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I. INTRODUCTION
_______________________
D. Dujic is with ABB Corporate Research, Baden Dttwil 5405,
Switzerland (e-mail: drazen.dujic@ieee.org).
M. Jones and E. Levi are with the School of Engineering, Liverpool
John Moores University, Liverpool L3 3AF, UK (e-mail:
m.jones2@ljmu.ac.uk, e.levi@ljmu.ac.uk).
O. Lopez is with Department of Electronics Technology, University of
Vigo, 36310 Vigo, Spain (e-mail: olopez@uvigo.es).
machines is the same as for concentrated winding singledrive multiphase systems that utilise low-order harmonic
injection for torque enhancement purposes. The method of
analysis, utilised in [14], is independent of the applied PWM
method and is based on a simple observation that limit of the
linear PWM region is reached when the peak value of a lineto-line voltage becomes equal to the dc bus voltage. The
same approach is utilised here to investigate the limits of the
linear PWM region for series-connected drive systems based
on supply from a VSI with a composite phase number.
Theoretical considerations are supported with simulation and
experimental investigation of a symmetrical six-phase twomotor drive system.
II. SYMMETRICAL SIX-PHASE TWO-MOTOR DRIVE
To start with, modulation index Mi is defined as the ratio
of the phase voltage fundamental peak value Vi1 and one
half of the dc-bus voltage Vdc:
M i = Vi1 0.5Vdc
(1)
Since there are at least two machines in a seriesconnected drive system, index i takes the values i = 1,2,3
Using this definition, phase and line voltages of a machine
can be expressed as functions of the modulation index.
For a three-phase system, maximum utilisation of the dcbus voltage (i.e. limit of the linear modulation region) is
reached when peak value of the line voltage becomes equal
to the dc-bus voltage. Since in a three-phase system all line
voltages are of the same magnitude, it is sufficient to
consider only one line voltage, referenced to phase a. In
multi-phase systems, however, it is necessary to consider the
set of largest line voltages among the different line voltage
sets. The largest line voltages are those where the angle
between two phase voltage phasors is the largest (the closest
to 180 degrees). The following analysis assumes that
inverter generates voltages that are sinusoidal and thus loworder harmonic-free.
Consider a two-motor series-connected drive, consisting
of a symmetrical six-phase machine and a three-phase
machine, connected as shown in Fig. 1 [9,11]. The supply
comes from a symmetrical six-phase inverter. Since a
symmetrical six-phase system with a single neutral point is
characterised with two d-q planes, the machines are
controlled independently using the first d-q plane for the sixphase machine control and the second d-q plane for control
of the three-phase machine, as indicated in Fig. 1. Line-toline voltages of the six-phase machine are given with:
V ab1 = 2 M1 0.5Vdc cos( 3)
(2)
V ad 1 = 2M 1 0.5Vdc
Line-to-line voltage of a three-phase machine can be given
as (indices 1 and 2 identify the two machines):
6 phase VSI
Vdc
d 2 q2
d1 q1
a1
b1
c1
d1
e1
f1
a2
b2
c2
V ab 2 = 2 M 2 0.5Vdc cos( 6)
(3)
(4)
(5)
v AD = 2 M 1 0.5Vdc
In order to maximise dc bus utilisation in the linear
modulation region the following constraints must be
satisfied for every set of values of the modulation indices:
v AB = M 1Vdc cos( 3) + M 2Vdc cos( 6) Vdc
v AC = M 1Vdc cos( 6) + M 2Vdc cos( 6) Vdc
(6)
v AD = M 1Vdc Vdc
Expressions (6) can be further given as:
M 1 cos( 3) + M 2 cos( 6) 1
M 1 cos( 6) + M 2 cos( 6) 1
(7)
M1 1
To find the area of permitted
indices in a plane, it is enough to
by each row of (7) for the case
replaced by equalities (to 1).
M 2 = f ( M 1 ) as:
1 M1
(*)
1 M 1 cos( 3)
M2 =
=
cos( 6)
(**)
1 M 1 cos( 6)
M2 =
=
cos( / 6)
3
2 = 2 3M 1
3
3
2
1 M1
(8)
(* * *) M 1 1
The characteristic points for the first two straight lines of (8)
are governed with:
2
(0, M 2 ) = (0,
) = (0, 1.1547)
for relation (*)
(9)
3
( M 1 ,0) = (2, 0)
2
(0, M 2 ) = (0,
) = (0,1.1547)
3
2
( M 1 ,0) = (
, 0) = (1.1547, 0)
3
M 2 ( M 1 = 1) =
2 3
3
= 0.1547
(11)
Vdc
a1
a2
b1
b2
c1
c2
d1
d2
e1
e2
f1
f2
6 phase VSI
Vdc
d 2 q2
d1 q1
(18)
d1 q1
d 2 q2
a1
a2
b1
b2
c1
c2
d1
d2
e1
e2
f1
f2
Fig. 3. Asymmetrical six-phase two-motor drive with two asymmetrical sixphase machines two possible configurations (a,b,c stand for the first and
d,e,f for the second three-phase winding of each machine).
