Harmonic Elimination of Cascaded Multilevel Inverter

Abstract:

Genetic Algorithm is presented to compute the optimum switching angles in a multi level
inverter in order to produce required fundamental voltage while at the same time to eliminate
selected higher order harmonics. This algorithm is used to overcome the initial guess problem
of conventional method like Newton-Raphson. Genetic Algorithm technique can be used for
optimization for any number of levels. In our proposed work, we have worked on 9 level
inverter to find out the optimum switching angles using Genetic Algorithm. The calculated
switching angles have been used to turn on the switching devices in order to reduce the THD.
The Genetic algorithm is generally used to overcome the premature convergence problem i.e.
local minima. To validate this, Genetic Algorithm has been applied to a function which has
more than one minima and a global minima.

Chapter1:

1.1 Introduction: -

One of the major problems in power quality aspects is the harmonic content present in the
electrical system. Generally the output voltage the inverters must be sinusoidal. However the
output of single phase inverter is not sinusoidal. The output of the single phase inverter is
square wave or quasi square wave. For that reason, instead of using a single phase inverter
more than one number of single phase inverter is connected in series. The output waveform
nears to sinusoidal with the increase of numbers of level in inverter. In this project cascaded
multilevel inverter is used. The output waveforms of multilevel inverters are in stepped form.
Therefore they have reduced harmonics compared to a square wave. To reduce harmonic
further, the optimum switching angles are calculated in order to eliminate certain order
harmonics. Available techniques for selective harmonic elimination include iterative methods
such as Newton-Raphson method[5] and elimination by the theory resultant[6]. Both the
methods are not feasible for largest no. number of switching angles. That means if the
number of inverter levels is increased than this two iterative guaranteed no optimum solution.

Here in this project, a genetic algorithm (GA) approach (using GA toolbox) applied to
calculate optimum switching angles with any number of levels. The properties of GAs
reduces computational burden and search time and also enable them to solve complex
objective function.

1.2 Cascaded Multilevel Inverter:

In 1975, multilevel inverters have been introduced. It is formed by connecting several

single-phase H-bridge converters in series as shown in Fig. 1 for a 7-level inverter. In
multilevel inverter, different sources of energy sources, such as renewable energy sources,
battery and dc voltage by capacitor banks can be utilized together for desired ac voltage at a
high power rating. In this case, the voltage and power rating of power electronic switches will

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be determined by the input dc sources. If “m” number of H-bridge inverter connected in
series than the number of level is equal to 2m+1. Here in the below fig.1, 3 numbers of H-
bridge converters are connected in series. So the number of level is 7.

Fig1: 7 Level cascaded multilevel inverter.[1]

Each converter generates a square wave voltage waveform with different duty ratios, which
together form the output voltage waveform as in Fig. 2.

Fig2. Output waveform of 7 level cascaded multilevel inverter.[1]

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Firing angles θ1, θ2, and θ3 can be varied in order to reduce harmonics. For harmonic
optimization, the switching angles θ1, θ2, and θ3 (for a 7-level inverter) shown in Fig. 2, have
to be selected so that certain order harmonics are eliminated.

1.3 Harmonic Elimination:

Using the idea of the Fourier Series (which will be discussed in Chapter 3), the
equations eliminating certain harmonics were derived in terms of the switching angles. The
multilevel fundamental switching scheme inherently provides the opportunity to eliminate
certain higher order harmonics by varying the times at which certain switches are turned “on”
and turned “off” (i.e. varying the switching angles). Why we need to eliminate harmonics?

 Harmonics can produce losses in power equipment. For example, harmonic currents
in an electrical induction motor will dissipate power in the motor stator and rotor
windings. There will also be additional core losses due to harmonic frequency eddy
currents.
 Harmonics can also lower the power factor of a load. The power factor of a load is
proportional to the ratio of the magnitude of the fundamental of the load current to the
magnitude of the load current. Increased harmonic content may decrease the
magnitude of the fundamental relative to the magnitude of the entire current. As a
result, the power factor would decrease.
 Due to the presence of the harmonic content in the power supply, the speed of the
induction motor is decreased. This phenomenon is called crawling.

It was mentioned earlier that an increase in the number of dc sources in a multilevel

inverter results in a better approximation to a sinusoidal waveform. Furthermore, the
increased number of dc sources provides the opportunity to eliminate more harmonic content.
Eliminating harmonic content will make it easier to filter the remaining harmonic content. As
a result, filters will be easier to design and build. Also, filters will be smaller and cheaper.

