IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO.

7, JULY 2013 3495

Dynamic Modeling and Control for SPMSMs With
Internal Turn Short Fault
Ilsu Jeong, Student Member, IEEE, Byong Jo Hyon, and Kwanghee Nam, Member, IEEE
AbstractA dynamic model for a faulted surface-mount per-
manent magnet synchronous motor (SPMSM) is derived using a
deformed ux model. In reecting the internal turn short into
the dynamics, the variations in inductance and back EMF term
were considered. Then, the faulted model was transformed into
the two synchronous dq-models: one for the positive sequence and
the other for the negative sequence. Also, a torque equation, which
shows the relation between the ripple and the negative sequence
current, is derived. The negative sequence current should be sup-
pressed to eliminate the torque ripple. The dual current controller
is utilized for this purpose: in the dual controller, the positive and
negative sequences are controlled separately in their own syn-
chronous frames. Notch lters are utilized in each synchronous
frame to extract positive or negative sequence component. Experi-
ments were performed with an SPMSMspecially designed to make
an internal turn short articially. The experimental results coin-
cide well with the corresponding simulation results, and exhibit a
strength of the dual current controller in suppressing the negative
sequence current.
Index TermsDual current controllers, fault tolerant, ux link-
age, motor internal turn fault, negative sequence, permanent mag-
net synchronous motor (PMSM), positive sequence.
I. INTRODUCTION
P
ERMANENT magnet synchronous motors (PMSMs) are
widely used for industrial drives, electric vehicles (EVs),
home appliances, etc, since efciency and power density are
high. In some applications like EVs and robots, motor faults
may cause serious problems. Most common fault in the motor
is a winding short fault caused by voltage stress, thermal stress,
vibration [1], [2], and insulation failure [3] [7]. It is reported
that most winding short faults occur in the rst several turns
from the entry, since the potential difference from the entry
point to the motor body is high compared with the other part.
Since the coil insulation material is under high dielectric stress,
high temperature environments and high switching frequency,
Manuscript received October 12, 2011; revised January 11, 2012, May 31,
2012, and August 15, 2012; accepted September 23, 2012. Date of current ver-
sion December 24, 2012. Recommended for publication by Associate Editor
K. M. Ralph.
I. Jeong and K. Nam are with the Department of Electrical Engineering,
Pohang University of Science and Technology, Pohang 790-784 Korea (e-mail:
highilsu@postech.ac.kr; kwnam@postech.ac.kr).
B. J. Hyon was with the Department of Electrical Engineering, Pohang Uni-
versity of Science and Technology, Pohang 790-784, Korea. He is now with
Hyundai MOBIS, Seoul 110-793, Korea (e-mail: bjky2000@postech.ac.kr).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TPEL.2012.2222049
it degrades gradually, leading to internal turn short [8]. Further-
more, voltage spikes caused by the impedance mismatch are the
major sources of internal turn short fault. Thus, terminal lters
are used to reduce the voltage spike [9].
Numerous works have been reported in the literature on mod-
eling of internal fault motors and their control strategy [10], [11].
The insulation failure often modeled with an additional re-
sistance on the phase winding. It makes a closed loop which
causes phase imbalance, complex coupling among phases, and
a serious power loss. The phase imbalance leads to the asym-
metry of the inductance, ux linkage, and resistance. If only
the imbalance exists, the dynamics can be described perfectly
with the use of negative sequence currents. The negative se-
quence components causes not only torque ripple at twice
the input frequency but poor dynamic and steady-state per-
formances [12], [13]. However, the power loss at the closed
loop would be another important reason for the torque pulsa-
tion. The complex phenomena depending on the fault resistance
were studied by Vaseghi et al. [14] via nite element method
(FEM) analysis. Kim et al. [15] and Tu et al. [16] utilized
the winding function theory in deriving the dynamic equations
for faulted brushless DC motors (BLDCs) and salient-pole syn-
chronous motors, respectively. However, the geometrical param-
eters in the ux paths were not utilized properly in the inductance
calculation.
In [17] and [18], the small loop caused by internal turn short
was barely described as an incurrence of a series resistor. Later,
the modeling study was directed to the interaction between the
air gap magnetic ux and a small current loop formed by turn
short [19]. The circulating current in the loop was estimated
from the impedance modeling.
In [20], the dynamic behavior of a faulted motor was de-
scribed by the spatial harmonics reected in the back EMF, and
the voltage degradation by the turn short was described as a
result of ux linkage between the rotor eld harmonics and the
small loop.
Lee and Habetler [21] showed that the circulating current
in the minor loop decreased in proportion to the rotor ux in
induction machines. As a means to maintain the circulating
current low while producing a desired torque, they suggested to
use higher q-axis currents.
In [22], high bandwidth current controllers were applied to
suppress the negative sequence current. However, in practice,
there are limits in achieving a high bandwidth owing to the
inherent signal processing delay like sampling and DSP compu-
tation times. Due to this reason, the negative sequence current
is not perfectly regulated in the positive sequence reference
frame.
0885-8993/$31.00 2012 IEEE
3496 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
c-phase
a-phase
b-phase
Fig. 1. Impedance model for an insulation failed motor.
In this paper, we developed a dynamic model for an internal
short fault SPMSMbased on the mathematical ux, current, and
voltages separated by the positive and negative sequences. The
dynamic equation is transformed into the two dq-synchronous
reference frames (positive and negative sequence frames). To
eliminate the negative sequence, we applied the dual current
controllers. In order to separate positive and negative sequence
currents, notch lters are employed in positive and negative
synchronous frames, respectively. Simulation and experimental
results support the validity of the proposed model and scheme.
The proposed control method does not require any additional
hardware.
II. FLUX LINKAGE OF INTERNAL TURN SHORTED WINDING
The motor considered in this paper is an SPMSM so that it
does not have any reluctance torque component and the mu-
tual inductance among phase windings is constant. We assume
further that there is a short fault in a phase winding.
In the practical situation, the insulation failure in the stator
coil results from high
dV
dt
of the PWM wave. Specically, the
impedance mismatch between the cable and the motor terminal
causes voltage spike, and its repeated applications degrade the
coil insulation. The degradation is a gradual process: it begins
with a partial insulation failure, which can be modeled with a
resistor connection in a phase wining [3], [23]. Finally, it devel-
ops into a short circuit between the coils, forming a small closed
loop. It is called here internal short fault. Normally, insulation
failures do not provide a perfect conduction path. Instead, the
failed spot is described by a fault (insulation) resistance [3], and
we denote it by r
f
. Then, the voltage drop, r
f
i
c
will occur by
the c-phase current. Here, it is assumed that all c-phase current
ows through r
f
and that only the loop current, i
f
induced by
the ux linking ows through the shorted portion of the coil.
Fig. 1 shows a motor circuit with an internal turn short fault.
We denote by the ratio of shorted turns to the original turns,
i.e., we let = N
short
_
N
ph
, where N
short
is the number of
turns between the shorted spots, and N
ph
is the number of turns
per phase.
We denote by L
m
and L
l
the magnetizing and leakage induc-
tances of normal phase windings, respectively. Then, the c-phase
inductance will be reduced to (1 )
2
(L
m
+ L
l
), since the in-
ductance is proportional to the square of the number of turns.
However, the mutual inductance between c and a-phase wind-
ings will be
1
2
(1 )L
m
. The same is true for c and b-phase
windings. The stator inductance matrix is decomposed as the
sum of healthy and disturbing terms [24]
L
sn
+L
sf
(1)
where
L
sn

