AN ABSTRACT OF A THESIS DYNAMICS AND CONTROL OF A FIVE PHASE INDUCTION MACHINE

Sosthenes Francis Karugaba

Master of Science in Electrical Engineering

General and special case expressions for determining the real and reactive powers in a multiphase system have been derived. This has been simplified by the use of the stationary complex reference frame of transformation which transforms a set of m real variables into a set of (m-1) complex vectors (when m is odd). The mth vector is real and is referred to as the zero sequence. For a system with an even number of phases (m is even), the number of complex vectors is (m-2) and there are two zero sequence quantities. The complex vectors are conjugates of each other such that during the analysis only half of them (which are the positive sequence components) are sufficient to give the desired result. In this work, the expressions for determining the real and reactive power of the three, five and seven phase machines have been obtained. A five phase induction machine has been modeled. The winding function method is used to calculate the self and mutual inductances in the stator windings and the rotor circuits, with constant air gap in which the space harmonics of the stator windings and rotor circuits are accounted for. A n x n complex variable reference frame transformation is carried out to simplify computation of the currents, voltages and torque equations. Computer simulation results of the no-load starting transient have been shown with the response of the machine for a change in the load torque. This approach has made it possible to calculate the rotor bar currents. A five-phase carrier based PWM (Pulse Width Modulation) induction motor drive has been analyzed. The induction machine windings have been connected in alternate ways to increase the torque produced by the machine. A third harmonic voltage component has been injected to determine the ability of a five phase machine to contribute a third harmonic torque component to the fundamental torque component. It has been found out that with sinusoidally distributed stator winding, the effect of the third harmonic torque component is negligible.

The dynamics of a five-phase induction motor under open phase faults has been discussed. Using stationary reference frame and harmonic balance technique, circuit based models have been used to analyze the open phase, two adjacent phases and two non-adjacent phase faults. Simulation and steady state results have shown that the five phase machine can start and develop torque with one or two of its phases missing. Mall signal analysis has been carried out to determine the stability of the machine at different open phase fault conditions, revealing that despite the missing phases, the machine is stable at relatively high operating speed. A voltage source inverter has been reconfigured for the purpose of obtaining high speeds in the regions of field weakening operation. The motive being to investigate the possibilities of operating a multiphase induction motor drive in field weakening region under optimum torque production. With a multiphase systems, different winding connections can be obtained apart from the conventional star and delta configurations. Such connections would give higher voltages across the machines phase winding and thus allowing the for relatively higher torque production in the regions of field weakening operation.

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DYNAMICS AND CONTROL OF A FIVE PHASE INDUCTION MACHINE

A Thesis Presented to the Faculty of the Graduate School Tennessee Technological University by Sosthenes Francis Karugaba

In Partial Fulfillment of the Requirements for the Degree MASTER OF SCIENCE Electrical Engineering

December 2008

CERTIFICATE OF APPROVAL OF THESIS DYNAMICS AND CONTROL OF A FIVE PHASE INDUCTION MACHINE by Sosthenes Francis Karugaba

Graduate Advisory Committee

Dr. Joseph O. Ojo, Chairperson

Date

Dr. Arun Sekar

Date

Dr. David Gao

Date

Approved for the Faculty

Francis Otuonye Associate Vice President for Research and Graduate Studies

Date

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DEDICATION

This work is dedicated to my late father Francis Mulokozi, my mother Elizabeth Kokunura, my wife Nafsa, my children Sharon Kokubera and Collin Mwesiga.

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ACKNOWLEDGEMENTS

I appreciate the valuable advisement and assistance given to me by the chairperson of my advisory committee and who is also my major professor, Dr. Joseph O. Ojo. His professional guidance and support are left to be admired. I also extend my thanks to Dr. Arun Sekar and Dr. David Gao for their academic enrichment they passed on me during the period of my course of study. I acknowledge the financial support of the Office of Naval Research (ONR) through the Center for Energy Systems Research (CESR). I appreciate the Director of CESR, Dr. Sastry Munukutla for the support. I thank Sandy Garrison, Etter M. Staggs and Linda Lee for their supporting work. My gratitude goes to the Chairperson of Electrical and Computer Engineering (ECE), Dr. Stephen A. Park, Faculty and Staff, Claudette Venters, Swati Dalvi, Valerie Joshi for their clarifications on several regulations and procedures. I extend my sincere thanks to the Associate Vice President of Research and Graduate Studies, Dr. Francis Otuonye, the entire staff of graduates School staff, Sheila Kendrick, Becky Stafford and Kathy Reynolds, for their advice and timely response on several occasions. I appreciate the office of International Students Affairs, Charles Wilkerson and Brenda Gentry for their needful help and support. I am very grateful to my employer, Dar es Salaam Institute of Technology (DIT), for giving me release to undertake this programme. I really cherish Ndaga Mwakabuta and Dr. Bakari Mwinyiwiwa for their trust on me, advice, encouragement and tireless efforts they made to me before and in the course of my academic career. I would like to thank Dr. Zhiqiao Wu, Dr. Juan Munoz, Dr. Emeka S. Obe and Dr. Michael Omoigui for their academic enrichment. I am grateful to Robert (Bob) Peterson, Cornard Murray, David Walker, Andrew Watkins, and Toan Vu for their technical work. I extend my thanks to Gayathri Murthi, Godwin and Mastidia Mutahangarwa, Praxeda, Filbert, Jovina, Faosta, Liberatus, Melxedeck, Juvenary, Linus, Nicolaus Kaiza, Julius Ernest, Bossi Masamila, Adolph Banyenza, Dina Machuve, Judith Mwakalonge, Veronica Ndaga, Julius Abayateye, Sofia S. Nkya, Frank Mrema, Diego Robalino, Jianfu Fu, Jiaxin Ning, Rohit Satish Kunte, Sharanya Jaganathan, Vadim Zheglov, Ge Wang, Adeola Balogun, Jibril Yusuf, George and Lufaro Chitiyo, Marsha Hobby, Zainab S. Nkya, Audley Bruce Grey, Alex Pama, Anish Joshi, Shounak Abhyankar, Yogesh Barve, all members of MTTA and IJAKUNU for their friendship, moral support and advice. The love, support, patience and encouragement from my parents and relatives, my wife Nafsa, my children Sharon Kokubera and Collin Mwesiga remain memorable.

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TABLE OF CONTENTS page

LIST OF FIGURES .........................................................................................................XII

LIST OF TABLES...................................................................................................... XXVI

CHAPTER 1 ....................................................................................................................... 1

INTRODUCTION .............................................................................................................. 1 1.1 1.2 1.2.1 1.2.2 1.3 1.4 1.5 1.6 1.7 Introduction............................................................................................................. 1 Control of Variable-speed Multiphase Induction Motor Drives............................. 4 Vector Control of Multiphase Induction Machines ............................................ 4 Direct Torque Control (DTC) ........................................................................... 10 Field Weakening Operation of Induction Motors................................................. 11 Fault Analysis in Multiphase Machines................................................................ 12 Connections of Multiphase Machines................................................................... 13 Multiphase PWM Voltage Source Inverter........................................................... 14 Scope of the Thesis ............................................................................................... 16

CHAPTER 2 ..................................................................................................................... 18

THEORY OF MULTIPHASE SYSTEMS....................................................................... 18 v

2.1

Introduction........................................................................................................... 18 Transformations ................................................................................................ 19

2.1.1 2.2 2.2.1 2.2.2 2.2.3 2.3

Three-phase System .............................................................................................. 22 Three-phase Power Computation...................................................................... 23 Real Power Computation for a Three-phase System ........................................ 24 Reactive Power Computation for a Three-phase System ................................. 26

Five-phase System ................................................................................................ 27 Five-phase Power Computation........................................................................ 29 Total Power in a Five-phase System................................................................. 36 Seven-phase System.............................................................................................. 39 Modulation Technique for Multi-phase Converters ............................................. 42 Conclusion ............................................................................................................ 60

2.3.1 2.3.2 2.4 2.5 2.6

CHAPTER 3 ..................................................................................................................... 62

FULL ORDER MODELING OF A FIVE PHASE INDUCTION MACHINE ............... 62 3.1 3.2 3.2.1 3.2.2 3.3 Introduction........................................................................................................... 62 Coupled Model of a Five-Phase Induction Machine ............................................ 63 General Winding Function................................................................................ 63 Calculation of Stator Inductances ..................................................................... 67

Five Phase Stator Winding Design ....................................................................... 69 vi

3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 3.3.6 3.3.7 3.4

Winding Design ................................................................................................ 69 Winding Configuration ..................................................................................... 70 Conductor Size and Ratings of the Five-Phase Induction Machine ................. 74 Turn and Winding Functions ............................................................................ 75 Stator Mutual Inductances ................................................................................ 78 Calculation of Rotor Inductances...................................................................... 79 Calculation of Stator-Rotor Mutual Inductances .............................................. 85 Model of the Five Phase Stator Winding Machine............................................... 86 Stator Voltage Equation.................................................................................... 87 Stator Flux Linkage Due to the Stator Currents................................................ 88 Stator Flux Linkage Due to the Rotor Currents ................................................ 88 Rotor Voltage Equation .................................................................................... 89

3.4.1 3.4.2 3.4.3 3.4.4 3.5 3.6 3.6.1 3.7 3.7.1 3.7.2 3.8 3.9 3.9.1

Torque Equation.................................................................................................... 90 Development of the Equivalent Circuit ................................................................ 91 QD Transformation........................................................................................... 92 Fundamental Component Based Parameter Determination.................................. 95 Mutual Inductance Between a Rotor Loop and a Stator Phase....................... 101 Two Axis Equivalent Inductances .................................................................. 102 Simulation Results .............................................................................................. 105 Experimental Determination of Machine Parameters......................................... 133 Experimental results........................................................................................ 133

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3.10

Conclusion .......................................................................................................... 142

CHAPTER 4 ................................................................................................................... 144

CARRIER BASED PWM SCHEME FOR FIVE PHASE INDUCTION MOTOR DRIVE ......................................................................................................................................... 144 4.1 4.2 Introduction......................................................................................................... 144 Simulation Results .............................................................................................. 161 Conventional Star Connection, Figure 4.26 (a) .............................................. 163 Conventional Delta Connection, Figure 4.26 (b)............................................ 164 Alternate Delta Connection, Figure 4.26 (c)................................................... 165 Without Third Harmonic Voltage Injection.................................................... 166 With the Injection of the Third Harmonic Supply Voltage Component......... 173

4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.3

Conclusion .......................................................................................................... 180

CHAPTER 5 ................................................................................................................... 181

FIVE PHASE INDUCTION MACHINE UNDER OPEN PHASE FAULTS ............... 181 5.1 5.2 5.3 Introduction......................................................................................................... 181 Five-Phase Induction Machine Modeling in Stationary Reference Frame ......... 183 Model of an Open Phase Faulted Five-Phase Induction Machine...................... 188 Harmonic Balance Technique for One Stator Open Phase Fault.................... 192

5.3.1

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5.3.2 5.3.3 5.4

Steady State and Dynamic Model Analysis.................................................... 198 Results and Discussion ................................................................................... 210

Two Adjacent Phases (a and b) Open Circuited............................................ 226 Harmonic Balance Technique for the Two Adjacent Open Phase Faults....... 233 Steady State and Dynamic Model Analysis for Two Adjacent Open Phases. 234 Results and Discussion for Two Adjacent Open Phase Fault......................... 251

5.4.1 5.4.2 5.4.3 5.5

Two Non-adjacent Phases (a and c) Open Circuited..................................... 266 Harmonic Balance Technique for the Two Non-adjacent Stator Open Phases .... ......................................................................................................................... 272

5.5.1

5.5.2 5.5.3 5.6

Steady State and Dynamic Model Analysis for Two Adjacent Open Phases. 273 Results and Discussion for Two Non-adjacent Open Phase Fault.................. 282

Conclusion .......................................................................................................... 297

CHAPTER 6 ................................................................................................................... 298

ROTOR FLUX VECTOR CONTROL OF A FIVE PHASE INDUCTION MACHINE ......................................................................................................................................... 298 6.1 6.2 6.3 6.4 1 Introduction...................................................................................................... 298 Vector Control of an Induction machine ............................................................ 299 Controller Design................................................................................................ 313 PI Controller Design Based on Fundamental Components ................................ 314

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6.4.1 6.4.2 6.4.3 6.5 6.6

Stator Q-axis Current and D-axis Controller Design.......................................... 315 Flux Controller Design ....................................................................................... 316 Speed Controller Design ..................................................................................... 318 Controller Simulation Results............................................................................. 322 Conclusion .......................................................................................................... 327

CHAPTER 7 ................................................................................................................... 328

CONVERTER RECONFIGURATION FOR IMPROVED EXTENDED SPEED RANGE OF MULTIPHASE INDUCTION MOTOR DRIVES .................................... 328 7.1 7.2 7.2.1 Introduction......................................................................................................... 328 Multiphase Stator Winding Machine Connections ............................................. 329 Five Phase Stator Winding Machine Connections.......................................... 329

7.2.2 Seven Phase Stator Winding Machine Connections....................................... 331 7.3 7.4 7.4.1 7.4.2 7.4.3 7.4.4 Converter Reconfiguration.................................................................................. 335 Rotor Reference Frame Vector Control.............................................................. 339 Constant Torque Region ................................................................................. 341 Field Weakening Region I .............................................................................. 341 Field Weakening Region II............................................................................. 342 Current Controller design ............................................................................... 343

7.5 7.6 7.7

Steady-State Results............................................................................................ 351 Control Simulation Results ................................................................................. 354 Conclusion .......................................................................................................... 357

CHAPTER 8 ................................................................................................................... 358

CONCLUSIONS AND FUTURE WORK ..................................................................... 358 8.1 8.2 Introduction......................................................................................................... 358 Suggestions for Future Work .............................................................................. 360

REFERENCES ............................................................................................................... 361

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LIST OF FIGURES page Figure 1.1 Indirect rotor flux oriented controller for m-phase induction motor with sinusoidal distribution of the magneto-motive force and phase current control................. 6 Figure 1.2 Indirect rotor field oriented control of a multiphase induction machine........... 8 Figure 1.3 Five-phase two-level voltage source inverter supplying a five-phase induction machine ............................................................................................................................. 15 Figure 2.1 Schematic diagram of a five-phase voltage source converter. ........................ 43 Figure 2.2 Voltage space vector diagram of a five-phase PWM inverter for v qds ........... 54 Figure 2.3 Voltage space vector diagram of a five-phase PWM inverter for v xy1s .......... 55 Figure 2.4 Voltage space vector diagram of a five-phase PWM inverter for v xy 2 s .......... 56 Figure 2.5 Voltage space vector diagram of a five-phase PWM inverter for v xy 3s .......... 57 Figure 2.6 Voltage space vector diagram of a five-phase PWM inverter for v os ............. 58 Figure 2.7 Synthesis of the fundamental voltage in sector 1 ............................................ 59 Figure 3.1 General diagram for an electric machine showing non-constant air gap length ........................................................................................................................................... 64 Figure 3.2 Winding diagram for the design of a five-phase induction machine............... 73 Figure 3.3 Clock diagram for the design of a five-phase induction machine ................... 73 Figure 3.4 The turn functions of the stator winding. ........................................................ 76 Figure 3.5 The winding functions of the stator winding................................................... 76 Figure 3.6 Squirrel cage rotor equivalent circuit .............................................................. 81

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th Figure 3.7 Rotor i rotor loop turn and winding function, (a) turn function, (b) winding

function. ............................................................................................................................ 81 Figure 3.8 Rotor i th rotor loop turn and winding function for skewed rotor, (a) turn function, (b) winding function. ......................................................................................... 82 Figure 3.9 Stator rotor mutual inductance. ....................................................................... 85 Figure 3.10 Stator-to- rotor bar mutual inductances (a) stator phase a to rotor bar number 1 (b) stator phase b to rotor bar number 1 (c) stator phase c to rotor bar number 1 (d) stator phase d to rotor bar number 1 (e) stator phase e to rotor bar number 1. .......................................................................................................................... 86 Figure 3.11 Fundamental component of the qd-stator inductance (a) Lssq1 (b) Lssd 1 (c)

Lssq12 (d) Lssd 21 ................................................................................................................ 107

Figure 3.12 Fundamental component of the qd-rotor bar self inductance (a) L'rq1 (b) L'rd 1 (c) L'rq12 (d) L'rd 21 ............................................................................................................ 108 Figure 3.13 Fundamental component of the qd-rotor bar-to-stator mutual inductance (a)

Lrsq1 (b) Lrsd 1 (c) Lrsq12 (d) Lrsd 21 .................................................................................... 109

Figure 3.14 Fundamental component of the qd-stator-to-rotor bar mutual inductance (a)

Lsrq1 (b) Lsrd 1 (c) Lsrq12 (d) Lsrd 21 .................................................................................... 110

Figure 3.15 Fundamental component of the qd-rotor bar resistance Rrq1 ....................... 111 Figure 3.16 Starting transients of the rotor speed at no-load.......................................... 112 Figure 3.17 Rotor speed at a load torque of 8.5 Nm....................................................... 113 Figure 3.18 Fundamental components of the electromagnetic torque at no-load........... 114

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Figure 3.19 Fundamental components of the electromagnetic torque at a load torque of 8.5 Nm............................................................................................................................. 115 Figure 3.20 Fundamental components of the stator phase currents at no-load (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e..................................................... 116 Figure 3.21 Fundamental components of the stator phase currents at a load torque of 8.5 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e......................... 117 Figure 3.22 Fundamental components of the actual rotor bar currents at no load (a) bar 1 (b) bar 7 and (c) bar 14 ................................................................................................... 118 Figure 3.23 Fundamental components of the actual rotor bar currents at a load torque of 8.5 Nm (a) bar 1 (b) bar 7 and (c) bar 14........................................................................ 119 Figure 3.24 Total electromagnetic torque (Te1 + Te3 ) at no-load ......................................... 120 Figure 3.25 Total electromagnetic torque (Te1 + Te3 ) at a load torque of 8.5 Nm ............... 121 Figure 3.26 Third harmonic components of the stator phase currents at no-load (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e ............................................... 122 Figure 3.27 Third harmonic components of the stator phase currents at a load torque of 8.5 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e................... 123 Figure 3.28 Third harmonic components of the actual rotor bar currents at no load (a) bar 1 (b) bar 7 and (c) bar 14 ................................................................................................ 124 Figure 3.29 Third harmonic components of the actual rotor bar currents at a load torque of 8.5 Nm (a) bar 1 (b) bar 7 and (c) bar 14.................................................................... 125 Figure 3.30 Third harmonic component of the electromagnetic torque at no-load ........ 126 Figure 3.31 Third harmonic component of the electromagnetic torque at a load torque of 8.5 Nm............................................................................................................................. 127

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Figure 3.37 Fundamental component of the magnetizing inductance ............................ 136 Figure 3.38 Third harmonic component of the magnetizing inductance ........................ 138 Figure 2.39 Locked Rotor Leakage inductance, Figure 3.40 Locked Rotor Winding resistance, Figure 3.41 Locked Rotor Impedance,
Z br

Lbr
Rbr

against stator current, against stator current,

I br

I br

............... 140

I br ................. 141

against stator current,

............................. 141

Figure 4.1 Five-phase two-level voltage source inverter supplying a five-phase induction machine ........................................................................................................................... 144 Figure 4.2 Five-phase modulation signals for = 0.5 ................................................... 149 Figure 4.3 Phase a load voltage, = 0.5 ..................................................................... 149 Figure 4.4 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 360 ......................................................................................................................................... 150 Figure 4.5 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 360 ............. 150

Figure 4.6 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 00 151 Figure 4.7 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 00 ................. 151 Figure 4.8 Phase a fundamental and reference voltage, = 0.5[1 + sgn (cos(5(et + )))] ,

= 360 , v m 3 = +15V ................................................................................................... 152

Figure 4.9 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 360 , v m 3 = +15V ..................................................................................................................... 152 Figure 4.10 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 360 , v m 3 = +15V ..................................................................................................................... 153

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Figure

4.11

Phase

fundamental

and

reference

voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = +15V .................................................. 153

Figure 4.14 Phase a fundamental and reference voltage, = 0.5 , v m 3 = +15V ......... 155 Figure 4.15 Five-phase modulation signals for = 0.5 , v m 3 = +15V ........................... 155 Figure 4.16 Phase a load voltage, = 0.5 , v m 3 = +15V ............................................. 156 Figure 4.17 Phase a fundamental and reference voltage, = 0.5 , v m 3 = 15V ......... 156 Figure 4.18 Five-phase modulation signals for = 0.5 , v m 3 = 15V ........................... 157 Figure 4.19 Phase a load voltage, = 0.5 , v m 3 = 15V ............................................. 157 Figure 4.20 Phase a fundamental and reference voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = 15V .................................................. 158

0 Figure 4.21 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 0 ,

v m 3 = 15V ..................................................................................................................... 158 Figure 4.22 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = 15V ......................................................................................................................................... 159 Figure 4.23 Phase a fundamental and reference voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 36 0 , v m 3 = 15V .............................................. 159

Figure 4.24 Five-phase modulation signals for

= 0.5[1 + sgn (cos(5(et + )))] ,

= 36 0 , v m 3 = 15V ................................................................................................... 160

Figure 4.25 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 36 0 , v m 3 = 15V ..................................................................................................................... 160

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Figure 4.26 Different stator winding connections (a) star (b) normal (conventional) delta and (c) alternate delta...................................................................................................... 162 Figure 4.27 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 167 Figure 4.28 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 167 Figure 4.29 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 168 Figure 4.30 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 168 Figure 4.31 Staring transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 169 Figure 4.32 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 169 Figure 4.33 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 170 Figure 4.34 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 170 Figure 4.35 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 171 Figure 4.36 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 171

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Figure 4.37 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 172 Figure 4.38 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed.......................................................... 172 Figure 4.39 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 174 Figure 4.40 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 174 Figure 4.41 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 175 Figure 4.42 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 175 Figure 4.43 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 176 Figure 4.44 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 176

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Figure 4.45 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 177 Figure 4.46 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed. .......................................................................... 177 Figure 4.47 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed. .......................................................................... 178 Figure 4.48 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 178 Figure 4.49 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 179 Figure 4.50 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed ........................................................................... 179 Figure 5.1 Open phase a of the stator for the five phase induction machine. .............. 188 Figure 5.2 Starting transients (a) rotor speed and (b) electromagnetic torque................ 213 Figure 5.3 Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e.......................................................................................... 214

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Figure 5.4 Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e.......................................................................................... 215 Figure 5.5 Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds.................................................... 216 Figure 5.6 Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm. ..................................................................................................... 217 Figure 5.7 Simulation Steady-state stator phase currents at a load torque of 11 Nm. .... 218 Figure 5.8 Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e ..................................... 219 Figure 5.9 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm. .................................................................... 220 Figure 5.11. Various torque components of the five-phase induction machine under balanced and a stator phase open based on computer simulation and steady-state calculations. .................................................................................................................... 222 Figure 5.12. Small signal stability analysis (a) all state variables included (b) speed harmonics are not included (c) both speed harmonics and q-axis rotor flux linkage state variables are not included. (Rotor speed is varied from 0 to 377 rad/sec)...................... 223 Figure 5.13. Small signal stability analysis (a) all state variables included (b) speed harmonics are not included (c) both speed harmonics and q-axis rotor flux linkage state variables are not included. (Rotor speed is varied from 11.78 to 377 rad/sec)............... 224 Figure 5.14 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm. ................................................................ 225

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Figure 5.15 Open phases a and b of the stator for the five phase induction machine. ......................................................................................................................................... 226 Figure 5.16 Stator phases a and b open starting transients (a) rotor speed and (b) electromagnetic torque.................................................................................................... 253 Figure 5.17 Stator phases a and b open Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e ..................................... 254 Figure 5.18 Stator phases a and b open Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e ..................................... 255 Figure 5.19. Stator phases a and b open Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds. ......................................................................................................................................... 256 Figure 5.20. Stator phases a and b open Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm, showing the presence of the harmonic (oscillating) components................................................................................. 257 Figure 5.21. Stator phases a and b open Simulation Simulation Steady-state stator phase currents at a load torque of 11 Nm. ...................................................................... 258 Figure 5.22. Stator phases a and b open Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e .................................................................................................................................... 259 Figure 5.23. Stator phases a and b open Simulation Steady-state stator phase voltages at a load torque of 11 Nm showing the unbalance.......................................................... 260 Figure 5.24. Steady-state calculation results (a) Peak value of the speed harmonic component (b) Peak value of the torque pulsation.......................................................... 261

xxi

Figure 5.25 Faulted machine Various torque components of the five-phase induction machine under unbalanced stator phases a and b open based on computer simulation and steady-state calculations........................................................................................... 262 Figure 5.26 Various torque components of the five-phase induction machine under balanced and a stator phases a and b open based on computer simulation and steady state calculations. ............................................................................................................ 263 Figure 5.27 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm. .................................................................... 264 Figure 5.28 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm. ................................................................ 265 Figure 5.29 Open phases a and c of the stator for the five-phase induction machine. ......................................................................................................................................... 266 Figure 5.30 Starting transients (a) rotor speed and (b) electromagnetic torque.............. 284 Figure 5.31 Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e.......................................................................................... 285 Figure 5.32 Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e.......................................................................................... 286 Figure 5.33 Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds.................................................... 287 Figure 5.34 Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm. ..................................................................................................... 288 Figure 5.35 Simulation Steady-state stator phase currents at a load torque of 11 Nm. .. 289

xxii

Figure 5.36 Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e ..................................... 290 Figure 5.37 Stator phases a and c open Simulation Steady-state stator phase voltages at a load torque of 11 Nm showing the unbalance.......................................................... 291 Figure 5.39 Various torque components of the five-phase induction machine under unbalanced stator phases a and c open circuited based on computer simulation and steady-state calculations.................................................................................................. 293 Figure 5.40 Various torque components of the five-phase induction machine under balanced and a stator phases a and c open based on computer simulation and steadystate calculations. ............................................................................................................ 294 Figure 5.41 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm. .................................................................... 295 Figure 5.42 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm. ................................................................ 296 Figure 6.1 Control Block Diagram for the five-phase induction motor drive ................ 321 Figure 6.2 Controller simulation (a) Stator q-axis current (b) Stator d-axis current (c) Rotor d-axis flux (d) Actual rotor speed (e) Reference rotor speed ............................... 323 Figure 6.3 (a) stator q-axis flux linkage (b) stator d-axis flux linkage (c) rotor q-axis flux linkage (d) rotor d-axis flux linkage (e) slip speed and (f) stator frequency. ................. 324 Figure 6.4 Controller simulation (a) stator q-axis voltage (b) stator d-axis voltage (c) Electromagnetic torque (d) rotor q-axis current (e) rotor d-axis current ........................ 325

xxiii

Figure 6.5 Stator reference and actual phase currents (a) stator phase a current (b) stator phase b current (c) stator phase c current (d) stator phase d current (e) stator phase e current. (Magenta actual phase currents, Blue - reference phase currents)............ 326 Figure 7.1 Different stator winding connections for a five-phase stator winding (a) star (b) normal (conventional) delta, abcde and (c) alternate delta, acebd............................ 330 Figure 7.2 Seven phase stator winding in star connection.............................................. 331 Figure 7.3 Seven phase stator winding in conventional delta (abcdefg) connection...... 332 Figure 7.4 Seven phase stator winding in alternate delta (acegbdf) connection I. ......... 333 Figure 7.5 Seven phase stator winding in alternate delta (adgcfbe) connection II. ........ 334 Figure 7.6 Five-leg inverter feeding a five-phase induction machine in abcde delta connection. ...................................................................................................................... 338 Figure 7.7 Five-leg inverter feeding a five-phase induction machine in acebd delta connection. ...................................................................................................................... 338 Figure 7.8 Control Block Diagram for extended speed range operation of the five-phase induction motor drive...................................................................................................... 350 Figure 7.9 Stator peak, q-axis and d-axis currents as functions of rotor speed for the three different connections of the five-phase induction motor. ............................................... 352 Figure 7.10 Torque as a function of rotor speed for the three different connections of the five-phase induction motor. ............................................................................................ 353 Figure 7.11 Simulation for the speed controlled five-phase machine, (a) actual and reference q-axis stator currents (b) actual and reference d-axis stator currents (c) actual and reference d-axis rotor flux linkages (d) actual and reference rotor speed and (e) electromagnetic torque.................................................................................................... 355

xxiv

Figure 7.12 Simulation for the speed field weakening control of a five-phase machine, (a) actual and reference q-axis stator currents (b) actual and reference d-axis stator currents (c) actual and reference d-axis rotor flux linkages (d) electromagnetic torque and (e) reference rotor speed....................................................................................................... 356

xxv

LIST OF TABLES

page Table 2.1 Phase voltages for the five-phase inverter ........................................................ 47 TABLE 2.2 Space vector voltage components for the five-phase inverter ...................... 51 Table 3.1 Development of the winding diagram .............................................................. 72 Table 3.2 Sequence of coil groups.................................................................................... 72 Table 3.3 Distribution of slots in a unit ............................................................................ 72 Table 3.4 Machine parameters before being referred to the stator side.......................... 104 Table 3.5 Machine parameters referred to the stator side............................................... 105 Table 3.6 No-load Tests Power, voltage and current measurements.............................. 134 Table 3.7 No-load Tests Line-to-line Voltage and current measurements ..................... 134 Table 3.8 No-load Tests Phase a voltage and phase a current measurements........... 135 Table 3.9 No-load Tests Phase a third harmonic voltage and current measurements.. 137 Table 3.10 Locked rotor t test Line-to-line voltages, current and power measurements 138 Table 3.11 Summary of the Test parameters .................................................................. 142 Table 7.1 Modulation signals for star connection and changeover from delta connection I to delta connection II ...................................................................................................... 337

xxvi

CHAPTER 1 INTRODUCTION

1.1

Introduction

In general, the induction machines having three-phase windings are normally used, since the standard power supply is three phase. However, when fed by an inverter, there is no need for a fixed number of phases, some other phases being possible and advantageous. A multiphase machine can operate normally after loss of one or more phases. This improved reliability stems from the fact that only two independently controllable current components are necessary to create a rotating field. In the three-phase machine, this is only possible if the neutral of the motor is connected to the dc link midpoint to allow zero-sequence current component to flow [1.1]. In an m-phase star-connected machine with isolated neutral, there are (m-1) degrees of freedom. It is possible to achieve the rotating magneto- motive force by controlling the remaining phase currents even after losing up to m-3 phases. For example, a five-phase machine can continue to operate if one or even two phases of the supply are lost. When only one phase is lost (open circuited), it does not matter which phase because of the spatial symmetry of the stator windings in the machine, the results are the same regardless of which phase is open. Much published work has shown that drives with more than three phases have various advantages over conventional three phase drives, such as reduction in amplitude

and increase in frequency of pulsating torque, reduction in harmonic currents, increase in current per phase without the need to increase the phase voltage, and reduction in the voltage-level in the dc (direct current) link [2.1, 2.2]. Another important aspect of machines with a higher number of phases is their improved reliability, since they can operate even when one phase is missing [2.1]. An increase in number of phase can result in an increase in torque/ampere relation for the same volume of the machine, such that five-phase machines can develop torque using not only the fundamental, but also using higher harmonics of the air gap field [2.1, 2.3]. The types of multi-phase machines for variable-speed applications are in principle the same as their three-phase counterparts. These include induction and synchronous multiphase machines. Synchronous multiphase machines may be with permanent magnet excitation, with field winding excitation, or of reluctance type. Three-phase induction and cylindrical synchronous machines are normally designed with distributed stator winding that gives near-sinusoidal magnetomotive force (MMF) distribution and is supplied with sinusoidal currents. The permanent magnet synchronous machine has a trapezoidal flux distribution and rectangular stator current supply. Nevertheless, spatial MMF distribution is never perfectly sinusoidal and some spatial harmonics are inevitably present. For multiphase machines, a near-sinusoidal MMF distribution requires use of more than one slot per pole per phase. As the number of phases increases, it becomes progressively difficult to realize a near-sinusoidal MMF distribution. The minimum number of slots required for this purpose for a three-phase four-pole machine is 24, whereas for the five-phase four-pole machine the minimum number of slots required for production of a near-sinusoidal MMF distribution is 40 [1.2].

Some of the advantages of multiphase machines when compared to their three-phase counterparts are [1.2, 1.3] Fundamental stator currents produce a field with a lower space-harmonic content. The frequency of the lowest torque ripple component being proportional to 2m , increases with the number of phases. Since only two currents are required for the flux/torque control of an ac machine, regardless of the number of phases, the remaining degrees of freedom can be utilized for other purposes. One such purpose, available only if the machine is with sinusoidal MMF distribution, is the independent control of multi-motor multiphase drive systems with a single power electronic converter supply. As a consequence of the improvement in the harmonic content of the MMF, the noise emanated from a machine reduces and the efficiency can be higher than in a three-phase machine. All multiphase variable-speed drives share a couple of common features. For a given machines output power, utilization of more than three-phases enables splitting of the power across a larger number of inverter legs, thus enabling use of semiconductor switches lower rating. Due to a larger number of phases, multiphase machines are characterized with much better fault tolerance than the three-phase machines. Independent flux and torque control requires means for independent control of two currents. This becomes impossible in a three-phase machine if one phase becomes opencircuited, but is not a problem in a multiphase machine as long as no more than

(m 3) phases are faulted.

1.2

Control of Variable-speed Multiphase Induction Motor Drives

Methods of speed control of multiphase induction machines are in principle the same as or three-phase induction machines. These methods are namely as constant voltage per hertz V f control, vector control, and direct torque control (DTC). Constant V
f

for the multiphase variable-speed induction motor drive development in

conjunction with voltage source inverters operated in the 180 0 conduction mode was presented in [1.4] and [1.5]. In the recent times, the emphasis has shifted to vector control and direct torque control (DTC).

1.2.1

Vector Control of Multiphase Induction Machines

For a symmetrical multiphase induction machine with sinusoidally distributed stator winding, the same vector control schemes for a three-phase induction machine are directly applicable regardless of the number of phases. The only difference is that the coordinate transformation has to produce an m-phase set of stator current or stator voltage references, depending on whether current control is stationary or in synchronous rotating reference frame. Indirect rotor flux oriented control (FOC) schemes for multiphase induction machine using these two types of current control.

Assuming the stator winding has a singe neutral point, the scheme of Figure 1.1 utilizes (m 1) stationary current controllers. Either phase currents or phase current components in the stationary reference frame can be controlled an the standard ramp comparison current control method offers the same quality of performance as with threephase induction motor drives. The scheme of Figure 1.2 has only two current controllers. However, since an mphase machine essentially has (m 1) independent currents, utilization of this scheme will suffice only if there are not any winding and /or supply asymmetries within the mphase stator winding and / or supply. This scheme also requires an adequate method of inverter PWM control to avoid creation of an unwanted low-order stator voltage harmonics that represent voltage x y components in Equation (2.3) and therefore lead to the flow of large stator x y current components, as discussed in Chapter 2. In the case of a six-phase induction machine with two isolated neutral points, the scheme of Figure 3 would require four current controllers which would apply to both the control based on the double q d winding representation and to the control based on the model which in addition to the q d stator current controllers, one needs to add a pair of x y current controllers [1.6 - 1.8]. Most literature on control related analysis has considered five-phase or asymmetrical six-phase induction machines. Indirect rotor filed oriented control can be applied to other phase numbers as presented in [1.9 - 1.14] where a 15-phase induction machine is considered. In [1.11 - 1.14], a 15-phase induction machine for electric ship propulsion, configured as a three five-phase stator windings (vector and DTC have been considered in [1.11 - 1.13], while [1.12 - 1.14] used V/f control. Control of a 15-phase

induction motor drive is also discussed in [1.7]. Whereas an analysis of possible supply options for a 36.5 MW, 16 Hz, nine-phase variable speed drive aimed at electric ship propulsion is reported in [1.6]. It is concluded in [1.6] that if a good quality of current control is achieved and an appropriate method of PWM for multiphase voltage source inverter (VSI) is applied, the performance of a vector controlled multiphase induction machine will be very much the same as its three-phase counterpart.

* ids

e* ids

i1*
2
* i2

e j e

r* +
-

PI

* iqs

e* iqs

* i3

* im

e
K1 1 p Integrator
* sl

+ +
P 2

rm

Figure 1.1 Indirect rotor flux oriented controller for m-phase induction motor with sinusoidal distribution of the magneto-motive force and phase current control.

The parameter and symbols shown in Figure 1.1 are defined as follows
K1 = 1 T i (1.1)

* * r ds

Tr =

Lr is the rotor time constant rr

r is the electrical rotor speed

rm is the mechanical rotor speed

* sl is the electrical slip speed

r* is the reference rotor speed

* iqs is the reference q-axis stator current

* ids is the reference d-axis stator current

PI stands for proportional integral controller

e is the instantaneous rotor flux space vector position

* * * i1* , i2 , i3 , L , i m are the reference stator phase currents

* ids

+ -

PI

+ +
eds

* v ds

* v s

* v1

* v2 * v3

e j e
* v qs * v s

* iqs

+ -

PI

+ +
eqs

M m
* vm

iqs

is

i1

i2

e j e
ids i s

i3

M m
im

Figure 1.2 Indirect rotor field oriented control of a multiphase induction machine.

