Steady State Modeling of Series-Connected Five-
Phase and Six-Phase Two-Motor Drives
Emil Levi Martin Jones Slobodan N. Vukosavic
School of Engineering School of Engineering
Liverpool John Moores University Liverpool John Moores University
Liverpool L3 3AF, UK Liverpool L3 3AF, UK
e.levi@ljmu.ac.u m.jones2@ljmu.ac.uk boban@ieee.org
Abstract—Two series-connected two-motor drive systems
with a single inverter supply have been proposed recently. The
first one consists of two five-phase machines supplied from a
single five-phase inverter, while the second one comprises one
symmetrical six-phase machine, a three-phase machine and a
single six-phase inverter. It has been verified experimentally that,
by introducing an appropriate phase transposition in the series
connection, completely independent dynamic control of the two
machines can be realized using principles of vector control.
Detailed dynamic models in the stationary common reference
frame have also been reported for these two drive systems. These
dynamic models are taken here as the starting point and
equivalent circuit representation of the series-connected two-
motor drive systems is developed. It is shown that, due to
orthogonal relationship of the two planes that are used for
independent control of the two machines, phasor approach can
be applied at each of the two fundamental frequencies used to
control the two machines. This significantly facilitates analysis of
the steady state drive behavior and provides analytical tools
necessary for the inverter design. Dc link voltage required for
operation of the two series-connected machines is further
investigated. It is shown that the specific winding connection
leads to a dc voltage requirement that is smaller than it would
have been had the windings of the two machines been connected
directly in series. Theoretical considerations are verified by
experiments on the series-connected five-phase two-motor drive.
Keywords—multi-motor drives, multi-phase machines, five-
phase, six-phase, vector control.
I. INTRODUCTION
Since standard vector control of any ac machine, regardless
of the number of phases, requires only two currents for flux
and torque control, multi-phase machines (n ≥ 5) possess
additional degrees of freedom. These additional degrees of
freedom are traditionally utilized either to enhance the torque
production through injection of higher order stator current
harmonics [1] or to significantly improve the fault tolerance
and allow the drive to operate normally with a loss of one or
more phases [2,3]. Fault tolerance is of major importance in
applications such as ‘more-electric aircraft’ [4] and railway
traction [5].
A different purpose for the remaining degrees of freedom is
to use them to control other machines within a multi-motor
group, by applying principles of vector control. This
415
1-4244-0365-0/06/$20.00 (c) 2006 IEEE
Hamid A. Toliyat
Dept. of Electrical Engineering
Texas A&M University
College Station, Texas 77843-3128, USA
toliyat@ee.tamu.edu
constitutes the main idea behind the concept of series-
connected multi-phase multi-motor drive systems that is
applicable to any supply phase number n ≥ 5. Analyses for all
possible even and odd phase numbers have been reported in
[6],[7], respectively, where appropriate winding connections
and the number of connectable machines as a function of the
VSI phase number were investigated. Studies of [6],[7] apply
to series connection of symmetrical multi-phase machines
(with spatial displacement between any two consecutive
phases of 2π/n). However, the concept of series connection
can be extended to asymmetrical machines as well, where
stator winding consists of two or more three-phase windings
shifted in space by an appropriate angle [8],[9].
The theoretical and simulation considerations of [6]-[8]
have been confirmed experimentally at first for two-motor six-
phase drives. An asymmetrical six-phase drive (consisting of
two asymmetrical six-phase induction machines) was tested in
[8]. A symmetrical six-phase two-motor drive, comprising a
six-phase and a three-phase induction machine, has been
examined in detail experimentally in [9],[10]. Excellent
decoupling of dynamics has been demonstrated. A two-motor
five-phase drive, comprising two five-phase induction
machines, has been tested experimentally in [11] and, once
more, it has been demonstrated that the control of the two
machines is indeed independent.
On the basis of investigations reported in [6],[7] it was
established that the best prospect for real-world industrial
applications lie with two-motor five-phase and symmetrical
six-phase drives. Potential industrial applications are
addressed in [10],[11]. Detailed dynamic modeling of these
two two-motor drive systems, using general theory of
electrical machines, has been reported in [10] for the
symmetrical six-phase drive and in [12] for the corresponding
five-phase two-motor drive. While the developed dynamic
axis models clearly confirm the existence of the means for
independent control of the two machines, they are insufficient
for analysis of the drive steady state behavior and for inverter
design. The purpose of this paper is therefore to develop
appropriate tools for analytical investigations of the steady
state operation of the two-motor drive systems. Using dynamic
axis models of the drive systems [10],[12] as the starting
point, equivalent circuit representation is developed for steady
state analyses. It is shown that, due to orthogonal relationship
of the two planes that are used for independent control of the
two machines, phasor approach can be applied at each of the Source Machine 1 Machine 2
two fundamental frequencies used to control the two machines
in both five-phase and six-phase configurations. This enables a1 a2
examination of the maximum line-to-line voltage that can take A
b1 b2
place in the two-motor drives. It is shown that due to the B
specific method of series connection this maximum line-to- c1 c2
C
line voltage is less than it would have been had the machines
been connected directly in series (i.e. without phase d1 d2
D
transposition). Theoretical considerations are experimentally e1 e2
E
verified, using steady state measurements and spectrum
analysis, on the five-phase two-motor drive system.
Fig. 1. Series connection of two five-phase machines.
II. TWO-MOTOR DRIVE SYSTEMS
Machine 1: Machine 2:
Connection diagrams of stator windings of the five-phase Six-phase VSI Six-phase IM Three-phase IM
and six-phase two-motor drive systems are shown in Fig. 1
and Fig. 2, respectively [6],[7],[9]-[12]. Stator windings of the a1 a2
A
two machines are connected in series, in such a way that b1
flux/torque producing currents of one machine appear as non- B
flux/torque producing currents in the other machine, and vice C
c1 b2
versa [6],[7],[9]-[12]. It is assumed that the spatial flux d1
distribution in both machines is perfectly sinusoidal and in D

