Analysis and Simulation of Multi-Phase Variable Speed Induction Motor Drives

Under Asymmetrical Connections

Hamid A. Toliyat
Member, IEEE

Department of Electrical Engineering

Texas A&M University
College Station, TX 77843-3 128
Tel.: (409) 862-3034
Fax: (409) 845-6259

Abstract - In this paper, a dq model based on transformation
theory for five phase induction machines is presented. A detailed
implementation of an indirect type five phay field orientation
control including the hysteresis type PWM current regulator is
described. A method for continuous and disturbance free
operation of a five phase field oriented controlled induction
motor drive with complete loss of one, two or even three legs of
the inverter or motor phases is described. A complete analysis
and computer simulation of this control technique is included.
I. INTRODUCTION
Recent advances in the development of large power
transistors have resulted in a new interest in variable speed
drives, particularly those associated with the use of a direct
voltage source. In these cases when the outputs are either a
controlled direct or variable frequency alternating current, use
of modern power transistors such as insulated gate bipolar
transistors (IGBTs) could be operationally superior to the
thyristors, because of the ease with which they can be turned
off.
High phase number drives posses several advantages over
conventional three phase drives such as: reducing the
amplitude and increasing the frequency of torque pulsations,
reducing the rotor harmonic currents, reducing the current per
phase without increasing the voltage per phase, lowering the
dc link current harmonics and higher reliability [l-91. By
increasing the number of phases it is also possible to increase
the torque per rms ampere for the same volume machine [ 10-
131. When a voltage source inverter is used to supply a
motor, its stator harmonic current amplitudes are determined
not only by the source amplitude and waveform, but also by
the motor leakage inductances at harmonic frequencies.
These inductances are a function of the number of phases and
can be quite small so that certain harmonic currents have
large amplitudes as mentioned by Ward and Harer [ 11, Abbas
et al. [4], and Klingshirn [5,6]. However, Pavithran et al. [9]
have shown that the five phase drive operates satisfactorily
when fed from a pulse width modulation (PWM) inverter.
The high phase order drive is likely to remain limited to
specialized applications where high reliability is demanded
such as electrichybrid vehicles, aerospace applications or
high power applications where a combination of several solid
states devices form one leg of the drive. Therefore, the
requirement of n separate drive units in a multi phase system
is not oppressive for large drives since many of the necessary
components are presented in the contemporary designs.
In this paper, a five phase hysteresis current regulated
PWM algorithm is developed. The necessary differential
equations describing the performance of five phase induction
machines in dq120 frame of reference based on
transformation theory are presented. A simple five phase
induction machine field oriented control is introduced, and a
detailed implementation of an indirect type five phase field
orientation control including the hysteresis type of PWM
current regulator is illustrated. The control strategies which
are capable of continuous, disturbance free operation of a five
phase field oriented drive under three specific faults due to
loss of one, two, or even three motor windings or
semiconductor failures are developed. Finally, digital
computer simulation results are provided to substantiate the
proposed method.
II. FIVE PHASE VOLTAGE SOURCE INVERTERS
In a five phase motor, the five stator phases are distributed
with a spacing of 72 degree. Figure 1 illustrates the basic
power circuit topology of five phase voltage source inverters
(VSI). The figure is presented with IGBTs illustrated as the
main power switches. The anti parallel diodes in the five
phase VSI provide reverse current paths such that, when a
particular IGBT is gated on, one output terminal and one
input terminal will be connected. As a result, if 180 degree
gating signals are used, a unique relation between input and
output voltage exists. The input current Ii must be capable of
reversal, therefore an input filter capacitor has been placed at
the front end of the inverter. T h e basic operating principles
of five phase VSI is developed assuming ideal commutation
and zero device forward drop. Basically two types of five
phase voltage source inverters can be assumed. Namely, the
Ten Step VSI and the pulse width modulated VSI.
In the ten step VSI the gating signals and commutation
circuits result in 180 degree conduction for each IGBT's with
five IGBTs "on" at all times. The pole voltages are illustrated
in Figure 2. The full cycle can be divided into ten separate
modes as illustrated in Figure 3. In each mode, all line

