524
4, JULY 2002
Five-Phase Induction Motor Drives With
DSP-Based Control System
Huangsheng Xu, Member, IEEE, Hamid A. Toliyat, Senior Member, IEEE, and Lynn J. Petersen, Member, IEEE
Abstract—This paper introduces two kinds of control schemes:
vector control and direct torque control (DTC). These control
schemes can be extensively applied to the operation of a five-phase
induction motor using a fully digital implementation. Vector con-
trol of the five-phase induction motor not only achieves high drive
performance, but also generates the desired nearly rectangular
current waveforms and flux profile in the air-gap resulting in
an improvement in air gap flux density and an increase of 10%
in output torque. The DTC method has additional advantages
when applied to multiphase, in this case a five-phase, induction
motor. The five-phase inverter provides 32 space voltage vectors in
comparison to 8 space voltage vectors provided by the three-phase
inverter. Therefore, a more elaborate flux and torque control
algorithm for the five-phase induction motor can be employed.
Direct torque control of the five-phase induction motor reduces
the amplitude of the ripples of both the stator flux and the
torque, resulting in a more precise flux and torque control. A 32-b
floating-point TMS320C32 Digital Signal Processor (DSP) enables
these two sophisticated control techniques to be conveniently
implemented with high control precision. Experimental results
show that an ideal control capability is obtained for both control
methods when applied to the five-phase induction motor and
further validates theoretical analysis.
Index Terms—Direct torque control, five-phase induction motor,
rectangular flux distribution, third harmonic currents, vector con-
trol.
I. INTRODUCTION
V ECTOR control and direct torque control (DTC) are two
popular control techniques widely applied in motor drive
applications. By directly controlling the flux and the torque,
both techniques yield fast dynamic response and high perfor-
mance [1]–[4]. In this paper, a corresponding vector control
method of the five-phase induction motor is developed based on
the reference frame. The basic underlying principle
here is to decouple the five stator phase currents , , , ,
into the flux components , and the torque components
, and then to provide independent control of both flux and
Manuscript received April 18, 2001; revised December 1, 2001. This work
was supported by the Office of Naval Research (G. Jebsen ONR 334) under
Grant N00014-98-1-0717 and by the Office of the Vice President for Research
and Associate Provost for Graduate Studies, Texas A&M University. Recom-
mended by Associate Editor J. Ojo.
H. Xu is with the Motor Drive Laboratory, Whirlpool R&E Center,
Whirlpool Corporation, Benton Harbor, MI 49022 USA (e-mail: huang-
sheng@hotmail.com).
H. A. Toliyat is with the Electric Machines and Power Electronics Laboratory,
Department of Electrical Engineering, Texas A&M University, College Station,
TX 77843 USA (e-mail: toliyat@ee.tamu.edu).
L. J. Petersen is with the Machinery Research and Development Directorate,
Electrical Systems Department, NAVSEA Philadelphia, Philadelphia, PA 19112
USA (e-mail: petersenlj@nswccd.navy.mil).
Publisher Item Identifier 10.1109/TPEL.2002.800983.
0885-8993/02$17.00 © 2002 IEEE
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO.
torque. The objective with vector control of the five-phase in-
duction motor is to generate the fundamental current waveform
and associated third harmonic of this fundamental and appropri-
ately to combine these waveforms, thereby inducing the desired
nearly rectangular flux in the air-gap. As a result, an improve-
ment in the power density and output torque of the five-phase
induction motors can be achieved [5]–[11].
Direct torque control of the five-phase induction motor is also
introduced in this paper. Through the optimal selection of the
space voltage vectors during each sampling period, direct torque
control provides an effective and direct control of the stator flux
and the torque, an alternative to employing current control, a
more conventional technique [12], [13]. In the case of the five-
phase induction motor, direct torque control has unique advan-
tages. Direct torque control of the five-phase induction motor
has 32 space voltage vectors with varying magnitudes when em-
ploying closed loop operation [14]. Compared with eight space
voltage vectors associated with conventional three-phase induc-
tion motor drives. The increased number of space voltage vec-
tors provides direct torque control, when operating in closed
loop, of the five-phase induction motor, greater flexibility in se-
lecting the inverter switching states and thereby accomplishes a
more precise control of the stator flux and torque. From a main-
tenance and reliability perspective, the benefit achieved with ad-
ditional space voltage vectors is that the zero sequence vectors
need not be chosen. The implication of this is that zero sequence
mode vectors have been shown to cause bearing currents which
result in pitting and fluting of the motor bearing, thereby re-
ducing the life of the motor [18].
In order to implement these two sophisticated control
methods, a 32-b floating-point TMS320C32 DSP is adopted
as the central processor. Operating from a 50 MHz clock
speed, a performance of 25 MIPS and a peak floating-point
performance of 50 MFLOPS allows vector control and direct
torque control of the five-phase induction motor with higher
processing speed and precision. Experimental results show that
ideal control performance is achieved in both control methods
for the five-phase induction motor, both of which validate
theoretical predictions and analysis.
II. VECTOR CONTROL OF FIVE-PHASE INDUCTION MOTOR
In this paper, a five-phase induction motor with a full pitch
concentrated winding is used. Instead of the traditional sinu-
soidal winding distribution, the winding structure of the five-
phase induction motor is designed with a rectangular distribu-
tion to better accommodate the quasi-rectangular input currents
provided by the five-phase, current-regulated pulsed width mod-
ulated (PWM) inverter as described in [5], [6].
XU et al.: FIVE-PHASE INDUCTION MOTOR DRIVES 525