The objective of my work is to calculate the optimum switching angles using Genetic
Algorithm. Then need to fire the circuit with the optimum switching angles. The main
objective of this project is to achieve minimum Total Harmonic Distortion and to improve the
voltage quality of inverter output.

Chapter 2: Literature Survey:-

In the first paper [1] Genetic Algorithm is applied to find the optimal switching angles. This
method is used to solve the Selected Harmonic Elimination (SHE) problem for multi level
inverter. The paper describes that GA optimization technique can be applied any number of

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levels. Here 7 level inverter is considered as an example. The optimum switching angles are
calculated offline to eliminate the 5th and 7th order harmonic.

In the second paper [2] describes the selected harmonic elimination of new family of
multilevel inverter. This new topology has the advantage of a reduced number of devices
compared to traditional multilevel inverter. The Genetic Algorithm technique is used to find
the optimum switching angles. The drawback of this new family is the high rating of main H
bridge switches as they have to withstand the whole dc voltage.

In the third paper [3], it is proposed to consider the alterable DC sources instead of constant
DC sources. A comparative study is done between two cases i.e. with the case of a multilevel
inverter with constant DC sources and with the case of a multilevel inverter with variable DC
sources. Genetic Algorithm is used to find the optimum switching angles for both cases.
Since the switching losses are directly proportional to the DC voltage. Switching losses of
multilevel inverter with constant are less than switching losses of multilevel inverter with
constant DC sources.

In[4], they have designed 7 level multilevel inverter with constant DC supply. In this paper
Genetic Algorithm (GA) technique is used to find out the optimum switching angles in order
to eliminate selected harmonics from inverter output. The simulation is carried out in
MATLAB and the result is compared with the conventional methods like Newton-Raphson.
The Total Harmonic Distortion (THD) is measured for different modulation indices. A micro
controller base 7 level multilevel inverter hardware is designed and the hardware results are
verified with the simulation result.

In [5], conventional technique such as Newton-Raphson method is used to find out optimum
switching angles.

In [6], conventional technique such as Resultant Theory method is used to find out optimum
switching angles.

In [8], switching angles are calculated for all possible modulation indexes in order to
eliminate harmonics. Here the switching angles are calculated for that value of modulation
index which give the smallest Total Harmonic Distortion (THD).

In [9], it is shown that the theory of symmetric polynomials is used to reduce the degree of
the polynomial equations that must be solved which in turn greatly reduces the computational
burden. In this paper the transcendental non linear equations transformed in to symmetric
polynomials which are then further transformed into another set of polynomials in terms of
the elementary symmetric functions.

In [10], a modified SHE-PWM technique that extends the standard modulation region and
generates a stepped voltage waveform within a wide range of modulation indices. Genetic
Algorithm is used to solve the non-linear transcendental equations in order to find the
optimum switching angles. A higher order filter is required in order to generate pure
sinusoidal waveform.

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In paper[11], gives the idea about the working principle of Genetic Algorithm. It generates
solutions to the optimization problem using techniques such selection, crossover and
mutation. Genetic algorithm gives the result which is best among others.

In [12], gives idea about mutation operator. They described five different mutation schemes
for genetic algorithm. They found that a mutation clock implementation is computationally
quick and also efficient in finding a solution close to the optimum on four different problems
used in this study.

In [13], working principle of binary genetic algorithm has been described. It gives a
theoretical description of Genetic algorithm parameters. First is initialisation of population or
chromosome for the population size of n. Then evaluation of fitness and selection of best fit
parent chromosomes for the crossover. After that mutation occur in order to overcome the
chances premature convergence. The produced child chromosome replaces the parent
chromosome.

Chapter 3: Fourier Series :-

3.1 Chapter Overview:

In this chapter the idea of the Fourier Series will be discussed briefly. Section 3.3 will then
use Fourier Series theory to derive the transcendental harmonic equations corresponding to
the multilevel fundamental switching scheme. Furthermore, these harmonic equations will be
written in terms of the switching angles of the multilevel inverter.

3.2 Fourier Series :

Joseph Fourier proposed in 1807, a periodic waveform f(t) could be broken down into an
infinite series of simple sinusoids which, when added together, would construct the exact
form of the original waveform.

Consider the periodic function

f (t )  f (t  nT ) ; n  1, 2,  3,

Where, T = Period, the smallest value of T that satisfies the above equation.

The expression for a Fourier Series is

𝑓(𝑡) = 𝑎0 + ∑∞
𝑛=1(𝑎𝑛 sin nθ 𝑛 + 𝑏𝑛 cos nθn)
2
Where 𝑎0 , 𝑎𝑛 and 𝑏𝑛 are the Fourier coefficient and  0  .
T
3.2.1 Symmetry of the Function :

If a periodic function contains certain symmetries, the calculation of the Fourier coefficients
can be greatly simplified. There are four types of symmetry i.e.