L
m
+ L
l

1
2
L
m

1
2
L
m

1
2
L
m
L
m
+ L
l

1
2
L
m

1
2
L
m

1
2
L
m
L
m
+ L
l

(2)
L
sf

0 0
1
2
L
m
0 0
1
2
L
m
1
2
L
m
1
2
L
m
(2)(L
m
+ L
l
)

. (3)
Obviously, L
sn
is the inductance of healthy motor, and L
sf
describes a disturbance caused by the turn short. It should be
noted that c-phase inductance was broken down such that (1
)
2
(L
m
+ L
l
) = (L
m
+ L
l
) + (2)(L
m
+ L
l
), and that
the former belongs tothe healthypart andthe latter the disturbing
part. Note on the other hand that the inductance of the shorted
part is equal to
2
(L
m
+ L
l
). The c-phase coil resistance will
be divided into (1 )r
s
and r
s
, where r
s
is the resistance
of a normal phase winding.
The PM ux linkage by the c-phase winding can be separated
into two parts: (1 )
m
cos( +
2
3
) and
m
cos( +
2
3
),
where is the electrical angle of the rotor. Specically, =
(P/2)
m
, where is P is the number of poles and
m
is the rotor
mechanical angle. The former refers to the linkage of unshorted
part, whereas the latter that of shorted loop. Note that
m
is a
constant which will appear as the back EMF coefcient in the
later section. Thus, the ux linkage by the rotor PM is given by

PM

m

cos
cos
_

2
3
_
(1 ) cos
_
+
2
3
_

. (4)
We consider in the following the ux linking between the
shorted loop and the remaining parts of the stator coils.
The shorted part and the remaining part of the c-phase coil
can be seen as the primary and secondary windings of a trans-
former with the turn ratio of : (1 ), since the two parts
are linked by ux fully. Therefore, the ux linkage of the shorted
loop by i
c
is equal to

1
(1 )
2
L
m
i
c
= (1 )L
m
i
c
. In-
cluding the linkage by i
a
and i
b
, the ux linkage of the shorted
loop by the stator current is L
T
c
i
abc
, where L
c
= [
1
2
L
m
,

1
2
L
m
, (1 )L
m
]
T
[14]. Therefore, the corresponding
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3497
short circuit
in the c-phase
Fig. 2. PMSM stator circuit model with an internal turn short fault in the c-phase winding.
induced voltage amounts to L
T
c
d
dt
i
abc
. We also consider the
effect of the loop (circulating) current, i
f
on the stator windings:
the direction of i
f
is selected as shown in Figs. 1 and 2. Based
on the direction of i
f
, the interference by the circulating current
on the stator windings is equal to L
c
d
dt
i
f
.
The EMF induced by the rotor motion is also seen in the
shorted loop, and is equal to e
f
=
m
sin( +
2
3
). Its polar-
ity needs to be determined as shown in Fig. 2. Note that
d
dt

is the electrical angular velocity. Consideringall impedances and

voltage terms in the above, the shorted loop can be described by
the following elements:
Impedances :
2
(L
m
+ L
l
), r
s
, r
f
Voltage sources :
m
sin
_
+
2
3
_
, L
T
c
d
dt
i
abc
.
Fig. 2 shows an equivalent circuit of a short fault motor, which
also delineates not only the main part, but also the shorted loop.
III. VOLTAGE EQUATIONS FOR SHORTED TURN FAULT MOTORS
Including the effects of the circulating current, the stator ux
linkage is given as

abc
= (L
sn
+L
sf
)i
abc
. .

a b c s
+
PM
L
c
i
f
. .

a b c f
(5)
where
abc
= [
a
,
b
,
c
]
T
are the stator ux linkages, and
i
abc
= [i
a
, i
b
, i
c
]
T
are the stator currents. It should be noted
that the model (4) and (5) holds only for the sinusoidal ma-
chines. If the back EMF or the winding space distribution
is nonsinusoidal, the model holds only for the fundamental
component.
Including the ohmic drop r
f
(i
f
+ i
c
) in the c-phase, it follows
from (4) and (5) that
v
abc
= R
sf
i
abc
+