each of the two cases both machines are taken as induction e1 c2

E
motors. The supply is a five-phase (respectively six-phase) f1
F
VSI, whose outputs are identified with capital letters A, B, C,
D, E, (F), while lower case letters a, b, c, d, e, (f) identify
Figure 2. A six-phase series-connected two-motor drive system.
phases of the two machines according to the spatial
distribution of the stator windings (spatial displacement
diαINV
between any two consecutive phases is α1 = 2π/5 = 72° in
five-phase machines and α2 = 2π/6 = 60° in the six-phase
0 = Rr1iαr1 + Lm1
dt
di
(
+ Lr1 αr1 + ω1 Lm1i βINV + Lr1i βr1
dt
)
machine). INV
(2)

III. SUMMARY OF DYNAMIC MODELS

0 = Rr1i βr1 + Lm1
diβ
dt
+ Lr1
di βr1
dt
(
− ω1 Lm1iαINV + Lr1iαr1 )
As already noted, dynamic axis models for the drive
structures of Figs. 1 and 2 have been developed in [12] and 0 = Rr 2 iαr 2 + Lm 2
di xINV
dt
di
(
+ Lr 2 αr 2 + ω 2 Lm 2 i yINV + Lr 2iβ r 2
dt
)
[10], respectively, using transformations of the general theory (3)
di yINV
of electrical machines. Transformations were applied using
power-invariant form of the transformation matrices. The axis 0 = Rr 2 iβr 2 + Lm 2
dt
+ Lr 2
di βr 2
dt
(
INV
− ω 2 Lm 2 i x + Lr 2iαr 2 )
components in the stationary common reference frame are
Here L m , L s , Lr denote magnetizing inductance, stator self-
identified with symbols α, β, x, y, 0 for the five-phase drive
(α, β, x, y, 0+, 0− for the six-phase drive). Indices 1 and 2 inductance and rotor self-inductance, respectively, while index
identify the two induction machines according to the l identifies leakage inductances.
connection diagrams of Figs. 1 and 2, while superscript INV The corresponding dynamic model of the six-phase two-
applies to axis components of inverter phase voltages and motor drive of Fig. 2 is given with the following set of
currents. Indices s and r identify stator and rotor, respectively. equations in the stationary reference frame [10]:
In the five-phase two-motor drive zero sequence component
can be omitted from consideration due to star connection with vαINV = Rs1iαINV + Ls1 diαINV dt + Lm1 diαr1 dt
isolated neutral point. The inverter dynamic axis equations can v βINV = Rs1iβINV + Ls1 di βINV dt + Lm1 diβr1 dt
be given with [12]
diαINV di di INV v xINV = Rs1i xINV + Lls1 di xINV dt +
vαINV = Rs1iαINV + Ls1
dt
+ Lm1 αr1 + Rs 2iαINV + Lls 2 α
dt dt {
2 Rs 2 2i xINV + Ls 2 d 2i xINV dt + Lm 2 diαr 2 dt }
INV INV
diβ diβr1 diβ v yINV = Rs1i yINV + Lls1 di yINV dt + (4)
v βINV = Rs1iβINV + Ls1 + Lm1 + Rs 2iβINV + Lls 2
dt
di xINV
dt
di INV
dt (1)
diαr 2
{
2 Rs 2 2i yINV + Ls 2 d 2i yINV dt + Lm 2 di βr 2 dt }
v xINV = Rs1i xINV + Lls1 + Rs 2i xINV + Ls 2 x + Lm 2
dt dt dt v0INV INV INV
+ = Rs1i0 + + Lls1 di0 + dt +