The current control of Figure 1.2 is in the rotating reference frame. The stator q and
d axis reference currents and rotor flux position are obtained as in Figure 1.1. Some of

the defining equations for the system of Figure 1.2 are

eqs = e L ids + r Lm ' dr L'r

(1.2)

eds = e L iqs

rr' Lm ' dr L'r2

(1.3)

where

e =

d e dt

(1.4)

L2 L = Ls m L'r

(1.5)

where
Ls is the stator self inductance L'r is the rotor self inductance referred to stator side Lm is the magnetizing inductance
* * * * v1 , v2 , v3 ,L, vm are the reference stator phase voltages

i1 , i2 , i3 ,L, im are the stator phase currents

* * and v are the and axis reference stationary voltages, respectively v

i and i are the and axis reference stationary currents, respectively iqs and ids are the q and d axis currents, respectively, in the synchronous reference

frame
* * and v ds are the q and d axis reference voltages, respectively, in the synchronous v qs

reference frame
* * iqs and ids are the q and d axis reference currents, respectively, in the synchronous

reference frame.

'dr is the rotor d-axis flux linkage

1.2.2

Direct Torque Control (DTC)

For a three-phase induction machine, two basic approaches of direct torque control (DTC) can be identified [1.6]. The first approach utilizes hysteresis stator flux and torque controllers in conjunction with an optimum stator voltage vector section table leading to a variable switching frequency. In the second approach, an appropriate method of inverter PWM control is applied while keeping the switching frequency constant. These two approaches can be applied to multiphase induction machines achieving the same dynamic performance as for the three-phase induction machines. The important differences are predominantly caused by the existence of additional degrees of freedom in multiphase machines due to the x and y components. If the multiphase machine is with sinusoidal magneto-motive force distribution, DTC scheme needs to apply sinusoidal voltages to the stator windings of the machine. The unwanted low-order frequency components that would excite the x and y circuits are to be avoided. This can be avoided if the constant switching frequency is used. Since a multiphase induction machine is supplied from a multiphase voltage source inverter. Constant switching frequency DTC of a multiphase induction machine can be realized by using appropriate PWM method that ensures sinusoidal voltage output from the inverter. In this thesis, indirect rotor flux oriented control (FOC) for a five phase induction machine is presented. The rotor speed is controlled by using a ramp of the reference speed. Using rotor flux oriented control, the five-phase inverter is reconfigured for improved extended speed drives is presented. It investigates the possibilities of operating

10

a multi-phase induction motor drive in field weakening region under optimum torque production.

1.3

Field Weakening Operation of Induction Motors

Maximum torque production in the field-weakening region is a desired property of vector-controlled induction motors in applications such as traction and spindle drives. Field weakening operation consists of two steps: the choice of the proper flux reference to get maximum toque and producing the necessary currents to meet the flux and torque references. The classical field weakening technique, 1

, in rotor field oriented drives

ahs been shown to provide flux reference that are too high, reducing the amount of current available to produce the torque, and therefore, the torque capability of the drive [7.3, 1.15]. In [7.3], the optimal current references for maximum torque were obtained by taking into account both current and voltage limits for the inverter and motor. In [1.15] it was shown that almost optimal flux current references could be obtained by applying to the stator flux. In these references, only steady state operation has been considered. Assuming that a proper flux reference is available, dynamic field weakening relies on the dynamic response of both the flux and current regulators. At high speeds, the available voltage will mostly be used to counteract the back emf. Small transient errors in flux regulation could result in insufficient voltage margin to create the desired torqueproducing current, dramatically affecting the drive performance. 1

11

1.4

Fault Analysis in Multiphase Machines

A good number of research work has been presented on faults in electric machines [5.3]. Various categories of faults have been discussed for multi-phase machines interturn short circuits [5.4, 5.5] based on winding function approach. In [2.2] a dq model based on transformation theory for five-phase induction machines has been presented and the analysis of the machine under asymmetrical connections is discussed. A control strategy of multiphase machines under asymmetric fault conditions due to open phase is presented in [4.7]. The authors used a five-phase synchronous motor with one open phase as a practical example. So far there is no work that has developed a circuit based model which can be used to predict not only the steady-state and stability of the open-phase five phase induction machine but also the dynamics of the pulsating torque. Although it is known that faulted multi-phase machines can produce significant average torques, not much work has been done to quantify this. In this work, to determine the steady-state and dynamic stability performance, first a five-phase induction machine with one phase (phase a) open is modeled in stationary reference frame. Then the same analysis is carried out for two phase open, a and b (for adjacent phases) and a and c (for non-adjacent phases). For the first time, using harmonic balance technique it has been possible to develop a circuit based model that has been used to perform the steady-state and dynamic analysis of a faulted machine. The steady-state speed harmonics and torque pulsations have been calculated and the results

12

compare fairly well with the simulation results based on the full-order dynamic model of the faulted machine. Furthermore, the small-signal stability study has been made through the small signal analysis whereby the dynamic model obtained from the harmonic balance technique has been used. At low speeds, the machine exhibits instability due to the rotor flux linkages. This instability is eliminated when the machine speeds up close to synchronous speed. This indicates that the machine can still be able to start under one or two open stator phase faults and provide significant torque to meet most load requirements.

1.5

Connections of Multiphase Machines

One of the advantages of a multiphase machine apart from its tolerance is that it can be used in high speed applications. In general, the maximum speed of the machine is limited by the inverter voltage and current limits. High speed operation can be made possible by either employing an inverter with higher voltage or by reducing the counter emf value of the machine using field weakening techniques. Other techniques employed to achieve significant wider speed ranges include reducing the per phase equivalent impedance of the machine, pole amplitude and phase modulation by changing the number of poles. These techniques require additional semiconductor devices in the converter as well as special machine designs. An m-phase machine (where m > 3 ) can be connected in
m +1 different ways. With these available alternatives, the speed range of an m-phase 2

machine can be significantly increased. As the connection pattern changes from one to

13

the other, the impedance of the machine seen by the inverter varies making it possible to achieve higher speeds before the converter rating voltage is reached. In such connection transitions different torque-speed characteristics are realized. In this work, the approach in reconfiguring the inverter in order to achieve wider speed range of operation for the multiphase induction machines is presented.

1.6

Multiphase PWM Voltage Source Inverter

DC/AC voltage source inverters (VSI) are extensively used in motor drives to generate controllable frequency and ac voltage magnitudes using various pulse width modulation (PWM) strategies. The carrier-based PWM is very popular due to its simplicity of implementation, known harmonic waveform characteristics, and low harmonic distortion. Figure 1.3 shows a schematic diagram of five-phase voltage source converter. The turn on and turn off sequences of a switching device are represented by an existence function which has a value of unity when it is turned on and becomes zero when it is turned off [4.1]. The existence function of a two-level converter comprising of two switching devices is represented by Sij , i = a, b, c, d , e and j = p, n where i represents the load phase to which the device is connected, and j signifies top (p) and bottom (n) device of the converter leg. Hence, S ap , S an which take values of zero or unity are, respectively, the existence functions of the top device and the bottom device of the inverter leg which is connected to phase a of the load.

14

S ap
vd 2
o

Sbp

S cp

S dp

S ep

b
c

vd 2

S an

Sbn

S cn

S dn

e S en

ias ibs ics ids ies

IM

Figure 1.3 Five-phase two-level voltage source inverter supplying a five-phase induction machine Energy conversion in converters is achieved by the Pulse Width Modulation (PWM) technique [3.5]. The turn on and turn off time of each switching device is calculated from a control scheme and when these PWM pluses are applied, the fundamental voltages embedded in the output PWM voltages are the same as the desired ones. The PWM technique can be generally divided into Carrier-based PWM (CPWM) and Space Vector PWM (SVPWM). In the CPWM method, the modulation signals which contain certain magnitude, frequency and angle information are compared with a high frequency carrier signal to generate the switching pulses. The pulses are one when modulation signals are larger than the carrier signal and zero when modulation signal are smaller than carrier signal. However, the turn on and turn off times of each device are calculated and then sent to the PWM generator directly in the SVPWM method.

15

1.7

Scope of the Thesis

The main objective of this research is to explore the advantages of multiphase induction machines. The analysis presented in this Thesis considers a five phase induction machine as an example. An existing 2-pole, three-phase stator winding of a three-phase squirrel cage induction machine was rewound to be a 4-pole, five-phase stator winding of a five-phase squirrel cage induction machine. In some instances, a seven-phase induction machine has been included in order to emphasize the generality. Chapter 2 presents the theory of multiphase systems in which the reference frame of transformation is presented. General expressions for calculating the real and reactive powers for the three, five and seven phase systems are derived. In addition, vector space modulation for the five phase voltage source inverters is discussed. The full order model of a five-phase induction machine is discussed in Chapter 3. Computer simulation results are presented. Using two three-phase inverters, open circuit and blocked rotor tests are carried out to determine the machine parameters. The approach of using winding function to determine the self and mutual inductances can be used to analyze the machine performance when there inter-turn and intra-turn faults. Thus, the model would give the actual values of the inductances that are taking part in the machine operation. Chapter 4 discusses the carrier based PWM scheme for the five-phase induction motor drive. Efforts are made to simulate the machine with different stator winding connections and analyze the capability of producing the third harmonic component torque.

16

A thorough analysis of the machine dynamics for open phase faults on the stator windings is discussed in Chapter 5. The harmonic balance technique models give way to analyzing the machine performance under open phase faults. It makes it possible to determine the harmonic components of speed and torque. Rotor flux vector control of five-phase induction machine is discussed in Chapter 6. This precedes the discussion on speed range operation which is presented in Chapter 7. Chapter 8 includes the conclusion and suggestions for future work on five-phase induction machines and multi-phase systems.

17

CHAPTER 2 THEORY OF MULTIPHASE SYSTEMS

2.1

Introduction

Multi-phase machines have attracted increased interest in recent years. This is due several advantages that they offer as compared to the conventional three-phase ones. In the presence of a power electronic converter which is needed for variables speed ac drive, the number of phases is essentially not restricted and multiphase machines are nowadays considered as potentially viable solutions for high power and high current applications. Apart from their applications in traction and electric ship propulsion, some investigation is going on for a more-electric aircraft concept, because of their fault tolerance which enables disturbance-free mode of operation in case of loss of one or more phases [2.1]. With such a large number of phases, the analysis of the multiphase machines becomes complicated. In order to include space harmonics, the proper reference frame is required. This will eliminate the time variance of mutual inductance as well as simplifying the model for performance calculation. In this Chapter, a generalized reference frame is presented. Using the complex reference frame transformation, the expressions for the real and reactive powers of the three, five and seven phase systems are derived. It has been shown that depending on the reference frame used, the power is not always invariant. Therefore, it is very important to consider the effect of the multiplying factor if power computation will be part of the analysis.

18

2.1.1

Transformations

For the purpose of analysis of energy conversion characteristics, an n-phase-stator, m-phase rotor balanced machine can be reduced to an equivalent two-phase machine. The analysis of the n-m winding machine involves two essential steps [2.2]. (a) establishing the equations of motion in terms of a set of variables, and (b) eliminating as many of the variables as possible without losing any essential information. The stationary reference frame `transformations, which prove useful in reducing the variables in the n-m phase machine, are generalized versions of the complex symmetrical component transformation and the real transformation. A linear complex transformation of variables is defined by
x = Tx y

(2.1)

where
y = [ y1 y 2 L y n 1 yn ]
T

(2.2)
x m 1

x = xo

x1

x 2 L x m2

(2.3)

Equation (2.2) is a vector of real variables, whereas Equation (2.3) is the complex vector.
Tx is the symmetrical component transformation matrix given by [2.2]

19

Tm =

1 1 1 a1 1 a 2 3 2 1 a M m M ( m 3 ) 1 a 1 a (m 2 ) ( m 1) 1 a

a 2 ( m 3 ) a 2(m2 ) a 2(m 1)

1 a2 a4 a6 M

a 3( m 3 ) a 3( m 2 ) a 3(m 1)

1 a3 a6 a9 M

1 L ( m 3 ) a L L a 2 ( m 3 ) L a 3( m 3 ) O M ( m 3 )( m 3 ) L a L a (m 2 )(m 3) L a (m 1)(m 3)

1
a a 2(m2 ) a 3( m 2 ) M
(m 2 )

a (m 3 )(m 2 ) a (m 2 )(m 2 ) a (m 1)(m 2 )

a 2 ( m 1) a a 3(m 1) M a (m 3 )(m 1) a (m 2 )(m 1) a (m 1)(m 1)

( m 1)

(2.4a)

The inverse of the transformation matrix is [2.2] 1 1 1 a 1 1 a 2 3 2 1 a = M m M ( m 3 ) 1 a 1 a (m2 ) ( m 1) 1 a 1 a 2 a 4 a 6 M 1 a 3 a 6 a 9 M L 1 ( m 3 ) L a L a 2 ( m 3 ) L a 3(m3) O M ( m3 )( m 3 ) L a L a (m2 )(m3) L a (m1)(m3) 1
a a 2(m2 ) a 3(m2 ) M
( m 2 )

1 Tm

a 2 ( m 3 ) a 2(m2 ) a 2(m1)

a 3(m3) a 3(m2 ) a 3(m1)

a (m3)(m2 ) a (m2 )(m2 ) a (m1)(m2 )

a a 2(m1) a 3(m1) (2.4b) M a (m3)(m1) a (m2 )(m1) a (m1)(m1)

( m1)

where
a=e
j 2 m

is the mth root of unity and

2 is the characteristic angle. m

The first element in Equation (2.3) is called the zero sequence, and it has a real value. For a multiphase system with even number of phases, there will be two real vectors, the first one and the other at
m , where m is the number of phases. 2

For m = 5 , the following identities will apply

a=e
j 2 m

a =e
2

4 m

a =e
3 j 16 m

6 m

=a

a =e
4

8 m

= a 1

a6 = e

12 m

= a1

a8 = e

= a2

a* = e

2 m

= a 1

20

(a ) (a )

2 *

=e =e

4 m

= a2

(a )
*

3 *

=e

6 m

= a2 = a2 =e
j 16 m

( )

(a )
*

4 *

=e

8 m

= a 1 = a1

( )

6 *

12 m

= a1 = a 1

( )

(a )

8 *

= a 2 = a 2 and so on.

( )

The stationary reference frame transformation matrices and their inverses for three, five and seven phase systems are given by Equations (2.4c), (2.4d) and (2.4e), respectively.
1 1 2 1 a 3 2 1 a 1 a2 a 1 1 2 1 a 1 3 2 1 a 1 a 2 a 1

T3 =

1 3

(2.4c)

T5 =

1 1 1 a 2 1 a 2 5 2 1 a 1 1 a

1 a2 a 1 a a 2

1 a 2 a a 1 a2

1 a 1 a 2 a2 a

T51 =

1 1 1 a 1 2 1 a 2 5 2 1 a 1 a

1 a 2 a a 1 a2

1 a2 a 1 a a 2

1 a1 a 2 (2.4d) a 2 a 1

1 1 1 a 1 a 2 2 T7 = 1 a3 7 1 a 3 2 1 a 1 a 1

1 a a 3 a 1 a1 a3 a 2
2

1 a a 1 a2 a 2 a a 3
3

1 a a
3

1 a a3 a a 1 a 3 a2
2

a 2 a2 a 1 a3

1 a 1 a 2 a 3 a3 a2 a1

T71

1 1 1 a 1 1 a 2 2 = 1 a 3 7 1 a 3 2 1 a 1 a 1

1 a 2 a3 a1 a 1 a 3 a2

1 a 3 a1 a 2 a2 a 1 a3

1 a3 a 1 a2 a 2 a1 a 3

1 a2 a 3 a 1 a1 a3 a 2

1 a1 a2 a3 a 3 a 2 a 1

(2.4e) For an arbitrary reference frame transformation, then the transformation matrices given are multiplied by e j , where = t + 0 , is the angular speed of the reference frame and 0 is the reference frame initial angle. The reference frame transformation produces m variables. If the number of phases is odd, then there

m 1 m 1 forward rotating complex variable component and backward 2 2

21

rotating complex components which are the conjugates of the other set if the system is balanced. The remaining component is the zero sequence component. This is in real form. If the number of phases is even, then there are two zero sequence components, the second one occurring at

(m 2) m . The remaining components are complex conjugates, with 2 2

forward rotating and the other

(m 2)
2

backward rotating.

2.2

Three-phase System

In order to arrive at the general transformation of the multi-phase systems, a brief review of the three-phase system transformation is given first. The y vector of Equation (2.1) can take variables of any form (for example, currents, voltages, flux linkages). As an example of three-phase system, the voltage and current are considered
v = [v as i = [ias vbs ibs vcs ] ics ]
T T

(2.5) (2.6)

where vas , vbs and vcs are the phase voltages and ias , ibs and ics are the phase currents for the three-phase system. In this particular case, m = 3 and therefore,
a=e
j

2 3

Transforming the phase voltages and currents into a complex form by using the stationary reference frame complex transformation matrix, the following equations are obtained

22

v qds =

2 v as + avbs + a 2 v cs 3
2 ias + aibs + a 2 ics 3

(2.7)

iqds =

(2.8)

The zero sequence components are give by

vos = 2 [v as + vbs + vcs ] 3 2 [ias + ibs + ics ] 3

(2.9)

ios =

(2.10)

2.2.1

Three-phase Power Computation

The three-phase complex power, S , is given by

* * S = v qds iqds + vos ios

(2.11)

where
* iqds =

2 ias + a 1ibs + a 2 ics 3

(2.12)

Therefore, the complex power, S qd , due to the qd component is given by S qd = 2 v as + avbs + a 2 vcs ias + a 1ibs + a 2 ics 3

][

(2.13)

S qd =

1 2 1 2 2 v as ias + a v as ibs + a v as ics + avbs ias + a avbs ibs + a avbs ics 2 1 2 2 2 3 + a v cs ias + a a v cs ibs + a a vcs ics

(2.14)

S qd =

2 v as ias + vbs ibs + v cs ics + a(vcs ibs + vbs ias ) 3 + a 2 vcs ias + a 2 v as ics + a 1 (v as ibs + vbs ics )

(2.14)

23

Substituting for a = e

2 3

, the following is obtained

S qd

2 j 2 v as ias + vbs ibs + vcs ics + e 3 (v cs ibs + vbs ias ) = 4 4 2 3 j j j + e 3 v i + e 3 v i + e 3 (v i + v i ) cs as as cs as bs bs cs

(2.15)

2.2.2

Real Power Computation for a Three-phase System

The active (real power), S qd , due to the qd voltage and current components is obtained by evaluating the real part of Equation (2.15). This result will later be combined with the power due to the zero sequence components to obtain the overall active power in the three-phase system. Considering the real part of Equation (2.15), the following can be deduced 2 v as ias + vbs ibs + vcs ics + (vcs ibs + vbs ias ) cos 3 2 Pqd = Re(S qd ) = 3 4 2 + (v as ibs + vbs ics ) cos + (vcs ias + v as ics ) cos 3 3 1 v as ias + vbs ibs + vcs ics (vcs ibs + vbs ias ) + 2 2 Pqd = Re(S qd ) = 1 3 1 (v i + v as ics ) (v as ibs + vbs ics ) 2 cs as 2

(2.16)

(2.17)

Since the zero sequence component has a real value, it can contribute to the active power S os = Pos = 2 [vas + vbs + vcs ][ias + ibs + ics ] 3 2 [vas ias + vbs ibs + vcs ics + vas ibs + vas ics + vbs ias + vbs ics + vcs ias + vcs ibs ] 3 (2.18)

(2.19)

24

Combining Equations (2.17) and (2.19) gives 1 v as ias + vbs ibs + vcs ics (vcs ibs + vbs ias ) + 2 2 1 1 + Pos = (vcs ias + v as ics ) (v as ibs + vbs ics ) + 3 2 2 v as ias + vbs ibs + v cs ics + v as ibs + v as ics + vbs ias + vbs ics + vcs ias + v cs ibs v as ias + vbs ibs + vcs ics + v as ias + vbs ibs + vcs ics + 2 1 1 1 + Pos = (vcs ibs + vbs ias ) + (vcs ias + v as ics ) (v as ibs + vbs ics ) + 3 2 2 2 [v i + v i + v i + v i + v i + v i ] as bs cs bs as cs bs as bs cs cs as 1 2(v as ias + vbs ibs + vcs ics ) + 2 + 1v cs ibs + 2 1 1 1 1 + Pos = + vbs ias + + vcs ias + 1 + v as ics + 1 + 3 2 4 2 2 1 1 + 1v as ibs + + 1vbs ics 2 2

P = Pqds

P = Pqds

P = Pqds

This results into

P = Pqds

2(v i + vbs ibs + v cs ics ) + 2 as as + Pos = 1 3 [(vcs + v as )ibs + (vbs + vcs )ias + (v as + vbs )ics ] 2

(2.20)

Equation (2.20) gives a general expression for computing real (active) power by using natural (abc) variables in a three-phase system. Now, if ias + ibs + ics = 0 v as + vbs + vcs = 0 Thus v as = vbs vcs
25

(2.21) (2.22)

(2.23)

vbs = v as vcs vcs = v as vbs

(2.24) (2.25)

Then by substituting these conditions into Equation (2.20) the following is obtained P = Pqds + Pos = 2 1 2(v as ias + vbs ibs + vcs ics ) (vbs ibs + v as ias + vcs ics ) 3 2 (2.26)

P = Pqds + Pos = [v as ias + vbs ibs + vcs ics ]

Therefore, Equation (2.26) is the power equation for a balanced three-phase system. It is important to note that in Equation (2.26), the total three-phase active power is the sum of the individual phase active powers, as expected. Therefore, with the transformation chosen, the power is invariant. In order the power obtained by using the transformed qdo variable to using the reference frame of transformation as given in Equation (2.4a), the general expression for real power will be as given by Equation (2.20) and for a special condition of when Equation (2.21) is true, then the real power will be calculated by using Equation (2.26).

2.2.3

Reactive Power Computation for a Three-phase System

The imaginary part of Equation (2.15) will give the reactive power Q . As it has already been mentioned earlier, the zero sequence components do not contribute to reactive power. Therefore, considering the imaginary part of Equation (2.15) the following is deduced

26

 2 2 (vcs ibs + vbs ias )sin 3 (v as ibs + vbs ics )sin 3 2 Q = Im(S qd ) = 3 4 + (vcs ias v as ics )sin 3
Q = Im(S qd ) = Q = Im(S qd ) =

(2.27)

2 2 4 (vcs ibs + vbs ias vas ibs vbs ics )sin + (vcs ias vas ics )sin (2.28) 3 3 3

2 3 (vcs ibs + vbs ias v as ibs vbs ics vcs ias + v as ics ) 3 2
2 3 (v as ics vcs ias + vbs ias v as ibs + vcs ibs vbs ics ) 3 2

(2.29)

Q = Im(S qd ) =

(2.30)

which simplifies into

Q=

3 [vas ics vcs ias + vbs ias vas ibs + vcs ibs vbs ics ] 3

(2.31)

Therefore knowing the per phase quantities, the three-phase reactive power can be directly obtained by using Equation (2.31).

2.3

Five-phase System

As opposed to a three-phase system in which there are one complex vector and a zero sequence component, in a five-phase system there are two complex vectors and one zero sequence component. The real (scalar) voltage and current vectors for the five phase are given as For the voltage vector
v = [v as vbs vcs v ds ves ]
T

(2.32)

27

Fro the currents vector

i = [ias ibs ics ids ies ]
T

(2.33)

Using Equation (2.1) and (2.4a), the first complex vector ( qd ) after transformation will be For the voltages
v qds = 2 v as + avbs + a 2 vcs + a 3 v ds + a 4 v es 5

(2.34)

For the currents

iqds = 2 ias + aibs + a 2 ics + a 3 ids + a 4 ies 5

(2.37)

Using the relations given in section 2.1, the following voltage and current equations are obtained For the voltages
v qds = 2 v as + avbs + a 2 vcs + a 2 v ds + a 1ves 5

(2.36)

For the currents

iqds = 2 ias + aibs + a 2 ics + a 2 ids + a 1ies 5

(2.37)

Similarly, using Equations (2.1) and (2.4a), the second complex vector ( xy ) is given by For the voltages
v xys = 2 v as + a 2 vbs + a 4 vcs + a 6 v ds + a 8 ves 5

(2.38)

For the currents

28

i xys =

2 ias + a 2 ibs + a 4 ics + a 6 ids + a 8 ies 5

(2.39)

Applying the definitions of section 2.1, gives the flowing voltage and current equations For the voltages
v xys = 2 v as + a 2 vbs + a 1vcs + a 1v ds + a 2 v es 5

(2.40)

For the currents

i xys = 2 ias + a 2 ibs + a 1ics + a 1ids + a 2 ies 5

(2.41)

The zero sequence components, from Equations (2.1) and (2.4a), the transformed voltage and current equations are given by For the voltages
vos = 2 [v as + vbs + vcs + v ds + ves ] 5

(2.42)

For the currents

ios = 2 [ias + ibs + ics + ids + ies ] 5

(2.43)

2.3.1

Five-phase Power Computation

The complex power in the five-phase system will be given by all the three components. Whereas the qd and xy components contribute to both the real and reactive powers, the zero sequence components contribute only to the real power. Using the transformed vectors, the five-phase complex power, s , is given by

29

* * * S = v qds iqds + v xys i xys + vos ios

(2.44)

where
* iqds =

2 ias + a 1ibs + a 2 ics + a 2 ids + a 1ies 5 2 ias + a 2 ibs + a 1ics + a 1ids + a 2 ies 5 2 [ias + ibs + ics + ids + ies ] 5

] ]

(2.45)

* = i xys

(2.46)

* ios = ios =

(2.47)

2.3.1.1 Complex Power Due to qd Components. The complex power due to the

qd complex vector components is given by

* S qds = v qds iqds

(2.48)

Substituting for the voltage and current complex vectors, results into S qds = 2 v as + avbs + a 2 vcs + a 2 v ds + a 1ves ias + a 1ibs + a 2 ics + a 2 ids + a 1ies 5

][

(2.49)

Equation (2.49) results into v as ias + a 1v as ibs + a 2 v as ics + a 2 v as ids + a 1v as ies + 3 2 1 avbs ias + vbs ibs + a vbs ics + a vbs ids + a vbs ies + 2 2 1 4 3 = a vcs ias + a vcs ibs + vcs ics + a vcs ids + a vcs ies 5 2 a v ds ias + a 3 v ds ibs + a 4 v ds ics + v ds ids + a 1v ds ies + 1 2 3 1 + + + + a v i a v i a v i a v i v i es as es bs es cs es ds es es

S qds

(2.50)

Applying the identities of section 2.1, gives

30

S qds

v as ias + a 1v as ibs + a 2 v as ics + a 2 v as ids + a 1v as ies + 2 1 2 avbs ias + vbs ibs + a vbs ics + a vbs ids + a vbs ies + 2 2 = a vcs ias + a 1vcs ibs + vcs ics + a 1vcs ids + a 2 vcs ies + 5 2 a v ds ias + a 2 v ds ibs + a 1v ds ics + v ds ids + a 1v ds ies + 1 2 2 1 + + + + a v i a v i a v i a v i v i es as es bs es cs es ds es es

(2.51)

Applying the definitions of section 2.1 to Equation (2.51), gives

2 4 4 2 j j j j 5 5 5 5 + + + + v i e v i e v i e v i e v as ies + as as as bs as cs as ds j 2 2 4 4 j j j e 5 v i + v i + e 5 v i + e 5 v i + e 5 v i + bs as bs bs bs cs bs ds bs es 4 2 2 4 j j j 2 j 5 = e vcs ias + e 5 vcs ibs + vcs ics + e 5 v cs ids + e 5 vcs ies + 5 4 4 2 2 j j j j e 5 v ds ias + e 5 v ds ibs + e 5 v ds ics + v ds ids + e 5 v ds ies + 2 4 4 2 j j j j 5 ves ias + e 5 ves ibs + e 5 ves ics + e 5 v es ids + ves ies e

S qds

(2.52)

2.3.1.2 Real power due to qd components. Evaluating the real part of Equation

(2.52) will give the active (real power) due to the qd components. Thus
2 4 4 2 v as i as + v as ibs cos 5 + v as i cs cos 5 + v as i ds cos 5 + v as i es cos 5 + 4 4 2 2 + + v bs i es cos + v bs i ds cos + v bs ibs + v bs i cs cos v bs i as cos 5 5 5 5 2 4 2 2 4 = v cs i as cos + + v cs i es cos + v cs i cs + v cs i ds cos + v cs ibs cos 5 5 5 5 5 2 2 4 4 v ds i as cos + + v ds i ds + v ds i es cos + v ds i cs cos + v ds ibs cos 5 5 5 5 2 4 4 2 v es i as cos + v es i es + v es i ds cos + v es i cs cos + v es ibs cos 5 5 5 5

Pqds

(2.53)

Combining the like terms, Equation (2.53) yields

31

Pqds

v i + v i + v i + v i + v i + bs bs cs cs ds ds es es as as 2 2 = (v as ibs + v as ies + vbs i as + vbs ics + v cs ibs + v cs i ds + v ds ics + v ds ies + v es i ds + v es i as ) cos 5 5 4 (v as ics + v as i ds + vbs i ds + v bs ies + v cs i as + v cs ies + v ds i as + v ds ibs + v es ibs + v es ics ) cos 5

(2.54) Equation (2.54) gives the real power due to the qd complex voltage and current components.

2.3.1.3 Reactive power due to qd components. Evaluating the imaginary part of

(2.52) will give the reactive (imaginary power) due to the qd components. Thus

Qqd

4 4 2 2 v as ibs sin 5 v as ics sin 5 + v as ids sin 5 + v as ies sin 5 + 2 2 4 4 vbs ics sin vbs ids sin + vbs ies sin + vbs ias sin 5 5 5 5 2 4 2 2 4 = v cs ias sin + v cs ies sin vcs ids sin + vcs ibs sin 5 5 5 5 5 4 4 2 2 v ds ias sin + v ds ibs sin + v ds ics sin v ds ies sin + 5 5 5 5 2 4 4 2 v es ias sin v es ibs sin + ves ics sin + ves ids sin 5 5 5 5

(2.55)

Combining the like terms, Equation (2.55) yields v as ibs + v as ies + vbs ias vbs ics + vcs ibs v cs ids 2 v ds ics v ds ies v es ias + ves ids = 5 v as ics + v as ids vbs ids + vbs ies + vcs ias vcs ies v ds ias + v ds ibs ves ibs + ves ics + 4 sin 5 + 2 sin 5

Qqds

32

Qqds

2 (v as ies v es i as + v bs i as v as ibs + v cs ibs vbs i cs + v ds i cs v cs i ds + v es i ds v ds i es ) sin 5 + 2 = 5 4 (v as i ds v ds i as + v cs i as v as i cs + vbs ies v es ibs + v es i cs v cs i es + v ds ibs v bs i ds ) sin 5 (2.56)

Equation (2.56) gives the reactive power due to the qd complex voltage and current components.

2.3.1.4 Complex power due to xy components. The complex power due to the xy

complex vector components is given by

* S xys = v xys i xys

(2.57)

Substituting for the voltage and current complex vectors, results into S xys = 2 v as + a 2 vbs + a 1v cs + a 1v ds + a 2 ves ias + a 2 ibs + a 1ics + a 1ids + a 2 ies 5

][

(2.58)

Equation (2.58) results into

S xys

v as ias + a 2 v as ibs + a 1v as ics + a 1v as ids + a 2 v as ies + 2 3 1 4 a vbs ias + vbs ibs + a vbs ics + a vbs ids + a vbs ies + 2 1 = a vcs ias + a 3 vcs ibs + v cs ics + a 2 vcs ids + a 1vcs ies + 5 1 a v ds ias + a 1v ds ibs + a 2 v ds ics + v ds ids + a 3 v ds ies + 2 4 1 3 + + + + a v i a v i a v i a v i v i es as es bs es cs es ds es es Applying the identities of section 2.1, Equation (2.59) gives v as ias + a 2 v as ibs + a 1v as ics + a 1v as ids + a 2 v as ies 2 2 1 1 a vbs ias + vbs ibs + a vbs ics + a vbs ids + a vbs ies 2 1 = a vcs ias + a 2 vcs ibs + vcs ics + a 2 vcs ids + a 1v cs ies 5 1 a v ds ias + a 1v ds ibs + a 2 v ds ics + v ds ids + a 2 v ds ies 2 1 1 2 a ves ias + a ves ibs + a ves ics + a ves ids + v es ies 33 +

(2.59)

S xys

(2.60)

Applying the definitions of section 2.1 to Equation (2.60), gives

4 2 2 4 j j j j 5 5 5 5 + + + + v i e v i e v i e v i e v as ies as as as bs as cs as ds j 4 4 2 2 j j j e 5 v i + v i + e 5 v i + e 5 v i + e 5 v i bs as bs bs bs cs bs ds bs es 2 4 4 2 j j j 2 j = e 5 vcs ias + e 5 vcs ibs + vcs ics + e 5 vcs ids + e 5 vcs ies 5 2 2 4 4 j j j j e 5 v ds ias + e 5 v ds ibs + e 5 v ds ics + v ds ids + e 5 v ds ies 4 2 2 4 j j j j 5 5 5 ves ias + e ves ibs + e ves ics + e 5 v es ids + ves ies e

S xys

(2.61)

2.3.1.5 Real power due to xy components. Evaluating the real part of Equation

(2.61) will give the active (real power) due to the xy components. Thus 4 2 2 4 v as ias + v as ibs cos 5 + v as ics cos 5 + v as ids cos 5 + v as ies cos 5 + 4 4 2 2 + vbs ibs + vbs ics cos + vbs ids cos + vbs ies cos vbs ias cos 5 5 5 5 2 2 4 4 2 = v cs ias cos + v cs ies cos + vcs ics + vcs ids cos + vcs ibs cos 5 5 5 5 5 2 2 4 4 v ds ias cos + v ds ibs cos + v ds ics cos + v ds ids + v ds ies cos 5 5 5 5 4 2 2 4 v es ias cos + ves ibs cos + ves ics cos + ves ids cos + ves ies 5 5 5 5 (2.62) Combining the like terms, Equation (2.62) yields
v i + v i + v i + v i + v i + bs bs cs cs ds ds es es as as 2 4 = (v as ibs + v as ies + v bs i as + v bs ics + v cs ibs + v cs i ds + v ds ics + v ds ies + v es i as + v es i ds ) cos 5 5 2 + (v as ics + v as i ds + v bs i ds + v bs i es + v cs i as + v cs i es + v ds i as + v ds ibs + v es ibs + v es i cs ) cos 5

Pxys

Pxys

(2.63) 34

Equation (2.6) gives the real power due to the xy complex voltage and current components.

2.3.1.6 Reactive power due to xy components. Evaluating the imaginary part of

Equation (2.61) will give the reactive (imaginary power) due to the xy components. Thus
4 4 2 2 v as ibs sin 5 + v as ies sin 5 + v as ics sin 5 v as ids sin 5 + 4 4 2 2 vbs ics sin + vbs ids sin vbs ies sin + vbs ias sin 5 5 5 5 2 4 4 2 2 = v cs ias sin vcs ids sin + vcs ies sin + + vcs ibs sin 5 5 5 5 5 2 2 4 4 v ds ias sin v ds ibs sin + v ds ics sin v ds ies sin + 5 5 5 5 4 2 2 4 v es ias sin + ves ibs sin ves ics sin + ves ids sin 5 5 5 5

Q xys

(2.64)

Combining the like terms, Equation (2.64) yields

v as ibs + v as i es + v bs i as v bs i cs + v cs ibs v cs i ds + 4 sin 5 + 2 v ds i cs v ds i es v es i as + v es i ds = 5 v as i cs v as i ds + v bs i ds v bs i es v cs i as + v cs i es + 2 sin v i v i + v i v i 5 ds bs es bs es cs ds as
4 (vbs i as v as ibs + v as ies v es i as + v cs ibs vbs ics + v ds ics v cs i ds + v es i ds v ds ies ) sin 5 + 2 = 5 2 (v as ics v cs i as + v ds i as v as i ds + vbs i ds v ds ibs + v es ibs vbs ies + v cs ies v es ics ) sin 5

Q xys

Q xys

(2.65) Equation (2.65) gives the reactive power due to the xy complex voltage and current components.

35

2.3.1.7 Real power due to zero sequence components. The zero sequence

components are scalar vectors. Therefore, they do not contribute to the reactive power. The power due to the zero sequence is given by
* S os = vos ios

(2.66)

Substituting for the zero sequence voltage and current vectors, gives S os = 2 [vas + vbs + vcs + vds + ves ] [ias + ibs + ics + ids + ies ] 5 (2.67)

Equation (2.67) results into

v as ias + vbs ibs + vcs ics + v ds ids + ves ies + v as ibs + v as ics + ves ibs + 2 Pos = v as ids + v as ies + vbs ias + vbs ics + vbs ids + vbs ies + v ds ies + ves ias + 5 v i v i v i v i v i v i v i v i v i + + + + + + + + cs as cs bs cs ds cs es ds as ds bs ds cs es cs es ds

(2.68)

Equation (2.68) gives the value of the real power contributed by the zero sequence components.