0-7803-3044-7196$5.00 0 1996 IEEE 586

voltages are uniquely related to the inverter input voltages.
Also there is always three output line to line short circuit and
possible short circuit currents in the resulting closed loops.
Since the inverter input variables are isolated from these
loops, the short circuit current is determined entirely by the
load on the inverter. By varying the initiation and length of The dq model for a five phase PWM system is obtained
the individual conduction modes, the frequency and phase of similarly by applying the transformation (A- 14) to the inverter
the output waves are easily controlled. Amplitude controlled output voltages on a mode by mode basis noting that in this
is accomplished by varying the amplitude of the input dc case, thirty two modes exist.
voltage using a control front end converter. Another method
is to employ pulse width modulation of the inverter power
switches. The dq model for a five phase VSI is realized by sv:F---,
applying the transformation (A- 14) to the inverter output
voltages on a mode by mode basis noting that ten modes
exist.

Figure 2 Pole voltage waveformsfor ten step operation of the five phase
bridge inverter.

Figure I Power circuit configuration ofjive phase VSI.

PWM operation makes possible the implementation of

very fast current control which is essential to high
performance drives. PWM operation of a five phase VSI has
several modes including modes which all five phases are
connected together through positive or negative dc bus to
yield a five phase line to line short circuit on the load. By
-4 u u

varying the initiation and length of the individual conduction

Figure 3 Conduction modes and output voltage waveforms in a ten step
modes, the frequency and amplitude of the output waves are VSI.
easily controlled.
The induction motor is a non linear multi-variable system 111. HYSTERESIS CONTROLLER
which may interact with the source impedances when is Generally two types of hysteresis controllers exist [ 151.
supplied by the converter. The analytical study of such The first type uses five independent controllers, one for each
system is difficult and therefore digital computer simulations phase. When the line current becomes greater (less) than the
become favorable. In case of PWM operation, there are two current reference by the hysteresis band, the inverter leg is
zero voltage states associated with having all five of the switched in the negative (positive) direction. However, in a
positive switches on or all of five of the negative switches on system with no neutral connection the current in one phase
plus thirty more other modes of switching. Therefore, there can be determined by the current in the other four phases
are thirty two states in the five phase PWM. The existing therefore one current control may be removed. Therefore, the
modes are: other type utilizes only four independent hysteresis controllers
'B C, D-,E+) Vz(A+, B', C-, D-,E-) V3(A*, ,'B C', D-,E-)
Vi(A', ,
V4(A-, 6'. C'. D-.E) Vs(A., B', C', D+, E-) V6(A-, B', C+,D , E-)
' with removing the switches in the fifth leg for lower inverter
V7(A-, B.,C', D'
, E'
) Vg(A-, B', C-, ,
'
D )'E V9(A', B-.'2, D '
, )'E switching frequencies and using the divided dc bus topology.
Vlo(A', B-,C-, D-,)
'
E Vii(A*. B-,C-, D', E-) Vlz(A*. 8 . C', D-,
' )
'
E Notice that when an inverter leg switches state, the
VI~(A',B*,C-, D-, E) V14(A*. B*,C', D '
, E-) V I ~ A ' B,', C', D-, E) resulting voltage vector is dependent on the state of the other
Vi6(A.. .
'B C', D'
, E') Vi7(A.. B', C-, D', E-) Vls(A'. B', C*, , '
D E')

587
four inverter legs. For example, if phase a switches from high 5
MMF, =- N, I,, COS(^^ - 9)
to low, the following inverter voltage vectors can result: 4 (5)
Also, using the operator "a" which is defined to be
2x
i-
a=e 5
the total MMF can be written as
1
MMF - - N,[(i, + a4ibs + a3i,, + a 2 i b + aies)ej@
,-4 (6)
+(im +a& + a2i,, + a3ih + a4i,,)e-J@1
For balanced five phase operation, equations (4) and (6)yield
h 2e j u = i, + sib, + a2i,, + a 3 i h + a4ieS (7)
For example if phase "a" is open circuited due to device
failures or machine windings, a rotating forward field is still
possible to be achieved by setting i, equal to zero or

h 2
e j o t =ai;, + a2iLs + a 3 i +~ a4iks (8)
It is important to mention that if the load has no neutral The real and imaginary parts of equation (8) are
connection, then the individual line current will depend not 2x .' * 4n
&
2
c o s o t = cos-(ib,
5
+ i,,) + cos-(^,, + id,)
5
.a 9