0
0
r
f
(i
f
+ i
c
)

+ (L
sn
+L
sf
)
d
dt
i
abc

sin
sin
_

2
3
_
(1 ) sin
_
+
2
3
_

L
c
d
dt
i
f
(6)
where R
sf
= diag{r
s
, r
s
, (1 )r
s
} IR
33
is a diagonal
resistance matrix and v
abc
= [v
a
, v
b
, v
c
]
T
is the stator phase
voltage.
In a similar way, we obtain the ux linkage of the shorted
loop

sht
=
2
(L
m
+ L
l
)i
f
L
T
c
i
abc

m
cos
_
+
2
3
_
.
(7)
Therefore, the voltage equation of the shorted loop is given by
0 = r
s
i
f
+ r
f
(i
f
+ i
c
) +
d
dt

sht
= (r
s
+ r
f
)i
f
+ r
f
i
c
+
m
sin
_
+
2
3
_
L
T
c
d
dt
i
abc
+
2
(L
m
+ L
l
)
d
dt
i
f
. (8)
IV. FLUX LINKAGE DECOMPOSITION
If the symmetry among the phases is collapsed, the negative
and zero sequences take place, as well as the positive sequence.
3498 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
Since there is no connection from the neutral point, there will
be no zero sequence current. But, the voltage and ux variables
will have zero sequence components.
The zero sequence of the ux linkage is given by

o
=
1
3
(
as
+
bs
+
cs
) =
1
3

2
L
m
i
c

1
2
L
m
i
c
+
1
3
(2)L
l
i
c
(9)
and dene new ux variables such that

a

as

o
=
1
2
L
m
i
a

1
2
L
m
i
b
+ L
m
i
c

1
3

2
L
m
i
c
+ L
m
i
c

1
3
(2)L
l
i
c
(10)

b

bs

o
=
1
2
L
m
i
a
+ L
m
i
b

1
2
L
m
i
c

1
3

2
L
m
i
c
+ L
m
i
c

1
3
(2)L
l
i
c
(11)

c

cs

o
=
1
2
L
m
i
a

1
2
L
m
i
b
L
m
i
c
+
2
3

2
L
m
i
c
2L
m
i
c
+
2
3
(2)L
l
i
c
. (12)
Then, it follows from (1), (2), (3), and (9), that

abcs
= (L
sn
+

L
sf
)i
abc
(13)
where

L
sf

0 0
_

1
3

2
+
_
L
m

1
3
(
2
2)L
l
0 0
_

1
3

2
+
_
L
m

1
3
(
2
2)L
l
0 0
_
2
3

2
2
_
L
m
+
2
3
(
2
2)L
l

.
(14)
Note that

a
,

b
, and

c
are a set of variables without a zero
sequence, and L
sf
of (3) was changed into

L
sf
correspondingly.
The transformation into the vectors in the stationary dq-frame
is dened as

dqs
=

ds
+ j

qs

2
3
(

a
+ e
j
2
3

b
+ e
j
4
3

c
)
[25]. The variables without a zero sequence can be represented
as the direct sum of positive and negative sequences

dqs
=

+
dqs
+

dqs
(

+
ds
+ j

+
qs
) + (

ds
+ j

qs
) (15)
where

+
ds
,

+
qs
,

ds
,

qs
IR. Similarly, the current vectors
in the stationary dq-frame is dened as i
dqs
= i
ds
+ ji
qs

2
3
(i
a
+ e
j
2
3

i
b
+ e
j
4
3

i
c
) and it can be represented as
i
dqs
= i
+
dqs
+i

dqs
(i
+
de
+ ji
+
qe
) + (i

de
+ ji

qe
) (16)
where i
+
ds
, i
+
qs
, i

ds
, i

qs
IR.
Note that L
sn
i
abc
is mapped into the stationary dq frame
as [26] follows:
L
sn
i
abc
L
ss
(i
+
dqs
+i

dqs
) (17)
where L
ss

3
2
L
m
+ L
l
. For the faulty part, we have

L
sf
i
abc

0
0
2
3
e
j
4
3

i
c

(18)
where
i
c
= Re{e
j
2
3

(i
+
dqs
+i

dqs
)}
=
1
2
(i
+
ds
+ i

ds
)

3
2
(i
+
qs
+ i

qs
) (19)
(3)L
m
+ (2)L
l
(20)
and Re{} means the real part of {}.
Now, we consider transforming the ux linkage by ro-
tor permanent magnets. The zero sequence is equal to
0
=
1
3
(
a
+
b
+
c
) =

3

m
cos( +
2
3
). The new rotor ux
variables are

a

a

0
=
m
cos +
1
3

m
cos
_
+
2
3

_
(21)

0
=
m
cos
_

2
3

_
+
1
3

m
cos
_
+
2
3

_
(22)

c

c

0
= (1 )
m
cos
_
+
2
3

_
+
1
3

m
cos
_
+
2
3

_
. (23)
Transforming the ux vector into the dq-frame, we obtain

dqs

2
3
_

a
+ e
j
2
3

b
+ e
j
4
3

c
_
=
_
1

3
_

m
e
j

3

m
e
j(
2
3
)
. (24)
Finally, we consider transforming L
c
i
f
that accounts for
the effect of the circulating current on the stator phase winding.
The zero sequence is equal to
f 0
=
1
3
(
af
+
bf
+
cf
) =
1
3

2
L
m
. Thus, the new ux linkage variables by i
f
are

af

af

f 0
=
_
1
2
L
m

1
3

2
L
m
_
i
f
(25)

bf

bf

f 0
=
_
1
2
L
m

1
3

2
L
m
_
i
f
(26)

cf

cf

f 0
=
_
L
m
+
2
3

2
L
m
_
i
f
. (27)
Correspondingly, it can be expressed in the stationary dq-frame
as

dqsf
=

dsf
+ j

qsf
= L
m
_
2
3
1
_
e
j
4
3

i
f
. (28)
Summing the aforementioned transformed terms, we obtain
from (17), (18), (24), and (28) that
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3499