2.3.2

Total Power in a Five-phase System

The overall powers in the five-phase systems can be obtained by combining Equations (2.54), (2.63) and (2.68) for the total real power, whereas for the total reactive power, the Equations to be combined are (2.56) and (2.65).

2.3.2.1 Total real power in a five-phase system. This is obtained by adding

together the powers given by Equations (2.54), (2.63) and (2.68). Thus P = Pqds + Pxys + Pos (2.69)

36

Pqds

v i + v i + v i + v i + v i + as as bs bs cs cs ds ds es es 2 (v as ibs + v as ies + vbs ias + vbs ics + vcs ibs + vcs ids + vds ics + vds ies + ves ids + ves ias ) cos 5 + 4 (vas ics + vas ids + vbs ids + vbs ies + vcs ias + vcs ies + v ds i as + v ds ibs + ves ibs + ves ics ) cos + 5 2 = v as ias + vbs ibs + vcs ics + v ds ids + ves ies + 5 4 (v i + v i + v i + v i + v i + v i + v i + v i + v i + v i ) cos as bs as es bs as bs cs cs bs cs ds ds cs ds es es as es ds 5 + (v i + v i + v i + v i + v i + v i + v i + v i + v i + v i ) cos 2 + as cs as ds bs ds bs es cs as cs es ds as ds bs es bs es cs 5 v as ias + vbs ibs + vcs ics + v ds ids + ves ies + vas ibs + v as ics + ves ibs + vas ids + vas ies + vbs ias + vbs ics + vbs ids + vbs ies + v ds ies + ves ias + v i v i v i v i v i v i v i v i v i + + + + + + + + cs as cs bs cs ds cs es ds as ds bs ds cs es cs es ds

(2.70) Combining like terms, Equation (2.70) results into

3[v as i as + vbs ibs + v cs ics + v ds i ds + v es ies ] + v as (ibs + ics + i ds + ies ) + vbs (i as + ics + i ds + ies ) + v (i + i + i + i ) + v (i + i + i + i ) + v (i + i + i + i ) + ds as bs cs es es as bs cs ds cs as bs ds es ( ) ( ) ( ) + + + + + + + + + + + + v i i i i v i i i i v i i i i 2 2 as bs cs ds es bs as cs ds es cs as bs ds es cos + P = 5 v ds (i as + ibs + ics + ies ) + v es (i ds + i as + ibs + ics ) 5 v as (ibs + ics + i ds + ies ) + vbs (i as + ics + i ds + ies ) + v cs (i as + ibs + i ds + ies ) + 4 cos v (i + i + i + i ) + v (i + i + i + i ) 5 es as bs cs ds ds as bs cs es

(2.71) Therefore, Equation (2.71) will give the general expression for the real power in a fivephase system. Now consider a balanced system, such that v as + vbs + v cs + v ds + ves = 0 ias + ibs + ics + ids + ies = 0 Thus (2.72) (2.73)

37

 ias = ibs + ics + ids + ies ibs = ias + +ics + ids + ies ics = ias + ibs + ids + ies ids = ias + ibs + ics + ies ies = ias + ibs + ics + ids
Substituting Equations (2.74) trough (7.78) into Equation (2.71), gives P=

(2.74) (2.75) (2.76) (2.77) (2.78)

[(vas ias + vbs ibs + vcs ics + vds ids + ves ies )]

(2.79)

where

= 2 cos

2 4 5 cos = 5 5 2

(2.80)

Therefore, substituting for the result of Equation (2.80) into Equation (2.79) results into P= 25 [(vas ias + vbs ibs + vcs ics + vds ids + ves ies )] 52 (2.81) (2.82)

P = [v as ias + vbs ibs + vcs ics + v ds ids + v es ies ]

Equation (2.82) gives the expression for the real power in a balanced five-phase system when the condition given in Equation (2.73) is satisfied. For the general case, the real (active) power will be given by Equation (2.71).

2.3.2.2 Total reactive power in a five-phase system. This is obtained by adding

together the powers given by Equations (2.56) and (2.65). Thus Q = Qqds + Q xys (2.83)

38

 v as ies ves ias + vbs ias v as ibs v ds ics vcs ids + v es ids v ds ies v i v i + v i v i ds as cs as as cs as ds 2 ves ics v cs ies + v ds ibs vbs ids Q= 5 vbs ias v as ibs + v as ies ves ias v i v i + v i v i cs ds es ds ds es ds cs v as ics vcs ias + v ds ias v as ids ves ibs vbs ies + vcs ies ves ics

+ v cs ibs vbs ics + 2 sin 5

+ + vbs ies ves ibs + 4 sin 5 + + v cs ibs vbs ics + 4 sin 5 + + vbs ids v ds ibs + 2 sin 5

(2.84)

Combining like terms of Equation (2.84) gives

v as ies 1 v ds ics Q= 5 v as ics v ds ias

ves ias + vbs ias v as ibs + vcs ibs vbs ics + 2 4 sin sin + + vcs ids + v es ids v ds ies 5 5 vcs ias + vbs ids v ds ibs + vcs ies ves ics + 2 4 sin sin v as ids + ves ibs vbs ies 5 5

(2.85)

Equation (2.85) gives the expression for determining the reactive power of a five-phase system. Thus if the phase voltages and phase currents are known for five-phase system, then the real and reactive powers can be readily obtained by using Equations (2.71) and (2.85), respectively. For a special case when the system voltages and currents are balanced, the real power can be obtained from Equation (2.82).

2.4

Seven-phase System

When the analysis presented in the previous sections is extended to a seven-phase system, the respective power expressions can be obtained. The voltage and current

39

matrices i = ias

are ibs ics ids

given ies i fs

as i gs .

v = v as
T

vbs

vcs

v ds

ves

v fs

v gs

and

The complex transformed voltage vectors and currents used for seven phase are
v qds = 2 v as + avbs + a 2 v cs + a 3 v ds + a 3 v es + a 2 v fs + a 1v gs 7

]
]

(2.86)

v xy1s =

2 v as + a 2 vbs + a 3 vcs + a 1v ds + av es + a 3 v fs + a 2 v gs 7 2 v as + a 3 vbs + a 1vcs + a 2 v ds + a 2 v es + av fs + a 3 v gs 7

(2.87)

v xy 2 s =

] ] ] ]

(2.88)

v xy 3 s =

2 v as + a 3 vbs + a 1vcs + a 2 v ds + a 2 v es + a 1v fs + a 3 v gs 7 2 v as + a 2 vbs + a 3 vcs + a 1v ds + a 1ves + a 3 v fs + a 2 v gs 7 2 v as + a 1vbs + a 2 vcs + a 3 v ds + a 3 ves + a 2 v fs + a 1v gs 7 2 v as + vbs + v cs + v ds + ves + v fs + v gs 7

(2.88)

v xy 4 s =

(2.89)

v xy 5 s =

(2.90)

vos =

(2.91)

The currents are given by

iqds = 2 ias + aibs + a 2 ics + a 3 ids + a 3 ies + a 2 i fs + a 1i gs 7

] ] ] ]

(2.92)

i xy1s =

2 ias + a 2 ibs + a 3ics + a 1ids + aies + a 3 i fs + a 2 i gs 7 2 ias + a 3ibs + a 1ics + a 2 ids + a 2 ies + ai fs + a 3i gs 7

(2.93)

i xy 2 s =

(2.94)

i xy 3s =

2 ias + a 3 ibs + a 1ics + a 2 ids + a 2 ies + a 1i fs + a 3 i gs 7

(2.95)

40

i xy 4 s =

2 ias + a 2 ibs + a 3ics + a 1ids + a 1ies + a 3 i fs + a 2 i gs 7 2 ias + a 1ibs + a 2 ics + a 3 ids + a 3ies + a 2 i fs + a 1i gs 7 2 ias + ibs + ics + ids + ies + i fs + i gs 7

] ]

(2.96)

i xy 5 s =

(2.97)

ios =

(2.98)

The conjugates of the currents are given by

* = iqds

2 ias + a 1ibs + a 2 ics + a 3 ids + a 3ies + a 2 i fs + a 1i gs 7

]
] ]

(2.100)

* i xy 1s =

2 ias + a 2 ibs + a 3ics + a 1ids + a 1ies + a 3 i fs + a 2 i gs 7 2 ias + a 3ibs + a 1ics + a 2 ids + a 2 ies + a 1i fs + a 3 i gs 7 2 ias + ibs + ics + ids + ies + i fs + i gs 7

(2.101)

* i xy 2s =

(2.102)

ios =

(2.103)

The complex power is given by

* * * * S = v qds iqds + v xy1s i xy 1s + v xy 2 s i xy 2 s + v os ios

(2.104)

The general expression for the real power in the seven-phase system is given by
4 v as i as + v bs ibs + v cs ics + v ds i ds + v es ies + v fs i fs + v gs i gs + 1 v (i + i + i + i + i + i ) + 1 v (i + i + i + i + i + i ) fs gs bs as cs ds es fs gs 2 as bs cs ds es 2 2 1 1 P = + v cs (i as + ibs + i ds + i es + i fs + i gs ) + v ds (i as + ibs + ics + i es + i fs + i gs ) + 7 2 2 1 1 2 v es (i as + ibs + ics + i ds + i fs + i gs ) + 2 v fs (i as + ibs + ics + i ds + ies + i gs ) + 1 v (i + i + i + i + i + i ) gs as bs cs ds es fs 2

(2.105)

Now, if the system is balanced and the machine is star-connected, then

41

ias + ibs + ics + ids + ies + i fs + i gs = 0 Substituting Equation (2.106) into Equation (2.105), results into P = v as ias + vbs ibs + vcs ics + v ds ids + ves ies + v fs i fs + v gs i gs

(2.106)

(2.107)

The general expression for the reactive power in the seven-phase system is given by
2 sin 7 2 4 Q = sin 7 7 6 sin 7 (v as i gs v gs i as ) + (v bs i as v as i bs ) + (v cs ibs v bs i cs ) + (v ds i cs v cs i ds ) + (v es i ds v ds i es ) + (v fs i es v es i fs ) + (v gs i fs v fs i gs ) + (v as i ds v ds i as ) + (v bs i es v es ibs ) + (v cs i fs v fs i cs ) + (v ds i gs v gs i ds ) + (v es i as v as i es ) + + (v fs ibs v bs i fs ) + (v gs i cs v cs i gs ) + (v as i cs v cs i as ) + (v bs i ds v ds i bs ) + (v cs i es v es i cs ) + (v ds i fs v fs i ds ) + (v es i gs v gs i es ) + (v fs i as v as i fs ) + (v i v i ) bs gs gs bs (v as i fs v fs i as ) + (v bs i gs v gs i bs ) + (v cs i as v as i cs ) + (v ds i bs v bs i ds ) + (v es i cs v cs i es ) + (v fs i ds v ds i fs ) + (v gs i es v es i gs ) + (v as i gs v gs i as ) + (v bs i as v as i bs ) + (v cs ibs v bs i cs ) + (v ds i cs v cs i ds ) + (v es i ds v ds i es ) + + (v fs i es v es i fs ) + (v gs i fs v fs i gs ) + (v as i es v es i as ) + (v bs i fs v fs i bs ) + (v cs i gs v gs i cs ) + (v ds i as v as i ds ) + (v es ibs v bs i es ) + (v fs i cs v cs i fs ) + (v i v i ) ds gs gs ds (v as i es v es i as ) + (v bs i fs v fs i bs ) + (v cs i gs v gs i cs ) + (v ds i as v as i ds ) + (v es i bs v bs i es ) + (v fs i cs v cs i fs ) + (v gs i ds v ds i gs ) + (v as i cs v cs i as ) + (v bs i ds v ds i bs ) + (v cs i es v es i cs ) + (v ds i fs v fs i ds ) + (v es i gs v gs i es ) + (2.108) (v fs i as v as i fs ) + (v gs i bs v bs i gs ) + (v as i gs v gs i as ) + (v bs i as v as i bs ) + (v cs i bs v bs i cs ) + (v ds i cs v cs i ds ) + (v es i ds v ds i es ) + (v fs i es v es i fs ) + (v i v i ) fs gs gs fs

2.5

Modulation Technique for Multi-phase Converters

The highest number of power that can be obtained from the conventional electrical power system is three-phase. Due to the advancement in power electronic devices, converters of many phases can be readily available and thus convert the available threephase to any number of output phases that are require to supply the multi-phase 42

machinery. Figure 2.1 shows a schematic diagram of a five-phase voltage source converter. The switching of the devices are described by switching functions which take the values of one and zero when the devices are turned on or off, respectively. The switching functions of the top devices are Sip

(i = a, b, c, d , e ) .

These are

complimentary with the switching functions of the bottom devices. The voltages applied to the load are given by
vd (2sip 1) = vin + vno 2

(2.109)

The switching function can be averaged and given by s ip = 1 (1 + mip ) 2 (2.110)

where mip is the modulation signal of the i th inverter leg. vin is the i th phase voltage and v no is the neutral voltage.
S ap Sbp S cp S dp S ep
ias ibs ics ids ies

vd 2
o

a b

c
d

vd 2

S an

Sbn

S cn

S dn

e S en

Figure 2.1 Schematic diagram of a five-phase voltage source converter.

43

To synthesize the desired phase voltages, the modulation signals are compared with a high frequency triangle waveform using the sine-triangle carrier-based pulse width modulation (PWM). The modulation signals are given by mip = 2 (vin + v no ) vd (2.111)

For better performance of the converter, the neutral voltage v no can be selected to take any best form, as it is indeterminate and can take any realistic values [2.2-2.4]. A five-phase voltage source inverter with an input dc voltage given as vd has 32 switching modes, 30 of which are active and the other two are null modes. The converter is to generate five phase voltages. The load voltage Equations of the five-phase converter expressed in terms of the existence functions and input DC voltage v d are given as
vio = v ao = vd (2S ip 1) = vin + vno , i = a, b, c, d , e 2 vd (S ap S an ) = vd (S ap (1 S ap )) = vd (2S ap 1) = van + vno 2 2 2

(2.112)

(2.113)

Similarly,
vbo = vco = v do = veo = vd (2S bp 1) = vbn + vno 2 vd (2S cp 1) = vcn + vno 2 vd (2S dp 1) = vdn + vno 2 vd (2S ep 1) = ven + vno 2

(2.114)

(2.115)

(2.116)

(2.117)

44

v ao + vbo + vco + v do + veo = v an + vbn + vcn + v dn + ven + 5v no and

(2.118)

vd vd vd ( ) ( ) (2Scp 1) 2 1 2 1 + + S S ap bp 2 2 2 vao + vbo + vco + vdo + veo = + vd (2S 1) + vd (2S 1) dp ep 2 2

For balanced five-phase system, v an + vbn + vcn + v dn + v en = 0 Therefore, v ao + vbo + vco + v do + veo = 5v no
5v no =

(2.119)

(2.120)

(2.121) (2.122)

vd (2S ap 1) + vd (2S bp 1) + vd (2S cp 1) + vd (2S dp 1) + vd (2S ep 1) 2 2 2 2 2

From the transformation given in (2.4d), for the five phase balanced variables transformed f a , f b , f c , f d , f e , the generalized qdxy12os arbitrary reference frame transformed variables expressed in complex-variable form are given by

T5 =

1 1 1 a 2 1 a 2 5 2 1 a 1 1 a

1 a2 a 1 a a 2

1 a 2 a a 1 a2

1 a 1 a 2 a2 a

T51 =

1 1 1 a 1 2 1 a 2 5 2 1 a 1 a

1 a 2 a a 1 a2

1 a2 a 1 a a 2

1 a1 a 2 (2.4d) a 2 a 1 (2.123)

f os =

2 [ f as + f bs + f cs + f ds + f es ] 5 2 f as + af bs + a 2 f cs + a 2 f ds + a 1 f es 5 2 f as + a 2 f bs + a 1 f cs + af ds + a 1 f es 5

f qds =

] ]

(2.124)

f xys1 =

(2.125)

45

f xys 2 =

2 f as + a 2 f bs + af cs + a 1 f ds + a 2 f es 5 2 f as + a 1 f bs + a 2 f cs + a 2 f ds + af es 5

] ]

(2.126)

f xys 3 =

(2.127)

Substituting Equation (2.122) into Equations (2.113) through (2.117), the phase voltages can be obtained as van = vbn = vcn = vdn = ven = vd (4S ap S bp S cp S dp S ep ) 5 vd ( S ap + 4Sbp S cp S dp S ep ) 5 vd ( S ap S bp + 4S cp S dp S ep ) 5 vd ( S ap S bp S cp + 4S dp S ep ) 5 vd ( S ap S bp S cp S dp + 4S ep ) 5 (2.128)

(2.129)

(2.130)

(2.131)

(2.132)

Substituting the states into Equations (2.128) through (2.132) gives the respective inverter output phase voltage for each mode as presented in the Table 2.1 below.

46

Table 2.1 Phase voltages for the five-phase inverter MODE 1 2 3 4 5 6 7 8 9 10 11 12 13 Sap 0 0 0 0 0 0 0 0 0 0 0 0 0 Sbp 0 0 0 0 0 0 0 0 1 1 1 1 1 Scp 0 0 0 0 1 1 1 1 0 0 0 0 1 Sdp 0 0 1 1 0 0 1 1 0 0 1 1 0 Sep 0 1 0 1 0 1 0 1 0 1 0 1 0 van 0 -0.2Vd -0.2Vd -0.4Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd -0.4Vd vbn 0 -0.2Vd -0.2Vd -0.4Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd 0.8Vd 0.6Vd 0.6Vd 0.4Vd 0.6Vd vcn 0 -0.2Vd -0.2Vd -0.4Vd 0.8Vd 0.6Vd 0.6Vd 0.4Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd 0.6Vd vdn 0 -0.2Vd 0.8Vd 0.6Vd -0.2Vd -0.4Vd 0.6Vd 0.4Vd -0.2Vd -0.4Vd 0.6Vd 0.4Vd -0.4Vd ven 0 0.8Vd -0.2Vd 0.6Vd -0.2Vd 0.6Vd -0.4Vd 0.4Vd -0.2Vd 0.6Vd -0.4Vd 0.4Vd -0.4Vd

47

Table 2.1 continued MODE 14 15 16 17 18 19 20 21 22 23 24 25 26 Sap 0 0 0 1 1 1 1 1 1 1 1 1 1 Sbp 1 1 1 0 0 0 0 0 0 0 0 1 1 Scp 1 1 1 0 0 0 0 1 1 1 1 0 0 Sdp 0 1 1 0 0 1 1 0 0 1 1 0 0 Sep 1 0 1 0 1 0 1 0 1 0 1 0 1 van -0.6Vd -0.6Vd -0.8Vd 0.8Vd 0.6Vd 0.6Vd 0.4Vd 0.6Vd 0.4Vd 0.4Vd 0.2Vd 0.6Vd 0.4Vd vbn 0.4Vd 0.4Vd 0.2Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd -0.4Vd -0.6Vd -0.6Vd -0.8Vd 0.6Vd 0.4Vd vcn 0.4Vd 0.4Vd 0.2Vd -0.2Vd -0.4Vd -0.4Vd -0.6Vd 0.6Vd 0.4Vd 0.4Vd 0.2Vd -0.4Vd -0.6Vd vdn -0.6Vd 0.4Vd 0.2Vd -0.2Vd -0.4Vd 0.6Vd 0.4Vd -0.4Vd -0.6Vd 0.4Vd 0.2Vd -0.4Vd -0.6Vd ven 0.4Vd -0.6Vd 0.2Vd -0.2Vd 0.6Vd -0.4Vd 0.4Vd -0.4Vd 0.4Vd -0.6Vd 0.2Vd -0.4Vd 0.4Vd

48

Table 2.1 continued MODE 27 28 29 30 31 32 Sap 1 1 1 1 1 1 Sbp 1 1 1 1 1 1 Scp 0 0 1 1 1 1 Sdp 1 1 0 0 1 1 Sep 0 1 0 1 0 1 van 0.4Vd 0.2Vd 0.4Vd 0.2Vd 0.2Vd 0 vbn 0.4Vd 0.2Vd 0.4Vd 0.2Vd 0.2Vd 0 vcn -0.6Vd -0.8Vd 0.4Vd 0.2Vd 0.2Vd 0 vdn 0.4Vd 0.2Vd -0.6Vd -0.8Vd 0.2Vd 0 ven -0.6Vd 0.2Vd -0.6Vd 0.2Vd -0.8Vd 0

49

Substituting Equations (2.128) through (2.132) into Equations (2.114) through (2.117), the stationary reference frame voltages for each of the four components are calculated. The resulting space vector voltage components for the five-phase voltage source inverter, normalized with respect to the inverter dc link voltage v d , are shown in Table 2.2. These will generate the space vectors v qds for the fundamental frequency voltages and v xy1s for the third harmonic voltages. It can be easily shown that space vectors v xy 2 s are the complex conjugates of space vectors v xy1s . Similarly, space vectors v xys 3 are the complex conjugates of space vectors v qds . Therefore in synthesizing the desired voltage vector, only vectors v qds and v xy1 are used.

50

Table 2.2 Space vector voltage components for the five-phase inverter MODE Sap Sbp Scp Sdp Sep 1 2 3 4 5 6 7 8 9 10 11 12 13 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 0 1 0 1 0 1 0 1 0 1 0 vq (pu) 0 0.0618 -0.1618 -0.1000 -0.1618 -0.1000 -0.3236 -0.2618 0.0618 0.1236 -0.1000 -0.0382 -0.1000 vd (pu) 0 -0.1902 -0.1176 -0.3078 0.1176 -0.0727 0 -0.1902 0.1902 0 0.0727 -0.1176 0.3078 vx1 (pu) 0 -0.1618 0.0618 -0.1000 0.0618 -0.1000 0.1236 -0.0382 -0.1618 -0.3236 -0.1000 -0.2618 -0.1000 vy1 (pu) 0 -0.1176 0.1902 0.0727 -0.1902 -0.3078 0 -0.1176 0.1176 0 0.3078 0.1902 -0.0727 vx2 (pu) 0 -0.1618 0.0618 -0.1 0.0618 -0.1 0.1236 -0.0382 -0.1618 -0.3236 -0.1 -0.2618 -0.1 vy2 (pu) 0 0.1176 -0.1902 -0.0727 0.1902 0.3078 0 0.1176 -0.1176 0 -0.3078 -0.1902 0.0727 vx3 (pu) 0 0.0618 -0.1618 -0.1 -0.1618 -0.1 -0.3236 -0.2618 0.0618 0.1236 -0.1 -0.0382 -0.1 vy3 (pu) 0 0.1902 0.1176 0.3078 -0.1176 0.0727 0 0.1902 -0.1902 0 -0.0727 0.1176 -0.3078 vno -0.5 -0.3 -0.3 -0.1 -0.3 -0.1 -0.1 0.1 -0.3 -0.1 -0.1 0.1 -0.1

51

Table 2.2 continued MODE Sap Sbp Scp Sdp Sep 14 15 16 17 18 19 20 21 22 23 24 25 26 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 vq (pu) -0.0382 -0.2618 -0.2000 0.2000 0.2618 0.0382 0.1000 0.0382 0.1000 -0.1236 -0.0618 0.2618 0.3236 vd (pu) 0.1176 0.1902 0 0 -0.1902 -0.1176 -0.3078 0.1176 -0.0727 0 -0.1902 0.1902 0 vx1 (pu) -0.2618 -0.0382 -0.2000 0.2000 0.0382 0.2618 0.1000 0.2618 0.1000 0.3236 0.1618 0.0382 -0.1236 vy1 (pu) -0.1902 0.1176 0 0 -0.1176 0.1902 0.0727 -0.1902 -0.3078 0 -0.1176 0.1176 0 vx2 (pu) -0.2618 -0.0382 -0.2 0.2 0.0382 0.2618 0.1 0.2618 0.1 0.3236 0.1618 0.0382 -0.1236 vy2 (pu) 0.1902 -0.1176 0 0 0.1176 -0.1902 -0.0727 0.1902 0.3078 0 0.1176 -0.1176 0 vx3 (pu) -0.0382 -0.2618 -0.2 0.2 0.2618 0.0382 0.1 0.0382 0.1 -0.1236 -0.0618 0.2618 0.3236 vy3 (pu) -0.1176 -0.1902 0 0 0.1902 0.1176 0.3078 -0.1176 0.0727 0 0.1902 -0.1902 0 vno 0.1 0.1 0.3 -0.3 -0.1 -0.1 0.1 -0.1 0.1 0.1 0.3 -0.1 0.1

52

Table 2.2 continued MODE Sap Sbp Scp Sdp Sep 27 28 29 30 31 32 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1 1 1 1 1 0 0 1 1 0 1 0 1 0 1 vq (pu) 0.1000 0.1618 0.1000 0.1618 -0.0618 0 vd (pu) 0.0727 -0.1176 0.3078 0.1176 0.1902 0 vx1 (pu) 0.1000 -0.0618 0.1000 -0.0618 0.1618 0 vy1 (pu) 0.3078 0.1902 -0.0727 -0.1902 0.1176 0 vx2 (pu) 0.1 -0.0618 0.1 -0.0618 0.1618 0 vy2 (pu) -0.3078 -0.1902 0.0727 0.1902 -0.1176 0 vx3 (pu) 0.1 0.1618 0.1 0.1618 -0.0618 0 vy3 (pu) -0.0727 0.1176 -0.3078 -0.1176 -0.1902 0 vno 0.1 0.3 0.1 0.3 0.3 0.5

53

Figures 2.2 through 2.6 show the voltage space vector diagrams of the five-phase PWM inverter. Whereas Figures 2.2 through 2.5 are obtained directly from Equations (2.114) through (2.117), Figure 2.6 is obtained by using Equation (2.122). The voltage components are normalized with respect to the inverter dc link voltage v d .

0.4
13

d-axis
29

0.3

0.2

15

31

25

0.1 per unit voltage

5 11

14

21 27

30

7 16 23 6

32

10

17

26 q-axis

22 28 19

-0.1

3 12

-0.2

24

18

-0.3
4 20

-0.4 -0.4

-0.3

-0.2

-0.1

0 per unit voltage

0.1

0.2

0.3

0.4

Figure 2.2 Voltage space vector diagram of a five-phase PWM inverter for v qds

54

0.4 d-axis 11 0.3 27

12 0.2

3 28 25 20 4 16 31

19

15 0.1 P e r u n it v o lta g e 9

10

26

17

23 q-axis

13 -0.1 2 8 18

29 24

-0.2

14

30

21

-0.3 6 22

-0.4 -0.4

-0.3

-0.2

-0.1

0 Per unit voltage

0.1

0.2

0.3

0.4

Figure 2.3 Voltage space vector diagram of a five-phase PWM inverter for v xy1s

55

0.4 6 0.3 d-axis 27

0.2

14 2

30

21

8 13

18 24 29

0.1 P e r u n it v o lta g e

16 0 10

26

23 1 32 7 17 q-axis

4 -0.1 9 15 25 20 31 19

-0.2

12

28

-0.3 11 22

-0.4 -0.4

-0.3

-0.2

-0.1

0 Per unit voltage

0.1

0.2

0.3

0.4

Figure 2.4 Voltage space vector diagram of a five-phase PWM inverter for v xy 2 s

56

0.4 4 0.3 d-axis 20

5 0.2 8 24 18 29 6 0 7 16 23 27 11 5 -0.2 15 31 14 30 21 1 32 10 17 24

18

12 0.1 P e r u n it v o lta g e 3

26 q-axis

-0.1

25

-0.3 13 -0.4 -0.4 29

-0.3

-0.2

-0.1

0 Per unit voltage

0.1

0.2

0.3

0.4

Figure 2.5 Voltage space vector diagram of a five-phase PWM inverter for v xy 3s

57

0.01

0.008

0.006 d-axis 0.004

0.002 Pe r u n it v o lta g e A 0 B C D E F q-axis

-0.002

-0.004

-0.006

-0.008

-0.01 -0.5

-0.4

-0.3

-0.2

-0.1

0 Per unit voltage

0.1

0.2

0.3

0.4

0.5

Figure 2.6 Voltage space vector diagram of a five-phase PWM inverter for v os In Figure (2.6), the letters stand for the modes as follows A = 1, B = 2, 3, 5, 9,17 , C = 4, 6, 7,10,11,13,18,19, 21, 25 ,

D = 8,12,14,15, 20, 22, 23, 26, 27, 29 , E = 16, 24, 28, 30, 31 , F = 32 .

Reference voltages in any sector of the space vector are synthesized by timeaveraging some four active and two null space vectors as presented in [2.4].

58

d-axis
V4 V3

25

30 27 10 1,32 17
V1

* Vqd

26
V2

q-axis

Figure 2.7 Synthesis of the fundamental voltage in sector 1 In sector 1 of the v qds space vector, the active modes are [17( v qds1 ), 25( v qds 4 ), 26( v qds 2 ), 30( v qds 3 )] and the two null vectors are [1( v qds 01 ) and 32( v qds 32 )]. The corresponding voltage vectors in v xy1s are also selected. Since the qd voltages of the null vectors are zero, the linear equations for determining the averaging times for the vectors are
Vqds = Vqds1t1 + Vqds 2 t 2 + Vqds 3t 3 + Vqds 4 t 4 + Vqds 01t 01 + Vqds 32 t 32 V xy1s = V xy1s1t1 + V xy1s 2 t 2 + V xy1s 3t 3 + V xy1s 4 t 4 + V xy1s 01t 01 + V xy1s 32 t 32

(2.133) (2.134)

The time ratio between two null states (1 and 32) are defined as t 01 = c t c ,
t 32 = (1 c )t c

with the variable c

ranging between zero and unity. With

t c = 1 (t1 + t 2 + t 3 + t 4 ) , the average neutral voltage corresponding to the selected

voltage vectors for sector 1 is

Vo = vd 4 2 6 6 ( t1 + t 3 ) + (t 2 t 4 ) + (1 2 c ) (1 2 c )(t1 + t 2 + t 3 + t 4 ) 2 5 5 5 5

(2.135)

Vo1 = V02 =

4 ( t1 + t 3 ) 5 2 (t 2 t 4 ) 5

(2.136)

(2.137)

59

V00 = (t1 + t 2 + t3 + t 4 )

(2.138)

The expressions for times t1 , t 2 , t 3 , and t 4 obtained from Equations (2.133) and (2.134) are substituted into Equations (2.135) through (2.138) yielding the neutral sequence voltage in terms of Vqds and V xy1s . Calculations similar to Equations (2.133-135) are done for all the ten sectors of Vqds for which ten expressions are obtained for the average neutral voltages. Using the inverse stationary reference frame transformations (2.4d) the qd voltages in the equations for the ten average neutral voltages are expressed in terms of the phase voltages which can further be expressed in terms of the instantaneous maximum and minimum phase voltages, ( Vmax and Vmin , respectively). When the q- and d-axis reference voltages are expressed in terms of phase voltages, the times spent on the voltage vectors can be calculated.

2.6

Conclusion

A theory of multiphase systems has been introduced. The reference frame of transformation has been presented and discussed. The expressions for the real and reactive powers in multiphase systems have been described. The analysis started with the three-phase systems, followed by the five phase system and concluded with the seven phase system. General expressions for real and reactive powers have been derived. A special case when the sum of the phase currents is zero has shown that the total real power of any system is the sum of the individual phase powers, as expected. It has been deduced that using the reference frame of transformation discussed in this Chapter, the

60

power is invariant. Thus, there is no need of multiplying the final result by any factor as it is done when other forms of transformations are considered. This depends on the multiplying factor on the transformation matrix. In this case the multiplying factor is
2 . Thus with the transformed variables, one can easily obtain the actual values of the m

real and reactive powers. The expressions for powers by using natural variables will ease the power computation if the phase variables are readily available. A space vector modulation scheme for the five-phase voltage source inverter has been presented. For a five-phase system, there are five vectors ( f qd , f xy1s , f xy 2 s ,
f xy 3s .and f os ). Only two of the them ( f qds and f xy1s ) are sufficient to determine the

switching strategy of a five phase voltage source inverter. The other two are the complex conjugates. The fifth one is the zero sequence component, which is essentially a real quantity. In realizing the voltage vector in the space vector diagram, the use of the neutral voltage gives freedom of utilizing the null states in obtaining the switching times for each device.

61

CHAPTER 3 FULL ORDER MODELING OF A FIVE PHASE INDUCTION MACHINE

3.1

Introduction

The induction machine has been widely used over the last three decades in practically all applications requiring variable speed. This is due to its robustness, versatility and reliability. In general, the induction machines having three-phase windings are normally used, since the standard power supply is three phase. However, when fed by an inverter, there is no need for a fixed number of phases, some other phases being possible and advantageous. Much published work has shown that drives with more than three phases have various advantages over conventional three phase drives, such as reduction in amplitude and increase in frequency of pulsating torque, reduction in harmonic currents, increase in current per phase without the need to increase the phase voltage, and reduction in the voltage-level in the dc (direct current) link [3.1, 3.2] Another important aspect of machines with a higher number of phases is their improved reliability, since they can operate even when one phase is missing [3.1]. An increase in number of phase can result in an increase in torque/Ampere relation for the same volume of the machine, such that five-phase machines can develop torque using not only the fundamental, but also using higher harmonics of the air gap field [3.1, [3.2].

62

Control strategies and electrical drives for machines with more than three phases have also been presented in several publications [3.2, [3.4]. Hence the analysis, design, and application of such machines as the five phase induction machine requires adequate mathematical models to be established through which their performance and advantages can be evaluated. Calculation of machine parameters must be done differently from the three phase machines since the distribution of windings is not the same. In this work, therefore a full order model has been used to determine these parameters whereby the higher order harmonics are taken into account. Also, by using the derived expressions, the fundamental and third harmonic components of the machine parameters are determined.

3.2 3.2.1

Coupled Model of a Five-Phase Induction Machine

General Winding Function

The derivation of the general winding function from the fundamental relationships is the subject of this section. With all the assumptions or simplifications removed, a general Equation for the winding function of a winding distribution can be obtained [3.5, [3.6]. A general diagram of an electric machine is given in Figure 3.1 [3.5], in which the air gap length may not be constant. A closed area which includes the stator core, the air gap and the rotor core can be found and its boundary is shown as a dash line in the figure, where AB is in the stator core; O is the central point of stator; OA and OB go through the rotor, the air gap and the stator core and can be considered to be orthogonal to the inner surface of the stator. Based on the Ampere's Law, the magnetic field (H) of the boundary AOB 63

can be expressed in terms of the current density J, the differential length l and the area
s as

H dl = J ds
S

(3.1)

If the turn function of an arbitrary winding a is na ( ) , where is the angle around the inner surface of the stator, then Equation (3.1) can be written as

H dl = n ( ) i
a

(3.2)

There are two assumptions that need to be clarified before the next step. The first one is The air gap is so small compared to the stator or the rotor core that the magnetic field in the air gap can be considered to be orthogonal to the inner surface of the stator. This is a very fundamental assumption in electric machine analysis. The second one is The permeability of iron is much greater than that of air, hence the magneto-motive force drops on the stator and the rotor cores can be ignored.
A

Figure 3.1 General diagram for an electric machine showing non-constant air gap length

64

A general definition for the air gap is expressed as

g ( , rm ) = g 0 (1 a1 cos( + ) a 2 cos( rm + ))

(3.3)

where a1 and a2 are constants, which represent the degree of static and dynamic eccentricity, respectively; rm is the rotor mechanical angle; g 0 is the average air gap length and angle defines the changes of the distribution of the air gap length around the inner stator surface. It is clear from (3.3) that the air gap length not only depends on the angle around the stator, but also on the rotor angle, which will be true under almost all possible conditions. The constant air gap length condition can be achieved by setting a1 and a2 to be zero. Applying the above two assumptions to Equation (3.2), the integration part of the Equation (3.2) can be restated as

H dl = H ( ) g ( , ) H (0) g (0, )
a rm a rm

(3.4)

where g (0, rm ) is the air gap length at the starting point and the value of at the starting point is assumed to be zero. H a (0) is the magnetic field at the starting point while g ( , rm ) and H a ( ) are the air gap length and magnetic field at angle point, respectively. Substituting (3.4) into (3.2),
H a ( ) g ( , rm ) H a (0 ) g (0, rm ) = na ( ) ia

(3.5)

An expression for the magnetic field around the stator can be found from (3.5) as
H a ( ) = n a ( ) ia + H a (0 ) g (0, rm ) g ( , rm )

(3.6)

65

The H a ( ) and H a (0) are unknown and must be solved. Hence Gauss's Law is applied to determine the unknown quantity. If a cylinder passing through the air gap is considered, Gauss's Law can be expressed as
2

H a ( )ris l s d = 0

(3.7)

where ris is the radius of the inner stator surface; l s is the length of the machine. Substituting (3.6) into (3.7),
2

r l
0

0 is s

n a ( ) ia + H a (0 ) g (0, rm ) d = 0 g ( , rm )

(3.8)

Rearranging Equation (3.8) gives

H a (0 ) g (0, rm

g ( , ) d )= i
0 2 rm

n a ( )

1 d ( ) g , rm 0

(3.9)

Substituting (9) into (6),

2

H a ( ) =

n a ( ) ia 1 0 g ( , rm ) g ( , rm ) 2

g ( , ) d i
rm

n a ( )

1 d g ( , rm ) 0

(3.10)

Simplification of (10) yields (11),

N a ( ) ia = H a ( ) g ( , rm )

(3.11)

N a ( ) is called the winding function. Then the winding function N a ( ) is expressed as

66

N a ( ) = na

g ( , ) d ( )
0 2 rm

n a ( )

1 d g ( , rm ) 0

(3.12)

If the air gap length is constant,

g ( , rm ) = g 0

The winding function in Equation (12) can be simplified as

2

N a ( ) = n a ( )

na ( ) d g0

g
0 a

1
0

= n a ( )

n ( )d
0

= n a ( ) n a ( )

(3.13)

where na ( ) is the average of the turn function. Equation (3.13) is similar to the definition of the winding function traditionally used for constant air gap length.