v INV
y = Rs1i yINV + Lls1
di yINV
+ Rs 2i yINV + Ls 2
di INV
y
+ Lm 2
diβr 2 {
2 Rs 2 2i0INV INV
+ + Lls 2 d 2i0 + dt }
dt dt dt v0INV INV INV
Corresponding rotor equations are − = Rs1i0 − + Lls1 di0 − dt

416
 Space vector models (8)-(10) and (11)-(13) represent the
0 = Rr1iαr1 + Lm1
diαINV
dt
di
(
+ Lr1 αr1 + ω1 Lm1i βINV + Lr1i βr1
dt
) starting point for subsequent derivation of the steady state
(5) models, which will lead to equivalent circuit representation.
di βINV
0 = Rr1i βr1 + Lm1
dt
+ Lr1
diβr1
dt
(
− ω1 Lm1iα INV
+ Lr1iαr1 ) IV. STEADY STATE MODELING
It is further assumed that the inverters are ideal and
generate only voltages of required two fundamental
0 = Rr 2iαr 2 + 2 Lm 2
di xINV
dt
+ Lr 2
diαr 2
dt
(
+ ω 2 Lm 2 2i yINV + Lr 2iβ r 2 ) frequencies, required for flux/torque production in the two
(6) machines. Due to the decoupling that exists in models (8)-(10)
di yINV
0 = Rr 2iβr 2 + 2 Lm 2
dt
+ Lr 2
di βr 2
dt
( INV
− ω 2 Lm 2 2i x + Lr 2iαr 2 ) and (11)-(13) between the α−β and x−y planes, it is possible to
consider them separately. In particular, the inverter α−β
Positive (0+) sequence in (4) cannot be excited due to the star equation and equation of the machine 1 (M1) rotor are
connection with isolated neutral. On the other hand, negative characterized in any steady state operation with angular
(0−) sequence current in (4) can flow if the inverter generates frequency ωe1, determined with the frequency f1 of M1
harmonics of the order divisible by three. It is however flux/torque producing currents, while the inverter x−y equation
assumed further on that the inverter PWM control is and equation of the rotor of machine 2 (M2) are characterized
sufficiently good so that 0− voltage harmonics are not with the angular frequency ωe2, determined with the frequency
generated. Both zero-sequence component equation of (4) can f2 of M2 flux/torque producing currents (under vector control
then be omitted from further considerations. conditions these two angular frequencies are the angular speeds
Factor 2 in (4)-(6) is the consequence of the series of rotation of the rotor flux space vectors of the two machines).
connection of two machines with a different phase number and This is so since the flux/torque producing currents of M1
the applied power-invariant transformation. Two models, (respectively M2) determine the inverter α−β (respectively
given with (1)-(3) and (4)-(6), respectively, show that the rotor x−y) current components. Since the models (8)-(10) and (11)-
of machine 1 couples with inverter α−β current components, (13) are formulated in the stationary reference frame, steady
while rotor of machine 2 couples with inverter x−y current state models are obtained by replacing time derivatives d/dt
components. Since these two sub-spaces (planes) are mutually with appropriate terms jωe1 and jωe2. By setting d/dt in the first
perpendicular in the four-dimensional space, the two machines of (8) and in (9) to jωe1 and d/dt in the second of (8) and (10) to