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 a. Even-function symmetry:
A function may exhibits the property
f (t )  f ( t )
If a function satisfies the above equation then it is called even function symmetry. For an
even function the Fourier coefficient

bn = 0, for all value of n.

b. Odd-function symmetry:

If a function satisfies the below equation

f ( t )   f ( t )

then it is called odd function symmetry. For odd function symmetry, the Fourier coefficient

an = 0, for all value of n.

c. Half-wave symmetry :

For half-wave symmetry, it will satisfy the below eqution.

T
f (t )   f (t  )
2
For an half-wave symmetry, the Fourier coefficient

an and bn = 0 for even values of n and a0 = 0

d. Quarter-wave symmetry :

Another symmetry a periodic function might possess is odd quarter-wave symmetry.

All an = 0 and bn = 0 for even values of n and a0 = 0.

When a periodic function possesses odd quarter-wave symmetry, the average value is zero.
The reason is due to the fact the function is odd. Also, odd symmetry results in all of the
cosine harmonics being zero. The half-wave symmetry of the periodic function forces the
even sine harmonics to be zero. Furthermore, in order to determine the amplitude of the odd
sine harmonics, one only needs to integrate over one-fourth of a fundamental period.

3.2.2 Application of Fourier Series to Multilevel Inverter:

The purpose of this section is to make use of Fourier Series theory to obtain the
transcendental harmonic equations corresponding to the multilevel fundamental switching
scheme. Moreover, these harmonic equations will be written in terms of the switching angles of
the multilevel inverter.

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Fig1: a) Topology of a single phase cascaded multilevel inverter. [7]

b) Staircase output phase voltage. [7]

From fig 1.a, as four number of H-bridge cells are connected in series. An output voltage
waveform can be generated by summation of the output of each cell, i.e.

𝑉𝑜𝑢𝑡 = 𝑉𝑑𝑐1 + 𝑉𝑑𝑐2 + 𝑉𝑑𝑐3 + 𝑉𝑑𝑐4

Now the output voltage V(t) of the Multilevel inverter as shown in fig1.b can be represented
by(1)

𝑉(𝑡) = 𝑎0 + ∑∞
𝑛=1(𝑎𝑛 sin nθ 𝑛 + 𝑏𝑛 cos nθn) .................... (1)

Where 𝑎0 , 𝑎𝑛 and 𝑏𝑛 are the Fourier coefficient.

Because of odd quarter-wave symmetric characteristic, shown in fig 1.b

π
4
𝑎𝑛 = π ∫02 f(ωt) sin(nωt) d(ωt) , for odd n

𝑎𝑛 = 0 , for even n

𝑏𝑛 = 0, for all n

So from equation number (1)

V(t)= ∑∞
𝑛=1(𝑎𝑛 sin nθ 𝑛).....................................(2)

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 π
4 2
𝑎𝑛 = ∫ f(θ) Sin(nθ)dθ
π 0
π
4 𝜃2 𝜃3 𝜃4
2
= ∫ 𝑉 𝑆𝑖𝑛(𝑛𝜃)𝑑𝜃 + ∫ 2𝑉 𝑆𝑖𝑛(𝑛𝜃)𝑑𝜃 + ∫ 3𝑉 𝑆𝑖𝑛(𝑛𝜃)𝑑𝜃 + ∫ 4𝑉 𝑆𝑖𝑛(𝑛𝜃)𝑑𝜃
𝜋 𝜃1 𝜃2 𝜃3 𝜃4

= 4𝑉/𝑛𝜋(𝐶𝑜𝑠(𝑛𝜃1) + 𝐶𝑜𝑠(𝑛𝜃2) + 𝐶𝑜𝑠(𝑛𝜃3) + 𝐶𝑜𝑠(𝑛𝜃4)) [After simplification.]

So from equation (2), we get

4𝑉
𝑉(𝜔𝑡) = ∑∞
𝑛=1[ ∑4𝑘=1 𝐶𝑜𝑠(𝑛𝜃𝑘)] 𝑆𝑖𝑛(𝑛𝜔𝑡)................................(3)
𝑛𝜋

The amplitude of the fundamental component, n=1 and odd harmonic component are given
by

h1=4V/𝜋 ∑4𝑘=1 𝐶𝑜𝑠(𝜃𝑘) and hn=4V/n𝜋 ∑4𝑘=1 𝐶𝑜𝑠(𝑛𝜃𝑘)

Amplitude of all even harmonics equals zero.