3.2.2

Calculation of Stator Inductances

The expression for winding inductances is calculated using the winding function and the turn function of the windings. If the winding function of i th winding is expressed as
N i ( ) , where is the angle around the stator, then from (3.9) the magnetic field around

the stator can be expressed as

H i ( ) = N i ( ) ii g ( , rm )

(3.14)

67

where g ( , rm ) is the air gap function and ii is the current flowing through the i th winding. Then the flux density in the air gap can be written as
Bi ( ) = 0 N i ( ) ii g ( , rm )

(3.15)

Assume the mutual inductance between i th winding and j th winding is the objective and the turn function of j th winding is n j ( ) . The flux linkage induced in j th winding due to the i th winding current ii can be expressed as

ji = 0 rl ii
0

1 n j ( ) N i ( ) d g ( , rm )

(3.16)

where r is the mean value of radius of the air gap middle line and l is the effective length of the stator core. Since the definition of the mutual inductance is
L ji =

ji
ii

(3.17)

The general expression for the mutual inductance calculation is

L ji = 0 rl
0 2

1 n j ( ) N i ( ) d g ( , rm )

(3.18)

The stator inductances considered include the stator winding self-inductances and the mutual inductances between the stator windings. Since only the uniform air gap condition is considered in this Chapter, the air gap function is a constant
g ( , rm ) = g 0

(3.19)

The general expression to calculate the self-inductance of i th winding is

68

Lii = 0 rl
0

1 ni ( ) N i ( ) d g0

(3.20)

where ni ( ) is the turn function of i th winding; N i ( ) is the winding function of i th winding; g 0 is the constant air gap.

3.3 3.3.1 Winding Design

Five Phase Stator Winding Design

An existing 2-pole, three-phase induction machine was rewound to be a 4-pole, fivephase stator winding. The following are the ratings of the original three-phase induction squirrel cage machine Series No. 5K184AG1720 Voltage 208-220/440 V Frequency 60 Hz Stator slots 30 Power 5 hp Current 13.4/6.7 A Speed 3460 rpm. Rotor slots 28.

Since it is possible to have a four-pole fivephase fractional slot-stator winding[3.7][3.9], the rewound stator winding is a double-layer five-phase stator fractional slot winding. The stator has thirty (30) slots. The ratings of the five-phase machine are calculated and presented in section 3.4.3.

69

3.3.2

Winding Configuration

The average number of slots per pole per phase, q , is given by q =

Ss 30 3 = = in mP 20 2

which 3 and 2 are the lowest pair of whole numbers, where S s is the number of stator slots, P is the number of poles and m is the number of stator phases. As each pole phase groups must have an integral number of coils, q = 3 1 = 1 , can only be obtained if the 2 2 2

(the denominator of q ) phase groups under 2 poles have different number of coils totaling up to 3 coils (numerator of q ). Now 3 coils for each phase lying under 2 poles can be obtained if we have one (1) pole phase group of one (1) coil and one (1) pole phase group of two (2) coils. This gives an average value of q = 1 1 + 1 2 1 = 1 . Two 2 2

poles make one basic unit of this winding. As this winding has four poles, there are two units of two poles, each covering three slots of each phase. The (1 + 1) = 2 pole phase groups of each phase in a unit must be connected in series and as there are 4 = 2 such 2

units, the maximum number of parallel paths is equal to two (2), which is the same as the number of units. Consider q in the form of factor, we have (i) (ii) number of poles in a unit = 2 (denominator of q ) number of slots per phase in each unit = 3 (numerator of q ) 3 , where the numerator and denominator have no common 2

70

(iii)

number of units =

total number of poles P = poles / unit deno min ator of q

1 Considering the form q = 1 , we observe that there are 2 (i) (ii) 2-1=1 group of 1 coil each and 1 group of 1+1=2 coils each.

This connection algorithm can be expressed in a general form as

q= S M n = =I+ mP d d

where M and d have no common divisor. Thus for a fractional slot winding (a) number of poles in a unit is d = 2 (b) number of slots per phase in each unit is M = qd = 3 (c) number of total slots in each unit is mM = 5 3 = 15 (d) number of units =
P 4 = = 2 , which is the maximum number of parallel paths. d 2

(e) Each phase, in a unit, contains d n groups of I coils each and n groups of
I + 1 coils each

Now, dividing the table in five vertical parts, each having

15 = 3 columns and 2 rows, 5

and the mark the cross (X) in the upper left square and move from left to right continuously in every second square, the result is as shown in Table 3.1. The sequence of coil groups is shown in Table 3.2, whereas Table 3.3 shows the distribution of slots in a unit. Figure 3.2 shows a winding layout and Figure 3.3 shows a clock diagram of the stator winding.

71

Table 3.1 Development of the winding diagram A X X X X D X X X X B X X E X X X X C X

Table 3.2 Sequence of coil groups Phase No. of coils in phase group A 2 D 1 B 2 E 1 C 2 A 1 D 2 B 1 E 2 C 1

Table 3.3 Distribution of slots in a unit Phase A D B E C 1, 2 3 4, 5 6 7, 8 9 10, 11 12 13, 14 15

72

Figure 3.2 Winding diagram for the design of a five-phase induction machine

10 11

Figure 3.3 Clock diagram for the design of a five-phase induction machine

12

73

3.3.3

Conductor Size and Ratings of the Five-Phase Induction Machine

The original three-phase machine had the following specifications on its nameplate Series No. 5K184AG1720 Voltage 208-220/440 V Frequency 60 Hz The measured dimensions are as follows Stator core length L = 71.76 mm , Stator inner diameter; Din = 101.48 mm , stator outer diameter Dout = 184.51 mm . Rotor core length L = 70.40 mm , Rotor outer diameter Doutrot = 100.62 mm . From the above data, the calculations for the five phase stator winding were conducted as follows The following assumptions were made (a) (b) (c) (d) The average flux density in the air gap is Bav = 0.45Wb / m 2 Line-to line voltage is V LL = 220 V . Winding factor, K ws = 0.955 . Power factor, pf = 0.85 and efficiency, = 0.85 pu . Power 5 hp Current 13.4/6.7 A Speed 3460 rpm.

Now, the length of the core is given as L = 704. mm . Pole pitch =

Din
poles

101.48
4

= 79.7 mm .
VLL

Stator phase voltage (star connection) E s =

220 3

= 127.02 V .

Flux per pole m = Bav L = 2.525 10 3 Wb . 74

Stator turn per phase Ts =

Es = 197.73 198 . 4.44 f m K ws

Total conductors Ttotal = 2mTs = 1980 . Conductors per slot Z ss =

Total 1980 = = 66 . 30 Ss

The output power P = 5 hp = 5 746W = 3730W . Stator current I s =

P 5 746 = = 8.13 A . m E s pf 5 127.02 0.85 0.85
Is

Area of a stator conductor, a s =

8.13 = 2.323 mm 2 . 3 .5

Total copper area in each slot Z ss a s = 66 2.323 = 153.32 mm 2 .

3.3.4

Turn and Winding Functions

The turn and winding functions of the stator winding are shown in Figure 3.4 and Figure 3.5, respectively, where N s = 33 is the number of conductors per layer per slot for the stator winding and N s =

Ts 198 = = 33 . Ts is the number of turns per phase. 6 6

For phase a, the self-inductance is

Laa = 0 rl
0 2

1 n a ( ) N a ( ) d g0

(3.21)

Since the turn function of phase a is a piecewise linear Equation, the integration can only be done in each linear region and the results of each linear region are added to obtain the final result. 75

100

na()

50 0 100

50

100

150

200

250

300

350

nb()

50 0 100

50

100

150

200

250

300

350

nc()

50 0 100

50

100

150

200

250

300

350

nd()

50 0 100

50

100

150

200

250

300

350

ne()

50 0

50

100

150

200

250

300

350

Figure 3.4 The turn functions of the stator winding.

50

Na()

0 -50 0 50 50 100 150 200 250 300 350

Nb()

0 -50 0 50 50 100 150 200 250 300 350

Nc()

0 -50 0 50 50 100 150 200 250 300 350

Nd()

0 -50 0 50 50 100 150 200 250 300 350

Ne()

0 -50 0 50 100 150 200 250 300 350

Figure 3.5 The winding functions of the stator winding.

76

The expression for the self-inductance of phase a can be simplified as

Laa =

0 rl 2
g0
0

n ( ) [n ( )
a a

n a ( ) ] d

(3.22)

where na ( ) is the averages of the phase a winding functions. Similar expressions can be found for phases b, c, d and e as

Lbb =

0 rl 2
g0
0

n ( ) [n ( )
b b c c

nb ( ) ] d

(3.23)

Lcc =

0 rl 2
g0
0

n ( ) [n ( ) n ( ) ] d
c

(3.24)

Ldd =

0 rl 2
g0
0

n ( ) [n ( )
d d e e

n d ( ) ] d

(3.25)

Lee =
where

0 rl 2
g0
0

n ( ) [n ( ) n ( ) ] d
e

(3.26)

nb ( ) , nc ( ) , n d ( ) and, ne ( ) are the averages of the phases b, c, d

and e turn functions, respectively. The self-inductances of three phases have the same value and the value of the selfinductances is
Laa = Lbb = Lcc = Ldd = Lee = N a ( ) = n a ( ) na ( ) n a ( )

0 rl 2
g0
0

n ( ) N ( ) d
a a

7 8 16 15 2 2 15 (3 N )2 d + 15 (2 N )2 d + 15 ( ) N d + 2 0 s s s 7 15 (2 N s ) d 1 15 15 15 = 23 2 22 2 2 15 1615 (3 N s ) d + 22 (2 N s ) d 15 15 22 = Ns 15

(3.27)

77

Laa

7 8 16 15 2 2 15 (3 N )2 d + 15 (2 N )2 d + 15 ( ) N d 2 + 0 s s s 7 15 (2 N s ) d 2 0 rl 15 15 15 = 2 22 23 g0 22 2 2 15 1615 ( ) N d Ns 3 + s 22 (2 N s ) d 2 15 15 15 892 0 rl 2 = Ns 225 g 0

(3.28)

where N s is the number of conductors per layer per slot for the stator winding. This expression of self-inductance calculation is only good for this particular machine design.

3.3.5

Stator Mutual Inductances

The general expression for the mutual inductance is

Lij = 0 rl
0 2

1 ni ( ) N j ( ) d g0

(3.29)

where ni ( ) is the turn function of i th winding; N j ( ) is the winding function of j th winding, i, j = a, b, c, d , e and i j . The calculation method and process are similar to the one for self-inductance, but the number of linear region is much more than that. Unlike the three-phase machine, the mutual inductances are not the same for the five-phase machine. The mutual inductances between adjacent phases are the same, whereas for the phases which are not adjacent, their mutual inductances are have a different value. The expression for the mutual inductance between phase a and phase b of the stator winding is

78

Lab = =

0 rl 2
g0
4 15 3 15 0

rl n ( ) N ( ) d = g
0
a b

na ( ) nb ( ) d 6d +
22 15 19 15

2 0 rl nb ( ) n a ( ) g0 22 6d 2 N s 15
2

6d + + 9d + 6d + g0 202 0 rl 2 = Ns 225 g 0

0 rl

7 15 4 15

8 15 7 15

19 15 18 15

9d +

23 15 22 15

Similarly for the remaining adjacent phases, the mutual inductances are
Lab = Lbc = Lcd = Lde = Lea = 202 0 rl 2 Ns 225 g 0

(3.30)

The expression for the mutual inductance between phase a and phase c of the stator winding is
Lac = =

0 rl 2
g0
7 15 6 15 0

rl n ( ) N ( ) d = g
0
a c

na ( ) nc ( ) d

2 0 rl nc ( ) n a ( ) g0
2

0 rl
g0

6d + + 6d +

8 15 7 15

22 15 21 15

6d +

23 15 22 15

22 6d 2 N s 15

608 0 rl 2 Ns = 225 g 0

Similarly for the remaining non-adjacent phases, the mutual inductances are
Lac = Lbd = Lce = Lda = Leb =
608 0 rl 2 Ns 225 g 0

(3.31)

where i, j = a, b, c, d , e and i j . It has to be noted here that Lij = L ji .

3.3.6

Calculation of Rotor Inductances

The squirrel cage rotor with n (even or odd) bars and two end rings to short circuit all the bars together is considered as n identical magnetically coupled circuits. Each circuit is composed of two adjunct rotor bars and segments of the end rings connect two

79

adjacent bars together at both ends of the bars. Each bar and end ring segment of the rotor loop is equivalently represented by a serial connection of a resistor and an inductor as shown in Figure 3.6. The resistance and the inductance of the rotor bar are represented by rb and lb , respectively; the resistance and inductance of the partial end winding in the rotor loop are represented by re and le , respectively. Three rotor loops are shown in Figure 3.7 and the current flowing through the rotor loops are represented by ik 1 , ik and ik +1 , respectively. Since every rotor loop is treated as an independent phase, a healthy cage rotor having n rotor bars becomes a n phases balanced system. The turn function of i th rotor loop is shown in Figure 3.7 (a). Since a constant air gap length is considered in this Chapter, the winding function of the i th rotor loop can be easily found with Figure 3.7 (b).

80

re

le ik rb lb ik +1

ik 1

rb
lb

re le ie = 0

Figure 3.6 Squirrel cage rotor equivalent circuit

( a)

r 2
r 2

(b )
i
2

th Figure 3.7 Rotor i rotor loop turn and winding function, (a) turn function, (b) winding

function.

81

The turn function of the i th rotor loop is

0 0 i ni ( ) = 1 i i + r 0 + 2 i r

(3.32)

The winding function can be expressed as

r 2 0 i N i ( ) = 1 r i i + r 2 r + 2 i r 2

(3.33)

where r is the i th rotor loop pitch. Since a symmetrical equally spaced rotor bar structure is considered in the analysis, all the rotor loops have the same pitch r . None of the turn and winding functions shown in Figure 3.7 take the skew of the rotor into the consideration. If the rotor is skewed, the turn function and winding function are shown in Figure 3.8.

i i + r
i + r

( a)

r 2
r 2

(b )
i i + r
i + r

Figure 3.8 Rotor i th rotor loop turn and winding function for skewed rotor, (a) turn function, (b) winding function.

82

When the skewing factor of the rotor is considered, the expressions for the turn and winding functions become (3.34) and (3.35), respectively
0 i 0 1 ( i + ) i i i i + r ni ( ) = 1 1 ( + ) + + r i r i r i 0 i + r 2

(3.34)

r 0 i 2 1 ( + ) r i i i 2 i i + r N i ( ) = 1 r 2 1 ( + ) r + + r i r i r i 2 0 r i + r 2 2

(3.35)

where = skew factor r . Substituting the turn function and winding function of the i th rotor loop into the general expression for the self-inductance given in (3.20), the self-inductance for the i th rotor loop can be determined. Since all the rotor loops have the same self-inductance under the uniform air gap condition, its expression is

83

Lrr = = =

0 rl
g0

0 2

N i ( ) N i ( )d

0 rl
g0

ni ( ) r d 2

(3.36)

0 rl

r2 r g0 3 2

The winding functions of the adjacent rotor loops will overlap each other when the rotor is skewed, such that the mutual inductances between i th and i + 1 th will be different from i th and i + k th (k = 2, n 1) , where n is the number of rotor bar. The mutual inductance between i th and i + 1th rotor loop is

i r 2 i 1 d + r ( i + ) r d 0 i 2 2 2 i + r i +1 + r + r 1 r d + r 1 r d i +1 2 2 rl i 2 2 Lrm1 = 0 g 0 i + r 1 r 1 r ( i + ) ( i + r ) d + i + 2 2 2 2 i +1 + r r 1 r r d + d ( i + r ) + i +1 + r i +1 + r 2 2 2 =

(3.37)

0 rl

r2 g0 6 2

All the mutual inductance between i th and i + k th rotor loop have the same value and it can be calculated by
Lrm 2 = =

0 rl
g0

0 2

ni ( ) r ni + k ( ) r d 2 2
r r2 ( ) ( ) ( ( ) ( ) ) + n n n n i+k i i+k d i 2 4 2

0 rl
g0

(3.38)

0 rl r2 = g0 2

84

3.3.7

Calculation of Stator-Rotor Mutual Inductances

Both the stator and the rotor loop winding functions are represented by piecewise linear Equations while the position of the i th rotor loop depends on the rotor angle. Using the expression for the mutual inductance, the mutual inductances between i th rotor loop and the stator winding set are shown in Figure 3.9.
Lij = 0 rl
0 2

1 ni ( ) N j ( ) d g0

(3.39)

where i = a, b, c, d , e and j = 1,2, L , n , where n is the rotor bar number.

1.5 x 10
-4

Lar1

Lbr1

Lcr1

Ldr1

Ler1

0.5

Lir1 [H]

-0.5

-1

-1.5 2.96

2.965

2.97

2.975

2.98 Time [sec]

2.985

2.99

2.995

Figure 3.9 Stator rotor mutual inductance.

85

1.5

x 10

-4

Lar1 [H]

0 -1.5 2.96 1.5 x 10

-4

(a)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Lbr1

0 -1.5 2.96 1.5 x 10

-4

(b)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Lcr1 [H]

0 -1.5 2.96 1.5 x 10

-4

(c)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Ldr1 [H]

0 -1.5 2.96 1.5 x 10

-4

(d)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Ler1 [H]

0 -1.5 2.96

(e)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Time [sec]

Figure 3.10 Stator-to- rotor bar mutual inductances (a) stator phase a to rotor bar number 1 (b) stator phase b to rotor bar number 1 (c) stator phase c to rotor bar number 1 (d) stator phase d to rotor bar number 1 (e) stator phase e to rotor bar number 1.

3.4

Model of the Five Phase Stator Winding Machine

Based on the magnetic circuit theory, a full model of the induction machine can be developed. The reason it is called a full model is that this model is not based on any assumptions of stator windings or rotor bars distribution. Hence all the harmonics are included into the model.

86

The general coupled circuit model can be expressed as v = Ri + d dt (3.40)

where v , i and are the terminal voltage, current and flux linkage in each circuit; R is the matrix of resistance. Applying this general Equation to the five phase stator winding induction machine leads to the full model.

3.4.1

Stator Voltage Equation

For the stator winding, the stator voltage Equation is expressed as v abcde = Rabcde iabcde + p abcde (3.41)

where Rabcde is a diagonal 5 5 matrix, in which the diagonal value depends on the resistances per phase of the stator winding; p represents the operator
va ia a vb ib b = vc , iabcde = ic , abcde = c vd id d v i e e e

d and dt

v abcde

(3.42)

The flux linkage can be written as the contribution of two components as

abcde = ss + r

(3.43)

The first term in Equation (3.43) represents the stator flux linkage due to the stator currents; the second term is the stator flux linkage due to the rotor current.

87

3.4.2

Stator Flux Linkage Due to the Stator Currents

The stator flux linkage of the stator due to the stator currents can be expressed as
as Lls + Laa bs as Lba ss = cs bs = Lca L ds da cs1 L ea es ss = Lss i abcde Lab Lls + Lbb Lcb Ldb Leb Lac Lbc Lls + Lcc Ldc Lec Lad Lbd Lcd Lls + Ldd Led Lce i s Lde Lls + Lee Lae Lbe

(3.44)

3.4.3

Stator Flux Linkage Due to the Rotor Currents

The cage rotor having n rotor bars can be modeled as a n phase system. The total stator flux linkage due to the rotor currents can be written as
ar La1 br Lb1 sr = cr = Lc1 dr Ld 1 L er e1 La 2 Lb 2 Lc 2
L La (n 1) L Lb (n 1) L Lc (n 1)

Ld 2 L Ld (n 1) Le 2 L Le (n 1)

Lan i Lbn r1 i Lcn r 2 = Lsr ir M Ldn i rn Len

(3.45)

where Lai is the mutual inductance between the phase a and i th rotor loop, Lbi is the mutual inductance between the phase b and i th rotor loop, Lci is the mutual inductance between the phase c and i th rotor loop, Ldi is the mutual inductance between the phase d and i th rotor loop, Lei is the mutual inductance between the phase e and i th rotor loop.

88

3.4.4

Rotor Voltage Equation

The voltage Equation for the k th rotor loop can be represented as 0 = 2(rb + re ) ik rb ik +1 rb ik 1 + p rk (3.46)

where rb is the bar resistance; re is the resistance of the segment of end ring; ik , ik 1 and ik +1 are the currents of the k th , k 1th and k + 1th loop, respectively; rk is the flux linkage of the k th rotor loop. This Equation is valid for all the rotor loops, therefore the total rotor voltage Equation can be written in the matrix form as
rb 0 2(rb + re ) 2(rb + re ) 0 rb M = M M 0 r 0 b i r1 0 L ir 2 M + O M L 2(rb + re ) irn
L

rb

r1 r 2 p M rn

(3.47)

The compact form of the above Equation is

0 = R r i r + p r

(3.48)

where Rr is the resistance matrix, ir is the rotor loop current vector and r is the rotor loop flux linkage vector. The expression for rotor flux linkage can be expressed as

r = rs + rr
The expression for each term of (3.49) can be written as

(3.49)

rs1

rs1

r1s Lar1 r1s Lar 2 = L = L r (n 1)s Lar (n 1) rns Larn = Lrs iabcdes

Lbr1 Lbr 2 L Lbr (n 1) Lbrn

Lcr1 Lcr 2 L Lcr (n 1) Lcrn

Ldr1 Ldr 2 L Ldr (n 1) Ldrn

Ler1 ias Ler 2 ibs L ics Ler (n 1) ids Lern ies

(3.50)

89

Lrm1 lb Lrr + 2(lb + le ) Lrr + 2(lb + le ) Lrm1 lb rr = M M L l Lrm 2 rm1 b

ir1 Lrm 2 L ir 2 M = Lrr ir O M L Lrr + 2(lb + le ) irn L

Lrm1 lb

(3.51)

where Lirj is the mutual inductance between the stator i th winding and j th rotor loop, i = a, b, c, d , e and j = 1,2, L n , n is the number of rotor loop; Lrr is the self-inductance of the rotor loops; Lrm1 is the mutual inductance between the adjunct rotor loops; Lrm 2 is the mutual inductance between the rotor loops that are not adjunct; lb and le are the leakage inductance of the rotor bar and the segment of end ring, respectively.

3.5

Torque Equation

The electro-magnetic force developed by the machine is the only one that couples the electrical Equation with the mechanical Equation. From the energy point of view, the torque is determined by the instantaneous power transferred in the electromechanical system. The co-energy in a magnetic field is defined as
Wc = i j j W f and W f = i j d j
j =1 j =1 J J

(3.52)

where i j and j are the current and flux linkage of j th circuit, respectively. W f is the total field energy in the system. In the five-phase induction machine (with 5 stator windings and n rotor bars), there are five stator currents and n rotor current. Hence for this particular five-phase induction machine, the total field energy can be expressed as

90

Wf =

1 1 1 T 1 T T T iabcde Lss iabcde + iabcde Lsr ir + ir Lrs iabcde + ir Lrr ir 2 2 2 2

(3.53)

The electromagnetic torque can be obtained from the magnetic co-energy as Te = W f Wc = rm rm (3.54)

where rm is the mechanical angle of the rotor. Only terms in Equation (3.53) which are the functions of the rotor angle can contribute the electromagnetic torque. So applying (3.54) to (3.53), the electromagnetic torque can be expressed as
L 1 1 T L T Te = iabcde sr ir ir rs iabcde 2 2 rm rm

(3.55)

For a linear magnetic circuit, Lij = L ji Hence the torque Equation is simplified as (3.56)

Te = iabcde
T

Lsr ir rm

(3.57)

3.6

Development of the Equivalent Circuit

In this section, we are introducing a letter ' h' which will stand for the harmonic number. Therefore, the general Equations can be evaluated for any significant harmonic component.

91

3.6.1

QD Transformation

In order to develop the equivalent circuit for the five phase induction machine, the above voltage, flux and torque Equations are transformed into qd reference frame to eliminate the tome varying quantities. We are adopting an arbitrary reference frame rotating at a speed . In the simulation part, the rotor reference frame ( r ) will be used. v qdsh = Tsh ( )v abcdes iqdsh = Tsh ( )iabcdes (3.58) (3.59) (3.60) (3.61) (3.62) (3.63)
ias as ibs bs = ics , abcdes = cs , ids ds ies es 1 2 = M , n 1 n v1 v2 = M v n 1 vn

qdsh = Tsh ( ) abcdes

v qdrh = Trh ( )v1234Ln iqdrh = Trh ( )i1234Ln

qdrh = Trh ( )1234Ln

v as vbs = v cs , v ds v es

v abcdes

iabcdes

v1234Ln

(3.64)

i1234Ln

i1 i2 = M , in 1 i n

1234Ln

v qsh v qdsh = v , dsh

iqsh iqdsh = i dsh

(3.65)

qsh qdsh = , dsh

v qrh v qdrh = v , drh

iqrh iqdrh = i , drh

qrh qdrh = (3.66) drh

92

For h = 1, 3
2 4 6 8 cos( ) cos cos cos cos 2 3 3 3 3 Ts1 ( ) = 2 4 6 8 5 sin ( ) sin sin sin sin 3 3 3 3

(3.67)

2 4 6 8 cos(3 ) cos 3 cos 3 cos 3 cos 3 2 3 3 3 3 (3.68) Ts 3 ( ) = 2 4 6 8 5 sin (3 ) sin 3 sin 3 sin 3 sin 3 3 3 3 3

2 4 2(n 1) cos( r ) cos r cos r L cos r 2 n n n Tr1 ( ) = 2 4 2(n 1) n sin( r ) sin r sin r L sin r n n n

(3.70)

where n is the number of rotor bars.

2 4 2(n 1) cos3( r ) cos3 r cos3 r L cos3 r 2 n n n Tr3 ( ) = 2 4 2(n 1) n sin3( r ) sin3 r sin3 r L sin3 r n n n
1 1 ( )iqdsh + Tsh ( ) pTsh ( )qdsh v qdsh = Tsh ( )rsqdhTsh

(3.71)

v qdsh = rsqdh iqdsh + p qdsh j qdsh

1 1 ( )iqdrh + Trh ( ) pTrh v qdrh = Trh ( )rrqdhTrh qdrh

(3.72)

v qdrh = rrqdh iqdrh + p qdrh j ( r ) qdrh

(3.73)

The transformed stator and rotor flux linkages are given by Equations (3.74) and (3.75), respectively

qdsh = Lssqdh iqdsh + Lsrqdh iqdrh qdrh = Lrrqdh iqdrh + Lrsqdh iqdsh

(3.74) (3.75)

93

Substituting the flux Equations into the voltage Equations, we have v qdsh = rsqdh iqdsh + p (Lssqdh iqdsh + Lsrqdh iqdrh ) j (Lssqdh iqdsh + Lsrqdh iqdrh ) v qdrh = rrqdh iqdrh + p (Lrrqdh iqdrh + Lrsqdh iqdsh ) j ( r )(Lrrqdh iqdrh + Lrsqdh iqdsh ) When the voltage Equations are referred to the stator side, then we have
qd ' qd ' v qdsh = rsqdh iqdsh + p (Lssqdh iqdsh + Lsrqdh N Ih iqdrh ) j (Lssqdh iqdsh + Lsrqdh N Ih iqdrh )

(3.76) (3.77)

(3.78)

N v qdrh

qd Vh

qd qd qd qd ' qd N Vh rrqdh N Ih iqdrh + p N Vh Lrrqdh N Ih iqdrh + N Vh Lrsqdh iqdsh + = qd qd ' qd j ( r ) N Vh Lrrqdh N Ih iqdrh + N Vh Lrsqdh iqdsh

(3.79)

' ' v qdsh = rsqdh iqdsh + Lssqdh piqdsh + L'srqdh piqdrh jLssqdh iqdsh jL'srqdh iqdrh ' ' v qdsh = (rsqdh jLssqdh )iqdsh + Lssqdh piqdsh + L'srqdh piqdrh jL'srqdh iqdrh

(3.80) (3.81)

' qdrh

' ' ' ' ' rrqdh iqdrh + p Lrrqdh iqdrh + Lrsqdh iqdsh + = ' ' ' ( ) j L i L i + r rrqdh qdrh rsqdh qdsh qd ' v qdrh = N Vh v qdrh , qd L'rsqdh = N Vh Lrsqdh ' qd qd rrqdh = N Vh rrqdh N Ih

( (

) )

(3.82)

qd L'srqdh = Lsrqdh N Ih , qd qd , L'rrqdh = N Vh Lrrqdh N Ih

(3.83) (3.84)

The fluxes referred to the stator side become

' qdsh = Lssqdh iqdsh + L'srqdh iqdrh , ' 'qdrh = L'rrqdh iqdrh + L'rsqdh iqdsh

(3.85)

Dynamic Equations for simulation p qsh = v qsh rsqh iqsh dsh p dsh = v dsh rsdh idsh + qsh
' ' ' p'qrh = v qrh rrqh iqrh j ( r )'drh ' ' ' p'drh = v drh rrdh idrh + j ( r )'qrh

(3.86) (3.87) (3.88) (3.89)

94

In this work, only the fundamental and third harmonic components have been considered. The torque is obtained as follows m P Te1 = ( ds1iqs1 qs1ids1 ) 2 2 m P Te 3 = 3 ( ds 3iqs 3 qs 3 ids 3 ) 2 2 Te = Te1 + Te 3 The mechanical Equation is given by p r = P (Te TL ) 2J (3.93) (3.90)

(3.91) (3.92)

where r is the rotor speed (rad / sec ) , m is the number of stator phases, P is the number of poles, J is the moment of inertia kgm 2 and TL is the load torque ( Nm ) .

3.7

Fundamental Component Based Parameter Determination

The primary and secondary m.m.fs, expressed in ampere-turns per pair poles, are [3.8, 3.9] M ph = and M sph = where 2 2 k bsh k psh m s N s I sh = N s' I sh (3.95) 2 2
' k bph k pph m p N p I ph = N p I ph

(3.94)

95

' Np =

2 2

2 2

k bph k pph m p N p

(3.96)

N s' =

k bsh k psh m s N s

(3.97)

The vector sum of these two m.m.fs must then be just sufficient to maintain the flux

through the magnetic circuit. Under no-load conditions, it is necessary that

' ' Np I ph + N s' I sh = N p I oh

(3.98)

where I oh is the per phase no-load current taken from the line by the primary winding necessary to produce the m.m.f needed to maintain the flux h .
' , we get Dividing through by N p

I ph +

N s' I sh = I oh ' Np

(3.99)

N s' ' I sh = I oh I ph = I sh ' Np

' k bsh k psh m s N s I sh N s' = ' = I ph N p k bph k pph m p N p

(3.100)

(3.101)

k bph is the distribution (breadth) factor for the primary (stator) winding k pph is the pitch factor for the primary (stator) winding m p is the number of phases for the primary (stator) winding N p is the number of series turns per phase for the primary (stator) winding k bsh is the distribution (breadth) factor for the secondary (rotor) winding k psh is the pitch factor for the secondary (rotor) winding

96

m s is the number of phases for the secondary (rotor) winding N s is the number of series turns per phase for the secondary (rotor) winding At standstill conditions, the e.m.f developed in each phase of the primary (stator) and the secondary (rotor) windings are, respectively, given by E ph = 4.44k bph k pph f ph N p h E sh = 4.44k bsh k psh f sh N s h (3.102) (3.103) , since f sh = f ph (3.104)

E ph E sh

k bph k pph f ph N p k bsh k psh f sh N s

k bph k pph N p k bsh k psh N s

where

h is the air gap flux

f ph is the hth frequency of the voltages and currents in the primary (stator) winding f sh is the hth frequency of the voltages and currents in the secondary (rotor) winding
Now, if the primary (stator) and secondary (rotor) turns per phase ( N p and N s , respectively) are replaced by the corresponding number of conductors per phase ( Z p and

Z s = 1 ), the ratio of the current transformation is

' k bsh k psh m s Z s I sh N' 2Z r = s = = ' I ph N p k bph k pph m p Z p Pk bph k pph m p Z p

(3.105)

Which is the factor by which the actual rotor current per bar must be multiplied to convert it to equivalent primary (stator) current. The corresponding factor for converting actual rotor e.m.f per phase to equivalent primary (stator) value is

E ph E sh

k bph k pph N p k bsh k psh N s

= k bph k pph Z p

(3.106)

97

The parameters of the machine can be determined by using derived expressions as follows (a) qd Transformed parameters When the actual time varying parameters have been transformed constant values by using qd transformation, then the appropriate turn transformations for the machine parameters will be
qd N Ih =

m s K wsh N s hP S r sin S r K wsh N s hP sin S r

, for current transformation

(3.107)

qd N Vh =

, for voltage transformation

(3.108)

qd qd N Ih N Vh

m s K wsh N s K wsh N s m s K wsh N s = = hP hP S r hP S r sin sin S S sin S r r r

for

resistive

impedance

transformation
' Rrh = 2 m s K wsh N s2 hP S r sin 2 S r qd , this is the rotor resistance referred to the stator. Rrh

(3.109)

where
S r is the number of rotor bars

P is the number of poles

h is the harmonic number
qd is the actual hth qd-rotor resistance Rrh

98

(b) Turn transformation of actual parameters The following turn expressions will be used for transformation of the machine variable when dealing with actual peak values of the variables and parameters [3.8, 3.9]
N Ih =

2m s N s K wsh , for current transformation S r K wrh 2 N s K wsh , for voltage transformation K wrh

(3.110)

N Vh =

(3.111)

2 2ms Ns Kwsh 2Ns Kwsh 4ms Ns2 Kwsh NIh NVh = = , for resistive impedance transformation (3.112) 2 Sr Kwrh Kwrh Sr Kwrh

2 2 m K N Re 4 ' s wsh s = Rrh Rb + Sr hP 2 sin 2 S r where Rrh = Rb + Re hP 2 sin 2 S r

, this is the rotor resistance referred to the stator.

is the actual equivalent rotor resistance

The rotor leakage inductance is given by 2 4m s K wsh N s2 Le = Lb + Sr hP 2 sin 2 S r h2 L , + mh 2 K 0 KS r + h P

L'lrh

K = 1, 2, ...

(3.113)

For K = 1, h = 1

99

L'lr1 =

4m s K Sr

2 ws1

N Le Lb + 2 P 2 sin S r
2 s

1 , + Lm1 2 Sr + 1 P

K = 1, 2, ...

(3.114)

The rotor self inductance is given by

Lqd rh

hP S r sin 2 S r = 2 m s K wsh N s2

L' + L rlh mh

(3.115) (3.116)

qd L'rh = L'rh = L'rlh + Lmh

Self inductance of a stator phase due to the air gap flux is [3.8, 3.9]
Lms1

rl 4 N = 0 e ge P

K wsh h h =1

(3.117)

where g e is the effective air gap, l e is the effective length, and N is the total number of turns per phase. To obtain the total self inductance Ls1 , the leakage inductances should be added to Lms1 . Mutual inductance between two stator phases is [3.8, 3.9] Lmsi

rl 4 N = 0 e ge P

K wsh (i 1) 2 cos h ms h =1

, i = 1, ... (h odd )

(3.118)

The mutual slot leakage inductance should be added to the value given by the above Equation to obtain the total mutual inductances Lsi (i = 2, 3, ...) [3.8, 3.9]

(n 1)Lloop
Lloop =

h 0 rl e 4 1 sin 2 2 S g e h =1 h r

(3.119)

h 0 rl e 4 1 sin 2 2 S cos(h ) g e h =1 h r

(3.120)

100

where is the angle between the axes of two rotor loops. The hth term of the above series is the contribution of the hth harmonic to the inductance. To obtain the total self inductance of a loop, its leakage inductance of the end ring segments and the slot leakage inductance should be added to its air gap self inductance

(n 1)Lloop

[3.8, 3.9] (3.121) (3.122) (3.123)

Lr1 = 2(Lb + Le ) + (n 1)Lloop Lr 2 = Lb Lloop Lri = Lloop , i = 3, 4, ...

where Lb is the slot leakage inductance and Le is the leakage inductance of the ring segments. If the S r rotor bars are divided into P basic periods, the above should be modified to Lr1 = 2(Lb + Le ) + (n P )Lloop Lr 2 = Lb PLloop Lri = PLloop , i = 3, 4, ... (3.124) (3.125) (3.126)

3.7.1

Mutual Inductance Between a Rotor Loop and a Stator Phase

The mutual inductance between the ith stator phase and the jth rotor loop can be obtained by [3.8, 3.9]

101

Lsrij =

0 rl e 4 N ge P2

h =1

hP K wsh sin 2 S h r

cos(hP )

(v

odd )

(3.127)

Or equivalently
Lsrij =

0 rl e 4 N ge P2

h =1

hP' K wsh sin 2 S' h r

cos(hP ' ')

(v

odd )

(3.128)

where and ' are the mechanical and electrical angles between the axes of the stator phase and rotor loop.