Fig. 1. Vector control of a five-phase induction motor.

In order to simplify the vector control method of the five- of the stator currents , and are not associated with the
phase induction motor, a combined fundamental current wave- stator -axis currents , . , are manipulated by the
form with the third harmonic of the fundamental current wave- -axis rotor fluxes , and the torque components of the
form, which nearly replicates a rectangular waveform, is con- stator currents , . If , remain constant, ,
sidered as the input current of the five-phase induction motor are linearly dependent on and , respectively.
instead of the required rectangular currents. In conjunction with Above all, vector control of the five-phase induction motor
the designed five-phase induction motor geometry, this current enables the fundamental flux and the torque and the
profile induces the nearly rectangular flux linkage in the air-gap third harmonic flux and the torque to be decoupled
and thus results in higher power density and more torque output respectively, achieving independent control of the fluxes and the
[7], [8]. torques of the five-phase induction motor.
The principle goal of vector control of the five-phase induc-
The control strategy block diagram of vector control of the
tion motor is to decouple the stator currents , , , ,
five-phase induction motor is shown in Fig. 1. The overall
into the flux components , and the torque components
system includes two closed-loops, an inner current loop and
, and then to perform independent control on the fluxes
an outer speed loop. Whenever a reference speed is given,
and the torques in a manner analogous to separately excited DC
the system automatically compares it with the actual speed .
motor drives.
According to the motor equation of motion, the speed error
Given the reference frame, suppose the rotor flux
directly indicates the torque profile. Therefore, the output
vector is aligned with the axis. The relationships between the
of the speed PI regulator is considered as the torque reference
rotor flux linkages , and the -axis components of the
value . Correspondingly, the torque component of the
stator currents , are simplified as follows:
stator current can be obtained. The third harmonic torque
(1) component of the stator current is defined as of
. When the actual speed or load suddenly changes,
(2) and immediately adjust the speed and torque. Once the
proper adjustment has been accomplished, the speed should
Electromagnetic torque, , , can be given as
follow the given value and the motor quickly achieves the
steady state operation. The rotor flux is commanded by a
(3)
constant value. The flux component of the stator current
can be further deduced from the rotor flux . Similarly, the
(4) third harmonic of the flux component of the stator current
(5) is given by of . Based on the - transformation
and the reference currents , , and , the
where is the pole number. five phase stator reference currents , , , and can
From the above equations, it can be seen that the rotor flux be evaluated. The current loop forces the actual stator currents
linkages , directly depend on the -axis components to track the commanded currents.
526 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 4, JULY 2002

The synchronous rotating angle in is considered as the

sum of three angles

(6)

where , , represent the rotor position, the slip angle and

the dynamic compensated angle, respectively

(7)

