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An Investigation on the Performance of Random PWM Controlled Converters

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 876

An Investigation on the Performance of Random

PWM Controlled Converters
Rajendrasinh Jadeja Amit Dilipkumar Ved Siddharthsingh K. Chauhan
Department of Electrical Engineering Research Scholar, Department of Electrical Engineering
Marwadi Education Foundation’s School of Engineering, Marwadi Education Foundation’s
Group of Institutions R.K. University, Rajkot, India Group of Institutions
Rajkot, India [email protected] Rajkot, India
rajendrasinh.jadeja@ siddharthsingh.chauhan@
marwadieducation.edu.in marwadieducation.edu.in

Abstract— This paper provides an insight on various random PWM techniques are classified as Current Controlled PWM
pulse width modulation techniques and their effect on spreading and Voltage Controlled PWM. These PWM techniques are
the harmonic spectrum for various applications like drives, also categorized as either carrier based or carrierless PWM
hybrid electric vehicles and renewable energy sources, for two schemes. For carrier based PWM schemes, a typical harmonics
level as well as three level inverter. Acoustic noise reduction, spectrum exhibits prominent harmonics around the carrier
electromagnetic interference conducted and torque ripple are frequency. This results to the generation of acoustic noise at
obvious advantages of random pulse width modulation (PWM). these frequencies by the machines controlled by such schemes.
PWM converters with multilevel topology can meet with global Also, it is better to have a distribution of harmonic energy over
quality standards for power supplies. The random PWM
a wide frequency spectrum as compared to the energy being
technique provides additional advantages. Among others, it may
be implemented to achieve switching loss equalization in power
concentrated at few frequencies. This is achieved by carrierless
switches for cascaded H-Bridge multilevel inverters. This paper PWM scheme.
provides in depth understanding for different random PWM Random PWM schemes also achieve spreading of the
techniques and their applications. energy spectrum by randomly switching, random switching
frequency and random pulse position [5]. For random PWM
Keywords-Random PWM, Random SVPWM, Multilevel schemes research till now has mostly focus on a carrier based
inverter, drives
implementation. However, space vector (carrierless) based
I. INTRODUCTION random PWM techniques which results in better DC bus
voltage utilization and easier digital implementation is also
With the increased penetration of automation due to gaining popularity. With increasing requirements of power
advancements in power semiconducting devices and processors electronic converter application at higher power levels
like DSP, FPGA, CPLD etc., power electronic converters have (especially grid connected systems), implementation of multi-
found numerous applications in different fields. This has led to level converters is also continuously increasing. This paper is
topological advancements in power electronic converters, with focused on investigating the performance for various random
multi-level converter being one of them. Effective control of PWM schemes based two-level and multi-level inverter
power electronic converters has emerged as a challenge. These systems.
converters use modulation techniques such as Selective
Harmonic Elimination (SHE) or high switching frequency II. DIFFERENT RANDOM PWM (RPWM) TECHNIQUES [6-45]
Pulse Width Modulation (PWM). SHE PWM technique utilizes
Various PWM techniques are depicted in Figure 1.
a low frequency switching and hence can reduce switching
Acoustic switching noise gets remarkably reduced by
losses. By selecting proper angles using advanced artificial
increasing the carrier frequency above 18 kHz, however, that
intelligence techniques, it is possible to reduce lower order
increases the switching losses in the inverter and decreases
harmonics without affecting the fundamental component.
operating efficiency. An inverter with random PWM has an
However, this technique will also result to an increased
advantage of spread and continuously dispersed output
switching frequency. For unbalanced load 3phase 4 leg neutral
harmonic spectra [6].
point clamped inverters the SHE PWM [1] and SHE pulse
width amplitude modulation is proposed [2]. Selective A. Random Carrier Frequency (RCF-PWM) [7]
harmonic mitigation (SHM) is combined with SHE to provide a The method is based on a random selection of the carrier
better harmonic control [3]. However, SHE is limited to offline frequency for each carrier period. The only requirement for
calculations and multicarrier techniques are also been worked
RCF-PWM is to maintain the volt-second balance during a
upon [4]. Various PWM techniques have been implemented for
the control of these converters. carrier period, ensuring that the fundamental frequency
component is not affected by the randomization.

