for three-phase
four-leg inverter; i) space vector, third-harmonic injection
in case of ii) symmetrical loads and iii) non-symmetrical
loads (see Figure 5 for details) and iv) sinusoidal

2
fundamental harmonic of l-l voltage and achieve better utili- 0,5
zation of DC voltage. PWM voltage for one phase leg can be vn01

+
written as va0 = van + vn0, while for neutral leg is equal to vn0. + +
m3
Subtracting two phase legs voltages or phase and neutral leg
van
voltage vn0 is eliminated. One-sixth third-harmonic injection vbn
vcn
abc/
0
0/
r
r/ 0/
abc
Const. 0
produces maximum increase of fundamental component while 1
0
injection of one-fourth third-harmonic leads to maximum vn02
reduction of voltage distortion [4]. r/ 0/
0 abc

If three-phase four-leg inverter is used then the control signal
of the fourth leg must be equal to the injected waveform in
order for l-n voltages to contain only fundamental harmonic,
Figure 3.b). However, there it is assumed that voltages van, vbn
and vcn have the same amplitude modulation index and that
the third-harmonic amplitude modulation index is calculated
only as a function of a single voltage. For non-symmetrical
loads where the amplitudes of control waveforms are not
equal zero-sequence voltage has to be calculated as a function
of these waveforms and input voltage as in Equation (1). For
that reason modification of zero-sequence waveform calcula-
tion algorithm is proposed.
Firstly, depending on the load characteristics injected pre-
defined third-harmonic waveform is not in phase with control
voltages. While elimination of injected waveform is still hap-
pening slight difference in phase leads to increase in harmon-
ic distortion of output voltages. Secondly, in case of non-
symmetrical loads injected third-harmonic waveform stays
symmetrical in regards to x-axis, Figure 4. Therefore zero-
sequence voltage should be in phase with control voltages and
oscillate at third-harmonic frequency.
Three modifications of injected harmonic calculation algo-
rithm are proposed and tested, Figure 5. In order to get third-
harmonic waveform in phase with control voltages van, vbn and
vac these voltages are transformed to 0 reference frame fol-
lowed by Cartesian to polar transformation. Since for non-
symmetrical systems all three voltages in 0 frame are used
vn0
Voltage, V
+
0,5
2/3
vn03
+
4/3
Figure 5: Proposed modifications of third-harmonic algorithm
for calculating zero-sequence voltage
there must also be used three polar coordinates: radial dis-
tance r, azimuth angle and polar angle . Third-harmonic
waveform is calculated using two different approaches, thus
two modifications are presented. Third-modification is only
combination of first two. For first modification azimuth angle
is neglected, i.e. multiplied by 0, radial distance r is multi-
plied with third-harmonic magnitude and polar angle is shift-
ed by 2/3 and 4/3 and added to get 3 50 Hz = 150 Hz
oscillations. From there polar to Cartesian and 0/abc trans-
formation gives three in-phase third-harmonic waveforms.
They are still symmetrical in regards to x-axis, but now in
phase with phase leg control voltages. In order to add oscilla-
tions characteristic to non-symmetrical loads control voltages
van, vbn and vcn are added, scaled by 0,5 and added to in-
phase third-harmonic waveform thus producing vn01. For sec-
ond modulation azimuth angle is not neglected while scal-
ing of r and adding of shifted is done as in previous case.
After 0/abc transformation three oscillating third-harmonic
waveforms are obtained. The waveform in phase with angle
is chosen as vn02. Later in this paper under Simulation results
section it will be shown that these modification reduce har-
monic distortion is opposite phases. In order to get optimal
reduction of THD optimal zero-sequence voltage waveform
vn03 is calculated as arithmetical mean of vn01 and vn02. In Fig-
ure 6 zero sequence waveforms are shown for all three modi-