+
dqs
+

dqs
= L
ss
(i
+
dqs
+i

dqs
)

3
e
j
4
3

_
i
+
ds
+

3i
+
qs
+i

ds
+

3i

qs
_
+ L
m
_
2
3
1
_
e
j
4
3

i
f
+
m
_
1

3
_
e
j

3

m
e
j(
2
3
)
. (29)
It remains to group the positive and negative sequence parts
separately. Note that e
j
= e
jt
belongs to the positive sequence
group, whereas e
j(
2
3
)
the negative sequence group. Then,
it results in

+
ds
+ j

+
qs
= L
ss
(i
+
ds
+ ji
+
qs
)

3
e
j
4
3

_
i
+
ds
+

3i
+
qs
_
+ L
m
_
2
3
1
_
e
j
4
3

i
f
+
m
_
1

3
_
e
j
(30)

ds
+ j

qs
= L
ss
(i

ds
+ ji

qs
)

3
e
j
4
3

_
i

ds
+

3i

qs
_

3

m
e
j(
2
3
)
. (31)
In the matrix form, (30) and (31) are represented as
_

+
ds

+
qs
_
= (L
s
+ B)
_
i
+
ds
i
+
qs
_
+
m
_
1

3
_
_
cos
sin
_
+ L
m

1
3
+
1
2

3
3
+

3
2

i
f
(32)
_

ds

qs
_
= (L
s
+ B)
_
i

ds
i

qs
_

m
3

cos
_

2
3

_
sin
_

2
3

(33)
where
L
s
=
_
L
ss
0
0 L
ss
_
, B =
1
6
_
1

3

3 3
_
. (34)
Note that if we let = 0, then = 0 and

+
dqs
reduces to the
normal case.
V. DYNAMIC MODEL OF INTERNAL TURN FAULT SPMSM
In order to describe the dynamics in the synchronous refer-
ence frame, it is necessary to change the stationary description
into the (rotating) reference frame. However, the positive and
negative sequences rotate in the opposite directions, i.e.,

dqs
= (

+
de
+ j

+
qe
)e
j
+ (

de
+ j

qe
)e
j
(35)

i
dqs
= (i
+
de
+ ji
+
qe
)e
j
+ (i

de
+ ji

qe
)e
j
(36)
where

+
de
,

+
qe
,

de
,

qe
IR and i
+
de
, i
+
qe
, i

de
, i

qe
IR. Thus,
we use two reference frames:

+
dqe
= e
j

+
dqs
and

dqe
=
e
j

dqs
. In the subscripts, e denotes that a variable is in a
synchronous (or exciting) frame. With a slight abuse of nota-
tions, we often use complex variables as vectors

+
dqe
=
_

+
de

+
qe
_
= e
J
_

+
ds

+
qs
_
(37)
i
+
dqe
=
_
i
+
de
i
+
qe
_
= e
J
_
i
+
ds
i
+
qs
_
(38)
where
J =
_
0 1
1 0
_
and e
J
=
_
cos sin
sin cos
_
. (39)
Note that J is a skew symmetric matrix, and that multiplying by
e
j
corresponds to multiplying e
J
to the vector. For negative
sequence variables, e
J
needs to be multiplied to obtain expres-
sions in the negative synchronous frame, i.e.,

dqe
= e
J

dqs
and i

dqe
= e
J
i

dqs
. Then, it follows that

+
dqe
= (L
s
+ e
J
Be
J
)i
+
dqe
+
m
_
1

3
_
_
1
0
_
+ L
m
_
1
2
3

cos
_


3
_
cos
_
+

6
_

i
f
(40)

dqe
= (L
s
+ e
J
Be
J
)i

dqe
+

6

m
_
1

3
_
. (41)
It should be also noted that e
J
does not commute with B, i.e.,
e
J
B = Be
J
.
Hereforth, the fault resistance is assumed to be zero, i.e., r
f
=
0. This assumption seems not impractical, since the insulation
failure aggravates steadily to the shorted state. It follows from
the resistance part of (6) that
e
j
2
3
_
1, e
j
2
3
, e
j
4
3
_
R
sf
i
abc
= r
s
(I B) i
dqe
(42)
where I IR
22
is an identity matrix. The voltage in the
synchronous frame is obtained such that v
+
dqe
= e
J
v
+
dqs
and
v

dqe
= e
J
v

dqs
. Note that the voltage equations for v
+
dqe
and
v

dqe
are obtained as [26]
v
+
dqe
= r
s
(I B) i
+
dqe
J

+
dqe
+
d
dt

+
dqe
(43)
v

dqe
= r
s
(I B) i

dqe
+ J

dqe
+
d
dt

dqe
. (44)
Applying (40), (41) and (42) to (43) and (44), we obtain the volt-
age equations in the positive and negative synchronous frames
(45) and (46) as shown at the bottom of the next page, where
L

()=
_

3 cos 2 + sin 2 2 + cos 2

3 sin 2
2 + cos 2

3 sin 2

3 cos 2 sin 2
_
(47)
L

()=
_

3 cos 2 + sin 2 2 cos 2

3 sin 2
2 cos 2

3 sin 2

3 cos 2 sin 2
_
.
(48)
3500 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
The second-order harmonic terms were derived as a result of
phase unbalance [20]. Note that the positive sequence dynamics
(45) can be separated as the sum of the normal and disturbing
parts, and that the disturbing part increases with . It is observed
from (46) that the negative sequence current vanishes as , cor-
respondingly , decreases. The positive and negative sequence
parts are decoupled completely, but the circulating current i
f
and the stator current i
abc
interact to each other.
The power, if it is written in the positive synchronous frame,
is equal to
P
e
=
3
2
Re
_
(v
+
dqe
+ e
2j
v

dqe
)(i
+
dqe
+ e
2j
i

dqe
)