Mi =
1
=2
cos( 3)
1
= 1.1547
cos( 6)
1
Mi =
= 0.5774
2 cos( 6)
1.1547
Mi =
*
**
Mi =
0.5774
1 cos( 6)
= 0.1547
cos( 6)
***
0.1547
M1
0
0.5774
1 1.1547
Fig. 2. Combinations of modulation indices that yield operation in the linear modulation region for a symmetrical six-phase VSI-fed series-connected twomotor drive (shaded area).
M3
M2
1.1547
Mi =
1
= 1.1547
cos( 6)
Mi =
1
= 0.5774
2 cos( 6)
0.5774
I
M2
M1
0
0.5774
1.1547
M1
M 1 1.015
0.941
0.213 0.941
M2
1.015
M3
1.015
0.213 0.401
0
0.754
0.754 0.401
0.213 0.941
0.754 0.401
V. SIMULATION STUDY
The configuration of Fig. 1, consisting of a symmetrical
six-phase and a three-phase series-connected two-motor
drive system, is selected for more detailed study. Since the
operating frequency in the two d-q planes is irrelevant, it is
set to 50 Hz in all the tests and only the modulation indices
of the two planes are varied. A number of operating points in
the M 1 M 2 plane is studied, both inside and outside of the
permissible modulation index area of Fig. 2.
Multidimensional multiphase space vector algorithm of [16]
is applied in conjunction with continuous PWM and
symmetrical disposition of active vectors. Balanced dwell
times of the first and the last switching vector are utilized.
The plots further on illustrate unfiltered trajectories of the
output voltage in the two d-q planes (grey traces) and
trajectories of the cycle-by-cycle averaged voltages in the
two planes (black traces). Since the reference voltages in
both planes are pure sine waves, then the averaged
trajectories of the output voltage in each of the two planes
will be circles as long as the requested modulation index pair
can be realized with full PWM (i.e. as long as operation is
within the limits of the linear modulation region in Fig. 2).
Results obtained with M 1 = 1, M 2 = 0 and with
M 1 = 0, M 2 = 1.1547 are shown in Fig. 6 and Fig. 7,
respectively. These are the two points in the limit of the
linear modulation region, according to Fig. 2. This is
confirmed in Figs. 6 and 7 since the averaged trajectory in
the first plane (second plane, respectively) is a circle. Since
reference in the other plane is zero, the averaged trajectory in
the second plane (first plane, respectively) is in the origin of
the plot. A further illustration of the operation in the limit of
the linear modulation region is given in Fig. 8, this time for
M 1 = M 2 = 1.1547 / 2 = 0.5773 . Clearly, averaged trajectories in both d-q planes are now circles, confirming that the
inverter still operates in the linear PWM region.