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 877

cycle and pulse period is placed at the beginning of switching

cycle, i.e. the problem of randomization is minimized by
randomly varying the switching period for a limited interval in
the control loop as shown in Figure 4. A reference number or
slope of triangular wave is varied in between a min and a max
value randomly for all phases. However, it is difficult to select
random frequency for real time applications,. In the majority of
applications, sampling and PWM periods need to be
synchronized. Random sample rate puts limitation on code size.
Space vector based scheme requires either switching interval
per cycle or sub cycle interval equivalent to 60 degrees are to
be randomized. This applies a limitation on the interval for
Fig. 1 Random PWM Techniques. which frequency can be varied.

Fig. 4 Random switching frequency (RSF)

Fig. 2 Random Carrier Frequency PWM
2) Dithered Sigma Delta Modulator (DSDM) based
The Random Carrier PWM technique uses two different RPWM Switching Scheme [9-23]
triangular carriers as depicted in Figure 2. One is of required Delta Sigma modulation is an oversampling method where
frequency and the other is 180 degree phase shifted. The sampling frequency is much above the frequency mentioned
selection of the carrier among these carriers is done by a by Nyquist criteria. Here analog input is converted to digital
random bit generated. That is, if ‘1’ is the output carrier 1 output same as in an Analog to Digital Controller (ADC). As
(basic) is selected as carrier 2 (180° shifted). The selection is shown in Figure 5(a) the addition of a 1-bit random sequence
done for ever carrier cycle and the selected carrier is compared to the LSB of the input signal, results in suppression of
with the reference sinusoidal waveform. The Pseudo random harmonic spikes in Dithered Sigma Delta Modulation
carrier modulation scheme is most commonly used for the (DSDM). The Dithered Sigma-Delta Modulation (DSDM)
random triangular frequency generation. Here, the random scheme has a Sigma Delta Modulator (SDM) and a random
triangular frequency is achieved in the range of 3 kHz. Space dither generator as component can be realized with simple
vector based random carrier frequency scheme and switching hardware and software algorithms. As shown in Figure 5(b)
pulse generation is shown in Figure 3 random dither generation constitutes of random magnitude
adjustment where in for every sampling period a random
number is generated and subtracted by a bias as well as a sign
discriminator which decides the application of dither [9].
There are two types of SDM, depending upon the position of
random dither generator and quantizer viz. Space-Dither SDM
(SDSDM). Space-Dither SDM (SDSDM) scheme employs
quantizer being fed from a random dither generator in SDM
while in Time-Dither SDM (TDSDM) the quantizer feeds the
output to random dither generator. Harmonics spikes at
multiples of switching frequency are reduced by using a sigma
Fig. 3 Random Carrier frequency, SVM generated vector and switching pulse
generation delta modulator where switching frequency is varied randomly
using a vector quantization technique [10]. DSDM scheme is
1) Random Switching Frequency (RSF) [8] easy to implement due to less arithmetic operations and
Random switching frequency has a similarity with random limited use of times. Harmonic Spread Factor is also
pulse duration. Here the switching period is changed in every

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 878

comparable in the case of DSDM and RSVPWM [11-22]. A With regular sampling, output cycle frequency is equally
2nd ordered space dithered SDPWM is investigated in [23]. divided into equal switching intervals. At constant frequency
the pulse position in all 3 phases, is either originating at the
beginning of the switching interval (leading-edge modulation)
or at its trailing edge (lagging-edge modulation) [24] as shown
in Figure 7. Trailing edge modulated pulse width is used in
lead mode, whereas leading-edge modulated pulse width is
used in lag mode. Average switching frequency is decided to
provide the optimum solution for switching losses as well as
(a) quality of output current. The random number generator
decides leading and lagging edge modulation. Advantage of the
scheme is a requirement of single bit random generator for
randomization [25]. Sampling of current produces problems
and use of anti-aliasing filter becomes necessary.

(b)

Fig 5. (a) Block diagram of SDM scheme, (b) Random Dither Generator

Fig. 7 Random lead-lag modulation (RLL)

B. Fixed Career frequency- Random PWM (FCF-RPWM) 2) Random Displacement of the Pulse Centre (RCD)
[24-38] [26]
In this method, the switching period is fixed and pulse In this method the pulses are mutually center-aligned at
position is varied randomly. These methods portray a good constant frequency as in space vector modulation (SVM), but
closed loop response. Figure 6 shows the control block of FCF- the common pulse center is displaced by a small amount
RPWM which can be implemented with open loop or closed randomly (Trand1,) from the middle of the period [26]. At high
loop. Control block calculates the reference voltage vector in (Modulation Index) MI values, displacement becomes very
αβ plane. SVM block will estimate and compare values for small. Variation of RCD PWM is available as the Dual Zero
pwm. FF_RPWM block will randomize active vectors and zero RCD, where for MI>0.8 (1 1 1) is regarded as zero vector and
vectors in the given modulation period. Duty ratios are for MI<0.8 (000) is considered as zero vector. This helps to
converted to compare values for generating random PWM overcome issues with High MI values and provides
output required by VSC block. randomization effect in a whole range of MI. Figure 8 shows
PWM technique applied to two phase PWM.