_
+ i
f

m
sin
_
+
2
3
_
=
3
2
[(v
+
de
+ v

de
cos 2 + v

qe
sin 2)(i
+
de
+ i

de
cos 2
+ i

qe
sin 2) + (v
+
qe
v

de
sin 2 + v

qe
cos 2)
(i
+
qe
i

de
sin 2 + i

qe
cos 2)]
+ i
f

m
sin
_
+
2
3
_
. (49)
The last term is a product of the EMF and current of the shorted
loop. The shaft torque is obtained as
T =
P
2
P
e

. (50)
Note from (49) that cos 2 or sin 2 is multiplied to each neg-
ative sequence component. Therefore, the presence of negative
sequence results in the torque ripple of the second harmonics.
Considering (8), the steady-state solution of the shorted loop
current will be i
f
= i
f 0
sin( + ) for some i
f 0
and . Thus,
i
f

m
sin( +
2
3
) also contributes to generating the torque
ripple of the second harmonics [24].
VI. DUAL CURRENT CONTROLLER FOR SPMSM WITH
INTERNAL TURN FAULT
The negative sequence current is seen as an ac eld of 2
in the positive synchronous frame. Therefore, apart from the
torque ripple, the negative sequence current causes the eddy
current loss in the PMs, elevating the PM temperature. Note
that the neodybium magnets are prone to be demagnetized as
the temperature increases. To attenuate the torque ripple and
to decrease the possibility of demagnetization, the negative se-
quence current must be regulated.
We use the techniques, namely the dual control [27][30]
to annihilate the negative sequence currents, while pursuing a
desired control performance. The whole control block diagram
is shown in Fig. 3, in which two synchronous frames are utilized:
in the positive synchronous frame, i
+
dqe
is controlled to achieve
a desired torque or speed control. However, in the negative
synchronous frame, i

dqe
is regulated to zero. Therefore, in the
dual controller the positive and negative sequence components
are controlled separately.
A. Separation of Positive and Negative Sequence Components
From the Measured Current
For the feedback control, both i
+
dqe
and i

dqe
need to be mea-
sured separately. Note that in the positive synchronous frame,
i
+
dqe
is a dc, whereas i

dqe
is an ac. But in the negative syn-
chronous frame, the situation is reversed. Therefore, they are
measured separately through the use of synchronous frames
and a notch lter. To be more specic, we denote measured
currents by

i
as
i
bs
i
cs

= i
+
0

cos(t)
cos
_
t
2
3
_
cos
_
t
4
3
_

+ i

cos(t)
cos
_
t
4
3
_
cos
_
t
2
3
_

(51)
where i
+
0
and i

0
are the magnitudes of positive and negative
sequences, respectively. Then, in the positive synchronous frame
it follows that
2
3
_
cos t sin t
sin t cos t
_

1
1
2

1
2
0

3
2

3
2

i
as
i
bs
i
cs

= i
+
0
_
1
0
_
+ i

0
_
cos 2t
sin 2t
_
. (52)
v
+
dqe
= r
s
i
+
dqe
+ L
ss
d
dt
i
+
dqe
L
ss
Ji
+
dqe
+
m
_
0
1
_
. .
normal
r
s
Bi
+
dqe
+

6
L

()i
+
dqe
+ e
J
Be
J
d
dt
i
+
dqe


3

m
_
0
1
_
+ L
m
_
1
2
3

__
cos(

3
)
cos( +

6
)
_
d
dt
i
f
. .
disturbing
(45)
v

dqe
= r
s
i

dqe
+ L
ss
d
dt
i

dqe
+ L
ss
Ji

dqe
+

6
L

()i

dqe
r
s
Bi

dqe
+ e
J
Be
J
d
dt
i

dqe

6

m
_

3
1
_
(46)
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3501
Gate Drive
PI
PI
PI
PI
PI
(57)
(58)
(61)
(62)
= 0
= 0
Field Weakening
[NF]
[NF]
Fig. 3. Dual controllers which utilizes both positive and negative sequences around feedbacks for a short fault SPMSM.
Similarly, it follows in the negative synchronous frame that
2
3
_
cos t sin t
sin t cos t
_

1
1
2

1
2
0

3
2

3
2

i
as
i
bs
i
cs

= i
+
0
_
cos 2t
sin 2t
_
+ i

0
_
1
0
_
. (53)
Note from (52) and (53) that the positive (negative) sequence
component appears as a dc in the positive (negative) syn-
chronous frame, whereas the negative (positive) sequence com-
ponent appears as an ac component of 2 in the positive (nega-
tive) synchronous frame.
The positive and negative sequences are selected separately
by removing the ac component in their frame. In this study, we
utilize an adaptive notch lter [31][33] as shown in Fig. 4,
since it is simple to construct by a software. The closed-loop
transfer function appear as [31]
[NF]
Y (s)
U(s)
=
s
2
+
2
c
s
2
+ s +
2
c
. (54)
where , being the inverse of the Q-factor, determines the sharp-
ness of the lter. As shown in Fig. 4(b),
c
is the center frequency
of the notch. Another merit of this adaptive notch lter is that Q-
factor is controlled easily without affecting the notch frequency.
In this study, we denote the notch lter by [NF], and let
c
= 2
and = 3. The sharpness of the notches for = 1, 3, 10 are
shown in Fig. 4(b).
1
s

