Abstract The paper deals with the novel control system for
five phase induction motor (IM) that enables the injection of the
rotor flux 3rd harmonic component. Two multiscalar models are
transformed from the 1- 1 and 2- 2 vector models developed in
the 1st and 3rd harmonic planes. Based on the obtained
multiscalar models the synthesis of dual multiscalar control is
established. The obtained two multiscalar control systems can
independently regulate amplitudes and the relative position of
rotor flux and stator current vectors in the 1st and 3rd harmonic
plane respectively. Full decoupling of rotor angular speed and
rotor flux control and possibility of the injection of third
harmonic flux exactly synchronized with fundamental flux
component are main benefits of the proposed control. The
alignment of 1st harmonic and 3rd harmonic components of the
rotor flux is provided by the action of the second multiscalar
control system. The cascade of two controllers: 3rd harmonic flux
angle controller and 3rd harmonic flux angular velocity
controller is used for generation of torque reference signal in the
second control system. Compared to previously published control
schemes the proposed algorithm gives the possibility of exact
alignment of the fundamental and 3rd harmonic rotor flux
waveforms. The newly derived control structure was investigated
by simulations. The obtained simulation results show that the airgap flux is aligned both in steady state and transients of the five
phase IM which ensures trapezoidal shape of air gap induction
waveform independently of the machine load condition.
Keywordsfive phase induction motor; nonlinear control;
multiscalar model; thrid harmonic flux injection
I. INTRODUCTION
Considerable attention is currently being paid to utilization
of multiphase drives [1]-[3], particularly for sustainable
transportation. The development of electric mobility makes it
necessary to introduce innovative technologies. While leaving
unchanged the weight and size of batteries the range of an
electric vehicle can be extended practically only by increasing
its energy efficiency. Multiphase machines used in variable
speed drives offer several advantages over the three phase
drives such as: higher torque density, lower torque pulsation
and noise, better fault tolerance and reduction of rated current
of power converters. In recent years number of papers has
been published on the modeling and control of five phase
1. The project was financed by the National Science Centre with funds
allocated on the basis of the agreement No. DEC-2013/09/B/ST7/01642.
2. The project was financed by the National Science Centre with funds
allocated on the basis of the agreement No. DEC-2011/01/B/ST7/06593.
r2 3r1
(1)
(2)
q21i r ( i ) r ( i ) r ( i ) r ( i ) ,
(3)
(4)
and q11 2 3r
(5a),
(5b)
dq111 1 Lm1
L
dt
J Lr1
Lr2
q12 i
dt
( i ) Lr ( i ) Ls( i )
q11 i ( q22 i
Lm( i )
( i ) Lr ( i ) Ls( i )
q21i )
Lr ( i )
( i ) Lr ( i ) Ls( i )
(7)
u1( i ) ,
Rr ( i )
Lm( i )
dq211
2
q21 i 2Rr ( i )
q22 i
dt
Lr ( i )
Lr ( i )
(8)
Rr ( i ) Ls( i ) Rs( i ) Lr ( i )
dq22i
Rr ( i ) Lm( i )
( i ) L2r ( i ) Ls( i )
q21i Rr ( i )
Lm( i )
Lr
is2 i
Lr ( i )
( i ) Lr( i ) Ls( i )
(9)
u2( i ) ,
where:
u1( i ) r ( i ) vs ( i ) r ( i ) vs ( i )
(10)
u2( i ) r ( i ) vs ( i ) r ( i )vs ( i )
(11)
voltages
vs ( i ) ,vs ( i )
rs( i )
Rr ( i ) Ls( i ) Rs ( i ) Lr ( i )
( i ) Lr ( i ) Ls ( i )
(18)
i-th plane. Rs( i ) and Rr ( i ) are stator and rotor resistances in ith plane. Making an assumption that RMS value of phase
current is I s / 2 it can be written for magnitudes of stator
current vectors in each plane:
2
2
I s2 I s1
I s2
(12)
2
2
q12
i q22 i
(13)
2
q21
i
u1( i )
( i ) Lr ( i ) Ls ( i )
Lr ( i )
u 2( i )
( q11 i ( q22 i
( i ) Lr ( i ) Ls ( i )
Lr ( i )
Lm( i )
( i ) Lr ( i ) Ls ( i )
( q11 i q12 i
q21 i ) m1i )
Rr ( i ) Lm( i )
( i ) L2r ( i ) Ls( i )
(14)
refr2 K p1 i1 refr 2 r 2 ,
s
(19)
ref
q12
K p2 i2 refr2 r2 ,
2
s
(20)
q21 i
2
2
Rr ( i ) Lm( i ) q12
i q22 i
m2 i ),
2
Lr ( i )
q21
i
(15)
Rr ( i ) Ls( i ) Rs( i ) Lr ( i )
dq22i
q22 i m2 i .
dt
( i ) Lr ( i ) Ls( i )
(17)
r 2 3r
Rr ( i ) Ls( i ) Rs( i ) Lr ( i )
dq12 i
q12 i m1i ,
dt
( i ) Lr ( i ) Ls( i )
(21)
Fig. 1. Proposed control scheme with applied dual multiscalar control: 1st multiscalar control system is related to control of 1st
harmonic rotor flux and the 2nd multiscalar control system is related to control of 3rd harmonic rotor flux.
vs ( i )
u2( i ) r ( i ) u1( i ) r ( i )
r2 ( i ) r2 ( i )
u1( i ) r ( i ) u2 ( i ) r ( i )
r2 ( i ) r2 ( i )
(22)
(23)
V. SIMULATION RESULTS
The proposed control system was investigated by digital
simulations using PSIM simulation software. The parameters
of investigated 3kW, two pole, five phase IM are shown in
Table 1. The nominal stator current in per unit (p. u.) is isN =
1, the nominal stator voltage is vsN = 1 p.u.. The nominal rotor
flux is rN =0.98 p.u., which correspondents to nominal value
of multiscalar variable q21 1 N of 0.96 p.u..
First Harmonic
Rs
0.056 p.u.
Rr
0.044 p.u.
Ls
2.813 p.u.
Lr
2.813 p.u.
Lm
2.737 p.u.
Third Harmonic
Rs
0.056 p.u.
Rr
0.05 p.u.
Ls
0.989 p.u.
Lr
0.955 p.u.
Lm
0.913 p.u.
Fig. 4. Simulated transients after step change of Tload from 0.3 p.u to
0.8 p.u. in the proposed nonlinear control system with third harmonic
injection in 2nd multiscalar control system.
VI. CONCLUSIONS
Based on the authors experience with application of multiscar
control to industrial variable speed drives a novel control
system with third harmonic rotor flux injection for five-phase
IM is proposed in the paper. Dual multiscalar control is
applied which can improve the efficiency of the motor with
the same generated torque or increase the motor power with
the same losses. 1st multiscalar control system is related to
control of 1st harmonic rotor flux and the 2nd multiscalar
control system is related to control of 3rd harmonic rotor flux.
Two rotating fields are controlled in the five-phase IM and the
waveforms of the first harmonic rotor flux and third harmonic
rotor flux are exactly aligned even during speed and load
torque changes. While the fully decoupled control of rotor flux
and rotor angular speed are achieved in the 1st multiscalar
control system, the 2nd multiscalar control system exactly
controls the slip related to the 3rd harmonic rotating field
according to demanded 3rd harmonic flux injection and thus
enables the increase the overall motor torque and improve its
dynamics. The value of stator current square I s2 , which can be
described as a function of multiscalar variables is investigated
in the paper and used to compare of conventional multiscalar
control with proposed dual multiscalar control with third
harmonic flux injection. As show the preliminary simulation