(9)
only on the state of the corresponding inverter leg, but also on
the state of the other four inverter legs. As a result the 2x .* 4 x .'
- ies) + sin-(i,,
a
*sincot = sin-(ib, - ids) (10)
hysteresis current controller might experience interaction 2 5 5
between the phases. Clearly there are infinite solutions to the above system of
algebraic equations. To find a solution for the above
IV. ANALYSIS METHOD UNDER ASYMMETRICAL problem, it is possible to use non linear optimization. The
CONNECTIONS objective function in this case might be the stator copper
In order to illustrate the concept for control during a losses which need to be minimized. It is also possible to find
single phase, two phase, or three phase open circuit, consider a solution by assuming that each winding has the same current
the currents feeding the induction motor are regulated to be magnitude, so that
five phase balanced positive sequence sinusoidal currents, i.e. I& = - ids ics = -ies
2x (1 1)
i,, = I,, coswt ib, =I,, cos(wt --) which enforce that the currents in the remaining phases are to
5
4x 4x be
i,, = I, cos(ot --) i~=I,,cos(Ot+-)
5 5
2x
i,, = I,, cos(wt +-)
5 (1)
Assuming sinusoidal distributions for stator windings, the
stator phases MMFs are as following:
Ns ' 2%
MMF,, =-%,,cos4
2 M M % , . = ~ I b s W $--I 5 If phase "a" and "b" are open circuited, then the real and
imaginary parts of (7) plus the reasonable assumption that no
4x 4a
MMF,, = s i c s cos(@ - -) ~ s i & cos(@ + -1
MMF= neutral connection is required
2 5 2 5 " " "
2x i, + = 0
ids + i, (13)
MMF,, = s2i , , cos(+ - -)5 (2) result in three equations and three unknowns. In this case
where N, is the effective number of stator turns per phase and there exists a unique solution given by
I$ is the spatial angle. The resultant rotating MMF generated 51, cosz 2a .: 51 ,
(cos-)a 2 4x
by the stator currents is the sum of the MMFs caused by each ICs = cos(ot--) Ids = cos(ot+---)
2(sin-)2x 2 5 (sin-)2 a 2 5
of the five phases. 5 5
MMF, = MMF,, + M M h , + MMF,, + MMFd, + MMF,, (3) 51, cos2
In case that the five phase currents form a balanced, 'es = COS(0t)
positively rotating set, under normal balanced operation, the 2(sin -)2a 2
5
total MMF is given by
In the case that phases "a","b" and "c" are open circuited,
MMF, = -5 N, jot e-j@ +e-jm J@] a neutral line connected between the motor neutral and the dc
8 (4)
which represents the following forward rotating MMF. mid-point is required so that the current in the remaining two