0
fications. In case of symmetrical load oscillation is zero, i.e.
azimuth angle is zero, sum of controller voltages is zero and
only in-phase third-harmonic is obtained equal in all three
0 5 10 15 20
modifications.
Time, ms

vn01
vn03vn02
Voltage, V
Voltage, V

vn0
0 0

0 5 10 15 20 0 5 10 15 20

Time, ms Time, ms

Figure 4: One-fourth third-harmonic injection and space vec- Figure 6: One-fourth third-harmonic injection waveforms for
tor (dashed line) zero-sequence voltage for symmetrical non-symmetrical loads; waveforms vn01, vn02 and vn03 are
(top) and non-symmetrical loads (bottom) calculated according to algorithms proposed in Figure 5

3
3.3 Sinusoidal pulse width modulation
The sinusoidal Pulse-Width Modulation is the most used
modulation for three-phase inverters in general, including
application in auxiliary power supply converters, due to its
simplicity of implementation and low voltage distortion. Un-
like previously described modulation techniques, sinusoidal
modulation can be used to supply single-phase loads using all
mentioned options from Chapter I. When implementing in
DSP or any real time processor, commercially available pro-
gramming tools often contain pre-defined sinusoidal modula-
tion blocks based on look-up tables or calculation of switch-
ing pulses duration. For this reason, using any of the previ-
ously mentioned modulation techniques would require addi-
tional coding and optimization.
When PWM reference waveforms are sinusoidal fourth leg
should be switched to achieve zero average. This is achieved
using a square pulse of constant frequency (50 % duty cycle)
[4], Figure 3 d). However, authors do not further discuss this
modulation or give optimal switching frequency of the fourth
leg. Therefore, additional research is conducted to determine
the optimal switching frequency of the fourth leg.
4 Simulation model and comparison criteria
Three-phase four-leg inverter model is simulated using
Matlab Simulink environment. Input voltage is set to 670 V,
switching frequency is 4 kHz and resonant filter frequency is
chosen above 1,6 kHz. Output l-l voltage is 400 V, maximum
output three-phase power is 35 kW and minimum is 3,5 kW.
Two types of simulations are done. First, an amplitude modu-
lation index is varied and voltage distortion and DC voltage
utilization are measured for symmetrical load. Then single-
phase load is connected and power losses and total harmonic
distortion are measured for tested modulations for P3max and
P3min while single-phase load is changed from P3max (11,67
kW) to 0,8 kW.
Regarding the calculation of total harmonic distortion it is
manufacturers also have their own power loss calculation
tools, e.g. Semisel (Semikron), Iposim (Infineon), Melcosim
(Mitsubishi), etc. Since PWM control of the fourth leg is not
the standard one, Matlab Simulink subsystem is built based
on the look-up table. Data from a Semikron SKM150GB12V
(VCE = 1200 V, IC = 150 A) IGBT module used in Kontrac PN
35 DC auxiliary power converter are used for power losses
calculation. It is important to note that losses are calculated
for the junction temperature of 150 C.
Switching loss calculation
Since in the simulations switching voltage and current rise
and fall are instantaneous, switching duration is equal to the
one sample period Ts. Switching turn-on and turn-off energy
are obtained from the look-up table corresponding to the cur-
rent during turn-on and turn-off, respectively. Energy is
scaled based on an input DC-link voltage, Figure 7.a) and
7.b).
Conduction loss calculation
Conduction losses are calculated simply by multiplying cur-
rent and on-state voltage across the IGBT. Voltage vCE is cal-
culated from the pre-defined look-up table, which stores volt-
age as a function of a current iC and is obtained from a data
sheet, Figure 7.c).
5 Simulation results and discussion
First a simulation to determine the optimal switching frequen-
cy of the fourth leg using sinusoidal modulation is conducted.
Switching frequency of the phase legs is set to 4 kHz, while
the switching frequency of the fourth leg is varied from 1 kHz
to 8 kHz. From results it can be see that higher the switching
frequency higher the losses. Regarding the power losses of
the phase legs there is no significant difference between test-
ed fourth leg switching frequencies as well as tested modula-
tion techniques. Lowest harmonic distortion of output l-n
Look-up
table
iC EOFF

important to note that voltage distortion depends on the cur- 0

rent distortion which further depends on load characteristics Pulse change

detection

and filter parameters. For that reason a weighted total har- S1 1 VDC VCC
0
monic distortion is used for comparing different pulse switch-
ing frequency of the fourth leg for sinusoidal pulse width a)
modulation. When calculating WTHD, load is characterized Look-up
table