(a)
Fig. 6 FCF–RPWM in open & Closed loop

The FCF-RPWM methods, even though easy to Fig. 8 (a) Centre Allign SVPWM (b) RCDPWM
synchronize with the control algorithm suffer from problems
like current sampling, calculation overhead and spreading 3) Random Pulse Position PWM (RPP) [25-28]
effectiveness. The ollowing methods of FCF-RPWM are The central idea is that the average output voltage over an
finding many applications in adjustable speed drives. interval is not dependent on pulse position. Methodology
1) Random Lead-Lag Modulation (RLL)[24-25] implements randomization of pulse position of one phase, pulse
position of remaining phase is randomized as per previous

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 879

phase in sequence. RPP PWM can be implemented by time normalized random number. Obviously maximum delay will be
intervals of zero states controlled randomly within a switching produced with random number equal to 1. Here switching
cycle. RLL is considered as a case of RPP. Here pulses can be period is varied randomly in between min switching period to
placed anywhere randomly within switching interval [28]. RPP double the value of sampling period that implements variable
strategy cannot generate desired ideal noise spectra, though the delay random PWM [30].
harmonic clusters of power spectra for fixed switching intervals
are less dominant and distributed in a better manner as
compared to the deterministic vector PWM technique [25].
4) Random Distribution of the Zero Voltage Vector
(RZD) [24] To

Phase voltages are not altered by the duration of zero

‐‐‐‐‐ To
2

voltage vector in a three-phase, three-wire system. This point is tRP tRN

employed in the random distribution of the zero voltage vectors

at constant frequency. Random distribution of zero vectors
limits maximum pulse change and becomes difficult at high MI
values. Control strategy and required vector distribution are
shown in Figure 9.
Fig. 10 Timing waveform of RPS scheme

(a)

Fig. 11 Block diagram for computation of delays and switching period

7) Asymmetric Carrier Random PWM (AC-RPWM) [31-

32]
This scheme can be considered as a kind of RCF-PWM in
which the new voltage vector is updated with a constant
frequency. A different frequency is used to generate the voltage
(b)
vector in the rising time period and falling time period. The
scheme works well for both low and high MI values. The
Fig. 9 (a). Random zero-vector distribution (b) Random zero-vector method selects a random time length for falling edge as well as
distribution
rising edge for every modulation period, varying randomly
5) Random Phase shift PWM (RPS) time length of the active vector region as shown in Figure 12.
Here random phase shift time is applied randomly at
constant frequency. Figure 10 shows RPS technique output
waveform, where tRP is the Random Phase Shift time in the
positive half-cycle, and tRN is the Random Phase Shift time for
the negative half-cycle. At each half cycle both tRP and tRN are
altered randomly. In this method, the phase shift is varied
randomly, keeping the switching frequency constant. For the
RPS scheme, there is a random variation of phase shift keeping
switching frequency constant. It has the advantage of reducing
acoustic noise emissions generated by the PWM inverter. The
phase shift of the fundamental component for each half-cycle
controls, discrete harmonic components of the inverter output
voltage.
Fig. 12 AC-RPWM, 1st modulation time has symmetrical carrier and in 2nd
6) Variable delay random PWM (VD-RPWM) [30] modulation time it has asymmetric carrier
In this method a random delay is introduced at the trailing
edge of next PWM output cycle. Figure 11 shows the process 8) Separately randomized pulse position (SRP) [33]
for the calculation of switching time and random delay. Pulses are placed randomly in switching interval as shown
Random delay is a product of sample period and the in Figure 13. As there is full possibility to place pulse