Since the flux component of the stator current is con-

stant, only depends on the torque component of the stator
currents . Under steady state conditions, is constant. During
the dynamic operation, varies with . Through dynamic ad-
justment of , for the fundamental currents and the third har-
monic of the fundamental current waveform, the desired field
oriented control and the nearly rectangular current waveform Fig. 2. Space voltage vectors of a five-phase inverter-driven system.
and flux distribution can be achieved.
flux hysteresis band and the torque hysteresis band by proper
III. DIRECT TORQUE CONTROL OF A FIVE-PHASE selection of the 32 space voltage vectors during each sampling
INDUCTION MOTOR period. The voltage vectors are selected according to the stator
Direct torque control (DTC) of induction motors is also a flux error and the torque error ( and
powerful control method for use with motor drives. In principle, ). The 32 space voltage vectors can be expressed as
the DTC method is based on instantaneous space voltage vector follows:
theory. Through the optimal selection of space voltage vectors
during each sampling period, direct torque control provides the
effective and direct control of the stator flux and torque instead
(8)
of current control, a more conventional technique [12], [13].
Thus, the DTC strategy is dependent upon the motor-inverter
where is the dc link voltage; and , , , , are
system, the number of space voltage vectors and the switching
the five-phase inverter switching functions. It can be assumed
frequency all of which directly influence the performance of the
that these switching functions can take a value of either 1 or
DTC system.
0 based on the state of the upper or lower switch. If the upper
In comparison with three-phase induction motor drives, the
switch is “on” then the switching function assumes a value of
five-phase motor drives are supplied with a five-phase voltage
“1,” otherwise it assumes “0.”
source inverter (VSI). In this case, there are two zero voltage
According to the basic equations of the induction motor de-
states associated with either all of the five upper switches “on”
veloped in [14], the stator flux can be written
or all of five bottom switches “on”. Additionally, there are thirty
nonzero switching modes. The total number of the five-phase
inverter switching combinations is and thus there are 32 (9)
corresponding space voltage vectors. In particular, the 32 space
voltage vectors are composed of three sets of vectors having Since the stator resistance, , is very small, the voltage drop
different amplitudes and divides the switching plane into ten across the stator can be neglected. The discrete time rep-
sectors as shown in Fig. 2. The ratio of the amplitudes of the resentation of the above equation can now be re-written
voltage vectors is 1:1.618:1.618 from the smallest to the largest
vector amplitude, respectively. The larger the voltage amplitude, (10)
the more influential it is on the flux and torque .
Therefore, five-phase induction motor drives have many where is the system sampling period.
more space voltage vectors than the three-phase induction It is apparent that the stator flux directly depends on the space
motor drives. The increased number of vectors allows the voltage vector and the sampling period. Therefore, by se-
generation of a more elaborate switching vector table in lecting the 32 voltage vectors properly, it is possible to con-
which the selection of the voltage vectors is made based on trol the stator flux and cause the stator flux to move along
the real-time values of the stator flux and torque variations. a predetermined path.
Moreover, the different amplitudes of the space voltage vectors Furthermore, the relationship between the torque of the five-
provide increased flexibility in minimizing the ripple of the phase induction motor and space voltage vector can be de-
stator flux and torque. rived as
Direct torque control of the five-phase induction motor is to
maintain the stator flux and the torque within the limits of the (11)
XU et al.: FIVE-PHASE INDUCTION MOTOR DRIVES 527

Fig. 3. Direct torque control of the five-phase induction motor.