can be controlled independently [10], [12]. Flux/torque jωe2 one obtains steady state space vector equations for the
producing currents of machine 1 appear as inverter α−β axis five-phase two-motor drive in the form (steady state values of
current, while flux/torque producing currents of machine 2 space vectors are denoted with capital letters):
appear as inverter x−y current components [10], [12]. INV
V αβ INV
= ( Rs1 + R s 2 ) I αβ INV
+ ( Ls1 + Lls 2 ) jω e1 I αβ + jω e1 Lm1 I r1
In order to simplify subsequent writing of the models (1)- (14)
(3) and (4)-(6) and simultaneously formulate the equations in a V INV
xy = ( R s1 + R s2 ) I INV
xy + ( Ls2 + L ls1 ) j ω I
e 2 xy
INV
+ j ω L I
e 2 m2 r 2
form suitable for steady state model derivation, the following
space vectors are defined next:
( INV
0 = Rr1 I r1 + j (ω e1 − ω1 ) Lm1 I αβ + Lr1 I r1 ) (15)
INV
v αβ = vαINV + jvβINV INV
i αβ = iαINV + jiβINV (
0 = Rr 2 I r 2 + j (ω e 2 − ω 2 ) Lm 2 I INV
xy + Lr 2 I r 2
(16) )
INV INV Using the same procedure, six-phase two-motor drive
v xy = v xINV + jv INV
y i xy = i xINV + ji yINV (7) model (11)-(13) becomes in steady state
i r1 = iαr1 + jiβr1 i r 2 = iαr 2 + jiβr 2 INV
V αβ INV
= R s1 I αβ INV
+ jω e1 Ls1 I αβ + jω e1 Lm1 I r1
Using (7), model (1)-(3) can be written in compact space
vector form as V INV INV INV
xy = R s1 I xy + jω e 2 Lls1 I xy +
(17)
INV
v αβ INV
= ( Rs1 + Rs 2 )i αβ INV
+ ( Ls1 + Lls 2 ) d i αβ dt + Lm1 d i r1 dt
(8)
{
2 R s 2 2 I INV INV
xy + jω e 2 Ls 2 2 I xy + jω e 2 Lm 2 I r 2 }
v INV INV INV
xy = ( Rs1 + Rs 2 )i xy + ( Ls 2 + Lls1 ) d i xy dt + Lm 2 d i r 2 dt ( INV
0 = Rr1 I r1 + j (ω e1 − ω1 ) Lm1 I αβ + Lr1 I r1 ) (18)
INV
0 = R r1 i r1 + L m1 d i αβ ( INV
dt + Lr1 d i r1 dt − jω1 L m1 i αβ + L r1 i r1 ) (9) (
0 = Rr 2 I r 2 + j (ω e 2 − ω 2 ) Lm 2 2 I INV
xy + Lr 2 I r 2 ) (19)
dt − jω (L )
INV INV
0 = Rr 2 i r 2 + Lm2 d i xy dt + Lr 2 d i r 2 2 m 2 i xy + Lr 2 i r 2 (10) Transition from the space vector model (14)-(16) to
Similarly, the six-phase drive model (4)-(6) becomes equivalent circuit representation using phasors is
straightforward for the five-phase two-motor drive. It is only
INV INV INV
v αβ = Rs1 i αβ + Ls1 d i αβ dt + Lm1 d i r1 dt necessary to introduce the slips of the two machines s1 and s2,
INV INV INV and to observe that the space-vector model has been obtained
v xy = Rs1 i xy + Lls1 d i xy dt + (11) using power-invariant transformation, while phasor equivalent
{ INV
2 R s 2 2 i xy + Ls 2 d 2 i xy
INV
dt + Lm 2 d i r 2 dt } circuits are valid on the per-phase basis. Since all the α−β
variables of (14)-(16) are at frequency f1, corresponding
INV
0 = R r1 i r1 + L m1 d i αβ ( INV
dt + Lr1 d i r1 dt − jω1 L m1 i αβ + L r1 i r1 (12) ) phasors are identified by index f1; similarly x−y variables in
(14)-(16) are at frequency f2, so that the corresponding phasors
0 = Rr 2 i r 2 + 2 Lm2 d i xy
INV
( INV
dt + Lr 2 d i r 2 dt − jω 2 Lm 2 2 i xy + Lr 2 i r 2 ) are identified by index f2. Model (14)-(16) in phasor form is
(13) V f 1 = ( Rs1 + Rs 2 ) I f 1 + ( Ls1 + Lls 2 ) jωe1 I f 1 + jωe1Lm1 I r1 (20a)