3.7.2

Two Axis Equivalent Inductances

The expression for the two-axis inductances can be derived. The stator two-axis inductance is
2 Lqdsh = Ls1 + 2 Ls 2 cos h m s +L

(3.129)

Substituting for Lsi ' s (i = 1, 2, L)

m rl 4 N K Lqdsh = Lls + s 0 e l 2 ge P l l (K = 0, 1, 2, L) l = Km s + h,
2 2

(3.130)

Defining the hth harmonic (stator) magnetizing inductance Lmh as [3.8, 3.9]
Lmh = m s 0 rl e 4 N K wsh 2 ge P h
2 2

(3.131)

The Lqdsh can be written as Lqdsh = Lls + Lml , l = Km s + h

l

(K = 0, 1,

2, L)

(3.132)

102

It is assumed that the mutual slot leakage is lumped with the leakage inductance Lls . For squirrel cage rotor with S r rotor bars or S ' r bars per basic period, since
S r S 'r = , the rotor two-axis inductance is P P' 2 Lqdrh = L1r + 2 L2 r cos hP S r +L

(3.133)

Substituting for Lri ' s (i = 1, 2, L) 2 1 cosh Lqdrh = 2 Le + P S r S rl Lb + r 0 e 4 sin 2 hP 2 g S e r 1 2 K Sr + h K P (3.134)

(K = 0, 1,

2, L)

Substituting Lmh obtained previously, we have

S r sin 2 hP Sr 2 + = 2 + L hP L 2 sin e b 2 m s K wsh N s2 Sr 2, L) L

Lqdrh

mh

h2 Sr + h K P
2

(3.135)

(K = 0, 1,

Lqdrh can also be expressed as S r sin 2 hP S r = 2 2 m s K wsh N s L' + L lrh mh

Lqdrh

(3.136)

The summation

h2 Sr K + h P
2

, (K = 0, 1, 2, L) in the above Equations can be

evaluated from the following identity

103

 hP 2 Sr h = 2 S K sin hP K r + h P Sr

, (K = 0, 1, 2, L)

(3.137)

The actual parameters obtained from the full-order modeling whereby the mutual statorto-rotor bar inductances are calculated during the simulation are shown Table 3.4. Using the turn transformations of section 3.7 (a), these parameters are referred to the stator side as they appear in Table 3.5, and they are close to those determined by sung the fundamental component approach.

Table 3.4 Machine parameters before being referred to the stator side Parameters From the Full order model simulation Fundamental component rs
rr

Third harmonic component 0.320

0.320

4.87
1.5 mH

24.55
52 mH

Lsr Lrs
Lrr

2.7 H 2.332 H

92.7 H 2.129 H

104

Table 3.5 Machine parameters referred to the stator side Parameters From the Full order model simulation Fundamental component rs rr' L'sr L'rs L'rr 0.320 Third harmonic component 0.320

0.6888
0.3185 H 0.3185 H 0.3297 mH

0.4421
0.0295 H 0.0295 H 0.0383 H

3.8

Simulation Results

The simulation results for starting transient and load performance of the five-phase machine are presented in this section. The stator is supplied from a 60 Hz, 230 V line-toline rms voltages for the fundamental components. To obtain the third harmonic components, the magnitude of the harmonic voltage is taken as 15% of the fundamental. The load torque applied is 8.5 Nm. Figures 3.11 and 3.12 show the fundamental component of the qd-transformed stator-to-stator mutual inductance and rotor bar self inductance. The qd rotor-bar-tostator and stator-to-rotor bar mutual inductances are shown in Figures 3.13 and 3.14, respectively; whereas Figure 3.15 shows the qd fundamental component of the rotor bar resistance.

105

The machine is run at no-load for five seconds at which a load torque of 8.5 Nm is applied. The no-load and load characteristics for different variables are shown in Figures 3.16, 3.17, 3.18, 3.19, 3.20, 3.21, 3.22 and 3.23 for the fundamental components of the no-load speed, load speed, no-load electromagnetic torque, load electromagnetic torque, no-load stator current, load stator current, no-load rotor bar current and load rotor bar current, respectively. Figures 3.24 and 3.25 show the total electromagnetic torque at no-load and load, respectively. This is obtained by adding the two values of electromagnetic torques, i.e. the fundamental component value and the harmonic component value. The third harmonic components for the stator currents at no-load, stator currents at load, rotor bar currents at no-load, rotor bar currents at load, electromagnetic torque at load and electromagnetic torque at no-load are represented by figures 3.26, 3.27, 3.28, 3.29, 3.30 and 3.31, respectively. The third harmonic components of the qd rotor bar resistance, qd stator mutual inductance, qd rotor bar self inductance, qd rotor bar-to-stator mutual inductance, and the qd stator-to-rotor mutual inductance are shown in figures 3.32, 3.33, 3.34, 3.35 and 3.36, respectively.

106

0.3176
(a)

L qs1 [H ]

0.3176 0.3176 0.3176 0.3176 0.3176 0 0.5 1 1.5 2 2.5 3

(b)

L ds1 [H ]

0.3176 0.3176 0.3176 0.3176 0.01 0 0.5 1 1.5 2 2.5 3

L qs12 [H ]

(c)

0 -0.01 0.01

0.5

1.5

2.5

L qs21 [H ]

(d)

0 -0.01

0.5

1.5 Time [sec]

2.5

Figure 3.11 Fundamental component of the qd-stator inductance (a) Lssq1 (b) Lssd 1 (c) Lssq12 (d) Lssd 21

107

x 10

-6

(a)

L q r1 [ H ]

0 0 x 10
-6

0.5

1.5

2.5

(b)

L d r1 [ H ]

0 0 x 10 2
-6

0.5

1.5

2.5

(c)

L q r1 2 [ H ]

-2 0 x 10 2
-6

0.5

1.5

2.5

(d)

L d r2 1 [ H ]

-2 0 0.5 1 1.5 2 2.5 3

Time [sec]

Figure 3.12 Fundamental component of the qd-rotor bar self inductance (a) L'rq1 (b) L'rd 1
(c) L'rq12 (d) L'rd 21

108

2.7
(a)

x 10

-6

L rs q 1 [ H ] 2.65 2.7 0 x 10
-6

0.5

1.5

2.5

(b)

L rs d 1 [ H ] 2.65 3.5796 0 x 10
-4

0.5

1.5

2.5

(c)

L rs q 1 2 [ H ]

3.5794 3.5792 0 0.5

-4

1.5

2.5

-3.5792
(d)

x 10

L rs d 2 1 [ H ]

-3.5794 -3.5796 0 0.5 1 1.5 Time 2 2.5 3

Figure 3.13 Fundamental component of the qd-rotor bar-to-stator mutual inductance (a) Lrsq1 (b) Lrsd 1 (c) Lrsq12 (d) Lrsd 21

109

1.51
(a)

x 10

-5

L s rq 1 [ H ]

1.5

1.49

0 x 10
-5

0.5

1.5

2.5

1.52
(b)

L s rd 1 [ H ]

1.5

1.48

0 x 10
-3

0.5

1.5

2.5

-2.0043

(c)

L s rq 1 2 [ H ]

-2.0044 -2.0045 -2.0046 0 x 10

-3

0.5

1.5

2.5

2.0046

(d)

L s rd 2 1 [ H ]

2.0045 2.0044 0 0.5 1 1.5 2 2.5 3

Time [sec]

Figure 3.14 Fundamental component of the qd-stator-to-rotor bar mutual inductance (a) Lsrq1 (b) Lsrd 1 (c) Lsrq12 (d) Lsrd 21

110

x 10

-6

4.95

4.9

R rq 1 [ ]

4.85

4.8

4.75

4.7

0.5

1.5 Time [sec]

2.5

Figure 3.15 Fundamental component of the qd-rotor bar resistance Rrq1

111

450

400

350

300

r [ra d /s e c ]

250

200

150

100

50

0.05

0.1

0.15

0.2

0.25 Time [sec]

0.3

0.35

0.4

0.45

0.5

Figure 3.16 Starting transients of the rotor speed at no-load

112

380

375

370

[ra d /s e c ]

365

360

355

350 0.4

0.5

0.6

0.7 Time [sec]

0.8

0.9

Figure 3.17 Rotor speed at a load torque of 8.5 Nm

113

80

60

40

20 Te [N m ] 0 -20 -40 -60 0

0.05

0.1

0.15

0.2

0.25 Time [sec]

0.3

0.35

0.4

0.45

0.5

Figure 3.18 Fundamental components of the electromagnetic torque at no-load

114

14

12

10

Te [N m ]

-2 0.4

0.5

0.6

0.7

0.8

0.9

Figure 3.19 Fundamental components of the electromagnetic torque at a load torque of 8.5 Nm

115

100
(a)

ias [ A ]

0 -100 100

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(b)

ibs [A ]

50 0 -50 100 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(c)

ics [ A ]

50 0 -50 50 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(d)

ids [A ]

0 -50 -100 50 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(e)

ies [ A ]

0 -50 -100 0 0.05 0.1 0.15 0.2 0.25 Time [sec] 0.3 0.35 0.4 0.45 0.5

Figure 3.20 Fundamental components of the stator phase currents at no-load (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

116

10
(a)

ias [ A ]

-10 0.4 10 ibs [A ] 5 0 -5 0.4 10

(c)

0.6

0.8

1.2

1.4

1.6

1.8

(b)

0.6

0.8

1.2

1.4

1.6

1.8

ics [ A ]

5 0 -5 0.4 5 0.6 0.8 1 1.2 1.4 1.6 1.8 2

ids [A ]

(d)

0 -5 0.6 0.8 1 1.2 1.4 1.6 1.8 2

-10 0.4 5
(e)

ies [ A ]

0 -5 0.6 0.8 1 1.2 Time [sec] 1.4 1.6 1.8 2

-10 0.4

Figure 3.21 Fundamental components of the stator phase currents at a load torque of 8.5 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

117

2 1
(a)

x 10

ir1 [ A ]

0 -1 -2 0 x 10
4

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

1 0.5 i r7 [ A ]
(b)

0 -0.5 -1 -1.5 0 x 10
4

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

2 1
(c)

i r1 4 [ A ]

0 -1 -2 0 0.05 0.1 0.15 0.2 0.25 Time [sec] 0.3 0.35 0.4 0.45 0.5

Figure 3.22 Fundamental components of the actual rotor bar currents at no load (a) bar 1 (b) bar 7 and (c) bar 14

118

1000 500
(a)

i r1 [ A ]

0 -500 -1000 0.5 1 1.5 2 2.5 3

1000 500
(b)

ir7 [ A ]

0 -500 -1000 0.5 1 1.5 2 2.5 3

1000 500
(c)

i r1 4 [ A ]

0 -500 -1000 0.5 1 1.5 Time [sec] 2 2.5 3

Figure 3.23 Fundamental components of the actual rotor bar currents at a load torque of 8.5 Nm (a) bar 1 (b) bar 7 and (c) bar 14

119

80

60

40

20 T et [ N m ] 0 -20 -40 -60 0

0.05

0.1

0.15

0.2

0.25 Time [sec]

0.3

0.35

0.4

0.45

0.5

Figure 3.24 Total electromagnetic torque (Te1 + Te3 ) at no-load

120

14

12

10

T et [ N m ]

-2

0.5

1.5 Time [sec]

2.5

Figure 3.25 Total electromagnetic torque (Te1 + Te3 ) at a load torque of 8.5 Nm

121

(a)

i as 3 [ A ]

0 -5 5

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(b)

ibs3 [A ]

0 -5

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

10

(c)

i cs 3 [ A ]

0 -10 10

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(d)

ids3 [A ]

0 -10 5

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(e)

ies3 [ A ]

0 -5

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Time [sec]

Figure 3.26 Third harmonic components of the stator phase currents at no-load (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

122

(a)

ias3 [ A ]

0 -2 0.4 2

0.5

0.6

0.7

0.8

0.9

1.1

(b)

ibs3 [A ]

0 -2 0.4 2

0.5

0.6

0.7

0.8

0.9

1.1

(c)

ics3 [ A ]

0 -2 0.4 2

0.5

0.6

0.7

0.8

0.9

1.1

(d)

ids3 [A ]

0 -2 0.4 2

0.5

0.6

0.7

0.8

0.9

1.1

(e)

ies3 [ A ]

0 -2 0.4

0.5

0.6

0.7

0.8

0.9

1.1

1.2

Time [sec]

Figure 3.27 Third harmonic components of the stator phase currents at a load torque of 8.5 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

123

300 200 100

(a)

ir1 3 [ A ]

0 -100 -200 -300 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

300 200 100

(b)

i r7 3 [ A ]

0 -100 -200 -300 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

300 200

(c)

ir1 4 3 [ A ]

100 0 -100 -200 -300

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Time [sec]

Figure 3.28 Third harmonic components of the actual rotor bar currents at no load (a) bar 1 (b) bar 7 and (c) bar 14

124

60 40
(a)

i r1 3 [ A ]

20 0

-20 -40 -60 0.5 1 1.5 2 2.5 3

60 40
(b)

i r7 3 [ A ]

20 0

-20 -40 -60 0.5 1 1.5 2 2.5 3

60 40

(c)

i r1 4 3 [ A ]

20 0

-20 -40 -60 0.5 1 1.5 2 2.5 3

Time [sec]

Figure 3.29 Third harmonic components of the actual rotor bar currents at a load torque of 8.5 Nm (a) bar 1 (b) bar 7 and (c) bar 14

125

0.3

0.2

0.1

T e3 [ N m ]
-0.1 -0.2 -0.3 -0.4 0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Time [sec]

Figure 3.30 Third harmonic component of the electromagnetic torque at no-load

126

0.35

0.3

0.25

0.2

T e3 [ N m ]

0.15

0.1

0.05

-0.05

0.5

1.5

2.5

Time [sec]

Figure 3.31 Third harmonic component of the electromagnetic torque at a load torque of 8.5 Nm

127

x 10

-5

3.5

2.5

R q r3 [ ]

1.5

0.5

0 0

0.5

1.5

2.5

Time [sec]

Figure 3.32 Third harmonic component of the qd-rotor bar resistance Rrq1

128

0.0301

(a)

L qs3 [H ]

0.0301

0.0301 0 0.0301

0.5

1.5

2.5

(b)

L ds3 [H ]

0.0301

0.0301 0 1 x 10
-3

0.5

1.5

2.5

(c)

L qs32 [H ]

-1

0 x 10
-3

0.5

1.5

2.5

L qs23 [H ]

(d)

-1

0.5

1.5

2.5

Time [sec]

Figure 3.33 Third harmonic component of the qd-stator inductance (a) Lssq 3 (b) Lssd 3 (c) Lssq 32 (e) Lssd 23

129

2.14 L 'r q 3 [ H ]

x 10

-6

(a)

2.13

2.12 x 10
-6

0.1656

0.1656

0.1656

0.1656

0.1656

0.1656

0.1656

0.1656

0.1656

2.14

(b)

L 'r d 3 [ H ]

2.135 2.13 2.125 2.12 x 10

-9

0.794

0.794

0.794

0.794

0.794

0.794

0.794

1 L 'r q 3 2 [ H ]

(c)

0.5

0.9314 x 10
-9

0.9314

0.9314

0.9314

0.9314

(d)

L 'r d 2 3 [ H ]

-1

0.9582

0.9582

0.9582

0.9582

0.9582 0.9582 Time [sec]

0.9582

0.9582

0.9582

0.9582

Figure 3.34 Third harmonic component of the qd-rotor bar self inductance (a) Lrq 3 (b) Lrd 3 (c) Lrq 32 (e) Lrd 23

130

2.2

x 10

-6

(a)

L rs q 3 [ H ]

1.8 0 2.2 x 10
-6

0.5

1.5

2.5

(b)

L rs d 3 [ H ]

1.8

0 x 10
-5

0.5

1.5

2.5

9.29
(c)

L rs q 3 2 [ H ]

9.28 9.27 9.26 0 x 10

-5

0.5

1.5

2.5

-9.26

(d)

L rs q 2 3 [ H ]

-9.27 -9.28 -9.29 0 0.5 1 1.5 2 2.5 3

Time [sec]

Figure 3.35 Third harmonic component of the qd-rotor bar-to-stator mutual inductance (a) Lrsq 3 (b) Lrsd 3 (c) Lrsq 32 (d) Lrsd 23

131

1.25

x 10

-5

L s rq 3 [ H ]

1.2

(a)

1.15 1.1 0 x 10
-5

0.5

1.5

2.5

1.25

L s rd 3 [ H ]

1.2

(b)

1.15 1.1 0 x 10
-4

0.5

1.5

2.5

-5.18

(c)

L s rq 3 2 [ H ]

-5.19 -5.2 0 x 10
-4

-5.21

0.5

1.5

2.5

5.21

L s rq 2 3 [ H ]

5.2

(d)

5.19 5.18 0 0.5 1 1.5 2 2.5 3

Time [sec]

Figure 3.36 Third harmonic component of the qd-stator-to-rotor bar mutual inductance (a) Lsrq 3 (b) Lsrd 3 (c) Lsrq 32 (d) Lsrd 23

132

3.9

Experimental Determination of Machine Parameters

The machine parameters were identified by performing no load and locked rotor tests. The machine was energized by balanced abcde and acebd voltages into determine the fundamental and third harmonic components of the machine parameters, respectively. The no-load test was used to determine the magnetizing inductance as well as the core loss resistance whereas the locked rotor test was used to determine the copper loss resistance and the leakage inductance. The five-phase induction motor was energized from the five-phases of the two three-phase inverters, one inverter providing only two phases (d and e).

3.9.1

Experimental results

3.9.1.1 No-load test. The five phase induction machine is supplied from two three

phase voltage source inverters at no load. The no-load speed is 1800 rpm. The results for the no-load test are shown in Table 3.6

3.9.1.2 Determination of the Magnetizing inductance from the line-to-line voltages. For the determination of the magnetizing inductance, two kinds of

measurements were taken. First the line-to-line voltages between adjacent phases were taken as shown in Table 3.7. Secondly, the phase a voltage and phase a current were measured as shown in Table 3.8. The result based on either of the two is plotted in Figure 3.37.

133

Table 3.6 No-load Tests Power, voltage and current measurements Vae 95 84 75 65 55 47 39 30 Vbe 148 130 115 101 86 73 58 48 Vce 148 129 115 100 86 72.5 57 48 Vde 97 86 76 67 56 45 39 31 Ias 2.1 1.95 1.75 1.55 1.35 1.15 1.0 0.5 Ibs 1.9 1.7 1.6 1.35 1.25 1.1 1.0 0.5 Ics 1.8 1.55 1.40 1.25 1.1 1.0 1.0 0.5 Ids 1.3 1.15 1.0 0.89 0.84 0.75 0.65 0.5 Ies 1.95 1.75 1.55 1.4 1.25 1.1 1.0 Pae 195 155 120 100 70 60 45 Pbe 110 95 80 65 56 50 45 35 Pce 60 44 30 20 10 4 3 2 Pde 52 40 30 24 16 10 6 4

0.925 30

Pij is the power measured by the wattmeter connected between phase i and j.

Table 3.7 No-load Tests Line-to-line Voltage and current measurements Vab 150 146 140 134 128 120 114 108 Vbc 150 146 140 134 128 120 114 108 Vcd 145 140 134 128 122 116 110 104 Vde 152 148 143 138 130 124 120 116 Ias 4.15 3.85 3.55 3.3 Ibs 3.65 3.4 3.15 2.95 Ics 3.2 3 Ids 2.65 2.45 Ies 3.355 3.15 3 2.8 2.155

2.75 2.3 2.6 2.15

3.055 2.75

2.45 2.05

2.875 2.575 2.3 2.7

1.925 2.475

2.425 2.15 1.825 2.325 1.7 2.2

2.575 2.275 2

134

Table 3.7 Continued Vab 100 94 88 82 78 72 64 57 50 44 38 32 28 Vbc 100 94 88 82 78 72 64 57 50 44 38 32 28 Vcd 98 92 86 80 74 68 62 55 48 42.5 37 31.5 26 Vde 110 104 98 92 88 84 76 72 64 58 50 42 36 Ias Ibs Ics Ids 1.6 Ies 2.05 1.925 1.8 1.65 1.55 1.45 1.325 1.225

2.675 2.125 1.9 2.225 2 2.05 1.95 1.85 1.7 1.55 1.4 1.85 1.75 1.6 1.5 1.35 1.25

1.75 1.5 1.65 1.4 1.55 1.3 1.45 1.2 1.35 1.1 1.2 0.5 1 0.7

1.275 1.2 1.15 1.05 1 1 1.1 1.05 1 1

0.45 0.625 1.125 0.25 0.6 1.025

0.25 0.525 0.975 0.25 0.55 0.95

0.25 0.575 0.975

Table 3.8 No-load Tests Phase a voltage and phase a current measurements Van1 Ias1 127 122 4.075 3.775 117.5 112.5 3.5 3.25 107 102 3.05 2.85 96.5 91 2.675 2.525 85.5 80.2 2.35 2.2 75 70

Van1 Ias1

2.075 1.95

65 59.5

1.8 1.7

54.5 49

1.55 1.45

44 38.5

1.275 1.2

33 28.5

1.1 1.05

23 18

1.05 1.3

135

Also from the results of Table 3.8, the core loss resistance, Rc1 could be determined by using the following relations
Roc1 = Poc1 I c21

2 2 I c1 = I oc 1 I m1

I m1 =

Vo1c X m1

X m1 = 2fLm1 where Poc1 , I oc1 and Voc1 are the average values for power, current and voltage, respectively obtained from the no-load tests.

0.1

0.09

0.08

0.07 Lm1 [H] 0.06 0.05 0.04 0.03 0

20

40

60 Voltage [V]

80

100

120

140

Figure 3.37 Fundamental component of the magnetizing inductance

136

3.9.1.3 Third harmonic magnetizing inductance calculation. To determine the

third harmonic component of the magnetizing inductance, the machine was energized by balanced acebd voltages. The phase a voltage and current were measured and the results recorded as shown in Table 3.9. The inductance is then obtained as
X m3 = Van 3 I as 3 Lm 3 = X m3

s = 2f s , f s is the supply voltage

Figure 3.38 shows the variation of the third harmonic inductance with the phase a voltage.

3.9.1.4 Locked rotor test. The locked rotor stator line-to-line voltages, current and

power were recorded for each measurement and then the average value was calculated for each phase. One stator phase, in this case phase e, was made the references such that at every instant, four readings for line-to-line voltages, five readings for the phase currents and four readings for the power were taken as shown in Table 3.10.

Table 3.9 No-load Tests Phase a third harmonic voltage and current measurements Van3 36 Ias3 33.5 31 29 27 26 25 24 23 21.5 20.5 19.5 18 4.25 4.05 3.85 3.6 15 3.2

7.3 6.65 6.1 5.65 5.35 5.1

4.95 4.75 4.6

137

0.0138

0.0136

0.0134 Lm3 [H]

0.0132

0.013

0.0128

0.0126

0.0124

16

18

20

22

24

26 Voltage [V]

28

30

32

34

36

Figure 3.38 Third harmonic component of the magnetizing inductance

Table 3.10 Locked rotor t test Line-to-line voltages, current and power measurements Vae 56 55 40 30 25 15 Vbe 90 86 65 50 40 28 Vce 85 84 64 50 41 28 Vde 59 57 44 34 27 20 Iasc 7 6 4.7 3.35 2.75 1.6 Ibsc 7 6 4.5 3.5 2.5 1.5 Icsc 7 6 4.55 3.4 2.4 1.4 Idsc 7 6 4.25 2.85 2.3 1.2 Iesc 7 6 4.85 3.3 2.70 1.55 Paesc 365 310 190 110 75 25 Pbesc 450 395 210 120 70 25 Pcesc 132 96 58 20 8 2 Pdesc 17 14 10 6 4 2

Relationship between line-to-line voltage and phase voltage is given by 138

 2 Adjacent phases V LLadj = V ph 2 2 cos 5 4 Non-adjacent phases V LLnonadj = V ph 2 2 cos 5

where V ph is the rms phase voltage. The parameters are the calculated as follows
Rbr = Pbr , 2 I br Z br = Vbr I br

2 2 X br = Z br Rbr

where Vbr is the blocked rotor stator average phase voltage I br is the blocked rotor stator average phase current Pbr is the blocked rotor stator average phase power Rbr is the blocked rotor resistance Z br is the blocked rotor impedance X br is the blocked rotor reactance The equivalent leakage inductance is given by
Lbr = X br

, s = 2f s f s is the supply frequency.

139

0.024 0.023 0.022 0.021 0.02 Lbr [ H ] 0.019 0.018 0.017 0.016 0.015 0.014

4 Ibr [ A ]

Figure 2.39 Locked Rotor Leakage inductance,

Lbr

against stator current,

I br

140

5.4

5.2

4.8 Rbr [ ]

4.6

4.4

4.2

3.8

4 Ibr [ A ]

Figure 3.40 Locked Rotor Winding resistance,

10.5 10 9.5 9 Zbr [ ] 8.5 8 7.5 7 6.5 1 2 3

Rbr

against stator current,

I br

4 Ibr [ A ]

Figure 3.41 Locked Rotor Impedance,

Z br

against stator current,

I br

141

Table 3.11 Summary of the Test parameters Fundamental component 1. 2. 3. 4. 5. 6. Rs1 Rr' 1 Lm1 Lls1 L'lr1 Rc1 1.8 2.9086 86.7 mH Third harmonic component Rs 3 Rr' 3 Lm 3 Lls 3 L'lr1 1.8 1.8669 13.4 mH

8.95 mH
8.95 mH 65.4052

1.8669 mH
4.9 mH

Figures 3.39, 3.40 and 3.41 show the equivalent leakage inductance, equivalent winding resistance and equivalent impedance, respectively, as they vary with the current in a locked rotor test. The stator winding resistance was obtained by directly measuring the resistance between two phases and then taking the average value. It was found to be 1.8 . Table 3.11 shows the summary of the machine parameters as they were obtained from no-load and locked rotor tests for both the fundamental and harmonic components.

3.10 Conclusion

The analysis and model of a five phase induction machine have been presented. First the stator winding has been redesigned to five phases instead of the previous three phases. Then the turn and winding functions have been calculated. These are used in 142

directly determining the machine parameters. The full-order model in which all higher order harmonics are accounted for has been described and used to determine these parameters. The fundamental and third harmonic parameters of the machine windings have been determined. The full order model of the five phase induction machine has been presented and simulation results are included in the Chapter. The model takes into account the contribution of the harmonic contents. The fundamental and third harmonic components of machine parameters and variables have been computed and presented for the simulation of the developed model. The derivation for the voltage and current turns ratios have been derived and presented in this Chapter. These ratios are used to transform the machine parameters from one side (rotor) to the other side (stator). The experimental results for determination of the machine parameters are also included. No-load and blocked rotor tests have been carried out to determine the fundamental and third harmonic components of the five phase machine. The machine is supplied from a balanced five phase supply via two three-phase inverters controlled by the digital signal processor (DSP).

143

CHAPTER 4 CARRIER BASED PWM SCHEME FOR FIVE PHASE INDUCTION MOTOR DRIVE

4.1

Introduction

DC/AC voltage source inverters (VSI) are extensively used in motor drives to generate controllable frequency and ac voltage magnitudes using various pulse width modulation (PWM) strategies. The carrier-based PWM is very popular due to its simplicity of implementation, known harmonic waveform characteristics, and low harmonic distortion. Figure (4.1) shows a schematic diagram of five-phase voltage source converter.
S ap vd 2
o

Sbp

S cp

S dp

S ep
ias ibs ics ids ies

b
c

IM

vd 2

S an

Sbn

S cn

S dn

e S en

Figure 4.1 Five-phase two-level voltage source inverter supplying a five-phase induction machine

144

The turn on and turn off sequences of a switching device are represented by an existence function which has a value of unity when it is turned on and becomes zero when it is turned off [4.1]. The existence function of a two-level converter comprising of two switching devices is represented by S ij , i = a, b, c, d , e and j = p, n where i represents the load phase to which the device is connected, and j signifies top (p) and bottom (n) device of the converter leg. Hence, S ap , S an which take values of zero or unity, are, respectively the existence functions of the top device and the bottom device of the inverter leg which is connected to phase a of the load. The load voltage Equations of the five-phase converter expressed in terms of the existence functions and input DC voltage v d are given as
vio = v ao = vd (2S ip 1) = vin + vno , i = a, b, c, d , e 2 vd (S ap S an ) = vd (S ap (1 S ap )) = vd (2S ap 1) = van + vno 2 2 2

(4.1)

(4.2)

Similarly,
vbo = vco = v do = veo = vd (2S bp 1) = vbn + vno 2 vd (2S cp 1) = vcn + vno 2 vd (2S dp 1) = vdn + vno 2 vd (2S ep 1) = ven + vno 2

(4.3)

(4.4)

(4.5)

(4.6) (4.7)

vao + vbo + vco + v do + veo = v an + vbn + vcn + v dn + ven + 5v no and

145

vd vd vd 2 (2S ap 1) + 2 (2Sbp 1) + 2 (2Scp 1) vao + vbo + vco + vdo + veo = + vd (2S 1) + vd (2S 1) dp ep 2 2
For balanced five-phase system, v an + vbn + vcn + v dn + v en = 0 Therefore, v ao + vbo + vco + v do + veo = 5v no
5v no =
vd (2S ap 1) + vd (2S bp 1) + vd (2S cp 1) + vd (2S dp 1) + vd (2S ep 1) 2 2 2 2 2

(4.8)

(4.9)

(4.10) (4.11)

v an , vbn , v cn , v dn , ven are the desired (reference ) phase voltages of the load. The voltage between a reference o of the inverter and the neutral of the load is denoted by v no . In order to prevent short-circuiting the DC source and satisfy the Kirchhoffs voltage law, S ip and S in cannot be turned on at the same time. Hence Kirchhoffs voltage law constraints the existence function such that S ip + S in = 1 . The existing function is a series of modulation pulses whose magnitude is either unity or zero. A Fourier approximation of this function is given as [4.1] S ip = 0.5 . (1 + M ip ) The expressions for the modulation signals are therefore expressed as
M ip =

(4.12)

2 (vin + v no ) , i = a, b, c, d , e vd

(4.13)

The PWM modulation signals for the five top devices of the converter are M ip . Equation (4.13) gives the most general expression for the modulation signals in which reasonable expressions for the zero sequence signal v no can be included. The appropriate 146

zero sequence signal may give rise to minimum switching loss, improved current and/or phase voltage waveforms. These signals are compared with a high frequency triangle carrier waveform to produce the PWM switching pulses which are given to the base drives to turn on and turn off the switching devices. The average neutral voltage, v no is determined below. Equations (4.2-4.6) can be expressed as
vd (2S ip 1) = vio 2 v no = vd (2S ip 1) vin 2

(4.14)

(4.15)

2v no 2v = 2 S ip 1 in vd vd 2 S ip 1 = 2vin 2v no + vd vd

(4.16)

(4.17) (4.18)

2S ip 1 = mipp + mo where mipp =

2vin 2v , mo = no , and i = a, b, c, d , e . vd vd

When the switching function of the top device is unity (when it is turned on), then mo = 1 mipp When the switching function of the top device is zero (when it is turned off), then mo = 1 mipp (4.20) (4.19)

There are six feasible solutions for mo from (4.19) and (4.20) since the Equation is over-determined yielding an infinite number of possibilities. However, mo must lie within 1 and -1 since the normalized high-frequency triangular signal also lies within this

147

range. A reasonable solution can be obtained by considering the extrema of (4.19) and (4.20). With the following definitions, M max = Max(mipp ) M min = Min(mipp ) (4.21)

where Max and Min , respectively denotes the maximum and minimum value of mipp . The extrema of the mo are (1 M max ) , ( 1 M min ) , (1 M min ) and ( 1 M max ) of which only the first have magnitudes between the range (1,-1). The two solutions are now linearly weighed to determine the average value of mo , mo given as
mo = ( 1 M min ) + (1 )(1 M max ) mo = (1 2 ) + ( 1)(M max ) M min

where 0 1 and is

(4.22) (4.23)

The values of gives rise to an infinite number of carrier-base PWM modulation signals [4.1, 4.2]. The generalized discontinuous modulation signals (GDPWM) are obtained when is given by

= 0.5 . [1 + sgn (cos(5( e t + )))]

(4.24)

Sgn( x ) is 1, 0 and -1 when x is positive, zero and negative, respectively. By varying the

modulation angle , various discontinuous modulation signals are generated. When = 0.5, this carrier-based modulation schemes corresponds to the known space vector modulation scheme where the null states are time- weighed equally. Figures 4.2 through 4.5 show the modulation signals and corresponding phase a load voltage at different values of and modulation angle . In this result, the peak value of the fundamental voltage is 150 V, and that of the third harmonic voltage is 15 V. The dc voltage is 300 V. Figures 4.2 through 4.7 show the result when only the fundamental component is

148

considered, whereas Figure 4.8 through 4.25 show the results in which both the fundamental voltage and third harmonic voltage have been considered.
1

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.2 Five-phase modulation signals for = 0.5

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.3 Phase a load voltage, = 0.5

149

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.4 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 360

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

0.035

Time

Figure 4.5 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 360

150

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.6 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 00

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.7 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 00

151

200

150

100

van1 van1, vanref

50

vanref

-50

-100

-150

-200

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.8 Phase a fundamental and reference voltage, = 0.5[1 + sgn (cos(5(et + )))] ,

= 360 , v m 3 = +15V
1

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.9 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 360 , v m 3 = +15V

152

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.10 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 360 , v m 3 = +15V
200

150

100

van1 van1, vanref

50 0

vanref

-50

-100

-150

-200

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.11 Phase a fundamental and reference voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = +15V

153

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time
Figure 4.12 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = +15V
300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.13 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = +15V

154

200

150

100

van1 van1, vanref

50 0

vanref

-50

-100

-150

-200

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.14 Phase a fundamental and reference voltage, = 0.5 , v m 3 = +15V

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time
Figure 4.15 Five-phase modulation signals for = 0.5 , v m 3 = +15V

155

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.16 Phase a load voltage, = 0.5 , v m 3 = +15V

150

100

vanref

50

vanref
0

van1,

-50

van1

-100

-150

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.17 Phase a fundamental and reference voltage, = 0.5 , v m 3 = 15V

156

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.18 Five-phase modulation signals for = 0.5 , v m 3 = 15V

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time
Figure 4.19 Phase a load voltage, = 0.5 , v m 3 = 15V

157

150

100

vanref

50

vanref
0

van1,

-50

van1
-100

-150

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.20 Phase a fundamental and reference voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = 15V

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time
0 Figure 4.21 Five-phase modulation signals for = 0.5[1 + sgn (cos(5(et + )))] , = 0 ,

v m 3 = 15V

158

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.22 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 0 0 , v m 3 = 15V
150

vanref
100

vanref van1,

50

-50

van1
-100

-150

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure

4.23

Phase

fundamental

and

reference

voltage,

= 0.5[1 + sgn (cos(5(et + )))] , = 36 0 , v m 3 = 15V

159

ma

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mb

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

mc

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

md

0 -1 1 0 0.005 0.01 0.015 0.02 0.025 0.03

me

0 -1 0 0.005 0.01 0.015 0.02 0.025 0.03

Time

Figure 4.24 Five-phase modulation signals for

= 0.5[1 + sgn (cos(5(et + )))] ,

= 36 0 , v m 3 = 15V

300

200

100

van

-100

-200

-300

0.005

0.01

0.015

0.02

0.025

0.03

Time

Figure 4.25 Phase a load voltage, = 0.5[1 + sgn (cos(5(et + )))] , = 36 0 , v m 3 = 15V

160

4.2

Simulation Results

The five phase machine is simulated by using three different sets of connections (a) it is assumed to be star-connected the phase voltages across the machine windings are v as , vbs , vcs , v ds and ves , Figure 35 (a) (b) It is assumed to be conventionally delta connected the phase voltages across the machine windings are v as vbs , vbs vcs , v cs v ds , v ds ves , and ves v as , Figure 35 (b) (c) It is assumed to be alternately delta connected the phase voltages across the machine windings are v as v cs , vbs v ds , v cs ves , v ds v as , and ves vbs , Figure 35 (c).

In all simulations, the no-load transients for the electromagnetic torque, stator phase a current, rotor phase current and rotor speed are presented. Then a rated load torque of 8.5 Nm is applied at a time instant of 0.5 seconds, and the results are also presented. The phase a voltage of the machine winding is also shown. In each different winding connection the machine is supplied directly from the mains (direct online), and then via an inverter. The derived voltage and current relations for the three different stator winding connections as given below.

161

a
a

ves vds vcs

d

vas

vea
b

vab

vbs vde vbc

(a)
a d

vcd

(b)

vda

vac
c

vbd

vce

veb
b

(c)

Figure 4.26 Different stator winding connections (a) star (b) normal (conventional) delta and (c) alternate delta.