cos ct
sin
1
s

y(t) u(t)
ct
(a)
(b)
=
c
Fig. 4. Adaptive notch lter: (a) functional block diagram of the adaptive
notch lter and (b) lter characteristics depending on .
B. Current Controllers
Both positive and negative components are controlled
separately by the proportional-integral (PI) controllers. The
3502 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
TABLE I
PARAMETERS OF A SHORT FAULT SPMSM
Parameters Values
Nominal power 400 W
Pole numbers (P) and motor type 6 pole SPMSM
Coil resistance (r) 0.13
Mutual inductance (L
m
) 523.33 H
Leakage inductance (L
l
) 26.17 H
Back EMF coefcient (
m
) 0.021 V/rad
Rated torque 1.1 Nm
Rated current (Peak) 10 A
Rated speed 3500 rpm
Turn short ratio ( = N
short
/N
ph
) 0.3
(a)
(b)
3-Phase Voltage
ic
(c)
d-axis current
ia
ib
q-axis current
Fig. 5. Current of a short fault SPMSM computed by using MATLAB
Simulink: (a) applied voltage, (b) resulting phase currents, and (c) corresponding
dq currents (i
de
, i
q e
).
(a)
dq-axis current difference
q-axis current
d-axis current
(b)
Fig. 6. Dq currents obtained by solving the dynamic model of a shorted
SPMSM. (a) dq currents (i
de
, i
q e
) obtained from the proposed dynamic model
and (b) difference from the ones obtained by transforming i
as
, i
bs
, and i
cs
[difference between Fig. 5(c) and Fig. 6(a)].
mathematical time-domain operator, K
p
() + K
i
_
t
0
()dt is de-
noted by (PI), where K
p
and K
i
are the proportional and
integral gains, respectively.
In the positive synchronous frame, the controller output volt-
ages are determined by
v
+
de
= (PI)(i
+
de
i
+
de
) + v
+
d,dcp
(55)
v
+
qe
= (PI)(i
+
qe
i
+
qe
) + v
+
q,dcp
+
_
1
1
3

m
(56)
where
v
+
d,dcp
=
_
L
ss
i
+
qe
+

6
_
(

3 cos 2 + sin 2)i

+
de
+ (2 + cos 2

3 sin 2)i
+
qe
_
_
(57)
v
+
q,dcp
=
_
L
ss
i
+
de
+

6
_
(2 + cos 2

3 sin 2)i
+
de
(

3 cos 2 + sin 2)i

+
qe
_
_
. (58)
Note also that v
+
d,dcp
and v
+
q,dcp
are needed for decoupling.
The control objective in the positive sequence loop is to track the
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3503
(a)
(b)
(c)
10Hz
75Hz
175Hz
Fig. 7. Circulating currents of shorted loop for = 0.3 at various speeds:
(a) 10 Hz, (b) 75 Hz, and (c) 175 Hz.
current commands i
+
de
and i
+
qe
. Note that i
+
qe
comes out from
the speed controller and that i
+
de
is used for the eld weakening
of the PM eld. The PI gains should be traded between a wide
control bandwidth and the system stability.
As mentioned earlier, the negative sequence current must be
regulated to zero to eliminate the torque ripple and reduce the
eddy current in the PMs. Therefore, the negative dq-voltages in
(a) (b)
Fig. 8. Test motor and inverter for experiments. (a) PMSM. (b) Inverter with
the TMS320F28335 DSP processor.
the negative synchronous frame are chosen as
v

de
= (PI)(i

d
i

d
) + v

d,dcp

3
6

m
(59)
v

qe
= (PI)(i

q
i

q
) + v

q,dcp

1
6

m
(60)
where i

de
= i

qe
= 0 and
v

d,dcp
=
_
L
ss
i

qe
+

6
_
(

3 cos 2 + sin 2)i

de
+ (2 cos 2

3 sin 2)i

qe
_
_
(61)
v

q,dcp
=
_
L
ss
i

de
+

6
_
(2 + cos 2 +

3 sin 2)i

de
+ (

3 cos 2 sin 2)i

qe
_
_
. (62)
Note that v

d,dcp
and v

q,dcp
are the compensation terms for
decoupling.
Note that the positive and negative sequence currents are con-
trolled separately, and that the voltage commands are summed
after being transformed into the stationary frame. Specically,
_
v
ds
v
qs
_
=
_
cos t sin t
sin t cos t
_ _
v
+
de
v
+
qe
_
+
_
cos t sin t
sin t cos t
_ _
v

de
v

qe
_
. (63)
Then they are converted as the PWMsignals by the space vector
modulation block.
VII. SIMULATION RESULTS
It was shown in Section V that the PMSM dynamics with
an internal turn short fault were described by the sum of pos-
itive and negative sequence models (45) and (46). They are
rearranged in the ordinary differential equation (ODE) form for
numerical computations:
3504 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
(a)
(b)
d-axis current
q-axis current
10A
5ms/div
5ms/div
10A 10A
10A
Fig. 9. Simulation (left) and experimental (right) results of the conventional controller at 1500 r/min with a rated load: (a) abc-currents, (b) dq-currents.
5ms/div
(a)
(b)
5ms/div
10A
10A
10A
10A
Fig. 10. Simulation (left) and experimental (right) results of the dual controller at 1500 r/min with a rated load: (a) abc-currents. (b) dq-currents.
(L
s
+ e
J
Be
J
)
di
+
dqe
dt
= (r
s
I r
s
B)i
+
dqe
+ L
ss
Ji
+
dqe

6
L

()i
+
dqe

_
1

3
_

m
_
0
1
_
L
m
_
1
2
3

cos
_


3
_
cos
_
+

6
_

d
dt
i
f
+v
+
dqe
(64)
(L
s
+ e
J
Be
J
)
di

dqe
dt
= (r
s
I r
s
B)i

dqe
L
ss
Ji

dqe

6
L

()i

dqe
+

6

m
_
3
1
_
+v

dqe
(65)