417
V f2 = ( Rs1 + Rs 2 ) I f 2 + ( Ls 2 + Lls1 ) jωe 2 I f 2 + jωe2 Lm 2 I r 2 (20b) 0 = ( R r 2 / s 2 ) I r 2 + jω e 2 L m 2 I ( f2 + Lr 2 I r 2 ) (27)
0 = ( Rr1 / s1 ) I r1 + jω e1 Lm1 I ( f1 + Lr1 I r1 ) (21) where voltage and current at frequency f2 are per-phase values
of the three-phase machine. Using impedances defined in (23)
0 = ( R r 2 / s 2 ) I r 2 + jω e 2 L m 2 I ( (22) f2 + Lr 2 I r 2 ) one now has
1
Equations (20)-(22) enable equivalent circuit representation V f1 = Z IM
f1 I f1
shown in Fig. 3 (note that in symbols for rotor currents no (28)
2 1
distinction has been made between phasors and space vectors, V f2 = ( Z IM
f2 + 0.5Z IM
f 2 )I f2
for simplicity). By defining impedances of the two machines Corresponding equivalent circuit representation is shown in
at each of the two frequencies as Fig. 4.
jωe1Lm1 (Rr1 s1 + jω e1 Llr1 ) Steady state phasor equivalent circuits, developed in this
Z IM 1
f 1 = Rs1 + jω e1 Lls1 + section and illustrated in Figs. 3 and 4 for the two considered
Rr1 s1 + jωe1 (Llr1 + Lm1 ) two-motor drive systems, show that the analysis of the steady
Z IM 1 state characteristics can be done in very much the same way as
f 2 = Rs1 + jω e 2 Lls1
(23) the case is with single three-phase or multi-phase induction
Z IM 2
f 1 = R s 2 + jω e1 Lls 2
motor drives. However, since there are always two
fundamental frequencies and voltages at these frequencies
jωe 2 Lm 2 (Rr 2 s2 + jωe 2 Llr 2 )
Z IM 2
f 2 = R s 2 + jω e 2 Lls 2 +
stem from the inverter, it is obvious that the inverter operation
Rr 2 s2 + jωe 2 (Llr 2 + Lm 2 ) cannot be analyzed using phasors. Instead time-domain
terminal equations (20) can be written as representation has to be used. The equivalent circuit
V f1 = ( Z IM 1 IM 2
f 1 + Z f 1 )I f 1
representations of Figs. 3 and 4 represent the starting point for
(24) such studies, as illustrated in the next section.
V f2 = ( Z IM 2 IM 1
f 2 + Z f 2 )I f 2
The equivalent circuit representation of Fig. 3 and (24) show V. LINE-TO-LINE VOLTAGES OF TWO-MOTOR DRIVES
that at each of the two fundamental frequencies total The required dc link voltage for the VSI supplying two-
impedance consists of the normal ‘working’ impedance of one motor drives of Figs. 1 and 2 is ultimately determined with the
machine and stator leakage impedance of the other machine. required line-to-line voltages of the drives. Let the phase-to-
The same procedure enables equivalent circuit neutral voltage of one five-phase machine (respectively six-
representation of the six-phase two-motor drives using (17)- phase machine) be V (rms). There are two pairs of line-to-line
(19) as the starting point. There are however some important voltages in the five-phase system and the largest value of the
differences. First of all, the first of (17) does not contain line-to-line voltage is 1.902V. In the six-phase system there
impedance related to the three-phase machine. This is so since are three different line-to-line voltages, the largest having the
the flux/torque producing currents of the six-phase machine value of 2V. Had two five-phase machines been connected
cancel out at the points of connection with the three-phase directly in series, the line-to-line voltage would have been
machine (Fig. 2). Secondly, one half of the flux/torque increased to 2x1.902V = 3.804V. Similarly, had there been two
producing currents of the three-phase machine is passed six-phase machines connected directly in series, the maximum
through each of the six phases of the six-phase machine. line-to-line voltage would have been 4V. However, there is a
Hence the corresponding phasor equations of the six-phase phase transposition in the series connection of Fig. 1, while in
two-motor drive become the six-phase drive a six-phase machine is connected to a
V = Rs1 I + jω e1 Ls1 I + jω e1 Lm1 I r 1 three-phase machine using connection of Fig. 2. Hence the
f1 f1
f1
(25) question arises how much maximum line-to-line voltages can
V f2 = (0.5 Rs1 + Rs 2 ) I f2 + jω e 2 ( Ls 2 + 0.5Lls1 ) I f2 + jω e 2 Lm 2 I r 2