where phase current regulated inverter, on the right side of the five-
phase motor, is a natural extension of the standard three-phase
inverter. The insulated gate bipolar transistors (IGBTs) are used
as switching devices of the inverter. The switching frequency
used in the experiment is 10 kHz. The controller indicated at
Holding the stator flux constant, the proper selection of
the bottom uses a TMS320C32 DSP to provide vector control,
space voltage vectors can quickly increase or decrease the
DTC and to drive the five-phase inverter to generate the desired
torque. Therefore, by employing different space voltage vectors
rectangular currents and flux. In this experiment, four channels
, both the stator flux and torque of the five-phase induction
of analog-to-digital converter (ADC) are used for sampling four
motor can be controlled simultaneously.
phase stator currents through four Hall effect current sensors of
Fig. 3 displays the block diagram of the direct torque control
model number HNC-050P. The speed pulse signal generated by
strategy for the five-phase induction motor. The system consists
a Dynapar H25 speed encoder inputs to the TMS320C32 DSP
of the inner torque loop, the flux loop and the outer speed loop.
via one digital input port. After executing the five-phase induc-
Whenever a speed command is given, the system automati-
tion motor control methods, five channels of digital to analog
cally compares it with the motor actual speed , which is sam-
converter (DAC) output the desired current control signals to
pled through a speed encoder. According to the motor equation
produce the five channels containing the PWM pulses and are
of motion, the speed error, , directly affects the torque pro-
then sent to the SKHI22 IGBT drive circuits. Furthermore, the
file. Thus, the output of the speed PI regulator can be considered
gating signals are generated to control the five-phase inverter
as the torque reference value, , to make the necessary torque
and motor.
adjustment. Once the proper adjustment has been accomplished,
The DSP-based control system of the five-phase induction
the motor speed should follow the given value . In the mean-
motor consists of three interconnected modules: the C32 DSP
time, the five-phase stator currents and dc link voltage are sam-
board, 16I/O8 DSPLINK interface and Pulse Width Modulated
pled to observe the stator flux and torque, , which are com-
(PWM) output circuits. The overall system block diagram is
pared with the reference values of the stator flux, and torque,
shown in Fig. 5. TMS320C32 DSP is used as the central pro-
. Based on these comparisons, a series of the optimal voltage
cessor of the control system and implements the corresponding
vectors are generated, which sends out the corresponding switch
control algorithms—vector control and DTC. DC link voltage
gating signals to control the five-phase induction motor.
, the stator currents , , , and the speed are sam-
pled and transmitted to the DSP through the 16I/O8 DSPLINK
IV. EXPERIMENTAL SETUP AND HARDWARE STRUCTURES interface board. Based on this information, the control system
OF THE CONTROL SYSTEM
generates the required five-phase PWM gating signals to drive
Based on the proposed vector control and DTC schemes, a the five-phase induction motor.
fully digital control system has been implemented. The exper- The TMS320C32 DSP used is a 50 MHz, 32-bit floating-
imental setup of this system is represented in Fig. 4. The five- point processor with two on-chip 32 bit timers, an enhanced
528
Fig. 4. Experimental setup of the five-phase induction motor drive.
Fig. 5. Overall hardware architecture of the control system.
external memory interface, a two-channel DMA controller and
a serial port. This arrangement offers a versatile and powerful
development tool for motor drives. A detailed discussion of the
architecture and programming of C32 is given in [15], [16].
A 16I/O8 multichannel I/O DSPLINK module is directly con-
nected to the TMS320C32 DSP board through the DSPLINK
interface with a 50-pin IDC ribbon cable. This arrangement pro-
vides a sixteen channel 12-b ADC, an eight channel 12 bit DAC
and four digital output lines. The maximum ADC input voltage
is from 15 V to 15 V and DAC outputs can drive up to 10 V
into loads with the impedance 2 k . The 16I/O8 DSPLINK
performs ADC and DAC functions on all channels synchro-
nously, asynchronously or independently. ADC sample rate is
limited to 25 kHz when all channels are being used, 38 kHz
when using eight channels and 48 kHz when using only four
channels. DAC may be performed at a maximum conversion
rate of 100 kHz when only using the output channels or 50 kHz
when using both the input and output channels [17].
Given in Fig. 6 is the functional block diagram of the PWM
output circuit. This generates ten channel PWM signals by com-
paring the outputs of the current PI regulators with a triangular