2
(L
m
+ L
l
)
d
dt
i
f
= (r
s
+ r
f
)i
f
r
f
i
c

m
sin( +
2
3
) + L
T
c
d
dt
i
abc
. (66)
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3505
(a) (b)
4A/div 4A/div
Ids
Iqs
ds I
qs I
Fig. 11. Current contour in the XY-plane: (a) with the conventional controller
and (b) with the proposed dual controller.
To verify the validity of the aforementioned dynamic models,
simulations were performed by using MATLAB, Simulink. Pa-
rameters of a motor are listed in Table I.
First, we calculate the phase current, (i
as
, i
bs
, i
cs
) based
on the original abc-model (6). Fig. 5 shows a 75-Hz applied
voltage and the resulting currents at no-load condition. The
c-phase winding is assumed to have an internal turn short
fault with = 0.3. Therefore, i
cs
is larger than the others.
Then, we transform it into the one, (i
de
, i
qe
) in the (positive)
synchronous frame. Fig. 5(b) and (c) shows (i
as
, i
bs
, i
cs
) and
(i
de
, i
qe
), respectively. The motor was running at 1500 r/min in
this simulation so that the negative sequence component makes
150-Hz ripples in both d and q currents.
On the other hand, Fig. 6(a)shows a result obtained directly
by solving the dynamic model, (66) and (65) with the Rounge
Kutta 4th method. A current sum is obtained in such a way
that
_
i
de
i
qe
_
= i
+
dqe
+ e
2Jt
i

dqe
. (67)
That is, the negative sequence component is also mapped into the
positive synchronous frame. Finally, we compare (i
de
, i
qe
) with
(i
de
, i
qe
) which was obtained previously via the abc-model. The
difference between (i
de
, i
qe
) and (i
de
, i
qe
) is shown in Fig. 6(b).
It should be noted that the two solutions are very close, meaning
that the proposed dynamic model yields the same current that
was obtained via a coordinate transformation from abc-phase
currents. It addresses that (66) and (65) are valid for describing
the current dynamics of short fault SPMSMs. Moreover, the
shorted circuit model was simulated at 10, 75, and 175 Hz (rated
speed), and the corresponding circulating currents are shown in
Fig. 7.
VIII. EXPERIMENTAL RESULTS
Photos of a test motor and an inverter are shown in Fig. 8. The
motor parameters are the same as the ones used in simulation
(see Table I). It has 72 turns in each phase. But, 24 intermediate
taps were drawn out for test purposes. Turn short faults can
be made articially by connecting taps with a wire. In this
experiment, a 33% internal turn short was made in the c-phase
(a) (b)
0 0 2 0 100 250 50 150 300
Freq. (Hz)
0 0 2 0 100 250 50 150 300
Freq. (Hz)
0
1
5
4
7
3
2
6
9
10
8
C
u
r
r
e
n
t

(
A
)
0
1
5
4
7
3
2
6
9
10
8
C
u
r
r
e
n
t

(
A
)
s c i n o m r a h r e d r o d n 2 s c i n o m r a h r e d r o d n 2
(c) (d)
0
1
5
4
7
3
2
6
9
10
8
0 0 2 0 100 250 50 150 300
Freq. (Hz)
C
u
r
r
e
n
t

(
A
)
0
1
5
4
7
3
2
6
9
10
8
C
u
r
r
e
n
t

(
A
)
0 0 2 0 100 250 50 150 300
Freq. (Hz)
s c i n o m r a h d e c u d e r s c i n o m r a h d e c u d e r
Fig. 12. FFT of dq-currents at 75 Hz: (a) d-axis current with the conventional
controllers, (b) q-axis current with the conventional controllers, (c) d-axis cur-
rent with the proposed controllers, and (d) q-axis current with the proposed
controllers.
so that = 0.33. The dual control algorithm was implemented
in a DSP board using TMS320F28335. The PWM frequency
was 8 kHz, and the dc-link voltage was 48 V.
Fig. 9 shows that the simulation and experimental results
when the conventional current control algorithm was executed.
By conventional, we mean a current controller that utilizes just
the positive synchronous frame. Simulation results are shown
in the left column, and the corresponding experimental results
in the right column. Fig. 9(a) shows the abc-currents, whereas
Fig. 9(b) shows the dq-currents. Note that the unbalance in
the abc-currents and the current ripples in the dq-currents were
caused by the unregulated negative sequence current. Note also
that the ripple frequency (150 Hz) is two times higher than the
fundamental frequency (75 Hz).
Fig. 10 shows that the simulation and experimental results
when the dual current control algorithm was applied with the
decoupling feedbacks shown in Fig. 3. Simulation results are
shown in the left column, and the corresponding experimental
results in the right column. Fig. 10(a) shows the abc-currents,
whereas Fig. 10(b) shows the dq-currents. Note that the unbal-
ance in the abc-currents was cured and the current ripples in
the dq-currents disappeared. This indicates that the negative se-
quence component was regulated perfectly. We set K
+
p
= 3 and
K
+
i
= 10 as the proportional and integral gains of the positive
current controller, and K