0 = ( R r1 / s1 ) I r1 + jω e1 Lm1 I ( f1 + Lr1 I r1 ) (26)

If1 Rs1 jωe1Lls1 jωe1Llr1

If1 Rs2 jω e1Lls2 Rs1 j ωe1Lls1 j ωe1Llr1 Ir1

IM1
(Zf1)
IM2
If1 Ir1 Vf1 = (Zf1) If1 jωe1Lm1 Rr1/s1
IM1
Vf1 (Zf1) If1 jω e1Lm1 Rr1/s1

If 2 0.5Rs1 j0.5ωe2Lls1 Rs2 j ωe2Lls2 jω e2Llr2

If2 Rs1 j ωe2Lls1 Rs2 j ωe2Lls2 jω e2Llr2

IM1
IM1 0.5(Zf2) If2 Ir2
(Zf2) If2 Ir2 IM2
IM2 V f2 (Zf 2) If2 jωe2Lm2 Rr2/s2
Vf2 (Zf2) If2 jωe2Lm2 Rr2/s2

Fig. 3. Steady state equivalent circuit representation of the five-phase two- Fig. 4. Steady state equivalent circuit representation of the six-phase two-
motor drive at two operating frequencies f1 and f2. motor drive at two operating frequencies f1 and f2.

418
be in these two systems. This is important for proper
dimensioning of the dc link voltage (or, the other way round,
given the dc link voltage, for proper design of voltage ratings
for the machines that are to be connected in series).
Equivalent circuits given in Figs. 3 and 4 constitute the
starting point of this analysis. However, rather than
performing numerical calculations for certain motors, the
worst-case scenario is considered in a general manner. Since
the machines are controlled using vector control principles
(dynamic V/f control), the worst-case situation arises if the
operating frequency of the two machines is the same and equal
to rated (it is in the following assumed that the two motors in
each configuration are of the same rated frequency and rated
phase-to-neutral voltage and that they operate under the same
conditions; this is far removed from the applications suggested
for these drive systems in [10] and [11] but is the only way to
analyze the drives in a general manner). The frequencies are
therefore taken as 50 Hz and the phase-to-neutral voltages at
the inputs of circuits in Figs. 3 and 4 are set to 1 per-unit (note
that this value includes additional x−y voltage drops).
Assuming that the source in Figs. 1 and 2 produces only these
required phase voltages, it is possible to determine line-to-line
voltages numerically, using connection diagrams. It turns out
that the rms line-to-line voltage values depend on the initial
phase displacement between the voltages of phase a of the two
machines. Results of calculations are shown in Figs. 5 and 6
for the five-phase and the six-phase drive systems,
respectively.
As can be seen from Fig. 5, maximum value of the line-to-
line voltage may appear between any of the two supply phases
and is always equal to 3.07768 per unit. This is considerably
less than the value 3.902 per unit, that would have resulted had
the machines been connected directly in series. The ratio is
78.9%. On the other hand, the phase voltage of 1 per unit,
used to produce Fig. 5, actually includes parasitic x−y voltage
drop, which is however estimated to be restricted always to no
more than 10%. Hence, if one needs a certain dc link voltage
V DC for a single-motor drive, the dc link voltage for the
series-connected two-motor drive would need to be at most
≈1.75 V DC (i.e. 0.789x1.1x2 V DC ) rather than 2 V DC .
It is important to emphasize that the case considered here
(two identical motors operating simultaneously at rated
3.5
Vae
Line-to-line voltages (p.u.)
3
2.5
Vab
2 examined, by performing a series of line-to-line voltage
1.5
Vac
1 spectrum analyzer. Since a five-phase system is characterized
Vad
0.5
0 30 60 90 120 150 180 210 240 270 300 330 360
Phase shift, phase 'a' voltages (deg.)
Fig. 5. Variation of the resultant line-to-line voltage rms values as function of
the phase displacement of the phase a voltages of the two machines: five-
phase two-motor drive.
419
3.5
Vac
Line-to-line voltages (p.u.)
3
Vab Vaf
2.5
2
Vad
1.5
1
Vae
0.5
0
0 30 60 90 120 150 180 210 240 270 300 330 360
Phase shift, phase 'a' voltages (deg.)
Fig. 6. Variation of the resultant line-to-line voltage rms values as function of
the phase displacement of the phase a voltages of the two machines: six-phase
two-motor drive.
frequency, rated loading condition) is very different from the
type of application described in [11] as a viable one for the
two-motor series-connected five-phase drive. As discussed in
[11], this drive system is well suited to two-motor winder
applications, where the requirement for the dc link voltage
would practically be the same as it is for a single five-phase
motor drive.
As far as the six-phase two-motor drive is considered (Fig.
6), maximum line-to-line voltage values appear between
inverter phases A and C, and A and E. The value is 3.4641 per
unit, i.e. 86.6% of the value that would have existed had two
six-phase motors been connected directly in series (4 per unit).
According to (25), additional voltage drop appears only at
operating frequency of the three-phase motor. Since the
perceived applications are related to a combination of a high-
power six-phase motor and low-power three-phase motor
[9],[10], this additional voltage drop is negligibly small.
Hence, if one needs a certain dc link voltage V DC for a single-
motor drive, the dc link voltage for the six-phase series-
connected two-motor drive would need to be again at most
≈1.75 V DC (i.e. 0.866x2x V DC ) rather than 2 V DC .
VI. EXPERIMENTAL INVESTIGATION
Developed steady state equivalent circuit representation of
two-motor drives has been verified on a five-phase two-motor
laboratory set-up, consisting of two identical four-pole 60 Hz
(1800 rpm synchronous speed) five-phase induction motors.
The machines are controlled using indirect rotor flux oriented
control and description of the equipment is given in [11]. In all
cases steady state operation under no-load conditions is
measurements. A voltage divider with a first order filter is
used for this purpose, in conjunction with an HP digital
with two sets of distinctive line-to-line voltages (termed
adjacent and non-adjacent further on), two line-to-line
voltages are measured. Measurements are at first done for a
single five-phase induction motor for two operating speeds,
800 rpm (Fig. 7) and 500 rpm (Fig. 8). Steady state waveforms
and corresponding spectra (rms) are illustrated in Figs. 7 and 8
for adjacent and non-adjacent line-to-line voltages.
 machine 2. In this test M1 runs at 800 rpm while M2 runs at
200
500 rpm. Inverter line-to-line voltages are shown in Fig. 9.
150 Fig. 10 depicts line-to-line voltages of M2. Hence spectra in
Induction mot or stator line voltage 'a-c' (V)
100 Fig. 10 directly show x−y components in M2 voltages due to
50
flow of flux/torque producing currents of machine 1.
150
0