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 4, JULY 2002
Fig. 6. Block diagram of PWM output circuit.
carrier waveform. These signals are then sent to the IGBT drive
circuits (SKHI22) to form the five-phase inverter gating signals,
which directly drive the five-phase induction motor. SKHI22 as-
sures a dead time of 2 s between the gate signals of the upper
and the lower devices as a means to protect IGBTs in each
leg from voltage shoot through. Fault protection circuits per-
form real-time monitoring of the dc link over-voltage (OV), the
stator over-voltage, the stator low-voltage (LV) and the stator
over-currents (OI), as well as overheating (OH) of the stator
windings, so that the PWM outputs can be blocked immediately
upon the occurrence of one or more of these faults.
V. EXPERIMENTAL RESULTS USING VECTOR CONTROL OF THE
FIVE-PHASE INDUCTION MOTOR
The five-phase induction motor vector control system using
the TMS320C32 DSP has been implemented on a 7.5 hp five-
phase induction motor (parameters of the five-phase induction
motor are listed in the appendix). A dc generator is used as a load
and has the following specifications: power: 4.5 kW, armature
current: 36 A; field current: 2.0 A; and armature voltage: 125 V.
Fig. 7. shows the dynamic response of speed, stator current
and torque of the vector controlled five-phase induction motor
supplied by the fundamental and third harmonic currents under
XU et al.: FIVE-PHASE INDUCTION MOTOR DRIVES
Fig. 7. Experimental results of vector control under the fundamental and third
harmonic currents with load. (a) Reference speed (120 rpm/div), (b) actual speed
(120 rpm/div), (c) output torque (50 in-lb/div), and (d) stator current (4 A/div).
Fig. 8. Bidirectional operation of vector control under the fundamental and
third harmonic currents with load. (a) Reference speed (120 rpm/div), (b) actual
speed (120 rpm/div), (c) output torque (50 in-lb/div), and (d) stator current (4
A/div).
load. Clearly, the actual speed is capable of following the refer-
ence speed very well in the tested range. With the gradual in-
crease of speed, smooth change of stator current is observed
under transient conditions. It can also be shown that the gen-
erated torque pulsation is very small. While at steady state, the
amplitude of the stator current is essentially kept unchanged.
The bidirectional operation of vector control of the five-phase
induction motor under the fundamental and third harmonic cur-
rent with load is shown in Fig. 8. A clockwise rotation is repre-
sented with positive value of speed while a counter-clockwise
direction of rotation is represented with the negative value. Here,
the motor speed can be adjusted by careful tracking of the refer-
ence speed in both clockwise and counter-clockwise directions.
The d-axis current, the q-axis current, which are constant at the
steady state in the synchronous frame, as well as the stator phase
“a” current and voltage are shown in Fig. 9. Additionally, the
stator current is nearly rectangular.
The improvement of flux density and output torque by in-
jecting the third harmonic currents is also confirmed by this test.
529
Fig. 9. Experimental results of vector control under the fundamental and third
harmonic currents with load. (a) d-axis current (2 A/div), (b) q -axis current(4
A/div), (c) stator current (4 A/div), and (d) stator voltage (20 V/div).
Fig. 10. Stator current (4 A/div) and stator tooth flux density (0.5 T/div) under
the fundamental currents.
With only the fundamental currents being supplied to the motor,
at 300 rpm the stator tooth flux density, slip and output torque
are about 0.48 T, 16 rpm (i.e., slip percentage 5.33 ) and
68 in-lb, respectively, as shown in Figs. 10 and 11. Figs. 12 and
13 indicate an apparently lower amplitude after combining the
fundamental and the third harmonic currents, even though the
rms value of the stator current is consistent with that of the pre-
vious case. Additionally, the flux density is also reduced. How-
ever, in this case, the slip is kept the same by reducing the re-
sistances connected with the dc generator and correspondingly
the average output torque is decreased by about 9.56% under the
same rms values of the stator currents.
In order to efficiently make use of the flux, the flux density
under the fundamental and third harmonic currents can be in-
creased up to the same value as under the fundamental currents
only by increasing the given speed or reducing the slip. In this
experiment, direct control of the flux can be achieved with the
vector control method by setting the given flux or the -axis
component of the stator currents. For the motor under load, the
rms value of the stator currents depends on the -axis compo-
nent, i.e., the torque component of the stator currents. There-
fore, while the flux component of the stator current is slightly
530 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 4, JULY 2002