588
phases can be individually controlled. The unique remaining phases open circuit operation can be derived. For the circuit
two phases currents, “d” and “e” should be regulated as shown in Figure 4 and for the opening of phase “a” using
following equations (15-16) the following equations can be obtained for
the d l , d2 stator variables and the newly defined stator
variable v&12.
with the neutral current being v-sin-+4x v,sin-
3% 5 (18-20)
51, cos-
2x
in, = l o cos(0t - -) - vcs sin-2x + v, sin-
2n
- ves sin-
sin-2n 5 5 5
5
vqsl
, =-(cos--
, - vqs2 2 2x 4n
mS--)(vb, - vcs - v& + ves) = vs)s12
V. FIVE PHASE INDUCTION MACHINE EQUATIONS 5 5 5
The equation relating stator a, b, c, d, e variables to stator Incorporating the current constraint
q l , d l , q2, d2, 0 variables in the stationary reference frame i,, = i& + i& =o
can be expressed by setting 0 = 0 in equation (A-14) and (A- which yields
15). The superscript s denotes the stationary reference frame.
dk&2
~ $ 1 2= 2r& +- (21)
[Csl f&l Cs2 f&2 f&]t =T(o)[fas fbs fds (16) dt
with the flux linkages qSl2
as given by
For fault tolerant drives hardware and software must be
developed to perform the task of fault detection, fault h\,lz = 2Lt,i&I + L,(i;,l + L,(i& + i&) (22)
diagnosis, remedial action selection, and finally In the case of phase “a” open circuited, equations (20, B-
implementation. To prevent the event of secondary failure it 2, B-4, B-6, B-7) can be used to simulate the performance of
is important to act in this sequence in the minimum possible five phase induction machines. Table 1 defines the machine
time after the Occurrence of the fault. This controller should terminal voltages with phase “a” open circuited. Vk is the dc
have the ability not only to detect the open circuit but also to bus voltage.
identify the different phases so that the appropriate control
scheme can be selected.
When phase “a” is open, phases b,c,d,e current commands
are obtained from the q l , d l , q2, d2 to a, b, c, d, e axis
transformation. Notice for a system without a neutral
connection the zero sequence current (0) is zero. Therefore,
the current commands should be:

Figure 4 Stator circuit with provisions for switching.

In the case that phase “a” and “b” are open circuited the
current constraints are
i, = ib, = in, = 0 (23)
Since current in phase b is zero, then
e* e*
where iqsl and i,, correspond to torque and flux commands
for the five phase field oriented induction machine
respectively. The simulation of one phase open circuited For the circuit shown in Figure 4, using equations ( 13-14)
condition for three phase induction machines has already been the following equations can be obtained for the newly defined
presented in [ 141. In the current analysis, the same approach stator variable v & , ~ ,v;, for the opennig of phase “a” and
has been generalized to five phase induction machines with “W.
one, two, or three phases open circuited. In this method the v&l
4n
- v&2 + 2sin-v&l = -.7236vc,-.1708v~+.8944v,, =
zero currents in the open phases are assumed as a constraint. 5
Substituting this constraint into machine equations, a second
set of dynamic equations dedicated to one, two, or three
 one, two, or even three phases open circuited. For example it
is shown that if phase e alone or phase d and phase e together
or phase c, d , and e are open circuited due to device failures
or machine windings, a rotating forward field is still possible
to be achieved if the currents in the remaining phases are
regulated properly.
A comprehensive digital computer implementation of five
phase indirect type vector controlled drive is presented. The
induction machine is equipped with a current regulated PWM
converter. It is shown that even with loss of phase d and e
smooth operation of the drive under load is possible.
0

N I
0
m
3 1 I I
0
0
I I I I I

m
m
r_.
0
01 I I I I I
cu
0

14 v d c , vc,=ve,=.5vdc
U

15
B-,C+,D-,E+
B+,C+,D+,E+
vbs'vds'-.5
vbs=vcs=vds=ves'o
-
m
0

w
I I I I 1
16 B-,C-,D-,E- vbs=vcs=vds=v,'o 0

I I 1 I
0

VII. DIGITAL COMPUTER SIMULATION

Figure 5 shows the waveforms of a 2 kW [I], five phase
induction machine driven by the current regulated PWM
-
hi
0

CY0
I
I
I
I
l
I
l
I
1
inverter with slip frequency control type field oriented
controller. The induction motor is accelerated from zero
speed to full speed under load and constant flux command.
Later, the current in phase d and e is assumed to suddenly Figure 5 Digital computer wavefonns of jive phase induction motor from
drop to zero while the remaining three phases are regulated to rest using M indirect vector control. Stator phase currents a, b,
the new magnitude and phase angles which are required to c, and electromagnetic torque and speed after phase a and b are
maintain the MMF unaffected. It can be noted that the open circuited.
electromagnetic torque is almost unaffected.
APPENDIX A
VIII. CONCLUSIONS FIVE PHASE INDUCTION MACHINES DYNAMIC
In this paper the advantages of higher phase number EQUATIONS
drives have been reviewed. The necessary differential In deriving the five phase induction machine model it is
equations describing the performance of five phase induction assumed that the machine windings are sinusoidally
machines are presented. It is shown that five phase current distributed and the flux path is linear. Under these
regulated PWM inverter assume thirty two states of assumptions the voltage equations for the stator phases in the
switching. Among several benefits in using five phase natural coordinate of systems are
induction machine is its capability to start and run even with dh
V, = R,I, + A
dt