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 880

anywhere, a control for full range of MI is possible, as far as an attempt is made to maximize the advantages of various
switching sequence is maintained. Calculation of duty ratio is PWM schemes. A hybrid random PWM using dithered pulse
done using space vector modulation, with each pulse located position and zero vector position are suggested, simulated with
randomly. As pulse can be positioned randomly, harmonic complex calculations [39]. Hybrid scheme is also given by [40]
spectrum is more flattened as compared to conventional using random pulse position and random career frequency
methods. So, SVM based duty ratio calculation is followed by PWM [5]. Lead lag random bit and random triangular carrier
random positioning of pulse to realize SRP-PWM [33] are used in [41-42]. Time for zero voltage is randomized to get
better result with Direct Torque Control (DTC) for drives [43].
Ea D. Random SVPWM [44-45]
SPWM converters have sideband harmonics and carrier
Eb
acting as source of electromagnetic noise and pollution by
common mode and differential mode noise. The Random PWM
inverter has low weight, volume, filtering and has better
Ec EMI/EMC. Lower switching losses are useful to improve
battery efficiency and reduced switching losses. SVM is
Ts Ts Ts Ts
digitally better implementable and has a higher output. Fixed
frequency SVM also has high harmonics in switching
Fig. 13 SRP-PWM frequency this can be spread by using random Space Vector
PWM (RSVPWM). Three types of random SVPWM are
9) Fractal Based Space Vector PWM [34-38] suggested, random zero vector distribution PWM (RZDPWM),
Fractals are known as never ending patters made by random pulse position PWM (RPPPWM) and random
repeating simple patterns by recursion and feedbacks. SVM switching frequency PWM (RSFPWM) [44]. Mathematically
representation of multi-level inverters have inherent fractal random SVPWM is similar to traditional SVPWM and so
structure. Fractal approach can reduce the complexity in existing methods for capacitor voltage balancing can be
computation for sector identification and switching vector modified to reduce switching harmonics [45].
determination in SVPWM. The position of the reference vector
in a given sector can be found by fractal methods. The basic III. RANDOM PWM CONTROLLED TWO -LEVEL INVERTERS
pattern in the fractal base unit is a triangle comprised by three [46-59]
adjacent inverter voltage space vectors as shown in Figure 14 Output current of two-level inverters has a square wave
for 2-level, 3-level and 5-level inverter. In multilevel inverter, with limited power range. It is rich with harmonics. The two-
for higher level, each sector is divided into triangles and level 3-phase Voltage Source Inverter (VSC) is considered as a
smaller sub triangles. Triangularization helps to implement this mature technology and has become an industrial standard. The
technique for any level of MLI [34]. For multi-level inverter, alternative topology to the VSC is the Current Source
the number of sectors increases as the number of level Converter (CSC), well suited for medium-voltage industrial
increases. It is very complex to identify the location of applications with voltage waveforms having high quality
reference vectors in the sector. 2-level inverter has 6 sectors, 3- required. Various authors have also implemented random
level inverter has 24 sectors. If we take 60° coordinate system, PWM techniques for multilevel inverter, keeping
fractal calculations can be avoided for 5-level inverter having methodologies adopted for 2-Level [46-58]. C. Guoqiang, W.
96 sectors [35-38]. The sector identification algorithm used in Zhihong, Z. Yuan, and Z. Junwei realized Random Space
this method with reverse mapping technique does not require Vector Pulse Width Modulation methods Based on Infineon
memory crunchy lookup tables. The inverter switching states Tricore TC1767/TC1797 like RSFPWM, RPPPWM,
for a sector are generated along with sector identification. This RZDPWM and Hybrid Random PWM is involving various
provides optimum switching of the vectors [35]. combinations of three listed herewith [59]. The AC-RPWM
technique is found appropriate for applications like heating,
A03 A02 ventilation and air conditioning (HVAC) [31].

II I
IV. RANDOM PWM CONTROLLED THREE-LEVEL INVERTERS
III
A00 [60-74]
A01
A04 IV VI Multilevel inverters provide nearly sinusoidal output and
V
achieve higher power output. This allows the use of renewable
A06
A05 energy sources such as PV, wind, fuel cells to be easily
Fig. 14 2-level, 3-level and 5-level SVPWM interfaced with MLI for medium voltage, high power drives,
distributed energy sources and Hybrid Electric Vehicles.
C. Hybrid Random PWM or Dual Random PWM [39-43] Topology itself helps in reducing harmonics. Multilevel
With a view to gain advantage of better performance for the inverters are replacing conventional two-level inverters due to
different Modulation Index (MI) values including over reduced dv/dt stresses, common mode voltages, and lower
modulation region or to reduce the complexity of computation, harmonic distortion. 3-level RPWM in comparing to 2-level
the hybrid or dual random PWM methods are proposed. Here RPWM schemes has the advantages of low switching
frequency, low continuous noise and low undesirable low-order