162

4.2.1

Conventional Star Connection, Figure 4.26 (a)

Phase voltages are given by v as = Vm cos( e ) , 2 vbs = Vm cos e , 5 4 vcs = Vm cos e , 5

6 v ds = Vm cos e , 5 Line-to-line voltages are given by 3 v ab = 1.1756Vm cos e + , 10

8 ves = Vm cos e 5

vbc = 1.1756Vm cos e , 10

9 v de = 1.1756Vm cos e , 10

5 vcd = 1.1756Vm cos e , 10 7 vea = 1.1756Vm cos e + 10 Line and phase currents are the same. ia = I m cos( e + ) ,

2 ib = I m cos e + 5 ,

4 ic = I m cos e + 5

6 id = I m cos e + 5

8 ie = I m cos e + 5

163

4.2.2

Conventional Delta Connection, Figure 4.26 (b)

Phase and line-to-line voltages are the same are given by 3 v ab = v as = 1.1756Vm cos e + , vbc = vbs = 1.1756Vm cos e , 10 10 5 9 vcd = vcs = 1.1756Vm cos e , v de = v ds = 1.1756Vm cos e , 10 10 7 vea = v es = 1.1756Vm cos e + 10 Phase currents are given by 3 iab = 1.1756 I m cos e + + , 10

ibc = 1.1756 I m cos e + , 10

9 ide = 1.1756 I m cos e + , 10

5 icd = 1.1756 I m cos e + , 10 7 iea = 1.1756 I m cos e + + 10 Line currents are given by ia = 1.3820 I m cos( e + ) ,

4 ib = 1.3820 I m cos e + , 10 8 id = 1.3820 I m cos e + + , 10

8 ic = 1.3820 I m cos e + , 10 4 ie = 1.3820 I m cos e + + 10

164

4.2.3

Alternate Delta Connection, Figure 4.26 (c)

Phase and line-to-line voltages are the same and re given by

v ac = v as = 1.9021Vm cos e + , 10

3 vbd = vbs = 1.9021Vm cos e , 10

7 9 vce = vcs = 1.9021Vm cos e , v da = v ds = 1.9021Vm cos e + , 10 10 5 veb = ves = 1.9021Vm cos e + 10 Phase currents are given by

iac = 1.9021I m cos e + + , 10

3 ibd = 1.9021I m cos e + , 10 9 ida = 1.9021I m cos e + + , 10

7 ice = 1.9021I m cos e + , 10 5 ieb = 1.9021I m cos e + + 10 Line currents are given by ia = 3.6180 I m cos( e + ) ,

4 ib = 3.6180 I m cos e + , 10 8 id = 3.6180 I m cos e + + , 10

8 ic = 3.6180 I m cos e + , 10 4 ie = 3.6180 I m cos e + 10

165

4.2.4

Without Third Harmonic Voltage Injection

The five phase induction machine is supplied with fundamental voltage at a fundamental frequency of 60 Hz. Figures (4.27) through (4.38) show different results depending on the machine winding connections. Figures (4.27) through (4.32) show normal operation without an inverter, whereas Figures (4.33) through (4.38) show the results when a five-phase machine is supplied via an inverter. Figures (4.27), (4.28), (4.33) and (4.34) the machine winding is star connected; Figures (4.29), (4.30), (4.35) and (4.36), the stator winding is delta connected (conventionally) and figures (4.31), (4.32), (4.37) and (4.38) are delta connected (alternately). The peak value of the fundamental voltage used in this simulation is 187.79 V and the dc voltage is 360 V.

166

200

vas

0 -200 100

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

ias

0 -100 100

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

0 -100 100

(c)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

0 -100 450

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(d)

300 150 0 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(e)
Time

Figure 4.27 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed
200

vas

0 -200 5 3.97 3.975 3.98 3.985 3.99 3.995 4

(a)

ias

0 -5 20 3.97 3.975 3.98 3.985 3.99 3.995 4

(b) (c)
0.5 1 1.5 2 2.5 3 3.5 4

Te iar

10 0 5 0 -5 380 2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4

(d)

370 360 0.5 1 1.5 2 2.5 3 3.5 4

(e)

Time

Figure 4.28 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed

167

250

vas

0 -250 100 0.47 0.475 0.48 0.485 0.49 0.495 0.5

(a) (b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

0 -100 100 0 -100 100 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(c) (d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

Te

0 -100 500

(e)
0 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time

Figure 4.29 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed
250 0 -250 5 3.97 3.975 3.98 3.985 3.99 3.995 4

(a) (b)
3.97 3.975 3.98 3.985 3.99 3.995 4

ias

vas

0 -5 20 10 0 5 0 2 2.5 3 3.5 4 0.5 1 1.5 2 2.5 3 3.5 4

(c) (d) (e)

0.5 1 1.5 2 2.5 3 3.5 4

iar

Te

-5 1.5 380 375 370 365

Time

Figure 4.30 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed

168

500

vas

0 -500 100 0.47 0.475 0.48 0.485 0.49 0.495 0.5

(a) (b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

0 -100 220 0 -220 100 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(c) (d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

Te

0 -100 600

400 200 0 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(e)
Time

Figure 4.31 Staring transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed
400 200 0 -200 -400 5

vas

(a)
9.97 9.975 9.98 9.985 9.99 9.995 10

ias

0 -5 20 9.97 9.975 9.98 9.985 9.99 9.995 10

(b) (c)
1 2 3 4 5 6 7 8 9 10

Te iar

10 0 2 0 -2 380 4 5 6 7 8 9 10

(d) (e)

375 370 1 2 3 4 5 6 7 8 9 10

Time

Figure 4.32 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed

169

210

vas

0 -210 50

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

ias

0 -50 50

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

0 -50 50

(c)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

0 -50 400

(d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

200 0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(e)

Time

Figure 4.33 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed
210

vas

0 -210 5 0 -5 20 3.97 3.975 3.98 3.985 3.99 3.995 4 3.97 3.975 3.98 3.985 3.99 3.995 4

(a) (b) (c)

0.5 1 1.5 2 2.5 3 3.5 4

Te iar

ias

10 0 5 0 3 3.5 4

-5 2.5 380

(d) (e)
0.5 1 1.5 2 2.5 3 3.5 4

370 360

Time

Figure 4.34 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed 170

300 200 100 0 -100 -200 -300 50

vas

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

ias

0 -50 0 50 0 -50 0 50 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(b) (c) (d)

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

Te

0 -50 450

300 150 0 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(e)
Time

Figure 4.35 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed

300 200 100 0 -100 -200 -300 5

vas

(a)
3.97 3.975 3.98 3.985 3.99 3.995 4

ias

0 -5 20

(b)
3.97 3.975 3.98 3.985 3.99 3.995 4

Te

10 0 5 0 -5 380

(c)
0.5 1 1.5 2 2.5 3 3.5 4

(d)
2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4

iar

370 360

(e)
0.5 1 1.5 2 2.5 3 3.5 4

Time

Figure 4.36 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed 171

300 150 0 -150 -300 100 0 -100 150 100 50 0 -50 0 80 40 0 -40 -80 0 450 300 150 0 0 0

vas

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

(b)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

ias

(c)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(d) (e)

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Time

Figure 4.37 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed
300 150 0 -150 -300 5 0 -5 20 3.97 3.975 3.98 3.985 3.99 3.995 4

vas

(a)
3.97 3.975 3.98 3.985 3.99 3.995 4

(b) (c)
0.5 1 1.5 2 2.5 3 3.5 4

Te iar

ias

10 0 3 0 -3 1 1.5 2 2.5 3 3.5 4

(d) (e)
0.5 1 1.5 2 2.5 3 3.5 4

380

374 364

Time

Figure 4.38 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) torque, (d) rotor phase a current, (e) rotor speed

172

4.2.5

With the Injection of the Third Harmonic Supply Voltage Component

The third harmonic voltage with the 10% magnitude of the fundamental was added to the fundamental voltage. The simulation analyzes the effect of this amount if at all there is any significant in the overall torque caused by third harmonic component. Figures (4.39) through (4.50) show different results depending on the machine winding connections. Figures (4.39) through (4.44) show normal operation without an inverter, whereas Figures (4.45) through (4.50) show the results when a five-phase machine is supplied via an inverter. Figures (4.39), (4.40), (4.45) and (4.46) the machine winding is star connected; Figures (4.41), (4.42), (4.47) and (4.48), the stator winding is delta connected (conventionally) and figures (4.43), (4.44), (4.49) and (4.50) are delta connected (alternately). The peak value of the fundamental voltage used in this simulation is 187.79 V and that of the third harmonic component is 18.779 V. The dc voltage is 360 V.

173

230 0 -230 0 100 0 -100 0 100 0 -100 0 0.5 0 -0.5 0 100 0 -100 0 100 0 -100 0 500 0

vas

(a)
0.005 0.01 0.015 0.02 0.025 0.03

(b)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

Te1

(c)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te3

(d)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

(e)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(f)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

(g)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

r
0

Time

Figure 4.39 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed
230 0 -230 0 5 0 -5 20 10 0

vas

(a)
0.005 0.01 0.015 0.02 0.025 0.03

ias

(b)
9.965 9.97 9.975 9.98 9.985 9.99 9.995 10

Te1

(c)
0.5 1 1.5 2 2.5 3

0.5 0 -0.5 20 10 0 5 0 -5

Te3

(d)
0.5 1 1.5 2 2.5 3

(e)
0.5 1 1.5 2 2.5 3

Te

(f)
8 8.2 8.4 8.6 8.8 9 9.2 9.4 9.6 9.8 10

iar

380 375 370 365 0.5 1 1.5 2 2.5 3

(g)
Time

Figure 4.40 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

174

250 0 -250 100 0 -100 100 0 -100 1 0 -1

vas

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te1

ias

(c)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te3

(d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

100 0 -100 100 0 -100 400 200 0

Te

(e)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(f)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

(g)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time

Figure 4.41 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

250

0 -250 5 4.97 4.975 4.98 4.985 4.99 4.995 5

(a) (b) (c) (d)

0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

ias

vas

0 -5 20 10 0 1 0 -1 20 10 0 5 0 -5 2 2.5 3 3.5 4 4.5 5 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 4.97 4.975 4.98 4.985 4.99 4.995 5

Te3

Te1

(e) (f) (g)

0.5 1 1.5 2 2.5 3 3.5 4 4.5 5

iar

Te

380 375 370 365

Time

Figure 4.42 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed 175

400 200 0 -200 -400 100 0 -100 200 0 -200 0 0.5 0 -0.5 200 0 -200 0 100 0 -100 500 0 0

vas

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

Te1

(c)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te3

(d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(e)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

(f)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

(g)
0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time

Figure 4.43 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

400 200 0 -200 -400 5

vas

(a)
9.97 9.975 9.98 9.985 9.99 9.995 10

0 -5 20 10 0 1 2 3 4 5 6 7 8 9 9.97 9.975 9.98 9.985 9.99 9.995 10

(b) (c)
10

Te1 Te3

ias

0.2 0 -0.2 20 10 0 3 0 -3 380 375 370 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9

(d)
10

(e)
10

Te

(f)
10

iar

(g)
10

Time

Figure 4.44 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

176

220 0 -220 50 0 -50 50 0 -50

(a)
0 0.005 0.01 0.015 0.02 0.025 0.03

vas

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

Te1

(c)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

0.05 0 -0.05 50 0 -50 50 0 -50 400 200 0

(d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te3

Te

(e)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(f)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

(g)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time

Figure 4.45 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

220 0 -220 10 2.97 2.975 2.98 2.985 2.99 2.995 3

(a) (b)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

ias

vas

0 -10 2.96 20

10 0 0.5 1 1.5 2 2.5 3

(c) (d)
0.5 1 1.5 2 2.5 3

Te3

Te1

0.02 0 -0.02 20 10 0 5 0 -5 2 380 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3 0.5 1 1.5 2 2.5 3

(e) (f) (g)

0.5 1 1.5 2 2.5 3

iar

Te

370 360

Time

Figure 4.46 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed.

177

300 0 -300 100 0 -100 100 0 -100 0.2 0 -0.2 100 0 -100 100 0 -100 400 200 0

(a)
0.47 0.475 0.48 0.485 0.49 0.495 0.5

vas

(b)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te1

ias

(c)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te3

(d)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Te

(e)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

(f)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

iar

(g)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

Time

Figure 4.47 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed.
300 0 -300

vas

(a)
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016

5 0 -5 2.96 10 5 0

ias

(b)
2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

Te1

(c)
0.5 1 1.5 2 2.5 3

0.05 0 -0.05 0.5 10 5 0 5 0 -5 2 380 370 360 2.2 2.4 2.6 2.8 3 3.2 1 1.5 2 2.5 3

Te3

(d) (e)
0.5 1 1.5 2 2.5 3

Te

(f) (g)
0.5 1 1.5 2 2.5 3

iar

Time

Figure 4.48 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

178

200 0 -200 0.47 100 0 -100 200 0 -200 0.05 0 -0.05 200 0 -200 100 0 -100 450 300 150 0 0.475 0.48 0.485 0.49 0.495 0.5

vas

(a)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5

ias

(b) (c)

Te1

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Te3

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

(d) (e) (f) (g)

Te

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

iar

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

Time

Figure 4.49 Starting transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed
300 0 -300 5 0 -5 2.96 10 0 0.5 1 1.5 2 2.5 3

vas

(a)
2.97 2.975 2.98 2.985 2.99 2.995 3 2.965 2.97 2.975 2.98 2.985 2.99 2.995 3

ias

(b) (c)

Te3

Te1

0.03 0 -0.03 10 0 5 0 -5

0.5

1.5

2.5

(d) (e) (f)

Te

0.5

1.5

2.5

iar

1.5

2.5

380 375 370 365

0.5

1.5

2.5

(g)

Time

Figure 4.50 Load transients (a) stator phase a voltage, (b) stator phase a current, (c) fundamental torque component, (d) third harmonic torque component, (e) total torque, (f) rotor phase a current, (g) rotor speed

179

4.3 Conclusion

The five-phase carrier based PWM inverter scheme has been analyzed. It is used in supplying the five-phase induction machine. The simulation of a five phase induction machine has been presented. Both fundamental and third harmonic components have been considered. The harmonic voltage of 10% of the magnitude of the fundamental voltage has been injected. The effect of this injected voltage is shown in the presented results. The third harmonic torque component has a finite value, although not contributing much to the required total torque. Also three different stator winding connections have been considered, i.e. star connection, conventional delta connection and alternate delta connection. For the delta connections, two values of the peak phase voltage have been realized. The magnitude of the phase voltage for the conventional delta connection is 1.1756 times that of the star connection, whereas for the alternate delta connection, it is 1.9021 times that of the star connection. This means that more voltage can be obtained in the machine windings without a need of increasing the supply voltage.

180

CHAPTER 5 FIVE PHASE INDUCTION MACHINE UNDER OPEN PHASE FAULTS

5.1

Introduction

The induction machine has been widely used over the last three decades in practically all applications requiring variable speed. This is due to its robustness, versatility and reliability. In general, the induction machines having three-phase windings are normally used, since the standard power supply is three phase. However, when fed by an inverter, there is no need for a fixed number of phases, some other phases being possible and advantageous. Much published works have shown that motor drives with more than three phases have various advantages over conventional three phase drives, such as reduction in amplitude and increase in frequency of pulsating torque, reduction in harmonic currents, increase in current per phase without the need to increase the phase voltage, and reduction in the voltage-level in the dc (direct current) link [3.2, 5.1]. Another important aspect of machines with a higher number of phases is their improved reliability, since they can operate even when one phase is missing [5.1]. An increase in number of phases can result in an increase in torque/Ampere relation for the same volume of the machine, such that five-phase machines can develop torque using not only the fundamental, but also using higher harmonics of the air gap field [5.1, 5.2]. A

181

comprehensive review of the advantages of multi-phase electric machines has been presented in [5.3]. A good number of research work has been presented on faults in electric machines [5.4]. Various categories of faults have been discussed for multi-phase machines interturn short circuits [5.4, 5.5] based on winding function approach. In [3.2] a dq model based on transformation theory for five-phase induction machines has been presented and the analysis of the machine under asymmetrical connections is discussed. A control strategy of multiphase machines under asymmetric fault conditions due to open phase is presented in [5.6]. The authors used a five-phase synchronous motor with one open phase as a practical example. So far there is no work that has developed a circuit based model which can be used to predict not only the steady-state and stability of the open-phase five phase induction machine but also the dynamics of the pulsating torque. Although it is known that faulted multi-phase machines can produce significant average torques, not much work has been done to quantify this. In this Chapter, to determine the steady-state and dynamic stability performance, first a five-phase induction machine with one phase (phase a) open is modeled in stationary reference frame. Then the same analysis is carried out for two phase open, a and b (for adjacent phases) and a and c (for non-adjacent phases). For the first time, using harmonic balance technique it has been possible to develop a circuit based model that has been used to perform the steady-state and dynamic analysis of a faulted machine. The steady-state speed harmonics and torque pulsations have been calculated and the

182

results compare fairly well with the simulation results based on the full-order dynamic model of the faulted machine. Furthermore, the small-signal stability study has been made through the small signal analysis whereby the dynamic model obtained from the harmonic balance technique has been used. At low speeds, the machine exhibits instability due to the rotor flux linkages. This instability is eliminated when the machine speeds up close to synchronous speed. This indicates that the machine can still be able to start under one stator phase fault and provide significant torque to meet most load requirements. Section 5.2 presents the machine modeling in stationary reference frame. The model of a faulted machine with stator phase a open-circuited is discussed in section 5.3. In section 5.4, a thorough presentation of the harmonic balance technique is described. The steady state and dynamics models are discussed in section 5.5 and finally the conclusions are presented in section 5.6. The approach presented in this work can be extended with ease to any number of open phases for a multi-phase machine.

5.2

Five-Phase Induction Machine Modeling in Stationary Reference Frame

The stator and rotor dynamic Equations in the natural reference frame, followed by transformation of the machine variables to the qd variables in the arbitrary reference frame, are given in Chapter 2 in which the balanced case for the stator voltages was considered. In this case only two components ( q and d ) of the voltage and current exist, the rest are zero. For the open phase faults analysis, whereby the phase voltages across the stator machine windings are no longer balanced, then the other voltage components 183

do exist after transformation [3.2]. for the sake of clarity, the dynamic Equations for the five phase induction machine will be rewritten as follows For the stator winding, the stator voltage Equations are expressed as v as = rs ias + p as vbs = rs ibs + pbs vcs = rs ics + pcs
a a v ds = rs ids + pa ds

(5.1) (5.2) (5.3) (5.4) (5.5)

ves = rs ies + pes

a a and ves are the phase stator voltages, respectively; ias , ibs , ics , ids where v as , vbs , vcs , v ds

and ies are the phase stator currents, respectively; as , bs , cs , a ds and es are the phase stator flux linkages, respectively; rs is the stator phase resistance. The superscript a on phase d variables will be used throughout this Chapter in order to differentiate it from the d-axis variables. For the stator winding, the stator voltage Equations are expressed as v ar = rr iar + p ar vbr = rr ibr + pbr vcr = rr icr + pcr
a a v dr = rr idr + pa dr

(5.6) (5.7) (5.8) (5.9) (5.10)

ver = rr ier + per

184

a a and v er are the phase rotor voltages, respectively; iar , ibr , icr , idr where v ar , vbr , v cr , v dr

and ier are the phase rotor currents, respectively; ar , br , cr , a dr and er are the phase rotor flux linkages, respectively; rr is the rotor phase resistance The arbitrary reference frame transformation matrix is given by

cos(x) cos( x ) cos(x 2 ) cos(x + 2 ) cos(x + ) sin(x) sin(x ) sin(x 2 ) sin(x + 2 ) sin(x + ) 2 cos(x) cos( x 2 ) cos(x + ) cos( x ) cos( x + 2 ) T ( x) = 5 sin(x) sin( x 2 ) sin(x + ) sin( x ) sin( x + 2 ) 1 1 1 1 1 2 2 2 2 2
where =

(5.11)

2 , x = x , is the arbitrary reference frame transformation angle. 5

x = 0 0 is for the stator stationary reference variable transformation and x = r is for

the corresponding rotor variable transformation, where r is the electrical rotor angle. Therefore, the machine variables can be transformed to qdxyoz variables as f qdxyoz = T ( x ) f abcdez where f qdxyoz = f qz (5.12)

f dz

f xz

f yz

f oz is the variables (voltages, fluxes and currents) matrix

in qdxyo reference frame and

f abcdez = f az

f bz

f cz

a f dz

f ez

is the variable

(voltages, fluxes and currents) matrix in natural reference frame; z can replaced with s and r for stator and rotor variables, respectively For the open stator phase fault, the five-phase induction machine is modeled in stationary reference frame. In this case the reference frame transformation angle is zero,

185

i.e.

= 00 .

For the general balanced case, the machine model Equations can then be given

as follows [5.1]. The stator voltage Equations are

v qs = rs iqs + p qs v ds = rs ids + p ds v xs = rs i xs + p xs v ys = rs i ys + p ys vos = rs ios + pos

(5.13) (5.14) (5.15) (5.16) (5.17)

where v qs , v ds , v xs , v ys and vos are the q-, d-, x-, y- and o-axis stator voltages, respectively; iqs , ids , i xs , i ys and ios are the q-, d-, x-, y- and o-axis stator currents, respectively; qs , ds , xs , ys and os are the q-, d-, x-, y- and o-axis stator flux linkages, respectively; rs is the stator phase resistance The rotor voltage Equations are
' ' v qr = rr' iqr + p'qr r 'dr ' ' v dr = rr' idr + p'dr + r 'qr ' ' v xr = rr' i xr + p'xr ' v 'yr = rr' i yr + p'yr ' ' vor = rr' ior + p'or

(5.18) (5.19) (5.20) (5.21) (5.22)

' ' ' ' are the q-, d-, x-, y- and o-axis stator voltages, where v qr , v dr , v xr , v 'yr and vor
' ' ' ' ' respectively; iqr , idr , i xr , i yr and ior are the q-, d-, x-, y- and o-axis rotor currents,

186

respectively; 'qr , 'dr , 'xr , 'yr and 'or are the q-, d-, x-, y- and o-axis rotor flux linkages, respectively; rr' is the rotor phase resistance; p is the differential operator The stator flux linkages are given by
' qs = Ls iqs + Lm iqr

(5.23) (5.24) (5.25) (5.26) (5.27)

' ds = Ls ids + Lm idr

xs = Lls i xs ys = Lls i ys os = Lls ios

where Ls and Lls are the stator self and leakage inductances, respectively; Lm is the magnetizing inductance. The rotor flux linkages are given by
' 'qr = Lm iqs + L'r iqr

(5.28) (5.29) (5.30) (5.31) (5.32)

' 'dr = Lm ids + Lr idr

' 'xr = Llr i xr ' 'yr = Llr i yr ' 'or = Llr ior

where L'r and L'lr are the rotor self and leakage inductances, respectively. The electromagnetic torque Te is given by
Te = mP Lm ' dr iqs 'qr ids ' 4 Lr

(5.33)

The rotor speed is given by

187

2J p r = Te TL P

(5.34)

where m is the number of phases, P is the number of poles, J is the moment of inertia, and TL is the load torque.

5.3

Model of an Open Phase Faulted Five-Phase Induction Machine

Consider the configuration of Figure 5.1 with a switch connected in series with phase a of the stator winding. Open phase fault occurs when the switch is open such that the supply voltage is disconnected from the machines phase a.

Figure 5.1 Open phase a of the stator for the five phase induction machine.

188

From the transformation relationships of (5.12), where subscript z is replaced with s for stator variables, it can be deduced that

f qs = f ds = f xs = f ys = f os =

2 a f as + f bs cos( ) + f cs cos(2 ) + f ds cos(2 ) + f es cos( ) 5 2 a f bs sin ( ) f cs sin (2 ) + f ds sin (2 ) + f es sin ( ) 5

(5.35)

] ]

(5.36)

2 a f as + f bs cos(2 ) + f cs cos( ) + f ds cos( ) + f es cos(2 ) 5 2 a f bs sin (2 ) + f cs sin ( ) f ds sin ( ) + f es sin (2 ) 5 1 a f as + f bs + f cs + f ds + f es 5

(5.37)

(5.38)

(5.39)

When the stator phase a is open, the machine voltages become unbalanced. Since phase a voltage becomes unknown, then the q- x- and o-axis voltages become unknown as they are coupled to v as in Equations (5.35), (5.37) and (5.39), respectively. The relationship between the q-axis and the x-axis stator variables can be given as

f qs f xs = C f qs + f xs =
where
a + f es C = 1 f bs f cs f ds

(5.40)

4 a f as + 2 f bs + f cs + f ds + f es 5

(5.41)

)
(5.42)

1 =

2 [cos( ) cos(2 )] 5 2 2 = [cos( ) + cos(2 )] 5

189

When the variable f is replaced with the stator phase voltages and currents, Equation (5.40) is used to eliminate the unknown phase a voltage. Also Equation (5.41) is used to get the relationship between the q-axis and x-axis stator currents. Thus, (5.40) and (5.41) turn into

v qs v xs = C
a iqs + i xs = 2 ibs + ics + ids + ies

(5.43)

(5.44)

Kirchhoffs current law (KCL) still holds true such that

a ias + ibs + ics + ids + ies = 0

(5.45)

Now since ias = 0 , then from Equations (5.44) and (5.45)

iqs + i xs = 0
When (5.46) is substituted into (5.15), the x-axis stator voltage Equation becomes

(5.46)

v xs = rs iqs Lls piqs

Substituting (5.47) into (5.43) gives

(5.47)

v qs = C rs iqs Lls piqs

Equations (5.13) and (5.48) can now be combined to give

(5.48)

C = 2rs iqs + Lls piqs + p qs

(5.49)

Now, the stator flux linkages and the rotor currents can be eliminated as follows

qs = Ls iqs + ds = Ls ids +
' iqr =

Lm ' (qr Lm iqs ) L'r Lm ' dr Lm ids L'r

(5.50)

(5.51)

1 ' qr Lm iqs L'r

)
190

(5.52)

' idr =

1 ' dr Lm ids L'r

(5.53)

Substituting (5.50) and (5.51) into (5.49) and (5.14), respectively, and then rearranging, results into

piqs =

1 L'r C 2rs L'r iqs Lm p'qr Lls L + Ls L'r L2 m

' r

(5.54)

pids =

1 L'r v ds rs L'r ids Lm p'dr Ls L L2 m

' r

(5.55)

Substituting (5.52) and (5.53) into (5.18) and (5.19), respectively leads to
' p'qr = v qr

rr' ' ( qr Lm iqs ) + r 'dr ' Lr

(5.56)

rr' ' p = v ' ( dr Lm ids ) r 'qr Lr

' dr ' dr

(5.57)

Then from (5.35) phase a voltage is given by

v as =

5 a v qs [vbs + ves ]cos( ) vcs + v ds cos(2 ) 2

(5.58)

Equations (5.33), (5.34), (5.54), (5.55), (5.56), (5.57) and (5.58) are the defining dynamic Equations for the faulted machine and are used to determine the circuit based model of the open phase faulted five phase induction machine. They are used to simulate the machine for this faulted condition. In this analysis, the real and reactive powers have been calculated to show the effect of oscillations in the speed and torque. The stator input real and reactive powers are given in terms of the natural reference frame variable as (5.59) and (5.60), respectively, the derivation of which has been presented in Chapter 2. Equation (5.59a) presents the

191

general expression fro the real power, whereas Equation (5.59b) represents the expression for the real power when the system voltages and currents are balanced. Equation (5.60) represents the general expression for the reactive power in all cases.
9 (v as i as + v bs ibs + v cs ics + v ds i ds + v es i es ) 4 v (i + i + i + i ) + v (i + i + i + i ) + v (i + i + i + i ) + 2 as bs cs ds es bs as cs ds es cs as bs ds es 2 cos 5 v ds (i as + ibs + i cs + i es ) + v es (i ds + i as + ibs + i cs ) 5 p= v as (ibs + i cs + i ds + i es ) + v bs (i as + i cs + i ds + i es ) + v cs (i as + ibs + i ds + i es ) + 4 cos 5 v (i + i + i + i ) + v (i + i + i + i ) ds as bs cs es es as bs cs ds 1 v as (ibs + i cs + i ds + i es ) + v bs (i as + i cs + i ds + i es ) + 5 v cs (i as + ibs + i ds + i es ) + v ds (i as + ibs + i cs + i es ) + v es (i as + ibs + i cs + i ds ) + +

(5.59a)

p = [v as ias + vbs ibs + vcs ics + v ds ids + ves ies ] v as ies 2 v ds ics q= 5 v as ics v ds ias + vcs ias + vbs ids v ds ibs + vcs ies ves ics + 2 4 sin 5 sin 5 v as ids + ves ibs vbs ies ves ias + vbs ias v as ibs + vcs ibs vbs ics + 2 4 sin + sin vcs ids + ves ids v ds ies 5 5

(5.59b)

(5.60)

5.3.1

Harmonic Balance Technique for One Stator Open Phase Fault

By using the harmonic balance approach, the Equations for the calculation of the steady state and harmonic quantities are derived in this section. The state variables are assumed to have the form of the supply voltages. The supply voltages are represented by
vbs = Re vbss e j e vbss = Vm e
j

(5.61)

192

vcs = Re vcss e j e vcss = Vm e

j 2

)
)

(5.62)

a a v ds = Re v dss e j e

a dss

= Vm e

j 2

(5.63)

ves = Re vess e j e vess = Vm e

j

(5.64)

where Vm is the peak of the phase voltage. In view of the form of the supply phase voltages, the state variables and the input voltages are therefore defined as [5.7]
vqs = Re vqss e j e

(5.65) (5.67) (5.68) (5.69) (5.70) (5.71)

vds = Re vdss e j e vxs = Re v xss e j e

iqs = Re iqss e j e

)
)

ids = Re idss e j e ixs = Re ixss e j e

) )
e

qs = Re(qss e j

)
e

(5.72) (5.73) (5.74) (5.75) (5.76) (5.77)

ds = Re( dss e j
'qr = Re('qrr e j

)
)

'dr = Re('drr e j
' ' iqr = Re iqrr e j e ' ' idr = Re idrr e j e

193

where e = e t , e = 2f e , f e is the frequency of the supply voltage, v qss , v dss ,and v xss are the complex peaks of the q-, d- and x-axis stator voltages, respectively; iqss , idss ,and

i xss are the respective q-, d- and x-axis complex peaks of the stator phase currents, qss ,

dss , and xss are the complex peaks of the q-, d- and x-axis stator flux linkages,
respectively;. 'qrr , 'drr ,and 'xrr are the complex peaks of the q-, d- and x-axis rotor flux
' ' ' linkages, respectively; iqrr , idrr ,and ixrr are the complex peaks of the q-, d- and x-axis

rotor phase currents, respectively. It has to be noted here that Re( x ) refers to the real part of quantity x . In obtaining the model Equations based on the harmonic balance technique, the following relation has been used [5.8, 5.9] Re( x ) Re( y ) = 1 Re xy * + Re( xy ) 2

[ ( )

(5.78)

Only up to the second order harmonics are considered. Substituting the stator fluxes and currents into the torque Equation (5.33), results into
Te = mP Lm Re 'drr e j e Re iqss e j e Re 'qrr e j e Re idss e j e ' 4 Lr

[ (

) (

) (

)]

(5.79)

Applying (5.78) on (5.79) and then separating real and imaginary terms gives
Te = mP Lm 1 * * Re 'drr iqss + Re 'drr iqss e j 2 e Re 'qrr idss Re 'qrr idss e j 2 e ' 4 Lr 2

[ (

)]

(5.80)

The torque has two components, the average component and the pulsating component given by

Te = Teavg + Tepuls

(5.81)

194

where
Teavg = mP Lm * * Re 'drr I qss Re 'qrr I dss ' 8 Lr

[ ( [

)]

(5.82)

Tepuls =

mP Lm Re('drr I qss ) Re('qrr I dss ) ' 8 Lr

(5.83)

Teavg is the average torque component, and Tepuls is the pulsating torque component which
is oscillating at twice the supply frequency. Using the speed Equation (5.34) and the result of (5.80) it is obvious that the speed will have both the average value and the second order harmonic content. Therefore

r = ro + Re(r1e j 2

(5.84)

where ro is the average rotor speed and r1 is the complex peak of the speed harmonic component. When Equations (5.61) through (5.77) and (5.84) definitions are substituted into Equations (5.54) through (5.58), the following harmonic balance technique model results Similarly, from Equations (5.54) p Re iqss e j e = 1 L'r Re Ce j e 2rs L'r Re iqss e j e Lm p Re 'qrr e j e

))
)

(5.85)

Re piqss e

j e

) + Re( j i
e

qss e

j e

L'r Ce j e 2rs L'r Re iqss e j e = 1 L Re p' e j e Re j L ' e j e qrr e m qrr m

(5.86)

piqss + jeiqss = 1 L'r C 2rs L'r iqss Lm p'qrr je Lm 'qrr

where

(5.87)

1 =

1 Lls L + Ls L'r L2 m
' r

C = 1 [vbss vcss vdss + vess ]

195

Similarly, from Equations (5.55) p Re idss e j e = 2 L'r Re v dss e j e rs Re idss e j e L'r Lm p Re 'drr e j e

)}

(5.88) (5.89)

Re pidss e

j e

) + Re( j i
(

e dss

j e

L'r Re v dss e j e rs Re idss e j e L'r =2 j j ' ' Lm Re p drr e e Lm Re j e drr e e

pidss + j e idss = 2 L'r v dss rs L'r idss Lm p'drr j e Lm 'drr

where

(5.90)

2 =

1 L L L2 m
' s r

from Equation (5.56),

p Re e
' qrr

j e

rr' = ' Lr

Re 'qrr e j e L Re I e j e qss m

+ + Re e j 2 e Re ' e j e ro r1 drr

)][ (
(

)]

(5.91)

Re p'qrr e j e + Re j e 'qrr e j e

rr' j e ' Lm Re I qss e j e ' Re qrr e L r = Re ' e j e + 1 Re '* e j e ro drr r 1 drr 2 + 1 + Re r1'drr e j 3 e 2

( (

))

(5.92)

Considering the fundamental component e j e and ignoring the third harmonic component, we have rr' ' ' ' ' pqrr + je qrr = vqrr ' (qrr Lmiqss ) + ro 'drr + r1'* drr Lr Similarly, from Equation (5.57),

( )

(5.93)

p Re e
' drr

j e

rr' = ' Lr

Re 'drr e j e L Re i e j e dss m

ro + Re r1e j 2 e Re 'qrr e j e

)][ (

)]

(5.94)

196

Re p e
' drr

j e

) + Re( j
e

' drr

j e

rr' j e ' Lm Re I dss e j e ' Re drr e L r 1 j e = ro Re 'qrr e j e Re r1'* qrr e 2 1 j 2 e ' 2 Re r1 qrr e

( ( ( (

)) )

(5.95)

Considering the fundamental component e j e and ignoring the third harmonic component, we have r' ' p'drr + je 'drr = vdrr r' ('drr Lmidss ) ro 'qrr r1'* qrr Lr From Equation (5.58),

( )

(5.96)

Re v ass e

j e

5 j e Re vbss e j e + Re vess e j e cos( ) Re v qss e = 2 Re v e j e + Re v e j e cos(2 ) css dss

( [ (

) [ ( ) (

) )]

)]

(5.97)

v ass =

5 v qss [vbss + v ess ] cos( ) [v css + v dss ] cos(2 ) 2

(5.98)

Performing the same analysis on Equations (5.15) and (5.16), gives

p Re i xss e j e =

1 Re v xss e j e rs Re i xss e j e Lls

[ (

)]
) ( )]

(5.99)

Re pi xss e j e + Re j e i xss e j e = 1 [v xss rs i xss ] Lls

1 Re v xss e j e rs Re i xss e j e Lls

[ (

(5.100)

pi xss + j e i xss =

(5.101)

from Equation (5.16)

p Re i yss e j e =

1 Re v yss e j e rs Re i yss e j e Lls

[ (

)]
) ( )]

(5.102)

Re pi yss e j e + Re j e i yss e j e =

1 Re v yss e j e rs Re i yss e j e Lls

[ (

(5.103)

197

pi yss + j e i yss =

1 v yss rs i yss Lls

]
( )

(5.104)

Substituting Equations (5.80) and (5.84) into Equation (5.34)

j 2 e ' * ' mP Lm 1 Re drr iqss + Re drr iqss e 2J j 2 e p ro + Re r1e = TL * P 4 L'r 2 Re 'qrr idss Re 'qrr idss e j 2 e

)] )

(5.105)

2J P

p ro + Re p r1e j 2 e j 2 e + Re j 2 e r1e

) = mP L

j 2 e ' * ' 1 Re drr iqss + Re drr iqss e * 4 L 2 Re 'qrr idss Re 'qrr idss e j 2 e m ' r

TL

(5.106)

Separating the first and second order harmonic components gives 2J p ro = Teo TL P 2J ( p r1 + j 2 e r1 ) = Tepuls P (5.107)

(5.108)

where Teavg is the average electromagnetic torque and Tepuls is the magnitude of the pulsating torque given in Equations (5.82) and (5.83), respectively. Equations (5.87), (5.90), (5.93), (5.96), (5.98), (5.107), and (5.108) form the dynamic model which is used for steady state performance and stability analysis of the open phase faulted five-phase induction machine.