M1=1, M2=0
0.8
M1=1, M2=0
0.8
M1=1.1547, M2=0
0.8
0.4
0.4
0.8
0.8
0.8
0.4
0
d2
0.4
0.8
q2
0.4
q1
0.4
0.4
0.4
0
d1
0.4
0.8
0.8
0.8
M1=0.5773, M2=0.5773
0.8
q2
0.4
q1
0.4
0.4
0.4
0
d2
0.4
0.8
0.4
0
d1
0.4
0.8
0.8
0.8
M1=0.5773, M2=0.5773
0.4
0
d2
0.4
0.8
0.8
0.8
0.8
0.4
0
d2
0.4
0.8
M1=0.65, M2=0.65
0.8
0.4
0.4
0.4
0.8
0.8
0.4
0
d1
0.4
0.8
0.8
0.8
0.4
0
d2
0.4
0.8
0.4
0.8
0.8
0.4
0.4
0
d1
M1=0.65, M2=0.65
0.8
M1=0, M2=1.1547
0.4
0.8
0.8
0.4
q1
M1=0, M2=1.1547
0.8
0.8
0.8
q2
0
d1
EXPERIMENTAL STUDY
0.4
0.4
0.4
200
0
-200
-400
0
0.02
0.04
0.06
Time (s)
0.08
0.1
0.12
200
Spectrum (V rms)
0.8
0.8
q2
0.4
q1
0.4
q2
0.4
q1
0.4
0.4
M1=1.1547, M2=0
0.8
160
120
80
40
0
0
100
200
300
400
500
Frequency (Hz)
600
700
800
Waveform (V)
400
[4]
200
0
[5]
-200
-400
0
0.02
0.04
0.06
Time (s)
0.08
0.1
0.12
[6]
Spectrum (V rms)
200
160
[7]
120
80
40
0
0
100
200
300
400
500
Frequency (Hz)
600
700
800
[8]
[9]
[10]
[11]
[12]
[13]
VII. CONCLUSION
The paper investigates limits of the linear PWM region,
applicable to series-connected multiphase motor drives
supplied from an inverter with a composite phase number. It
is shown that for an asymmetrical six-phase two-motor drive
with two neutral points the limit of the linear modulation
region is governed with a simple requirement that sum of the
two modulation indices is less than 1.1547. The situation is
more complex in the case of a symmetrical six-phase two
motor drive, since there is additionally the requirement that
the modulation index in the first plane is no more than 1.
Hence the useful modulation index area is reduced,
compared to the asymmetrical six-phase case. The principle
of analysis is further extended to higher composite numbers,
by considering a symmetrical nine-phase VSI supplying four
series-connected machines.
Theoretical results are verified by simulation and
experimental investigation for the symmetrical six-phase
system. Modulation index pairs in the limit of the linear
PWM region and in over-modulation are addressed. When
the limit of the linear region is exceeded, the inverter
operates in over-modulation and the output voltage contains
low-order harmonics, as shown by measured voltage
spectrum. This translates into a distorted averaged output
voltage trajectory, as shown by means of simulations.
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[1]
[2]
[3]
[14]
[15]
[16]
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A. Iqbal, E. Levi, M. Jones, S.N. Vukosavic, Generalised sinusoidal
PWM with harmonic injection for multi-phase VSIs, in Proc. IEEE
Power Elec. Spec. Conf. PESC, Jeju, Korea, 2006, pp. 2871-2877.
G. Grandi, G. Serra, A. Tani, Space vector modulation of a sevenphase voltage source inverter, in Proc. Int. Symp. Power Electronics,
Elec. Drives, Automation and Motion SPEEDAM, Taormina, Italy,
2006, CD-ROM, pp. S8-6 S8-13.
D. Dujic, E. Levi, M. Jones, G. Grandi, G. Serra, A. Tani,
Continuous PWM techniques for sinusoidal voltage generation with
seven-phase voltage source inverters, in Proc. IEEE Power
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E. Levi, M. Jones, S. N. Vukosavic, H. A. Toliyat, A novel concept
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Drazen Dujic received his Dipl. Ing. and MSc degrees from the University
of Novi Sad, Serbia, in 2002 and 2005, respectively, and his PhD degree
from the Liverpool John Moores University, UK in 2008. From 2002 to
2006 he was with the Department of Electrical Engineering, University of
Novi Sad as a research assistant, and from 2006 till 2009 with Liverpool
John Moores University as a research associate. He is currently with the
ABB Corporate Research Centre in Switzerland.
Martin Jones received his BEng degree (First Class Honors) from the
Liverpool John Moores University, UK in 2001. He has been a research
student at the Liverpool John Moores University from September 2001 till
Spring 2005, when he received his PhD degree. Dr Jones was a recipient of
the IEE Robinson Research Scholarship for his PhD studies and is currently
with Liverpool John Moores University as a Senior Lecturer.
Emil Levi received his PhD degree from the University of Belgrade,
Yugoslavia in 1990. From 1982 till 1992 he was with the University of
Novi Sad, Yugoslavia. He joined Liverpool John Moores University in 1992
and is since September 2000 Professor of Electric Machines and Drives. He
serves as Editor-in-Chief of IET Electric Power Applications, Co-Editor-inChief of the IEEE Trans. on Industrial Electronics, and as an Editor of the
IEEE Trans. on Energy Conversion. He is the Fellow of the IEEE and the
recipient of the Cyril Veinott award of the IEEE Power and Energy Society.
Oscar Lopez was born in 1975 in Spain. He received the MSc degree and
the PhD degree from the University of Vigo, Vigo, Spain in 2001 and 2009,
respectively. He is currently an Assistant Professor in the Department of
Electronics Technology of the University of Vigo.