by lossy inductance which is inductance with a relatively iC EON

small resistance [4]. This means that different modulation 0

techniques can be compared independent of the load and filter Pulse change
detection
S1 VDC VCC
parameters. However, since this value is not mentioned in any 0
1

relevant standards THD is calculated for other modulations
b)
and used for comparison.
Look-up
table
iC vCE
4.1 Power loss calculation

iC
Today numerous analytical approximation techniques for
semiconductor power loss calculation exist and many of them c)
are described in the literature. Some of the parameters can be
obtained from data sheets (vCE0, vD0, rC, rD) while others must Figure 7: Block diagram for calculating power losses: a) turn-
be calculated (iCav, iCr.m.s.). Additionally, many semiconductor off losses, b) turn-on losses and c) conduction losses

4
voltage is achieved if the switching frequency is equal to the 6,5

switching frequency of the phase legs. Harmonic distortion 6,0

vn0 for space vector
vn01 for 3rd
for l-l voltage is similar regardless of the fourth leg switching 5,5
vn02 for 3rd

THD V12, %
frequencies. Based primarily on the harmonic distortion crite- 5,0 vn03 for 3rd
ria switching frequency of the fourth leg is chosen to be equal 4,5

to the switching frequency of the phase legs. In auxiliary 4,0

power supply converter application in traction vehicles sin- 3,5

gle-phase current is not expected to be higher than 15 A ( 0 10 20 30 40 50 60

Curren t, A
3,5 kW, Table 1) so this frequency gives an optimal trade-off 6,5
between the (W)THD and power losses in this range (0 .. 15
6,0
A).
5,5

THD V23, %
Comparison of DC voltage utilization in case of three-phase 5,0
vn0 for space vector

symmetrical loads gives highest increase in linearity for space 4,5 vn01 for 3rd
vn02 for 3rd
vector and one-sixth third-harmonic injection PWM. Regard- 4,0
vn03 for 3rd
ing the harmonic distortion, in Chapter III it was already men- 3,5
0 10 20 30 40 50 60

tioned that one-fourth third-harmonic injection PWM has Curren t, A

lowest THD followed by symmetrical space vector. All tested 6,5

modulations have THD values below the compliance limit 6,0

according to IEC 61000-4-30. 5,5

THD V31, %
5,0
vn0 for space vector
Comparison of modulation techniques is also given in case of 4,5 vn01 for 3rd
non-symmetrical loads. Load in one phase is increased by 4,0 vn02 for 3rd
connecting a single-phase load between the phase and neutral. 3,5
vn03 for 3rd

Unlike in previous case under symmetrical loads where THD 0 10 20 30 40 50 60

Curren t, A
is equal for all phase, here it depends on the load. For that 6,5
reason all four THD values are given (three l-l outputs and l-n vn0 for space vector
6,0
output), Figure 8. First it can be seen that THD values depend vn01 for 3rd
5,5
on the load of that phase. For l-l outputs 23 and 31 there is no
THD V1n, %

vn02 for 3rd

vn03 for 3rd
additional load so THD is slightly higher. When proposed 5,0

modification of third-harmonic injection waveform calcula- 4,5

tion algorithm is used THD values of single-phase output and 4,0

output 12 for all three cases are almost the same for different 3,5
0 10 20 30 40 50 60

single-phase loads. For other two l-l outputs first modification Curren t, A

(vn01) reduces THD in one phase while increases in another.