Thus except fundamental, all odd harmonics in the quarter wave symmetric in the multilevel
waveform need to be eliminated.

h1= 4𝑉/𝜋(𝐶𝑜𝑠(𝑛𝜃1) + 𝐶𝑜𝑠(𝑛𝜃2) + 𝐶𝑜𝑠(𝑛𝜃3) + 𝐶𝑜𝑠(𝑛𝜃4)) = M

h5=4𝑉/5𝜋(𝐶𝑜𝑠(5𝜃1) + 𝐶𝑜𝑠(5𝜃2) + 𝐶𝑜𝑠(5𝜃3) + 𝐶𝑜𝑠(5𝜃4)) = 0

h7=4𝑉/7𝜋(𝐶𝑜𝑠(7𝜃1) + 𝐶𝑜𝑠(7𝜃2) + 𝐶𝑜𝑠(7𝜃3) + 𝐶𝑜𝑠(7𝜃4)) =0

:
:

hn= 4𝑉/𝑛𝜋(𝐶𝑜𝑠(𝑛𝜃1) + 𝐶𝑜𝑠(𝑛𝜃2) + 𝐶𝑜𝑠(𝑛𝜃3) + 𝐶𝑜𝑠(𝑛𝜃4)) =0

ℎ1
Where, M is the modulation index. It is given by M= 4𝑉

𝜃1, 𝜃2, 𝜃3𝑎𝑛𝑑 𝜃4 are the switching angles which needs to be calculated in order to eliminate
selected harmonics present in the inverter output. From the waveform it is observed that the
𝜋
switching angles can be varied from 0 to 2 . Therefore the ranges of switching angles are as
below
𝜋
0< 𝜃1 < 𝜃2 < 𝜃3 < 𝜃4 < 2

The optimum switching angles are determined by Genetic Algorithm base optimization
technique.

Chapter 4: Genetic Algorithm

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4.1: Chapter Overview:

In this chapter a brief idea about Genetic algorithm and its methodology will be
discussed. Genetic algorithm is used to find out the optimum switching angles.

4.2 Introduction to Genetic Algorithm:

Genetic algorithm is a part of evolutionary computing, which is rapidly growing area

of artificial intelligence. Genetic algorithms were formally introduced by Holland(1975). It
looks for a solution which is best among others. They are less susceptible to becoming stuck
at local minima. Genetic algorithms are inspired by Darwin’s theory of evolution of survival
of the fittest.

To use genetic algorithm, a solution of the problems must be represented as a genome or

chromosome. The genetic algorithm then creates population of solutions and applies genetic
operators such as mutation and crossover to evolve the solutions in order to find the best
one(s).

4.3 Working Principle:

Genetic algorithms are the ways of solving problems by mimicking processes nature
uses, i.e. Selection, Crossover, Mutation and Accepting. The algorithm work as follows:

Table : Procedure of Genetic Algorithm.

Step1 : Start Generate a random population of n chromosomes (suitable

solutions for the problem)
Step2: Fitness Calculate the fitness f(x) of each chromosome x in the population.
Step3: Selection Select two parent chromosome from the population according to
their fitness value.
Step4: Crossover With a crossover probability crossover the parents to form new
offspring (Children). If no crossover was performed the offspring is
an exact copy of parents.
Step 5: Mutation With a mutation probability mutate new offspring at each
point(position of the chromosome)
Step 6: Acceptance Place new offspring in the new population.
Step 7: Replacement Use new generated population for a further processing.
Step 8: Test Test the end condition.
Step9: End Gives out the result.

Start

Evaluate Fitness
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 Selection

Crossover

Mutation

Acceptance

End
No
Yes/no

Yes

Stop

Fig : Flow chart of Genetic Algorithm.

 Chromosome: is a set of genes of certain length. A chromosome contains solution in the

form of genes.
 Gene: is part of chromosome. For example 26358 is chromosome and 2,6,3,5 and 8 are
its genes.
 Individual: is the same as chromosome.
 Population: is a number of individuals present with the same length chromosomes.
 Fitness: it is the value assigned to an individual.

Elitism:

In the process of the crossover and mutation-taking place, there is high chance that the
optimum solution could be lost. There is no guarantee that these operators will preserve the
fittest string. To avoid this, the elitist models are often used. In this model, the best individual

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from a population is saved before any of these operations take place. When a new population
is formed and evaluated, this model will examine to see if this best structure has been
preserved. If not the saved copy is reinserted into the population.

4.3 Operators of Genetic Algorithm:

Genetic operators are used in the genetic algorithm maintains genetic diversity.
Genetic operators are as follows..