Fig. 11. Slip (20 rpm/div) and average output torque (50 in-lb/div) under the Fig. 13. Slip (20 rpm/div) and average output torque (50 in-lb/div) under the
fundamental currents. fundamental and third harmonic currents.

Fig. 14. Stator current (4 A/div) and the stator tooth flux density (0.5 T/div)
under the fundamental and third harmonic currents.
Fig. 12. Stator current (4 A/div) and stator tooth flux density (0.5 T/div) under
the fundamental and third harmonic currents.

increased, the slip and the torque component of the stator cur-
rent are slightly decreased. Therefore, the total rms value of
the stator current can be maintained nearly unchanged. It is ob-
served that with an increase of the given flux, the motor slip
declines slightly and hence, the -axis component of the stator
current also reduces. As a result, the amplitude and rms value
of the stator current in Fig. 14 are about the same as those in
Fig. 12. Noticeably, under this condition, the output torque for
the dc generator load, shown in Fig. 15, is increased by about
11.2% over the output torque obtained in the case using only the
fundamental currents.
Experiments are also performed to study the relationship of
the stator tooth flux density and torque at steady state with the
stator rms currents in two distinct cases. The flux density and
torque are recorded with the embedded measuring coils and a Fig. 15. Slip (20 rpm/div) and average output torque (50 in-lb/div) under the
shaft mounted torque transducer respectively. Results are shown fundamental and third harmonic currents.
in Fig. 16. It appears that the injection of the third harmonic cur-
rents consistently leads to a lower flux density compared with same value as that in the case of the fundamental currents
the case of using only the fundamental current waveforms. with the purpose to effectively utilize the flux saturation. As
Similarly, as before, the flux density under the fundamental expected, about a 10% torque improvement is consistently
and third harmonic currents condition is then increased to the observed with all the stator current values tested when the third
XU et al.: FIVE-PHASE INDUCTION MOTOR DRIVES 531

Fig. 16. Stator tooth flux density of the five-phase induction motor versus
stator current.

Fig. 18. Stator phase “a” current of the DTC of the five-phase induction motor.

Fig. 17. Steady torque of five-phase induction motor versus stator current.

harmonic currents for each phase is injected as presented in

Fig. 17.
In comparison with the conventional three-phase induction
motor, it was concluded that the torque produced in the five-
phase concentrated winding induction motor under the same
rms value of the square currents was 10% higher [7]. Therefore,
it can be extrapolated that the five-phase induction motor under
the fundamental and third harmonic current develops even more
torque than the three-phase induction motor being driven only
by the fundamental currents.