-50
100

-100

Induction mot or stator line voltage 'a-c' (V)

50
-150

-200
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0. 4 0.45 0.5
Time (s)

-50

90

-100
80
Induction motor stator line voltage 'a-c' spectrum rms (V)

70
-150
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0. 4 0.45 0.5
Time (s)
60

50
70

40

60

Induction motor stator line voltage 'a-c' spectrum rms (V)

30

20 50

10
40

0
0 20 40 60 80 100 120 140 160 180 200
Frequency (Hz) 30

a. 20

150
10

100 0
0 20 40 60 80 100 120 140 160 180 200
Frequency (Hz)
Induction mot or stator line voltage 'a-e' (V)

a.
50

80
0

60

-50
Induction mot or stator line voltage 'a-e' (V)

40

-100
20

0
-150
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0. 4 0.45 0.5
Time (s)
-20

60 -40

-60
Induction motor stator line voltage 'a-e' spectrum rms (V)

50

-80
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0. 4 0.45 0.5
40 Time (s)

45
30

40
Induction motor stator line voltage 'a-e' spectrum rms (V)

20
35

30
10

25

0
0 20 40 60 80 100 120 140 160 180 200
20
Frequency (Hz)

b. 15

Fig. 7. Time-domain waveforms and spectra of non-adjacent (a.) and adjacent 10

(b.) line-to-line voltage of a single five-phase induction motor drive running at 5

800 rpm.
0
0 20 40 60 80 100 120 140 160 180 200

Next, two machines are connected in series according to

Frequency (Hz)

Fig. 1. Measurements are now done for adjacent (A-B) and b.

Fig. 8. Time-domain waveforms and spectra of non-adjacent (a.) and adjacent
non-adjacent (A-C) line-to-line voltages of the inverter and for (b.) line-to-line voltage of a single five-phase induction motor drive running at
the adjacent (a-e) and non-adjacent (a-c) voltages of induction 500 rpm.

420
 300 150

Inverter line voltage 'a-c' (V) 200 100

IM2 line voltage 'a-c' (V)

100 50

0 0

-100 -50

-200 -100

-300 -150
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s) Time (s)

70
100

90
60
Inverter line voltage 'a-c' spectrum rms (V)

IM2 line voltage 'a-c' spectrum rms (V)

80
50
70

60 40

50
30
40

30 20

20
10
10
0
0 0 20 40 60 80 100 120 140 160 180 200
0 20 40 60 80 100 120 140 160 180 200
Frequency (Hz)
Frequency (Hz)
a.
a.
100
300
80

200 60
Inverter line voltage 'a-b' (V)

40
IM2 line voltage 'a-e' (V)

100
20

0
0
-20

-100 -40

-60
-200
-80

-100
-300 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (s)
Time (s)

70 45

40
60
Inverter line voltage 'a-b' spectrum rms (V)

IM2 line voltage 'a-e' spectrum rms (V)

35
50
30

40 25

20
30

15
20
10

10
5

0 0
0 20 40 60 80 100 120 140 160 180 200 0 20 40 60 80 100 120 140 160 180 200
Frequency (Hz) Frequency (Hz)

b. b.
Fig. 9. Time-domain waveforms and spectra of non-adjacent (a.) and adjacent Fig. 10. Time-domain waveforms and spectra of non-adjacent (a.) and
(b.) line-to-line voltage of the inverter in the series-connected two-motor five- adjacent (b.) line-to-line voltage of the M2 in the series-connected two-motor
phase drive (IM1 and IM2 at 800 rpm and 500 rpm, respectively). five-phase drive (IM1 and IM2 at 800 rpm and 500 rpm, respectively).