Opposite situation is with second modification (vn02). There-
fore third one (vn03) as a combination of two previously pro-
posed modifications is simulated and results show reduction
in THD for all outputs. Results are even better that those ob-
tained for optimal space vector modulation. Similar results
are also obtained in case of P3min and again third modification
exhibits best results regarding the THD.
Input DC voltage is set to achieve unit modulation index for
defined reference AC output for sinusoidal modulation. How-
ever in case of non-symmetrical loads overmodulation of
PWM waveform can be expected. For that reason, sinusoidal
PWM exhibits significantly higher THD results due to its
reduced linear DC voltage utilization operation.
6 Experimental results and discussion
Modulation techniques are tested using hardware-in-the-loop
setup. Three-phase four-leg topology is implemented in Ty-
phoon HIL 600 platform and the modulation algorithm is
coded in Texas Instruments TMS320F28335 controlCARD
using GRAP, graphical based block-diagram programming
tool. Output l-n voltage reference is set to 230 VAC. Dual loop
control strategy with proportional-integral-resonant (PIR)
Figure 8: Comparison of voltage THD for non-symmetrical
loads for one-fourth third harmonic injected waveform as
function of r.m.s. neutral current in with P3max, upper three
figures show l-l voltages, bottom shown l-n voltage
control is used to control the output AC voltage independent
of the load parameters. Input source DC voltage is set to 670
VDC. Maximum three-phase load is 35 kW and single-phase
load is 2,3 kW.
In Figure 9 input control voltage waveforms are shown in
case of symmetrical loads. In the first window van, vbn and vcn
waveform are shown, while in the second scaled va0, vb0, vc0
and vn0 waveforms for space vector PWM are shown. It can
be seen that for sinusoidal PWM input DC voltage is not high
enough to remain in the linear region since one half of DC
voltage is below the maximum amplitude of the above vxn. If
space vector PWM is used an operation in the linear region is
achieved and vx0 is below limits of 1. In second case single-
phase load is switched on and the same waveforms are rec-
orded. Since a single-phase load is less than 10 % of a three-
phase load, compensating change in the amplitude is small.
For that reason bigger single-phase load equal to of the
three-phase load is simulated, Figure 10. From there it can be

5
Figure 9: Control waveforms for space vector PWM with
symmetrical three-phase load 35 kW
UASIN = van, UBSIN = vbn, UCSIN = vcn, UDC05A =
VDC,
U1DLTTHI = va0, U2DLTTHI = vb0, U3DLTTHI = vc0,
U4DLTTHI = vn0
seen that the input PWM voltage is non-symmetrical in order
to compensate for non-symmetrical loads according to Ohms
law. This is important to keep in mind when determining min-
imum input DC voltage. If set to low in some cases an over-
modulation can be expected.
7 Conclusion
In this paper carrier-based space vector PWM, one-sixth and
one-fourth third-harmonic injection PWM and sinusoidal
PWM techniques for control of three-phase four-leg inverter
are compared.
First an optimal switching frequency of the fourth leg for si-
nusoidal modulation is determined. The results show that the
best compromise between the voltage distortion and power
loss is achieved if the switching frequency of the fourth leg is
equal to the switching frequency of the phase legs. Power
losses of the fourth leg can be further minimized by selecting
IGBTs with lower current rating. Next modulation techniques
are evaluated base on the power loss, output voltage distortion
and DC voltage utilization criteria in case of the symmetrical
loads. The results show that there is no significant difference
in power losses between modulations. Regarding the voltage
distortion, the lowest one is achieved for one-fourth third-
harmonic injection followed by space vector. The highest DC
voltage utilization is obtained for one-sixth third-harmonic
injection, followed by space vector. Finally voltage distortion
is measured in case of non-symmetrical loads. For third-
harmonic injection modulations voltage distortion is meas-
ured with and without the improved algorithm for calculating
injected waveform. The results show improvement in THD
when modification is applied. The lowest voltage total har-
monic distortion is achieved for one-fourth third-harmonic
injection.
Figure 10: Control waveforms for space vector PWM with
non-symmetrical single-phase load 17,5 kW
UASIN = van, UBSIN = vbn, UCSIN = vcn, UDC05A =
VDC,
U1DLTTHI = va0, U2DLTTHI = vb0, U3DLTTHI = vc0,
U4DLTTHI = vn0
All compared modulations are implemented in DSP and test-
ed on a target system. In case of non-symmetrical loads, input
PWM voltage can get outside the linear region so special con-
sideration has to be taken into account when selecting appro-
priate DC voltage and/or modulation strategy.
Acknowledgements
The author would like to acknowledge the help of Josip Babi
and Ante Knezovi from Konar Electrical Engineering Insti-
tute Inc.
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