VI. EXPERIMENTAL RESULTS OF DTC OF FIVE-PHASE Fig. 19. Stator q -axis flux (top) and torque under no load (bottom) for DTC
INDUCTION MOTOR of five-phase induction motor.
Experiments have been conducted to compare the perfor-
mance of the DTC of a 7.5 hp five-phase induction motor
by using the TMS320C32 DSP. The sampling period is 50
s, which is approximately the time needed for the execution
of the overall control program. This included 10 s for A/D
conversion.
Figs. 18–21 illustrate the experimental results for DTC of
the five-phase induction motor and DTC of the three-phase in-
duction motor. The waveforms shown in Figs. 18 and 19 are
the stator phase “a” current, , the stator flux, and torque,
for the DTC of the five-phase induction motor. Accordingly
Figs. 20 and 21 show the stator phase “a” current, , the stator
flux, and torque, for the DTC of the three-phase induction
motor.
By comparing these plots, the performance improvement
can be noticed using DTC of the five-phase induction motor
from the stator current, the flux and torque ripples, all of
which are obviously less for the five-phase induction motor
than those resulting from the three-phase induction motor. Fig. 20. Stator phase “a” current for DTC of three-phase induction motor.
532
Rotor leakage inductance
Mutual inductance
Mechanical motion inertia
Fig. 21. Stator q -axis flux (top) and torque under no load (bottom) for DTC
of three-phase induction motor.
These results are consistent with the theoretical predictions and
simulation results previously obtained. It has been shown, that
the 32-space voltage vectors used in the DTC of the five-phase
induction motor drives do result in significant reductions of
the flux, torque and the stator current ripples and implement a
more accurate control of the stator flux and the torque.
VII. CONCLUSIONS
This paper introduces applications of vector control and di-
rect torque control for the five-phase induction motor based on a
32-b floating-point TMS320C32 DSP. Hardware architectures,
vector control and direct torque control methods are detailed.
The experimental results demonstrate:
Vector control of the five-phase induction motor drive with
the combined fundamental and third harmonic current not only
achieves high transient and steady state performance, but also
provides the desired nearly rectangular current and flux wave-
forms. This in turn results in improvement of the flux density
and about a 10% increase of output torque by injecting the third
harmonic of current.
Direct torque control is a very practical control method to
be applied to the five-phase induction motor. 32 space voltage
vectors result in a significant reduction of the torque and the
stator current ripples and implement a more accurate control of
the flux and the torque.
APPENDIX
The parameters of the five-phase induction motor used in the
simulation and experiment are as follows.
Power 7.5 hp.
Phase voltage 230 V.
Poles 4.
Stator resistance 0.22 .
Rotor resistance 0.16 .
Stator leakage inductance 4.76 mH.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 4, JULY 2002
1.7 mH.
151.5 mH.
0.04 Kg m .
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of air-gap MMF,” IEEE Trans. Ind. Applicat., vol. 34, pp. 332–339,
Mar./Apr. 1998.
[12] I. Takahashi and T. Noguchi, “A new quick response and high efficiency
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IA-22, pp. 820–827, Sept./Oct. 1986.
[13] M. Depenbrock, “Direct self-control (DSC) of inverter-fed IM,” IEEE
Trans. Power Electron., vol. 3, pp. 420–429, Oct. 1988.
[14] H. A. Toliyat and H. Xu, “A novel direct torque control (DTC) method
for five-phase induction machines,” in Proc. APEC’00 Conf., vol. 1,
2000, pp. 162–168.
[15] S. P. Doughty and L. J. Petersen, “Bearing failure and insulation break-
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[16] User’s Guide of TMS320C3x Floating-Point DSP, Texas Instruments,
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[17] Technical Manual, PC/C32 Board, Spectrum Digital Corporation,
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[18] User’s Manual, PC/16IO8 Multi-Channel I/O Board, Spectrum Digital
Company, Stafford, TX, 1996.
Huangsheng Xu (S’98–M’02) received the B.S. de-
gree in electrical engineering from the Hefei Univer-
sity of Technology, Hefei, China, in 1989, the M.S.
degree in electrical engineering from Tsinghua Uni-
versity, Beijing, China, in 1995, and the Ph.D. degree
from Texas A&M University, College Station, 2001.
He is a Senior Engineer at Whirlpool R&E Center,
Benton Harbor, MI. His research interests include in-
duction motor drives, power electronics, and DSP ap-
plications.
XU et al.: FIVE-PHASE INDUCTION MOTOR DRIVES
Hamid A. Toliyat (S’87–M’91–SM’96) received the
Ph.D. degree in electrical engineering from the Uni-
versity of Wisconsin, Madison, in 1991.
He is currently an Associate Professor in the
Department of Electrical Engineering, Texas A&M
University, College Station. His main research
interests and experience include multiphase variable
speed drives for traction and propulsion applications,
fault diagnosis of electric machinery, analysis and
design of electrical machines and sensorless variable
speed drives. He has published over 160 technical
papers in these fields and is actively involved in presenting short courses and
consulting in his area of expertise to various industries.
Dr. Toliyat received the Texas A&M Select Young Investigator Award in
1999, the Eugene Webb Faculty Fellow Award in 2000, the Space Act Award
by NASA in 1999, the Schlumberger Foundation Technical Award in 2000 and
2001, and the 1996 IEEE Power Engineering Society Prize Paper Award. He is
an Editor of the IEEE TRANSACTIONS ON ENERGY CONVERSION, an Associate
Editor of the IEEE TRANSACTIONS ON POWER ELECTRONICS and a member of
the Editorial Board of Electric Machines and Power Systems Journal. He is also
Vice-Chairman of IEEE-IAS Electric Machines Committee and is a member of
Sigma Xi. He is a Senior Member of the Industrial Applications, Industrial Elec-
tronics, Power Electronics, and Power Engineering Societies of the IEEE.
533
Lynn J. Petersen (M’00) received the B.S. degree in
mathematics from the United States Naval Academy,
Annapolis, MD, in 1986 and the M.S. degree in
mechanical engineering from the Naval Postgraduate
School, Annapolis, in 1994.
He is a Senior Electrical Engineer within the
Machinery Research and Development Directorate,
Naval Surface Warfare Center, Carderock Division
(NSWCCD), Philadelphia, PA. He has served
as Branch Head for the Electrical Machinery
Technology Branch, NSWCCD, and is currently the
Deputy Program Manager for the Office of Naval Research “Quiet Electric
Drive” Program. He has authored and co-authored numerous papers and
reports involving electric machinery for U.S. Naval applications. He has
accumulated over 15 years of Naval fleet engineering design, operational,
and repair experience having served on two Naval Cruisers, at a major U.S.
naval shipyard and his current assignment at NSWCCD. Additionally, he is an
Engineering Duty Officer and a Lieutenant Commander in the Naval Reserve.