421
 It is important to note that, due to the connection of Fig. 1,
adjacent inverter line-to-line voltage in Fig. 9 is composed of
the adjacent line-to-line voltage of M1 (running at 800 rpm)
and the non-adjacent line-to-line voltage of M2 (running at
500 rpm). Similarly, non-adjacent inverter line-to-line voltage
in Fig. 9 is composed of the non-adjacent line-to-line voltage
of M1 and the adjacent line-to-line voltage of M2.
Fundamentals at the two operating frequencies in Figs. 7-10
appear at 17.5 Hz (500 rpm) and 27.5 Hz (800 rpm). To
facilitate the discussion, readings of the line-to-line voltage
fundamentals are taken from Figs. 7-10 and are summarized in
Table I. The values have been rounded up to the nearest 0.5 V.
Four distinct sets of values that need to be mutually compared
are shown in different fonts in Table I.
Fundamental harmonic of the adjacent line-to-line voltage
in single-motor drive at 17.5 Hz is 42 V (bold font in Table I).
This is practically identical to the value measured in the
adjacent voltage of M2 in the two-motor drive, 43 V. On the
other hand, the measured value in the non-adjacent line-to-line
voltage of the inverter is 45.5 V, i.e. slightly higher, due to the
x−y voltage drop on M1 at this frequency. Similarly, non-
adjacent voltage fundamental at 17.5 Hz in the single-motor
drive and two-motor drive (at M2 terminals) at 17.5 Hz is 67
V and 67.5 V, respectively (italic font), which is practically
the same. However, the component at the same frequency in
the inverter voltage (now adjacent, due to phase transposition)
is again slightly higher, 69.5 V.
Fundamental harmonic of the non-adjacent line-to-line
voltage at 27.5 Hz in the single-motor drive is 88 V (standard
font). In the two-motor drive the value in the inverter voltage
is 91 V, while the measured x−y voltage in M2 is 5.5 V.
Considering that the two components at 27.5 Hz (5.5 V and 88
V) will sum as phasors to produce inverter voltage at this
frequency, the value of 91 V appears as very realistic. At 27.5
Hz the fundamental of the adjacent line-to-line voltage is 53.5
V in the single-motor drive (underlined values). The
corresponding values in the two-motor drive are 62.5 V in the
inverter voltage and 9.5 V at M2 terminals. Again, considering
that the summation is, according to Fig. 3, vectorial, the values
obtained are in very good agreement.
Finally, it is worth noting that line-to-line voltage
measurements on M2 terminals directly yield the voltage
drops on the stator leakage impedance of M2 at the operating
frequency of M1. These values appear as the last row in Table
I and are 5.5 V and 9.5 V at 27.5 Hz in non-adjacent and
adjacent line-to-line voltages.
Measurements conducted on the single-motor and two-
motor series-connected drive and described in this section
fully verify the developed steady state representation of the
two-motor drive systems.
VII. CONCLUSION
The paper proposes equivalent circuit representation of
series-connected two-motor drive systems, supplied from a
five-phase and a symmetrical six-phase voltage source, and
aimed at steady state studies. It is shown that the specific
method of the stator winding connection enables
representation of the drives with two equivalent circuits at two
different fundamental frequencies. Total impedance at each of
the two frequencies in principle includes working impedance
422
TABLE I
LINE VOLTAGE FUNDAMENTALS IN SINGLE-MOTOR AND TWO-MOTOR DRIVES
Single Fig. Non-adjacent L-L Adjacent L-L
motor drive voltage voltage
500 rpm 8 67 V @ 17.5 Hz 42 V @ 17.5 Hz
800 rpm 7 88 V @ 27.5 Hz 53.5 V @ 27.5 Hz
Two-motor
drive (M1
@ 800 rpm, Fig. Non-adjacent L-L Adjacent L-L
M2 @ 500 voltage voltage
rpm)
Inverter 9 45.5 V @ 17.5 Hz 69.5 V @ 17.5 Hz
voltages 91 V @ 27.5 Hz 62.5 V @ 27. 5 Hz
M2 voltages 10 67.5 V @ 17.5 Hz 43 V @ 17.5 Hz
5.5 V @ 27.5 Hz 9.5 V @ 27.5 Hz
of one machine and stator leakage impedance of the other
machine. Theoretical findings are verified by experimentation
on the five-phase series-connected two-motor drive. Extension
of the developed representation to drive systems of [6],[7]
with more machines connected in series is straightforward.
ACKNOWLEDGMENT
The authors acknowledge support provided for the work
on this project by the EPSRC (grant number EP/C007395),
and by Semikron – UK, MOOG – Italy and Verteco − Finland.
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