-Selection

-Crossover

-Mutation.

In addition these operators, “Population size” is the another important parameter. Population
size describes how many chromosomes or individuals are present in population. If the
population size increases, the rate of convergences is increased. But the execution time is also
increased.

4.3.1 Selection:

Selection is the stage of a genetic algorithm in which individual genomes are chosen
from a population for recombination or crossover. Many selection methods exist and they all
do the same thing. They pick parents from current population and do the crossover among
them.

The most commonly used methods for selecting parent chromosome are :

- Roulette wheel selection

- Boltzmann Selection
- Tournament Selection
- Rank Selection
- Steady state selection.

4.3.2: Crossover operator:

After we have decided what encoding we will use, we can make a step to crossover.
Crossover selects genes from parent chromosomes and creates a new offspring. The simplest way how
to do this is to choose randomly some crossover point and everything before this point point copy
from a first parent and then everything after a crossover point copy from the second parent.

Crossover can then look like this ( | is the crossover point):

Chromosome 1 11011 | 00100110110

Chromosome 2 11011 | 11000011110

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 Offspring 1 11011 | 11000011110
Offspring 2 11011 | 00100110110

There are other ways how to make crossover, for example we can choose more crossover
points. Crossover can be rather complicated and very depends on encoding of the encoding of
chromosome. Specific crossover made for a specific problem can improve performance of the
genetic algorithm.

The crossover techniques are as follows:

- Single point crossover.

- Two point crossover

-Uniform crossover.

- Arithmetic crossover

-Heuristic crossover

4.3.3 Mutation Operator:

After a crossover is performed, mutation takes place. This is to prevent falling all solutions in
population into a local optimum of solved problem. Mutation changes randomly the new
offspring. For binary encoding we can switch a few randomly chosen bits from 1 to 0 or from
0 to 1. Mutation can then be following:

Original offspring 1 1101111000011110

Original offspring 2 1101100100110110
Mutated offspring 1 1100111000011110
Mutated offspring 2 1101101100110110

Mutation operators are of many types:

- One simple way is, Flip bit.

- Boundary
- Non-uniform
- Uniform
- Gaussian.

Chapter 5: Proposed Work

Steps to calculate global minima:

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Chapter 6: Simulation and Test Result.

Now using Matlab Genetic Algorithm toolbox switching angles are found out in order to
reduce harmonic up to 41st order.

To open GA Toolbox user interface enter “gatool” in matlab command window.

To use the GA Tool, the following information should be entered

Fitness function : - It is the objectiive function that you want to minimise. Here in this case
the objective function is the Total Harmonic Distortion that you want to minimise.

V32 +V52 +V72 …..+Vn2

%THD = √ × 100
V12

Number of Variable:- 9-level inverter requires four H-bridges inverter. Thus each
chromosome for this application will have four switching angles, i.e. {𝜃1, 𝜃2, 𝜃3, 𝜃4 }. Here
in this case, number of variable is 4.

To run GA, click on the start button. Value of the switching are given below in the table
(Angles are in degrees.)

𝜃1 𝜃2 𝜃3 𝜃4
10.7531 28.135 54.0599 88.146

6.1 Simulation Result and Discussion:

Simulation circuit for Single Phase nine level inverter is shown in fig.2. It consists of 4
cascaded bridges. Each single phase inverter block consists of 4 switches. Here GTO is used
as switching device. The switching angles are used to fire the respective inverter block.
Simulation result for single phase nine level inverter is shown in fig.3.

6.2 Simulation Circuit for Nine Level Inverter :

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Fig 2. Simulation circuit for nine level inverter

6.3 Simulation Result:

Fig 3. FFT analysis for single phase nine level inverter.

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Chapter 7: Conclusion and Future Work

7.1 Conclusion:

The switching angles are found out in order to reduce harmonic up to 41st order present in the
inverter output. Fig.3. shows the FFT analysis for nine level single phase inverter. From the
FFT analysis it can be concluded that the 3rd, 5th, 9th up to 41st order harmonic are reduced.
The percentage value of Total Harmonic Distortion (THD) is 13.13%.

7.2 Future work:

o As of now, single phase 9 level inverter has been designed in Matlab.

o Single phase 9 level inverter with unequal DC sources will be designed and a
comparative study will be done.
o From the FFT analysis, it is clear that THD has been decreased to 13.13%.
o To minimise value of THD further in order to improve output voltage quality of single
full wave inverter.
o Study of Genetic Algorithm fundamentals and implementing the same in order to
eliminate harmonics.
o

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[2] Khaled El-Naggar, Tamer H. Abdelhamid, “Selective harmonic elimination of new

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