5.3.2

Steady State and Dynamic Model Analysis

5.3.2.1 Steady state model. The model obtained by harmonic balance technique can

be used in analyzing the steady state performance of the faulted machine. In this particular case, the peaks of the state variables are constant and therefore the derivatives of the state variables are zero. Thus at, steady-state, Equations become 198

vqss =

1 Lls rs L'r iqss + j e Lls Lm 'qrr + o C o rs iqss Lls Lr + o

(5.109)

j e

' qrr

rr' ' 1 = ' ( qrr Lm iqss ) + ro 'drr + r1'* drr 2 Lr rr' ' 1 ( drr Lm idss ) ro 'qrr r1'* qrr ' 2 Lr

(5.110)

j e 'drr =
1

(5.111)

j e iqss =

o
1

[L V
' r

qss

rs iqss L'r j e Lm 'qrr

] ]

(5.112)

j e idss =

[L V
' r

dss

rs idss L'r j e Lm 'drr

(5.113)

j e i yss =

1 v yss rs i yss Lls

]
) ( )]

(5.114)

Teavg =

mP Lm * * Re 'drr iqss Re 'qrr idss ' 8 Lr mP Lm Re 'drr iqss Re 'qrr idss ' 8 Lr

[ (

(5.115)

T pul =

[ (

)]

(5.116) (5.117) (5.118)

0 = Teavg TL

r1 =

jP T puls 4 J e

Equation (5.110) can be written as

0= rr' ' ' rr' Lm 1 i qrr + j e qrr + ro 'drr + r1'* qss drr ' ' 2 Lr Lr

(5.119)

Equation (5.111) can be written as

0= rr' ' rr' Lm 1 ' '* i + j e dss ro qrr r1 qrr ' ' drr 2 Lr Lr

(5.120)

Substituting (5.109) into (5.112) for v qss we have 199

j e iqss

L'r2 Lls rs j e Lls Lm L'r ' L'r o C + + i qrr 2 qss 2 2 Lls Lr o + o Lls Lr o + o Lls Lr o + o = ' ' rs Lr j e Lm ' Lr o rs qrr L L + 2 iqss iqss o o ls r o o j e Lls Lm L'r j e Lm i + qss L L + 2 o o ls r

5.121

L'r2 Lls rs L'r o rs 2 2 Lls Lr o + o Lls Lr o + o L'r o C = 2 ' Lls Lr + o rs Lr j e o

' qrr (5.122)

Equation (5.113) can be written as

rs L'r j e L m ' L'r v dss drr = + j e idss + o o o

(5.123)

Equation (5.114) can be written as

v yss rs + = j i e yss L Lls ls

(5.124)

The resulting model can be computed normally as for any other steady-state system. Since there is a coupling term due to the speed harmonic content r1 , then the steadystate model becomes nonlinear and thus requires a nonlinear technique to solve this model iteratively. This approach requires the model Equations to be separated into their real and imaginary parts, and thus introducing more state variables since each of the state variable will be spit into its two components, i.e. the real and imaginary parts as independent state variables. If f re and f im refer to the real and imaginary parts of the quantity f , respectively, then f = f re + jf im . Now, let the quantities of Equations be presented in coordinate form as

'qrr = qrre + j qrim

(5.109)

200

'drr = drre + jdrim

iqss = iqsre + jiqsim idss = idsre + jidsim i yss = i ysre + ji ysim
c sre + jc sim L'r o C = 2 Lls Lr o + o L'r v dss

(5.110) (5.111) (5.112) (5.113) (5.114)

v dsre + jv dsim =

(5.115)

From Equation (5.108) it is obvious that the real part of r1 is zero ( r1re = 0) , hence r1 is an imaginary quantity. Therefore

r1 = j r1im
Substituting these definitions into Equations (k) (o) and (g) to (j), we have
rr' Lm rr' Lm rr' rr' i j i j j qrim + + ' qsre qsim qrre e qrre ' ' ' L Lr Lr Lr 0= r + + j + 1 j + 1 e qrim ro drre ro drim r 1im drre r 1im drim 2 2 rr' Lm rr' 1 i qrre + e qrim + ro drre + r1im drim + ' qsre ' 2 Lr Lr 0= ' ' rr Lm rr 1 j + + ' iqsim e qrre ' qrim ro drim 2 r1im drre Lr Lr Separating real and imaginary terms rr' Lm rr' 1 0 = ' iqsre ' qrre + e qrim + ro drre + r1im drim 2 Lr Lr 0= rr' Lm rr' 1 i qrim + r1im drre + ro drim qsim e qrre ' ' 2 Lr Lr

(5.116)

(5.117)

(5.118)

(5.119)

(5.120)

201

 rr' Lm rr' Lm rr' rr' i j idsim ro qrre j ro qrim + ' dsre ' ' drre j ' drim L L r r + Lr 0= Lr + 1 1 je drre + e drim r1qrre + j r1qrim 2 2

(5.121)

rr' Lm rr' 1 i drre + e drim + ' dsre ro qrre r1 qrre ' 2 Lr Lr 0= ' ' r L r 1 j r ' m idsim ro qrim + r1qrim e drre r' drim 2 Lr Lr Separating real and imaginary terms
rr' Lm rr' 1 0 = ' idsre ro qrre r1qrre ' drre + e drim 2 Lr Lr 0= rr' Lm rr' 1 drim + i dsim ro qrim r1 qrim e drre 2 L'r L'r

(5.122)

(5.123)

(5.124)

2rs L'r o j e Lm o L L + 2 + j e (iqsre + jiqsim ) L L + 2 ( qrre + j qrim ) = c sre + jc sim o ls r o o ls r o

2rs L'r o e Lm o i + qrim + e iqsim + 2 qsre 2 Lls Lr o + = c + jc Lls Lr o + sre sim ' 2rs Lr o e Lm o j e iqsre i qrre 2 qsim 2 L L L L + + ls r o o ls r o o

(5.125)

(5.126)

Separating real and imaginary terms

e Lm o 2rs L'r o i + qrim + e iqsim = c sre 2 qsre 2 Lls Lr o + o Lls Lr o + o e Lm o 2rs L'r o i qrre = c sim 2 qsim 2 Lls Lr o + o Lls Lr o + o

(5.127)

e iqsre

(5.128)

rs L'r j e L m (idsre + jidsim ) + (drre + jdrim ) = vdsre + jv dsim + j e o o

(5.129)

202

rs L'r

o
rs L'r

idsre + j e idsre + j

rs L'r

idsim e idsim +

j e Lm

drre

e Lm = v dsre + jv dsim (5.130) o drim

idsre e idsim

rs L'r e Lm e Lm = v dsre + jv dsim (5.131) drim + j i + i + e dsre dsim drre o o o

Separating real and imaginary terms rs L'r idsre eidsim rs L'r

e Lm =v o drim dsre e Lm = v dsim o drre

(5.132)

e idsre +

idsim +

(5.133)

Therefore the steady-state real Equations are rr' Lm r' 1 0 = ' iqsre r' qrre + e qrim + ro drre + r1im drim 2 Lr Lr 0= rr' Lm rr' 1 i qrim + r1im drre + ro drim qsim e qrre ' ' 2 Lr Lr (5.134)

(5.135)

rr' Lm rr' 1 0 = ' idsre ro qrre r1qrre ' drre + e drim 2 Lr Lr 0= rr' Lm rr' 1 + drim i dsim ro qrim r1 qrim e drre 2 L'r L'r

(5.136)

(5.137)

e Lm o 2rs L'r o i + qrim + e iqsim = c sre 2 qsre 2 Lls Lr o + o Lls Lr o + o

3iqsre + 4 qrim + e iqsim = c sre
where

(5.138) (5.139)

3 =

2rs L'r o 2 Lls Lr o + o

203

4 =

e Lm o 2 Lls Lr o + o
(5.140) (5.141)

e iqsre + 3 i qsim + 4 qrre = c sim

rs L'r

idsre e idsim rs L'r

e Lm = v dsre o drim e Lm = v dsim o drre

e idsre +

idsim +

(5.142)

These Equations can be written in matrix form as bo = Ao xo where

0 0 0 0 bo = c sre c sim v dsre v dsim

(5.143)

(5.144)

204

 rr' Lm ' Lr 0 0 Ao = 0 3 e 0 0

0 rr' Lm L'r 0 0

0 0 rr' Lm L'r 0 0 0 rs L'r

0 0 0 rr' Lm L'r 0 0 e rs L'r

rr' L'r

e
rr' L'r 0 1 r1im ro 2

ro
1 r1im 2 rr' ' Lr e 0 0 0

e 1 r1im ro 2 0 0

e 3
0 0

4
0 0 0

4
0 0

o e

e Lm o

1 r1im 2 ro e rr' ' Lr 0 0 L e m o 0

(5.145)
iqsre i qsim idsre idsim xo = qrre qrim drre drim

(5.146)

An initial value of r1 is assumed (in this case 0.6 rad/sec). The rotor speed is varied from 0 to e . At every speed value, the value of r1 is iterated by using the pulsating torque to calculate the new value of r1 until the threshold is obtained, then calculation of different state variables continues. If however the speed pulsations are neglected in the voltage Equations, the resulting steady-state Equations are linear and admit closed form solutions.

205

5.3.2.2 Small signal analysis. To study the dynamics of the faulted system, small

signal model is derived from the harmonic balance technique model by causing small changes in the state and control variables. Equations (5.82), (5.83), (5.87), (5.90), (5.93), (5.96), (5.107) and (5.108) are used in developing a small signal model of the form px = Ax + Bu (5.147)

where x is the state variable, A is the state matrix given by (5.164), B is the control matrix and u is the control variable. As it is for the case of the steady-state analysis, the resulting equations are split into their real and imaginary parts. Thus, the state matrix (5.164) so obtained consists of real parameters. The small signal dynamic Equations are
piqsre
1 = ' Lr o + Lls L'r2 1 = ' Lr o + Lls L'r2
'2 ' 2rs L'r2 + rr' L2 m i qsre + e Lls Lr + e Lr o i qsim + '2 ' ' ' ' ' ' Lr C re + rr Lm qrre ro Lr Lm drre Lr Lm drre ro

(5.148)

piqsim

e Lls L'r2 + e L'r o iqsre 2rs L'r2 + rr' L2 m i qsim + '2 ' ' ' ' ' ' + L C r L L L L L r im r m qrim ro r m drim r m drim ro

(5.150)

p qrre

rr' Lm o + Lls L'r iqsre rr' o + Lls L'r qrre 1 ' ' ' ' L L L L L L = ' + + + + e r o ls r qrim ro r o ls r drre Lr o + Lls L'r2 ' ' + Lr o + Lls Lr drre ro

(5.151)

p qrim

rr' Lm o + Lls L'r iqsim e L'r o + Lls L'r qrre ' 1 rr o + Lls L'r qrim + ro L'r o + Lls L'r drim = ' '2 Lr o + Lls Lr ' ' L L L + + r o ls r drim ro

( (

) )

( (

) )

(5.152)

pidsre

' rr' L2 v rs Lr + ' m 1 dsre Lr = o ' + Lm qrre ro

rr' Lm ' ' + + + L i i e o dsim drre ro m qrre dsre L'r (5.153)

206

pidsim

' rr' L2 rs Lr + ' m v i e o dsre 1 dsim Lr = o ' ' + ro Lm qrim + Lm qrim ro

r'L idsim + r ' m 'drim Lr

(5.154)

' drre

rr' Lm rr' ' ' = ' idsre ro qrre qrre ro ' 'drre + e 'drim Lr Lr rr' Lm rr' ' ' 'drim e 'drre i dsim ro qrim qrim ro ' ' Lr Lr

(5.155)

p'drim =

(5.156)

' ' ' ' 5P 2 Lm drre iqsre + drim iqsim + iqsre drre + iqsim drim P p ro = TL ' ' ' ' 16 J Lr qrre idsre qrim idsim idsre qrre idsim qrim 2J ' ' ' ' 5 P Lm drre iqsre drim iqsim + iqsre drre iqsim drim = ' ' ' ' 8 Lr i i i i + + dsre qrre dsim qrim qrre dsre qrim dsim ' ' ' ' P 5 P Lm drre iqsre drim iqsim + iqsre drre iqsim drim = ' ' ' ' 2 J 8 Lr idsre qrre + idsim qrim qrre idsre + qrim idsim

(5.157)

T pul

(5.158)

p r1re

(5.159)

p r1im = 2 e r1
' ' ' ' 5P 2 Lm drre iqsre + drim iqsim qrre idsre qrim idsim P p ro = TL ' ' ' ' 16 J Lr 2 J + + i i i i dsre qrre dsim qrim qsre drre qsim drim ' ' ' ' P 5 P Lm drre iqsre drim iqsim qrre idsre + qrim idsim = ' ' ' ' 2 J 8 Lr i i i i + + dsre qrre dsim qrim qsre drre qsim drim

(5.160)

(5.161)

p r1re

(5.162)

Thus, the matrices of Equation (5.144) can be deduced form (5.148) through (5.162) as

207

 iqsre i qsim idsre idsim qrre px = qrim drre drim ro r1re r1im
1 6 0 0 21 A= 0 0 0 41 49 0

(5.163)

2 7
0 0 0

0 0

0 0

3
0

4
0

8
0

9
0

11 16
0 0

12 17
0 0 0

13
0

14
0

26
0 0

31
0

22 27 32
0

18 23 28
0

19
0

24
0

42 50
0

43 51
0

36 44 52
0

45 53
0

37 46 54
0

33 38 47 55
0

29 34 39 48 56
0

5 10 15 20 25 30 35 40
0 0 0

0 0 0 0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 0 0 2 e

(5.164)

The stability of the faulted five phase machine is studied through the calculation of the eigen values of the resulting state matrix. The entries of (5.164) can be easily obtained from Equations (5.148) through (5.162). where ao = 1 , o L + Lls L'r2
' r

a1 = 2rs L'r2 + rr L2 m ,

a 2 = e Lls L'r2 + o L'r , a 6 = L'r Lm drim ,

a3 = rr Lm

a 4 = ro L'r Lm ,

a5 = L'r Lm drre ,

208

a7 =

1 ' rr' L2 rs Lr + ' m o Lr

a8 = e , 1

a9 =

ro Lm ,

a10 =

Lm qrre ,

a11 =

1 rr' Lm , ' o Lr

a12 =

Lm qrim

a13 = rr' Lm o + Lls L'r ,

a14 = rr' o + Lls L'r , a17 = L'r o + Lls L'r drre ,

a15 = e L'r o + Lls L'r , a16 = ro L'r o + Lls L'r , a18 = L'r o + Lls L'r drim ,

a19 =

5 P 2 Lm , 1 = ao a1 , 16 JL'r

2 = ao a2 , 8 = 3 , 14 = a10 , 20 = 15 26 = 21 ,

3 = a o a3 , 9 = 4 , 15 = a11 21 = a o a13 , 27 = 23 ,
rr' = ' , Lr

4 = ao a4 , 10 = ao a 6 16 = 12 , 22 = a o a14 , 28 = 22 ,

5 = ao a5 11 = a 7 , 17 = 11 , 23 = a o a15 , 29 = 24 ,

6 = 2 , 12 = a8 , 18 = 13 , 24 = a o a16 , 30 = a o a18

7 = 1 , 13 = a9 , 19 = 12 , 25 = a o a17 31 =
rr' Lm , Lr

32 = ro , 38 = 34 ,

33

34 = e ,
40 = 'qrim

35 = 'qrre

36 = 31 ,

37 = 32 ,

39 = 33 ,

41 = a19 'drre , 42 = a19 'drim , 45 = a19 idsre , 50 = 42 , 46 = a19 idsim , 51 = 43 ,

43 = a19 'qrre ,

44 = a19 'qrim

47 = a19 iqsre , 52 = 44 ,

48 = a19 iqsim 49 = 41 , 53 = 45 , 54 = 46

55 = 47 ,

56 = 48

209

5.3.3

Results and Discussion

The validity of the various models presented in Sections 5.2-5.3.3 has been investigated through the computer simulation of the full-order model of the machine with stator phase a open-circuited. The steady-state model is used to calculate the state variables and then the results are compared. Figure 5.2 through Figure 5.4 present the simulation of the free acceleration starting process of the machine. The phase voltage is applied to the remaining four phases (b, c, d, and e) and Equation (5.58) is used to determine stator phase a voltage. Figure 5.2(a) and (b) show the rotor speed and electromagnetic torque, respectively, showing the characteristics similar to those of the healthy induction machine. In Figure 5.3(a) the stator phase a current is zero as expected. The stator phase voltages are shown in Figure 5.4 with the starting transients of the open phase a as it develops the voltage is clearly displayed in Figure 5.4(a). When the rotor speed is in steady state, the load torque is changed from 0 to 11 Nm to show the effect of the speed harmonics. The dynamic responses of the machine to load changes are shown in Figure 5.5(a) and (b) for the rotor speed and electromagnetic torque, respectively. In Figure 5.6 through Figure 5.9, the waveforms of the variables are shown after the speed has reached steady-state average value. It is evident from Figure 5.6(a) and (b) that the speed and torque consist of the harmonics at twice the frequency of the supply voltages as predicted by the harmonic balance technique model. The unbalance caused by the open phase fault is clearly indicated in the stator phase load currents, Figure 5.7. Figure 5.8 (a) shows that when the machine is loaded, the open

210

phase a voltage is affect as it is reduced. This is due to the fact that the voltage waveform is induced by the other phases and the rotor circuits. The real power and reactive power also contain second order oscillations as shown in Figure 5.9 (a) and (b). Figure 5.10(a) and Figure 5.10 (b) show the peak values of the rotor speed and torque pulsations, respectively as a function of the rotor speed. In Figure 5.6 (a) the average rotor speed is approximately 364.6 rad/sec, the peak value of the speed oscillations is about 0.04 rad/sec. In Figure 5.6(b) the average torque is 11 Nm and the peak of the torque oscillations is about 2.5 Nm. These speed and torque values are fairly comparable to those in Figure 5.10(a) and Figure 5.10(b), respectively. Figure 5.11 presents the torque-speed characteristics at both normal and open-phase faulted conditions. First the normal operation of the machine is computer simulated and the steady-state torque curve is superimposed on the simulated curve. Then the same procedure is followed for the open phase faulted condition. Under this operation, the torque envelope is obtained by adding the peak of the pulsation torque to, and subtracting it from the average value obtained from the harmonic balance technique. Comparing the results of the dynamic computer simulation and the steady state calculations for both cases, the harmonic balance technique gives average and peak values of the torque that compare fairly with simulation results. Figure 5.12 and Figure 5.13 present the small-signal dynamics of the system when the rotor speed is changing. The result of Figure 5.12 is obtained when the rotor speed is varied from 0 to 377 rad/sec. The machine shows instability at low speeds. This is contributed by both the speed harmonics and the q-axis rotor flux linkage
'qrr .

In Figure

5.13, when the rotor speed is varied from 11. 78 rad/sec to 377 rad/sec, the instability due

211

to the q-axis rotor flux linkage disappears. Thus the machine is stable at a relatively high speed. This may be due to the fact that at low speed (below 11.78 rad/sec), the machine is has not developed enough torque due to the loss of phase. But it quickly recovers beyond 1.78 rad/sec. This observation can be seen in Figure 5.2 in which it is clear that the machine takes a longer time to reach the steady-state speed. The speed and torque oscillations are also shown in Figure 5.14 (a) and Figure 5.14(b), respectively. The results of which compare well with those presented in Figure 5.6(a) and Figure 5.6(b), respectively, as well as Figure 5.10(a) and Figure 5.10(b), respectively.

212

400 350 300

r [ rad/sec ]

250 200 150 100 50 0 0 0.5 1 1.5 2 2.5 3 3.5 4 (a)

40 30 20 Te [ Nm ] 10 0 -10 -20 (b)

0.5

1.5

2 Time [ sec ]

2.5

3.5

Figure 5.2 Starting transients (a) rotor speed and (b) electromagnetic torque

213

1 ias [ A ] (a) 0 -1 100 ibs [ A ] 50 0 -50 -100 100 ics [ A ] 50 0 -50 -100 100 ids [ A ] 50 0 -50 -100 100 ies [ A ] 50 0 -50 -100 0 0.2 0.4 0.6 0.8 1 Time [ sec ] 1.2 1.4 1.6 1.8 2 (e) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (d) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (c) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (b)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Figure 5.3 Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

214

200 vas [ v ] 100 0 -100 -200 200 vbs [ v ] 100 0 -100 -200 200 vcs [ v ] 100 0 -100 -200 200 vds [ v ] 100 0 -100 -200 200 ves [ v ] 100 0 -100 -200 0 0.2 0.4 0.6 0.8 1 Time [sec] 1.2 1.4 1.6 1.8 2 (e) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (d) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (c) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (b) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (a)

Figure 5.4 Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

215

378 376 374

r [ rad/sec ]

372 370 368 366 364 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8 (a)

14 12 10 Te [ Nm ] 8 6 4 2 0 -2 3.5 4 4.5 5 5.5 6 Time [ sec ] 6.5 7 7.5 8 (b)

Figure 5.5 Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds.

216

364.66 364.64 364.62 364.6 364.58 364.56 364.54 (a)

r [ rad/sec ]

7.97

7.975

7.98

7.985

7.99

7.995

14 13 12 Te [ Nm ] 11 10 9 8 (b)

7.97

7.975

7.98

7.985 Time [ sec ]

7.99

7.995

Figure 5.6 Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm.

217

20 ias ibs ics ids ies

15

10

5 currents [ A ]

-5

-10

-15

-20

7.97

7.975

7.98

7.985 Time [ sec ]

7.99

7.995

Figure 5.7 Simulation Steady-state stator phase currents at a load torque of 11 Nm.

218

200 vas [ v ] 100 0 -100 -200 200 vbs [ v ] 100 0 -100 -200 200 vcs [ v ] 100 0 -100 -200 200 vds [ v ] 100 0 -100 -200 200 ves [ v ] 100 0 -100 -200 7.97 7.975 7.98 7.985 Time [sec] 7.99 7.995 8 (e) 7.97 7.975 7.98 7.985 7.99 7.995 8 (d) 7.97 7.975 7.98 7.985 7.99 7.995 8 (c) 7.97 7.975 7.98 7.985 7.99 7.995 8 (b) 7.97 7.975 7.98 7.985 7.99 7.995 8 (a)

Figure 5.8 Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

219

6000 5500 real power, p [ W ] 5000 4500 4000 3500 3000 (a)

7.97

7.975

7.98

7.985

7.99

7.995

3500

reactive power, q [ var ]

3000

2500 (b) 2000

1500

1000

7.97

7.975

7.98

7.985 Time [ sec ]

7.99

7.995

Figure 5.9 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm.

220

0.1

0.08
r1 [ rad/sec ]

0.06 (a) 0.04

0.02

0 280

290

300

310

320

330

340

350

360

370

380

3 2.5 2 Tpuls [Nm] 1.5 1 0.5 0 280 (b)

290

300

310

320 330 340 Rotor speed, r [rad/sec ]

350

360

370

380

Figure 5.10. Steady-state calculation results (a) Peak value of the speed harmonic component and (b) Peak value of the torque pulsation

221

60 T e: Simulation - normal operation T e: Steady state - normal operation 50 T eavg: Steady state - fault operation T eavg+Tepul: Steady state - fault operation 40 Electromagnetic Torque, Te [ Nm ] T eavg-T epul: Steady state - fault operation T e: Simulation - Fault operation

30

20

10

-10

-20

50

100

150 200 250 Rotor speed, r [ rad/sec ]

300

350

400

Figure 5.11. Various torque components of the five-phase induction machine under balanced and a stator phase open based on computer simulation and steady-state calculations.

222

1000 Imaginary 500 0 -500 -1000 -800 1000 Imaginary 500 0 -500 -1000 -250 1000 Imaginary 500 0 -500 -1000 -250 -200 -150 Real -100 -50 0 (c) -200 -150 -100 -50 0 50 (b) -700 -600 -500 -400 -300 -200 -100 0 100 (a)

Figure 5.12. Small signal stability analysis (a) all state variables included (b) speed harmonics are not included (c) both speed harmonics and q-axis rotor flux linkage state variables are not included. (Rotor speed is varied from 0 to 377 rad/sec)

223

1000 Imaginary 500 0 -500 -1000 -800 1000 Imaginary 500 0 -500 -1000 -250 1000 Imaginary 500 0 -500 -1000 -250 -200 -150 Real -100 -50 0 (c) -200 -150 -100 -50 0 (b) -700 -600 -500 -400 -300 -200 -100 0 100 (a)

Figure 5.13. Small signal stability analysis (a) all state variables included (b) speed harmonics are not included (c) both speed harmonics and q-axis rotor flux linkage state variables are not included. (Rotor speed is varied from 11.78 to 377 rad/sec)

224

0.05 Rotor speed oscillations [ rad/sec ] 0.04 0.03 0.02 0.01 0 -0.01 -0.02 -0.03 -0.04 -0.05 7.97 7.975 7.98 7.985 7.99 7.995 8 (a)

3 2 Torque oscillations [ Nm ] 1 0 -1 -2 -3 (b)

7.97

7.975

7.98

7.985 Time [ sec ]

7.99

7.995

Figure 5.14 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm.

225

5.4

Two Adjacent Phases (a and b) Open Circuited

The operation with two adjacent phases (a and b) open on fault is depicted in Figure 5.15. When the two phases are open, the phase voltages across the machine phase windings a and b become unknown. Under this condition, all the qdxyos transformed voltages become unknown. The following Equations will apply when the two stator phases a and b are open ias = 0 ibs = 0 (5.165) (5.166)

Figure 5.15 Open phases a and b of the stator for the five phase induction machine. KCL requires that

226

a + ies = 0 ias + ibs + ics + ids

(5.167)

Therefore
a ics + ids + ies = 0

(5.168)

Using Equations (5.35) and (5.37), the q- and x- axis voltages are related by 2 cos 2 5 v qs v xs = 5 4 cos 5 4 cos 5 + 2 a 2 4 cos v ds + cos cos v es 5 5 5 4 2 vbs + cos cos 5 5 vcs

(5.169)

2 2 4 4 cos v cs cos vbs cos cos 5 5 2 5 5 v qs v xs = 5 2 4 2 4 a cos cos v es cos v ds + cos 5 5 5 5

(5.170)

v qs v xs =

2 2 4 cos cos 5 5 5

a vbs v cs v ds + v es

(5.171)

From Equations (5.39), (5.167) and (5.168) it can be shown by KCL that ios = ios = 1 a ias + ibs + ics + ids + ies = 0 5 1 a ics + ids + ies = 0 5

(5.172)

(5.173)

Therefore, ios = 0 This leads to (5.174)

os = Lls ios = 0
vos = rs ios + pos = 0 Using Equations (5.39) and (5.176) guives

(5.175) (5.176)

227

a v as + vbs = v cs + v ds + ves

(5.177)

Equation (5.35) is re-written as (5.178) v as = 2 5 4 4 a 2 v qs cos vbs + cos vcs + cos v ds + cos v es 2 5 5 5 5 (5.178)

Substituting for v as from (5.178) into (5.177) gives 5 4 1 cos v qs vcs 2 5 1 vbs = 2 4 a 2 1 cos 1 cos v ds 1 cos 5 5 5
a vbs = xv qs + yvcs + zv ds + ves

ves

(5.179)

(5.180)

where
x= 5 2 1 1 cos 2 5

y=

4 1 cos 2 5 1 cos 5 1 4 1 cos 2 5 1 cos 5 1 2 1 cos 2 5 1 cos 5 1

z=

Substituting for vbs from (5.180) into (5.171) gives

2 cos 2 1 5 5 4 cos 5 2 2 4 x v qs v xs = cos cos 5 5 5
a ( y 1)vcs + (z 1)v ds + ( + 1)v es

(5.181)

228

2 2 a 1 5 x v qs v xs = 5 ( y 1)v cs + ( z 1)v ds + ( + 1)v es

(5.182)

2 2 2 2 a 1 5 x v qs v xs = 5 ( y 1)v cs + 5 ( z 1)v ds + 5 ( + 1)v es

a av qs v xs = bv cs + cv ds + dv es

(5.183) (5.184)

where

= cos

2 4 cos 5 5

2 a = 1 x 5 2 b = ( y 1) 5 2 c = ( z 1) 5 2 d = ( + 1) 5 Substituting (5.180) into (5.177) results into v as = 4 2 5 2 4 a a cos v qs xv qs + yvcs + zv ds + ves cos vcs cos v ds v es cos (5.185) 2 5 5 5 5

5 2 2 4 2 4 a 2 x cos 5 v qs y cos 5 + cos 5 vcs z cos 5 + cos 5 v ds v as = 2 2 + cos v es cos 5 5

a v as = t1v qs + t 2 v cs + t 3 v ds + t 4 v es

(5.186)

(5.187)

where 2 5 t1 = x cos 5 2

229

2 4 + cos t 2 = y cos 5 5 2 4 + cos t 3 = z cos 5 5 2 2 + cos t 4 = cos 5 5 The d-axis voltage is given by v ds = 2 2 4 4 2 a vbs sin vcs sin + v ds sin + v es sin 5 5 5 5 5 (5.188)

Substituting (5.180) into (5.188) gives v ds = 2 2 2 4 4 a a xv qs + yvcs + zv ds + ves sin vcs sin + v ds sin + ves sin 5 5 5 5 5

2 2 2 a yvcs sin zv ds sin ves sin 2 2 2 5 5 5 v ds = xvqs sin + 4 2 4 5 5 5 a vcs sin + v ds sin + ves sin 5 5 5
2 4 2 4 a y sin + sin v cs z sin sin v ds 5 5 5 5 2 2 2 v ds = x sin v qs + 5 5 5 2 2 v sin sin es 5 5
a v ds = t 5 v qs + t 6 vcs + t 7 v ds + t 8 ves

(5.189)

(5.190)

where 2 2 t 5 = x sin 5 5 2 2 4 t 6 = y sin + sin 5 5 5

230

2 2 4 t 7 = z sin sin 5 5 5 2 2 2 t8 = sin sin 5 5 5 The y-axis voltage is given by v ys = 2 4 2 2 4 a + vcs sin v ds sin + v es sin vbs sin 5 5 5 5 5 (5.191)

Substituting (5.180) into (5.191) results into 2 4 2 4 2 5 x sin 5 v qs 5 y sin 5 sin 5 vcs v ys = 2 4 2 a 2 4 4 + sin sin v ds sin z sin 5 5 5 5 5 5
a v ys = t 9 v qs + t10 vcs + t11v ds + t12 ves

ves

(5.192)

(5.193)

where 2 4 t 9 = x sin 5 5 2 4 2 sin t10 = y sin 5 5 5 2 4 2 + sin t11 = z sin 5 5 5 4 2 4 sin t12 = sin 5 5 5 Since i xs = iqs , then v xs = rs iqs Lls piqs Substituting (5.194) into (5.184) gives
a av qs + rs iqs + Lls piqs = bv cs + cv ds + dv es

(5.194)

(5.195) 231

Substituting for the stator and the rotor current, the q-axis stator voltage Equation becomes piqs = 1 (Lr vqs rs iqs Lr Lm pqr ) Ls Lr L2 m (5.196)

Substituting for piqs from (5.196) into (5.195) gives

av qs + Lls Lr Lls a (rs iqs Lr + Lm pqr ) = bvcs + cvds v + r i + dves qs s qs 2 2 L s Lr Lm L s Lr Lm Lls a v qs = bv cs + cv ds (rs iqs Lr + Lm pqr ) + dves rs iqs + Ls Lr L2 m

Lls Lr a + Ls Lr L2 m

v qs =

Lls a (rs iqs Lr + Lm pqr ) bvcs + cv ds + dves rs iqs + 2 L s Lr Lm Lls Lr a + L L L2 s r m 1

(5.197)

Therefore, with v as , vcs , v qs , v ds and v ys known, then the faulted condition can be simulated by using the following dynamic Equations The q-axis stator dynamic Equation is piqs = 1 (Lr vqs rs iqs Lr Lm pqr ) Ls Lr L2 m (5.198)

The d-axis stator dynamic Equation is pids =

1 (Lr vds rs ids Lr Lm pdr ) Ls Lr L2 m

(5.199)

The y-axis stator dynamic Equation is pi ys = 1 (v ys rs i ys ) Lls (5.200)

The phase currents are obtained as ias = iqs + i xs (5.201)

232

ibs = i qs i xs

(5.202)

5 ics = 2 4 sin sin 2 5 5

a ids =

5 5 ids + i 4 ys 4 sin 4 4 sin 5 5

ids

(5.203)

5 2 4 2 sin sin 5 5 5

(5.204)

ies =

4 4 sin 5

(i

ys

ids )

(5.205)

5.4.1

Harmonic Balance Technique for the Two Adjacent Open Phase Faults

The same approach that has been used in section 5.3.1 applies here as well. Let

1 =

1 Lls Lr a + Ls Lr L2 m

Then Equation (5.197) can be written as

Lls a (rs iqs Lr + Lm pqr ) v qs = 1 bv cs + cv ds + dves rs iqs + 2 L s Lr Lm

(5.206)

Using Equations (5.61) through (5.84), the following harmonic balance technique dynamic model is obtained The q-axis stator voltage is given by

233

 Lls a (rs Lr iqss + Lm pqrr + je Lm qrr ) v qss = 1 bvcss + cv dss + dvess rs iqss + (5.207) 2 L s Lr Lm

The q-axis stator voltage Equation is given by piqss + j e iqss = 1 (Lr vqss rs Lr iqss Lm pqrr je Lm qrr ) Ls Lr L2 m (5.208)

The d-axis stator voltage Equation is given by pidss + j e idss =

1 (Lr vdss rs idss Lr Lm pdrr j e Lm drr ) Ls Lr L2 m

(5.209)

The d-axis stator voltage Equation is given by pi yss + j e i yss = 1 (v yss rs i yss ) Lls (5.210)

The q-axis rotor voltage Equation is given by

p qrr + j e qrr = v qrr rr (qrr Lm iqss ) + ro drr + 1 r1*drr Lr 2

(5.211)

The q-axis rotor voltage Equation is given by

p drr + j e drr = v drr rr (drr Lm idss ) ro qrr 1 r1*qrr Lr 2

(5.212)

5.4.2

Steady State and Dynamic Model Analysis for Two Adjacent Open Phases

5.4.2.1 Steady state model. At steady state, the derivatives of the peaks are zero.

Therefore, the above Equations (5.206) through (5.212) become

rs Lr Lls j e Lm Lls 1 a 1 (bvcss + cv dss + dvess ) = v qss + L L L2 rs 1iqss + L L L2 qrr m s r m s r

(5.213)

234

0=

rs Lr j e L m Lr qrr v qss + j e iqss 2 2 L s Lr Lm Ls Lr L2 m L s Lr Lm rs Lr j e L m Lr drr v dss + j e idss 2 2 L s Lr Lm Ls Lr L2 m L s Lr Lm rs 1 + j e v yss i yss Lls Lls rr rr Lm 1 iqss qrr + ro drr + r1* + j e drr Lr 2 Lr

(5.214)

0=

(5.215)

0=

(5.216)

v qrr =

(5.217)

rr rL 1 + j e drr + r m idss v drr = ro qrr r1* qrr Lr 2 Lr

(5.218)

The d-axis and y-axis stator voltages, respectively, given by (5.219) and (5.220)
a t 6 vcss + t 7 v dss + t 8 v ess = t 5 v qss + v dss a t10 v css + t11v dss + t12 vess = t 9 v qss + v yss

(5.219) (5.220)

Equations (5.213) through (5.220) can be represented in matrix form as

A1 x1 = b1

(5.221) (5.222)

x1 = A11b1

where the matrices b1 and x1 are, respectively, given by Equations (5.223) and (5.224), with
a a a b111 = 1 bvcss + cv dss + dvess , b171 = t 6 vcss + t 7 v dss + t 8 v ess , b181 = t10 vcss + t11v dss + t12 vess

b1 = b111 x1 = v qss

0 0 0 v qrr v dss v yss iqss

v drr idss i yss

b171

b181

(5.223) (5.224)

qrr

drr ]T

The matrix A1 is given by Equation (5.225).

