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For electric vehicle (EV) onboard charging, high efficiency and power density of the charger is required. Soft switching technique is an effective way to increase On-Board Charger (OBC) power density and efficiency. This paper presents a fixed frequency zero-voltage-switching OBC topology which can realize Zero-Voltage-Switching (ZVS) of all the power semiconductor devices. An auxiliary resonant branch is used to realize Zero-Voltage-Switching for both front-end full-bridge rectifier and phase-shift full-bridge dc-dc converter. A novel PWM scheme is proposed for the OBC topology. ZVS conditions are derived. Finally, the proposed OBC is verified by the experiment.