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 Engineering, Technology & Applied Science Research Vol. 5, No. 6, 2015, 876-884 881

harmonics, making it suitable for high voltage inverter including renewable energy sources are reported [99]. Use of
application such as motor drives, active filters and power SVPWM is reported in 3-Level NPC inverter [100].
conditioning [60-62]. Different conventional topologies like
Neutral Point clamped (NPC), cascaded H-bridge (CHB), and V. ANALYSIS OF RESEARCH WORK CARRIED OUT WITH
flying capacitor (FC) along with PWM strategies reported, are RANDOM PWM AND RANDOM SVPWM
reviewed in [63]. Novel topologies are report for MLI in form Literature reveals the extensive usage of random PWM
of Crossover Switches Cell (CSC) for renewable energy techniques in various applications. In order to further validate
sources and Pinned Mid-points Multilevel Inverter for high the research interest year by year refer to Figure 15. Figure 16
voltage applications [64-65]. In [60-61] the authors compared indicates that the research for random PWM is dominated by
Random PWM technique for 2-level and 3-level. Their the field of drives, motor control and low power applications.
observations include that the fundamental component is found
to be smaller in the 3-level RPWM scheme than in the 2-level
RPWM scheme. Both 2-level and 3-level have a similar
discrete spectral characteristic, however the 3-level has smaller
continuous noise as compared to the 2-level. This advantage of
the better power spectrum comes at the cost of a relatively
higher switching frequency for specified sampling frequency
[66]. T. Ramanathan et al. [67] utilized pseudo random carrier
modulation technique for CHB MLI. Jacob and Baiju [65-66]
applied Space Vector quantized DSDM technique for 3-level
inverter to reduce harmonic noise to CHB MLI supplying
power to induction motor drive. In [54] the authors
Fig 15. Papers published year wise for random PWM
implemented space vector based random PWM for 3-level
inverter for any topology. In [50] the authors pointed out that
the fixed frequency scheme has limitation in the form of the
dependency of randomization on the duration of active vectors.
In [70] the authors used combined DSDM based random PWM
Scheme. Artificial intelligence tools like Fuzzy Logic, Genetic
algorithm, etc., are also utilized to randomize the PWM output.
In [71], the authors used clonal selection algorithm, a technique
based on GA applied for 3-level PWM inverter for
optimization. In [72], the authors implemented random
frequency based Space vector PWM method and introduced
wavelet transformation for better harmonic response. In [74],
randomized-SVM application is also extended to Hybrid Fig. 16 Papers reporting random PWM
Electrical Vehicle (HEV).
VIII. CONCLUSION
A. Applications of Random PWM [75-100]
This paper presents a critical review of random PWM
Random PWM finds extensive application in LV and MV
techniques and their applications. The random PWM technique
Motor drives to reduce acoustic noise, electromagnetic
is found to reduce harmonics in particular at a multiple of
interference, and harmonics at multiple of switching frequency,
switching frequency. The technique has proved its advantages
also it helps to flatten the power density spectrum [75-80].
in drives especially through reduction of acoustic noise,
Motor drives on board are increasing for electric, hybrid and
mechanical vibration, torque ripple and current harmonics. The
fuel cell based vehicles. To decrease current ripple, switching
advantage of RPWM technique in reducing EMI conducted to
loss and auto adjust to load characteristics along with other
the source is discussed. Drives, HEVs, active power filters have
advantages very crucial for the consumer that is acoustic noise
proved to provide better performance with the random PWM
and electromagnetic noise make the random PWM better
technique. Harmonic power remains unchanged with the
choice for application in automobiles [81-87]. Shunt Active
randomizing technique, but can reduce the peaks at multiple of
Power filter is used to improve power quality issues like
switching frequency and can reduce harmonic content in the
current harmonics and power factor for power system with
current waveform. The effect of randomizing for inverters
nonlinear load. With random PWM, APF response can be
connected with renewable sources using bundled multilevel
improved without adding any cost [88-93]. Present scenario for
technique with the advantage of lower switching frequency,
inverter used with renewable energy sources: PWM techniques
spreaded noise and low lower harmonics needs to be worked
are used with MOSFET/IGBT while for high power SCR/GTO
on, as renewable energy sources are preferred to address issues
is required which can be controlled with suitable firing and
of pollution, energy security cost, etc. Hence there is a research
commutation control. Another way by which we can use
gap for the issue of harmonic mitigation in grid connected
MOSFET/IGBT for medium or high power application is to go
systems by application of Random SVPWM technique for
for Multilevel Inverter (MLI) [94-97]. Grid connected PWM
multilevel inverters.
converters used to control power for various applications

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