590
where stator flux linkages are given by
As = LssIss + Lsr4
and
I, =[i= ibs ics ids ies]
(A-3)

R s = rsI N 2x
Laser = Lbsa = Lcsbr = L&cr = Le& = L, CoS(8, -7) (A-12)
where. I is a 5 bv 5 identitv matrix and r. is the resistance of NS

Lads Lacs

[" l2
Laas Labs
Labs Lbbs Lbcs Lbds Lbes Labr = L b = L& = L&r. = Laer =cos(-) L,
5 Ns
2n
Lss= Lacs Lbcs Lc, Lcds L,
(A-6)
Lads Lbds Lcds Ldds Ldes 4n N
L~~ = LM = L, = L ~ &= ~h~
=cos(-) x L, (A- 13)
Lbes Lees Ldes Lees- 5 [Ns12

Lasar Lash Lascr Lash Laser

Lbsar Lbsbr Lbsa Lbsdr Lbser

:1
4n
Lsr= Lcm Lcsb Lcscr Lc~dr Lcser (A-7)
2x
sine sin@--) 5 sin@--) 5 sin(€)+ 54%-' sin@+-)2n5
Ldsar Ldsbr Ldsa Ldser
-4m 4 s b r Lesa Le& Leser
T(8) = mse ms(e + -)5
4R
cos(e
2x
- -)5
2x
ms(e + ?) ms(e -
4x
r)(A- 14)
4n 2x 2% 48
sine sin(€)+-)5 sin@--) 5 s i n ( e + T ) sin@---)
V, = RrIr +-d 4 -1 -1 -1 -1 -1
dt
2 2 2 2 2 -
where,
The transformation of variables for the stator variables is
vr=[var vbr va vdr ver] given by
In case of a cage rotor V, =O. The mamx R, is a diagonal 5
[fqsl fdsl fqs2 fds2 fos] =T(e) fbs fds fes] (A-15)
by 5 matrix given by,
R, = rrI
The rotor flux linkages A, can be written as, where fs variables denote v's, i's, or 2 s . The corresponding
transformation of variables for the rotor variables is
Ar = LtSrIs + L,I, (A-9)
where the matrix is the transpose of the matrix Lsr and the
rotor inductance matrix L, is given by equation (7), however, [fqrl fdrl fqr2 fdr2 t=T(e-%)[far fbr f& fer] (A-16)
simply the subscript s is replaced by r. where 8, is the rotor angular position. Application of
The magnetizing inductance of each phase is given by equations (A-15) and (A-16) to machine equations results in
the following five phase induction machine equations in the
arbitrary rotating reference frame.
(A- 10)
where Ns is the effective nUmber Of Stator tUrnS per phase, g The five phase induction machines equations in the
is the air gap, r is the average value of the stator inner and arbitrary rotating reference frame are as following:
rotor outer radius, and I is the length of the coil. The
elements of matrix Lss are as follows Stator ql-axis voltage and flux linkages equations
,L = Lbbs = Lees = Ld& = = Les +,L vqsi = rsiqsl + % + d d s l = Lesiqsi + Lm(iqsl+ iqrl) (A- 17)

59 1
Stator q2-axis voltage and flux linkages equations
(B-4)
(A- 19) where T: and k z I are the commanded values of torque and
Stator d2-axis voltage and flux linkages equations rotor flux. The stator frequency command can be obtained
(A-20) from the following equation
~~

Stator zero axis voltage and flux equations * *

=or+so,
vos = rsios +-dhos
0,
dt Los = Ltsios (A-21)
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ie* 4 L, T;
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, gl (B-3)

592