p
= 2.1 and K

i
= 2 as the gains of
the negative sequence current controller. Thereby, bandwidths
of positive and negative sequence current controllers were
3548 rad/s and 2395 rad/s, respectively. On the other hand,
we set K
p
= 0.05 and K
i
= 0.01 as the proportional and
integral gains of the speed controller, and the bandwidth was
14.74 rad/s, correspondingly.
Fig. 11 shows the current contour in the XY plane, i.e., the
contour represents a plot of the stationary q-current against the
3506 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 28, NO. 7, JULY 2013
(a)
(c)
d-axis current
q-axis current
10A
(b)
(d)
50ms/div
50ms/div
10A 10A
10A
Fig. 13. Experimental results showing the performances of the conventional and the proposed control schemes at a low speed (100 r/min) with the rated load:
(a) and (b) three-phase and dq currents with the conventional control. (c) and (d) three-phase and dq currents with the proposed control algorithm.
(a)
(c)
d-axis current
q-axis current
2ms/div
2ms/div
(b)
(d)
10A
10A
10A
10A
Fig. 14. Experimental results showing the performances of the conventional and the proposed control schemes at a rated speed (3500 r/min) with 70% of the
rated load: (a) and (b) three-phase and dq currents with the conventional control. (c) and (d) three-phase and dq currents with the proposed control algorithm.
d-current. Fig. 11(a) shows a result with the conventional con-
troller: the elliptic curve represents the presence of a negative
sequence. However, Fig. 11(b) shows a result with the proposed
dual controller: It results in a circle, which demonstrates the
elimination of the negative sequence caused by the short fault.
Fig. 12 shows the results of dq-current harmonic analysis.
Similarly to Fig. 11, performances of the two controllers are
compared: with the conventional controller, the negative se-
quence current, being seen as the second order harmonics, was
not eliminated as shown in Fig. 12(a) and (b). However, with
the dual controller and the proposed decoupling scheme, most
second-order harmonics disappear as shown in Fig. 12(c) and
(d).
Moreover, Figs. 13 and 14 show the current waveforms of
100 r/min and 3500 r/min, respectively. Note that in the low-
speed operation, currents are distorted less. As is expected from
(8), the magnitude circulating current increases as the rotational
speed increases. Fig. 13(c) and (d) shows the three-phase and
dq currents when the proposed control algorithm was applied.
Improvements are observed when they are compared with the
JEONG et al.: DYNAMIC MODELING AND CONTROL FOR SPMSMs WITH INTERNAL TURN SHORT FAULT 3507
1s/div
1s/div
q-axis current
d-axis current
5A
10A
Fig. 15. Experimental result of a constant speed control : dq-current and phase
current when the load torque changes from 50% to 100% and then to 50% at
1000 r/min.
conventional results shown in Fig. 13(a) and (b). However, as
speed increases, the current is more distorted. Fig. 14(a) and
(b) shows the currents at a rated speed (3500 r/min). Current
imbalancing is observed in the phase currents, and current uc-
tuation appears in the d, q-currents. The circulating current, be-
ing signicant, impedes the achievement of a desired torque.
Specically, with the rated current only 70% of the rated torque
was achieved. Fig. 14(c) and (d) shows the results with the pro-
posed control algorithm. The negative sequence components,
appearing as ac signals in the positive synchronous frame, were
remarkably reduced. Due to the phase lag of the notch lters and
the sampling delay of currents, the negative sequence was not
removed perfectly. Fig. 15 also shows the dq- and phase currents
at 1000 r/min when the load changed from 50% to 100%, and
then to 50% of a rated torque.
IX. CONCLUSION
Internal turn short fault causes asymmetry (among phases) in
the ux equation. The effects of faults were modeled not only in
the inductance matrix, but also in the back EMF vector. The abc-
frame dynamics of the faulted motor were transformed into the
ones in the dq-frame: in the dq-frame, the current is represented
as the sum of positive and negative sequence currents. The pos-
itive sequence dynamic model was derived in the synchronous
frame rotating counterclockwise, whereas the negative sequence
dynamic model was derived in the synchronous frame rotating
clockwise. That is, a complete description of an internal turn
short fault motor was obtained via three dynamic models: posi-
tive sequence model, negative sequence model, and shorted loop
model. Aside from the mathematical derivation, the proposed
model was veried through simulation and experimental results.
We compared the results of the abc-frame and the proposed dq
models after a coordinate transformation.
As a control method, the dual control method was utilized,
in which both positive and negative sequence currents are con-
trolled separately in their own frames. The positive sequence
current components are separated using a notch lter in the
positive sequence synchronous frame, whereas the negative se-
quence current components in the same way in the negative
sequence synchronous frame. Furthermore, nonlinear decou-
pling feedback was utilized. The validity of the dual controller
was demonstrated by both simulation and experimental results.
Specically, the dual controller performed well in eliminating
the negative sequence component. Therefore, the proposed dy-
namic model and control method look effective in controlling
the internal turn short motor.
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Ilsu Jeong (S12) was born in Busan, Korea, in 1982.
He received the B.S degree in electrical engineering
fromDongguk University, Seoul, Korea, in 2008, and
the M.S. degree in electrical engineering, in 2010,
from the Pohang University of Science and Technol-
ogy, Pohang, Korea, where he is currently working
toward the Ph.D. degree.
His research interests include design, analysis, and
control of power electronic systems, ac motor drive,
hybrid, and electric propulsion system.
Byong Jo Hyon was born in Daegu, Korea, on
November 14, 1984. He received the B.S and M.S
degrees in electrical engineering both from the Po-
hang University of Science and Technology, Pohang,
Korea, in 2010 and 2012, respectively.
He is currently with Hyundai Mobis, Seoul,
Korea. His research interests include permanent-
magnet synchronous machine control, sensorless al-
gorithms, and DPS control.
Kwanghee Nam (S83M86) received the B.S. de-
gree in chemical technology and the M.S. degree in
control and instrumentation engineering from Seoul
National University, Seoul, Korea, in 1980 and 1982,
respectively, and the M.S. degree in mathematics and
the Ph.D. degree in electrical engineering from the
University of Texas, Austin, in 1986.
From 1998 to 2000, he was the Director of the In-
formation Research Laboratories and the Dean of the
Graduate School of Information Technology, Pohang
University of Science and Technology (POSTECH),
Pohang, Korea, where he is currently a Professor in the Department of Electri-
cal Engineering. His current research interests include ac motor control, power
converters, motor design, and electric vehicle. He is currently the Director of
POSTECH E-Car Research Center, developing electric power train. He is the
author of a book, AC Motor Control and Electrical Vehicle Applications, pub-
lished by CRC Press.