235

 1 Lr 2 L s Lr Lm 0 A1 = 0 0 0 t5 t9

0 0

0 0 0 1 Lls 0 0 0 1

rs Lr Lls r s 2 L L L 1 m s r rs Lr L L L2 + j e m s r
0 0

0 0

0 0 0

j e Lm Lls 1 Ls Lr L2 m j e L m Ls Lr L2 m
0 0

Lr Ls Lr L2 m
0 0 0 1 0

rs Lr L L L2 + j e m s r
0 0

rs L + j e ls
0 0 0 0

rr Lm Lr
0 0 0

rr j + e L r ro
0 0

rr Lm Lr 0
0

0 j e L m Ls Lr L2 m 0 ro rr j + e L r 0 0
0

(5.225)

236

When the speed harmonic component is taken into account, then the Equations have to be separate into their real and imaginary parts. The resulting systems of steady-state Equations will be solved by iteration to obtain the results. Now let, v qss = v qsre + jv qsim v dss = v dsre + jv dsim v yss = v ysre + jv ysim
a a a v dss = v dsre + jv dsim

(5.226) (5.227) (5.228) (5.229) (5.230) (5.231)

vcss = v csre + jv csim vess = v esre + jv esim

r1 = j r1im
Substituting these Equations (5.109) through (5.116) and (5.226) through (5.231) into Equations (5.213) through (5.220), the steady state model comprising of the real Equations is obtained as From Equation (5.213),

a a b(v + jvcsim ) + c vdsre + jvdsim 1 csre + d (vesre + jvesim )

rs Lr Lls ( ) r i ji + vqsre jvqsim + s 1 qsre qsim L L L2 s r m = + je Lm Lls 1 ( + j ) qrre qrim 2 Ls Lr Lm

a a b(vcsre + jvcsim ) + c vdsre + jvdsim 1 + d (vesre + jvesim )

vqsre rs Lr Lls iqsre + r 1 s + ji L L L2 jv qsim qsim m s r = (5.232) qrim e Lm Lls 1 + L L L2 + j qrre m s r

Separating real and imaginary parts, 237

 rs Lr Lls e Lm Lls 1 a 1 bv csre + cv dsre + dvesre = v qsre + L L L2 rs 1iqsre L L L2 qrim m s r m s r

(5.233)

rs Lr Lls e Lm Lls 1 a 1 bvcsim + cv dsim + dvesim = v qsim + L L L2 rs 1iqsim + L L L2 qrre (5.234) m s r m s r

From Equation (5.214),

0=
rs Lr j e Lm Lr (iqsre + ji qsim ) (vqsre + jvqsim ) (qrre + jqrim ) j + e 2 2 L L L L s L r Lm Ls Lr L2 m m s r

rs Lr Lr ( ) v jv i j i + + qsre qsim qsre e qsre 2 L L L2 m s r L s Lr Lm 0= jrs Lr j e L m e Lm + i i e qsim qrre qrim 2 2 L L L2 qsim L L L L L L m s r m s r m s r

(5.235)

Separating the real and imaginary parts

0=

e Lm rs Lr Lr v qsre i + e iqsim + qrim 2 2 qsre L s Lr Lm L s Lr Lm Ls Lr L2 m e Lm rs Lr Lr v qsim e iqsre i qrre 2 2 qsim L s Lr Lm L s Lr Lm Ls Lr L2 m

(5.236)

0=

(5.237)

From Equation (5.215),

0=
rs Lr j e L m Lr (vdsre + jv dsim ) (idsre + jidsim ) (drre + jdrim ) + j e 2 2 L s Lr Lm Ls Lr L2 m L s Lr Lm

rs Lr Lr (v dsre + jv dsim ) i + j e idsre 2 2 dsre L s Lr Lm L s Lr Lm 0= jrs Lr j e L m e Lm L L L2 idsim e idsim L L L2 drre + L L L2 drim m s r m s r m s r

(5.238)

Separating the real and imaginary parts 0 = L22 v dsre rs L22 idsre + e idsim + L11 drim (5.239)

238

0 = L22 v dsim e idsre rs L22 idsim L11 drre From Equation (5.216),
0=
rs 1 (v ysre + jv ysim ) + j e (i ysre + ji ysim ) Lls Lls jrs rs 1 (v ysre + jv ysim ) i ysre + j e i ysre i ysim e i ysim Lls Lls Lls

(5.240)

0=

(5.241)

Separating the real and imaginary parts 0 = L33 v ysre L44 i ysre + e i ysim 0 = L33 v ysim e i ysre L44 i ysim From Equation (5.217), rr Lm rr (iqsre + jiqsim ) (qrre + jqrim ) + j e L Lr = r 1 + ro ( drre + j drim ) + j r1im ( drre j drim ) 2 rr Lm jrr rr (iqsre + jiqsim ) j + qrre e qrre qrim e qrim L L L r r r (5.244) = 1 1 + ro drre + j ro drim + j r1im drre + r1im drim 2 2 (5.242) (5.243)

v qrre jv qrim

v qrre jv qrim

Separating the real and imaginary parts 1 v qrre = L55 iqsre L66 qrre + e qrim + ro drre + r1im drim 2 1 v qrim = L55 iqsim e qrre L66 qrim + ro drim + r1im drre 2 From Equation (5.218), (5.245)

(5.246)

239

 v drre jv drim

rr 1 (drre + jdrim ) + j e ro ( qrre + j qrim ) j r1 ( qrre j qrim ) 2 Lr = rL + r m (idsre + ji dsim ) L r 1 1 ro qrre j ro qrim j 2 r1 qrre + 2 r1 qrim = rr rr Lm jrr + L L drim e drim L drre + j e drre r r r (5.247) i dsre + ji dsim

v drre jv drim

Separating the real and imaginary parts 1 v drre = ro qrre r1 qrim L66 drre + e drim + L55 idsre 2
1 v drim = ro qrim r1 qrre e drre L66 drim + L55 idsim 2

(5.248)

(5.249)

From Equation (5.219),

a a t 6 (vcsre + jvcsim ) + t 7 v dsre + jv dsim = t 5 (v qsre + jv qsim ) + v dsre + jv dsim ( ) + t v + jv esim 8 esre

(5.250)

Separating the real and imaginary parts

a t 6 vcsre + t 7 v dsre + t 8 vesre = t 5 v qsre + v dsre a t 6 vcsim + t 7 v dsim + t 8 v esim = t 5 v qsim + v dsim

(5.251) (5.252)

From Equation (5.220),

a a t10 (v csre + jv csim ) + t11 v dsre + jv dsim = t 9 (v qsre + jv qsim ) + v ysre + jv ysim ( ) + t v + jv esim 12 esre

(5.253)

Separating the real and imaginary parts

a t10 v csre + t11v dsre + t12 vesre = t 9 v qsre + v ysre a t10 v csim + t11v dsim + t12 vesim = t 9 v qsim + v ysim

(5.254) (5.255)

240

These Equations can be written in matrix form as

A2 x 2 = b2
1 x 2 = A2 b2

(5.256) (5.257)

where b2 and x 2 are give by Equations (5.258) and (5.259), respectively, with
a b211 = 1 bvcsre + cv dsre + dvesre

) )

a b221 = 1 bvcsim + cvdsim + dvesim

a b2131 = t 6 vcsre + t 7 v dsre + t 8 vesre

a b2141 = t 6 vcsim + t 7 v dsim + t 8 vesim a b2151 = t10 v csre + t11v dsre + t12 vesre
a b2161 = t10 vcsim + t11v dsim + t12 vesim

Let, Loo = (rs L22 Lls rs ) 1

Lr Ls Lr L2 m L11 =

e Lm
Ls Lr L2 m

L22 =

L33 =

1 Lls rr Lm Lr
L66 = rr Lr

L44 =

rs Lls

L55 =

Then the matrix A2 is given by

241

b2 = b211 x 2 = v qsre
1 0 L22 0 0 0 0 0 A2 = 0 0 0 0 t 5 0 t 9 0

b221 v qsim
0 1 0 L22 0 0 0 0 0 0 0 0 0 t5 0 t9

0 0 0 0 0 0 v qrre v dsre
0 0 0 0 L22 0 0 0 0 0 0 0 1 0 0 0

v qrim iqsre iqsim

0 Loo

v drre idsre

v drim idsim
0 0 0 0

b2131 i ysim

b2141

b2151

b2161

(5.258)

v dsim
0 0 0 0 0 L22 0 0 0 0 0 0 0 1 0 0

v ysre
0 0 0 0 0 0 L33 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0

v ysim

i ysre
0 0 0 0

qrre
0 0 0 0 0 0

qrim
0 0 0 0 0 0

drre
0 L11 Lls 1 0 L11 0 0 0 0 L66 e ro 1 r1 2 0 0 0 0

drim ]T
L11 Lls 1 0 L11 0 0 0 0 0 0 0 0 0 0 L11 0 0

(5.259)
0 0 0 L11 0 0 0 1 r1im 2 ro e L66 0 0 0 0 0

Loo 0 rs L22 e 0 0 0 0 L55 0 0 0 0 0 0 0

e
rs L22 0 0 0 0 0 L55 0 0 0 0 0 0

rs L22 e 0 0 0 0 L55 0 0 0 0 0

e
rs L22 0 0 0 0 0 L55 0 0 0 0

L44 e 0 0 0 0 0 0 0 0

e
L44 0 0 0 0 0 0 0 0

L33 0 0 0 0 0 0 0 1

e
L66 1 r1im 2 ro 0 0 0 0

ro
1 r1im 2 L66 e 0 0 0 0

(5.260)

242

5.4.2.2 Small signal analysis for two adjacent open stator phases. Substituting

Equations (5.109) through (5.1116), (5.226) through (5.231) into Equations (5.207) through (5.212) and using Equations (5.159) through (5.162), the following real dynamic model equations are obtained From Equation (5.207)
a a b(v csre + jv csim ) + c v dsre + jv dsim + d (vesre + jvesim ) Lls rs Lr ( ) = 1 rs (iqsre + jiqsim ) + + i ji qsre qsim Ls Lr L2 m Lls Lm ( ) + + p jp j + qrre qrim e qrre e qrim 2 L s Lr Lm

v qsre + jv qsim

(5.261)

Separating real and imaginary terms

Lls a + dv esre rs i qsre + v qsre = 1 bv csre + cv dsre Ls Lr L2 m rs Lr i qsre + Lm p qrre L e m qrim rs Lr i qsim + Lm p qrim + L e m qrre

(5.262)

Lls a + dv esim rs i qsim + v qsim = 1 bv csim + cv dsim Ls Lr L2 m

(5.263)

From Equation (5.208) piqsre e iqsim 1 = 2 + j ( piqsim + e iqsre ) L s Lr Lm Lr (v qsre + jv qsim ) rs Lr (iqsre + jiqsim ) Lm p ( qrre + j qrim ) e Lm ( j qrre qrim ) (5.264)

Separating real and imaginary terms piqsre e iqsim = 1 Lr v qsre rs Lr iqsre Lm p qrre + e Lm qrim Ls Lr L2 m

] ]

(5.265)

piqsim + e iqsre =

1 Lr v qsim rs Lr iqsim Lm p qrim e Lm qrre Ls Lr L2 m

(5.266)

From Equation (5.209)

243

 pidsre e idsim 1 + j i + jpi = Ls Lr L2 e dsre dsim m

Lr (vdsre + jvdsim ) rs Lr (idsre + jidsim ) L p( + j ) L ( j ) drre drim e m drre drim m

(5.267)

Separating real and imaginary terms pidsre e idsim =

1 (Lr vdsre rs Lr idsre Lm pdrre + e Lm drim ) Ls Lr L2 m

(5.268)

e idsre + pidsim =

1 (Lr vdsim rs Lr idsim Lm pdrim e Lm drre ) Ls Lr L2 m

(5.269)

From Equation (5.210)

( pi

ysre

e i ysim ) + j ( e i ysre + pi ysim ) =

1 ((v ysre + jv ysim ) rs (i ysre + ji ysim )) Lls

(5.270)

Separating real and imaginary terms pi ysre e i ysim = 1 (v ysre rs i ysre ) Lls 1 (v ysim rs i ysim ) Lls (5.271)

e i ysre + pi ysim =

(5.272)

From Equation (5.211)

r v qrr r (( qrre + j qrim ) Lm (iqsre + jiqsim )) p qrre e qrim Lr = 1 jp qrim + j e qrre + ro ( drre + j drim ) + r1im ( j drre + drim ) 2

(5.273)

Separating real and imaginary terms

p qrre e qrim = v qrre rL rr 1 qrre + r m iqsre + ro drre + r1im drim Lr Lr 2 rr (qrim Lm iqsim ) + ro drim + 1 r1im drre Lr 2

(5.274)

p qrim + e qrre = v qrim

(5.275)

From Equation (5.212)

244

r v drr r (( drre + j drim ) Lm (idsre + jidsim )) p drre Lr e drim = + jp + j 1 1 drim e drre ro ( qrre + j qrim ) r1im r1im ( j qrre + qrim ) 2 2

(5.276)

Separating real and imaginary terms

p drre e drim = v drre rr (drre Lm idsre ) ro qrre 1 r1im qrim Lr 2 rr (drim Lm idsim ) ro qrim 1 r1im qrre Lr 2

(5.277)

p drim + e drre = v drim

(5.278)

From Equations (5.265), (5.266), (5.268), (5.269), (5.271), (5.272), (5.274), (5.275), (5.277), (5.298), and (5.278), can be rearrange and written as piqsre + L77 p qrre = rs L22 iqsre + e iqsim + L11 qrim + L22 v qsre piqsim + L77 p qrim = e iqsre rs L22 iqsim L11 qrre + L22 v qsim pidsre + L77 p drre = rs L22 idsre + e idsim + L11 drim + L22 v dsre pidsim + L77 p drim = e idsre rs L22 idsim L11 drre + L22 v dsim
pi ysre = rs 1 i ysre + e i ysim + v ysre Lls Lls r 1 v ysim s i ysim Lls Lls

(5.279) (5.280) (5.281) (5.282) (5.283)

pi ysim = e i ysre +

(5.284)

p qrre

rr rr Lm L iqsre L qrre + e qrim + ro drre r = r 1 1 + r1im drim + drre ro + drim r1im + v qrre 2 2 rr 1 rr Lm L iqsim e qrre L qrim + 2 r1im drre r = r 1 + ro drim + drim ro + drre r1im + v qrim 2

(5.285)

p qrim

(5.286)

245

p drre

rr 1 rr Lm L idsre ro qrre 2 r1im qrim L drre r = r 1 + e drim qrre ro qrim r1im + v drre 2

(5.287)

p drim

1 rr Lm L idsim 2 r1im qrre ro qrim e drre = r rr 1 L drim qrim ro 2 qrre r1im + v drim r

(5.288)

where
L77 = Lm Ls Lr L2 m

Substituting (5.285) into (5.279) for pqrre , results into

rr Lm rs L22 e rr + i i qsre qsim qrre Lr L77 L77 Lr L v L11 = 77 qrre + + L77 + e qrim ro drre L77 + L22 v qsre + 1 + + 1 drre ro drim r1im 2 r1im drim 2 rr L77 Lm rr L77 + rs L22 iqsre + e iqsim + L qrre L r r L v + 77 qrre = ( e L77 L11 ) qrim ro L77 drre + L22 v qsre 1 1 L L L drre 77 ro drim 77 r 1im 2 r1im 77 drim 2

piqsre

(5.289)

piqsre

(5.290)

Substituting (5.286) into (5.280) for p qrim , results into

246

piqsim

rr L77 Lm + rs L22 e iqsre + L iqsim r L77 v qrim rr L77 1 (5.291) + ( e L77 L11 ) qrre qrim + r1im L77 drre = L v + 2 Lr 22 qsim 1 + ro L77 drim + drim L77 ro + drre L77 r1im 2

piqsim

rr L77 Lm r L i + e iqsre s 22 qsim L r L77 v qrim rL 1 (5.292) = + ( e L77 L11 ) qrre + r 77 qrim r1im L77 drre + L v + L 2 22 qsim r 1 ro L77 drim drim L77 ro drre L77 r1im 2

Substituting (5.287) into (5.281) for p drre , results into rr L77 Lm + rs L22 L idsre e idsim ro L77 qrre r L77 v drre 1 rL + r1im L77 qrim r 77 drre + ( e L77 L11 ) drim = (5.293) Lr + L22 v dsre 2 1 L77 qrre ro L77 qrim r1im 2 rr L77 Lm + r L i i L + + s 22 dsre e dsim ro 77 qrre Lr L77 v drre 1 rL = + r1im L77 qrim + r 77 drre ( e L77 L11 ) drim + (5.294) Lr + L22 v dsre 2 1 + L77 qrre ro + L77 qrim r1im 2

pidsre

pidsre

Substituting (5.288) into (5.282) for p drim , results into

247

pidsim

rr L77 Lm 1 + rs L22 e idsre + L idsim 2 r1im L77 qrre r L77 v drim = + ro L77 qrim ( e L77 L11 ) drre + L22 v dsim rr L77 1 L drim L77 qrim ro 2 L77 qrre r1im r

(5.294)

pidsim

rr L77 Lm 1 r L i L + + e idsre s 22 dsim r 1 im 77 qrre L 2 r L v 77 drim + (5.296) = + ro L77 qrim + ( e L77 L11 ) drre + L22 v dsim rr L77 1 + L drim + L77 qrim ro + 2 L77 qrre r1im r

Let
rr L77 Lm a11 = + rs L22 L r a17 = rr L77 Lr

a18 = ( e L77 L11 )

Then Equations (5.290) and (5.292) (5.294) and (5.29) can be written as
a11 iqsre + e iqsim + a17 qrre a18 qrim ro L77 drre 1 1 = r1im L77 drim drre L77 ro drim L77 r1im 2 2 L v + L v 22 qsre 77 qrre

piqsre

(5.297)

piqsim

1 e iqsre a11 iqsim + a18 qrre + a17 qrim 2 r1im L77 drre 1 = ro L77 drim drim L77 ro drre L77 r1im 2 L v + L v 22 qsim 77 qrim

(5.298)

pidsre

1 a11 idsre + e idsim + ro L77 qrre + 2 r1im L77 qrim + a17 drre = a + L + 1 L L v + L v 18 drim 77 qrre ro 77 qrim r 1im 77 drre 22 dsre 2

(5.299)

248

pidsim

1 e idsre a11 idsim + 2 r1im L77 qrre + ro L77 qrim + a18 drre = + a + L + 1 L L v + L v 17 drim 77 qrim ro 77 qrre r 1im 77 drim 22 dsim 2

(5.300)

Equations (5.161) and (5.162) can be written as (5.301) and (5.302), respectively o 'drre iqsre + o 'drim iqsim o 'qrre idsre o 'qrim idsim p ro = i ' i ' + i ' + i ' P T o dsre qrre o dsim qrim o qsre drre o qsim drim L 2J
p r1re o 'drre iqsre o 'drim iqsim o 'qrre idsre + o 'qrim idsim = ' ' ' ' o idsre qrre + o idsim qrim + o iqsre drre o iqsim drim

(5.301)

(5.302)

where 5 P 2 Lm 16 J Lr From Equations (5.160), (5.283), (5.284), (5.285), (5.286), (5.287), (5.288), (5.286) ,

o =

(5.297), (5.298), (5.299), (5.300), (5.301) , and (5.302), the A matrix for small signal analysis is as presented in Equation , (5.303).

249

 a11 e 0 0 0 0 A= r L r m Lr 0 0 0 o 'drre ' o drre 0

e
a11 0 0 0 0 0 rr Lm Lr 0 0

0 0 a11 e 0 0 0 0 rr Lm Lr 0 o 'qrre o 0
' qrre

0 0

0 0 0 0 rs Lls

0 0 0 0

a17 a18

a18 a17 1 r1im L77 2

ro L77 1 r1im L77 2 a17 a18 0 0

1 r1im L77 2 ro L77 a18 a17 0 0 1 r1im 2

drre L77 drim L77 L77 qrre L77 qrim 0 0

e
a11 0 0 0 0 0 rr Lm Lr

ro L77
1 r1im L77 2 0 0 rr Lr

ro L77
0 0

e
rs Lls 0 0 0 0 0 0 0

e 0 0 0 0 0 0 0

e
rr Lr

ro
1 r1im 2 r r Lr e

drre drim
qrre qrim 0 0 0

e ro 1 r1im 2 o idsre o idsre 0

ro e
rr Lr o iqsim o iqsim 0

1 r1im 2 ro o idsim

o 'drim o 'drim
0

o 'qrim

' qrim

o idsim
0

o iqsre o iqsre
0

1 0 drim L77 2 1 0 drre L77 2 1 0 L77 qrim 2 1 0 L77 qrre 2 0 0 0 0 1 0 drim 2 1 0 drre 2 1 0 qrim 2 1 0 qrre 2 0 0 0 0 0 2 e

(5.303)

250

5.4.3

Results and Discussion for Two Adjacent Open Phase Fault

The validity of the models presented in section 5.4 - 5.4.2 has been investigated through the computer simulation of the full-order model of the machine with stator phases a and b open-circuited. The steady-state model is used to calculate the state variables and then the results are compared. Figure 5.16 through Figure 5.19 present the simulation of the free acceleration starting process of the machine. The phase voltage is applied to the remaining three phases (c, d, and e) and Equations (5.187) and (5.180) are used to determine stator phase a and b voltages, respectively. Figure 5.16(a) and (b) show the rotor speed and electromagnetic torque, respectively, showing the characteristics similar to those of the healthy induction machine. In Figure 5.17(a) the stator phase a and b currents are zero as expected. The stator phase voltages are shown in Figure 5.18 with the starting transients of the open phases a and b as they develops the voltages are clearly displayed in Figure 5.18(a) and (b), respectively. When the rotor speed is in steady state, the load torque is changed from 0 to 11 Nm to show the effect of the speed harmonics. The dynamic responses of the machine to load changes are shown in Figure 5.19(a) and (b) for the rotor speed and electromagnetic torque, respectively. In Figure 5.20 through Figure 5.23, the waveforms of the variables are shown after the speed has reached steady-state average value. It is evident from Figure 5.20(a) and (b) that the speed and torque consist of the harmonics at twice the frequency of the supply voltages as predicted by the harmonic balance technique model. The unbalance caused by the open phase fault is clearly indicated in the stator phase load

251

currents, Figure 5.21. Figure 5.22 (a) and (b) show that when the machine is loaded, the open phase a and b voltages are affected as they are reduced. This is due to the fact that the voltage waveforms are induced by the other phases and the rotor circuits. Figure 5.24(a) and Figure 5.24 (b) show the peak values of the rotor speed and torque pulsations, respectively as a function of the rotor speed. In Figure 5.24 (a) the average rotor speed is approximately 361.58 rad/sec, the peak value of the speed oscillations is about 0.06 rad/sec. In Figure 5.24(b) the average torque is 11 Nm and the peak of the torque oscillations is about 1.75 Nm. These speed and torque values are fairly comparable to those in Figure 5.20(a) and Figure 5.20(b), respectively. Figure 5.26 presents the torque-speed characteristics at both normal and two openphase faulted conditions. First the normal operation of the machine is computer simulated and the steady-state torque curve is superimposed on the simulated curve. Then the same procedure is followed for the open phase faulted condition. Under this operation, the torque envelope is obtained by adding the peak of the pulsation torque to, and subtracting it from the average value obtained from the harmonic balance technique. Comparing the results of the dynamic computer simulation and the steady state calculations for both cases, the harmonic balance technique gives average and peak values of the torque that compare fairly with simulation results. The stator input and reactive powers at steady state are shown in figure 5.27(a) and Figure 5.27(b), respectively. The speed and torque oscillations are also shown in figure 5.28 (a) and Figure 5.28(b), respectively. The results of which compare well with those presented in Figure 5.20(a) and Figure 5.20(b), respectively, as well as Figure 5.24(a) and Figure 5.24(b), respectively.

252

400 350 300

r [ rad/sec ]

250 200 150 100 50 0 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (a)

60 50 40 30 Te [ Nm ] 20 10 0 -10 -20 -30 0 0.2 0.4 0.6 0.8 1 Time [ sec ] 1.2 1.4 1.6 1.8 2 (b)

Figure 5.16 Stator phases a and b open starting transients (a) rotor speed and (b) electromagnetic torque

253

5 ias [ A ] 0 -5 1 ibs [ A ] 0 -1 200 ics [ A ] 0 -200 50 ids [ A ] 0 -50 200 ies [ A ] 0 -200

x 10

-14

(a)

0 x 10
-13

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(b)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(c)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(d)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(e) 0 0.2 0.4 0.6 0.8 1 Time [ sec ] 1.2 1.4 1.6 1.8 2

Figure 5.17 Stator phases a and b open Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

254

200 vas [V] 0 -200 200 vbs [V] 0 -200 0 200 vcs [V] 0 -200 200 vds [V] 0 -200 200 ves [V] 0 -200 (d) (c) 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (b) (a)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(e) 0 0.2 0.4 0.6 0.8 1 Time [sec] 1.2 1.4 1.6 1.8 2

Figure 5.18 Stator phases a and b open Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

255

378 376 374

r [ rad/sec ]

372 370 368 366 364 362 360 3.5 4 4.5 5 5.5 6 (a)

14 12 10 Te [ Nm ] 8 6 4 2 0 -2 3.5 4 4.5 Time [ sec ] 5 5.5 6 (b)

Figure 5.19. Stator phases a and b open Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds.

256

361.64 361.62 361.6

r [ rad/sec ]

361.58 361.56 361.54 361.52 361.5 5.97 5.975 5.98 5.985 5.99 5.995 6

(a)

13 12.5 12 Te [ Nm ] 11.5 11 10.5 10 9.5 9 5.97 5.975 5.98 5.985 Time [ sec ] 5.99 5.995 6 (b)

Figure 5.20. Stator phases a and b open Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm, showing the presence of the harmonic (oscillating) components.

257

25 ias ibs 20 ics ids 15 ies

a

10

Stator currents [ A ]

-5

-10

-15

-20

-25

5.97

5.975

5.98

5.985 Time [ sec ]

5.99

5.995

Figure 5.21. Stator phases a and b open Simulation Steady-state stator phase currents at a load torque of 11 Nm.

258

200 vas [V] 0 -200 200 vbs [V] 0 -200 200 vcs [V] 0 -200 200 vds [V] 0 -200 200 ves [V] 0 -200 (d) (c) (b) (a)

5.97

5.975

5.98

5.985

5.99

5.995

5.97

5.975

5.98

5.985

5.99

5.995

5.97

5.975

5.98

5.985

5.99

5.995

5.97

5.975

5.98

5.985

5.99

5.995

(e) 5.97 5.975 5.98 5.985 Time [sec] 5.99 5.995 6

Figure 5.22. Stator phases a and b open Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

259

250 vas 200 vbs vcs vds

a

ves

150

100

Stator voltages [V]

50

-50

-100

-150

-200

-250

5.97

5.975

5.98

5.985 Time [sec]

5.99

5.995

Figure 5.23. Stator phases a and b open Simulation Steady-state stator phase voltages at a load torque of 11 Nm showing the unbalance

260

0.14 0.12 0.1

r1 [ rad/sec]

0.08 0.06 0.04 0.02 0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380

(a)

4.5 4 3.5 3 Tepuls [ Nm ] 2.5 2 1.5 1 0.5 0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 Rotor speed, r [ rad/sec] (b)

Figure 5.24. Steady-state calculation results (a) Peak value of the speed harmonic component (b) Peak value of the torque pulsation

261

60 Te: Simulation - Fault operation Teavg: - Fault operation 50 Teavg-Tepuls: Simulation - Fault operation Teavg+Tepuls: Simulation - Fault operation 40

Electromagnetic torque, T [ Nm ] e

30

20

10

-10

-20

-30

20

40

60

80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 Rotor speed, r [ rad/sec ]

Figure 5.25 Faulted machine Various torque components of the five-phase induction machine under unbalanced stator phases a and b open based on computer simulation and steady-state calculations.

262

60

50

40

30 Electromagnetic torque, T [ Nm ] e

20

10

Teavg: - Fault operation Teavg - Tepuls: - Fault operation

-10

Teavg + Tepuls: - Fault operation Te: Steady-state - Normal operation Te: Simulation - Normal operation

-20

20

40

60

80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 Rotor Speed, r [ rad/sec ]

Figure 5.26 Various torque components of the five-phase induction machine under balanced and a stator phases a and b open based on computer simulation and steady state calculations.

263

5200 5000 Real power, p [ W ] 4800 4600 (a) 4400 4200 4000 3800 3600 5.97 5.975 5.98 5.985 5.99 5.995 6

3200 3000 Reactive power, q [ var ] 2800 2600 2400 2200 2000 1800 1600 5.97 5.975 5.98 5.985 Time [ sec ] 5.99 5.995 6 (b)

Figure 5.27 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm.

264

0.06 Rotor speed oscillations [ rad/sec ] 0.04 0.02 0 -0.02 -0.04 -0.06 -0.08 5.97 5.975 5.98 5.985 5.99 5.995 6

(a)

2 Torque speed oscillations [Nm ] 1.5 1 0.5 0 -0.5 -1 -1.5 -2 5.97 5.975 5.98 5.985 Time [sec] 5.99 5.995 6 (b)

Figure 5.28 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm.

265

5.5

Two Non-adjacent Phases (a and c) Open Circuited

The operation with two non-adjacent phases (a and c) open on fault is depicted in Figure 5.29. When the two phases are open, the phase voltages across the machine phase windings a and c become unknown. Under this condition, all the qdxyos transformed voltages become unknown. The following Equations will apply when the two stator phases a and c are open ias = 0 ics = 0 (5.304) (5.304)

Figure 5.29 Open phases a and c of the stator for the five-phase induction machine. 266

KCL requires that

a + ies = 0 ias + ibs + ics + ids

(5.306)

Therefore
a ibs + ids + ies = 0

(5.307)

ios = ios =

1 a ias + ibs + ics + ids + ies = 0 5 1 a ibs + ids + ies = 0 5 (5.308)

ios = 0 Which leads to

os = Lls ios = 0
vos = rs ios + pos = 0 Equation (5.39), therefore, can be written as
a v as + v cs = vbs + v ds + ves

(5.309) (5.310)

(5.311)

From Equation (5.35) v as = 2 5 4 4 a 2 v qs cos vbs + cos vcs + cos v ds + cos v es 2 5 5 5 5 (5.312)

Substituting for v as from (5.312) into (5.311) gives 2 4 cos 5 vbs + cos 5 vcs 5 a + vbs = vcs + v ds v qs + v es 2 4 a 2 v ds + cos v es + cos 5 5

267

 5 2 1 cos v qs vbs 5 2 1 vcs = 4 4 a 2 1 cos v ds 1 cos 1 cos 5 5 5

a vcs = x1v qs + y1vbs + z1v ds + 1ves

ves

(5.313)

(5.314)

where
x1 = 5 2 1 1 cos 4 5

y1 =

2 1 cos 4 5 1 cos 5 1 4 1 cos 4 5 1 cos 5 1 2 1 cos 4 5 1 cos 5 1 Substituting for vcs from (5.314) into (5.171) gives

z1 =

1 =

2 cos 1 + 2 5 5 4 cos 5

2 2 4 x1 v qs v xs = cos cos 5 5 5

a (1 y1 )vbs (z1 + 1)v ds + (1 )v 1 es

(5.315)

2 2 a 1 + 5 x v qs v xs = 5 (1 y )vbs ( z + 1)v ds + (1 )v es

(5.316)

2 2 2 2 a 1 + 5 x v qs v xs = 5 (1 y )vbs 5 ( z + 1)v ds + 5 (1 )v es
a a1v qs v xs = b1vbs + c1v ds + d 1v es

(5.317) (5.318)

268

where 2 4 1 = cos 5 cos 5 2 a1 = 1 + 1 x1 5 2 b1 = 1 (1 y1 ) 5 2 c1 = 1 (z1 + 1) 5 2 d1 = 1 (1 1 ) 5 Substituting for from (5.318) into (5.312) results into v as = 2 4 2 4 5 a a v qs x1v qs + y1vbs + z1v ds + 1ves cos vbs cos v ds ves cos cos 5 5 5 5 2 (5.319)

5 2 4 4 2 x1 cos 5 v qs y1 cos 5 + cos 5 vbs v as = 4 2 4 4 a + cos + cos v ds 1 cos z1 cos 5 5 5 5

a v as = s1v qs + s 2 vbs + s 3 v ds + s 4 v es

ves

(5.320)

(5.321)

where 4 5 s1 = x1 cos 5 2 4 2 + cos s 2 = y1 cos 5 5 4 4 + cos s 3 = z1 cos 5 5

269

4 2 + cos s 4 = 1 cos 5 5 The d-axis voltage is given by v ds = 2 2 4 4 2 a vbs sin vcs sin + v ds sin + v es sin 5 5 5 5 5 (5.322)

Substituting (5.314) into (5.322) gives v ds = 2 4 2 4 2 a a x1v qs + y1vbs + z1v ds + 1ves sin vbs sin + v ds sin + v es sin 5 5 5 5 5

4 4 4 a yvbs sin zv ds sin v es sin 2 4 2 5 5 5 v ds = xvqs sin + 4 2 2 5 5 5 a vbs sin + v ds sin + ves sin 5 5 5 4 a 4 2 4 y sin + sin vbs z sin sin v ds 5 5 5 5 4 2 2 v ds = x sin v qs + 5 5 5 4 2 v sin sin es 5 5
a v ds = s5 v qs + s 6 vbs + s 7 v ds + s8 v es

(5.323)

(5.324)

where 4 2 s 5 = x1 sin 5 5 2 4 2 s 6 = y1 sin + sin 5 5 5 4 4 2 s 7 = z1 sin sin 5 5 5 2 4 2 s8 = 1 sin sin 5 5 5 The y-axis voltage is given by

270

v ys =

2 4 2 2 4 a + vcs sin v ds sin + v es sin vbs sin 5 5 5 5 5

(5.325)

Substituting (5.314) into (5.325) results into 2 2 2 2 4 2 2 2 a 5 x1 sin 5 v qs + 5 y1 sin 5 sin 5 vbs + 5 z1 sin 5 sin 5 v ds v ys = 2 2 4 + sin v es + 1 sin 5 5 5
a v ys = s9 v qs + s10 vbs + s11v ds + s12 v es

(5.326)

(5.327)

where s9 = s10 = 2 2 x1 sin 5 5 2 2 4 sin y1 sin 5 5 5 2 2 2 sin z1 sin 5 5 5 2 2 4 + sin 1 sin 5 5 5

s11 =

s12 =

Since i xs = iqs , then v xs = rs iqs Lls piqs Substituting (5.328) into (5.318) gives a1v qs + rs iqs + Lls piqs = b1vbs + c1v ds + d1ves Substituting for pi qs from (5.196) into (5.329) gives
a1v qs + Lls Lr Lls (rs iqs Lr + Lm pqr ) = b1vbs + c1vds + d1ves v qs + rs iqs 2 L s Lr Lm Ls Lr L2 m

(5.328)

(5.329)

(5.330)

271

v qs =

Lls b1vbs + c1v ds + d1v es rs iqs + Ls Lr L2 Lls Lr m a1 + 2 L s Lr Lm 1

rs iqs Lr + L p m qr

(5.331)

Therefore, with v as , vcs , v qs , v ds and v ys known, then the faulted condition can be simulated by using dynamic Equations (5.198) through (5.200). The phase currents are obtained as ias = iqs + i xs 2 4 ids i ys sin sin 3 5 5 5 ibs = iqs i xs 2 2 2 4 2 2 2 4 2 2 + sin sin + sin sin 5 5 5 5 ics = iqs i xs
2 4 i ds sin i ys 5 a 5 5 i ds = 2 4 2 + sin 2 sin 2 5 5 sin

(5.332)

(5.333)

(5.334)

(5.335)

ies =

5 4

sin
2

4 2 sin + sin 2 5 5

2 i ys 5

(5.336)

5.5.1

Harmonic Balance Technique for the Two Non-adjacent Stator Open Phases

The same approach that has been used in section 5.3.1 applies here as well.
a v ds = s5 v qs + s 6 vbs + s 7 v ds + s8 v es a v ys = s9 v qs + s10 vbs + s11v ds + s12 v es

(22) (24)

272

Let

2 =

1 Lls Lr a1 + L L L2 s r m

Then Equation (5.331) can be written as

Lls a (rs iqs Lr + Lm pqr ) + d1ves rs iqs + v qs = 2 b1vbs + c1v ds 2 L s Lr Lm

(5.337)

Using Equations (5.61) through (5.84), the following harmonic balance technique dynamic model is obtained The q-axis stator voltage is given by Lls a v qss = 2 b1vbss + c1v dss + d1vess rs iqss + Ls Lr L2 m rs Lr iqss + Lm p qrr + j L e m qrr (5.338)

The rest of the harmonic balance technique model Equations are as given in Equations (5.208) through (5.212).

5.5.2

Steady State and Dynamic Model Analysis for Two Adjacent Open Phases

5.5.2.1 Steady state model. At steady state, the derivatives of the peaks are zero.

Therefore, the steady state model is given by Equations (5.339) and (5.214) through (5.218) become
rs Lr Lls j e Lm Lls 2 a 2 iqss + 2 (b1vbss + c1v dss + d1vess ) = v qss + r qrr s 2 L L L Ls Lr L2 m m s r

(5.339)

The d-axis and y-axis stator voltages re, respectively given by (5.340) and (5.341)

273

a s 6 vbss + s 7 v dss + s8 vess = s5 v qss + v dss a s10 vbss + s11v dss + s12 v ess = s 9 v qss + v yss

(5.340) (5.341)

In matrix form, the steady-state harmonic balance technique model can be represented as A3 x3 = b3 x3 = A31b3 (5.342) (5.343)

where the matrices b3 and x3 are, respectively, given by Equations (5.344) and (5.345), with
a b311 = 2 b1vbss + c1vdss + d1vess
a b371 = s6 vbss + s7 vdss + s8vess a b381 = s10 vbss + s11vdss + s12 vess

b3 = b311

0 0 0 v qrr

v drr

b371

b381

(5.344)

x3 = v qss

v dss

v yss

iqss

idss

i yss

qrr

drr ]T

(5.345)

The matrix A3 is given by Equation (5.346).

274

 1 Lr 2 L s Lr Lm 0 A3 = 0 0 0 t5 t9

0 0 Lr Ls Lr L2 m 0 0 0 1 0

0 0 0 1 Lls 0 0 0 1

rs Lr Lls 2 r s 2 L L L m s r rs Lr L L L2 + j e m s r 0 0 rr Lm Lr 0 0 0

0 0 rs Lr L L L2 + j e m s r 0 0 rr Lm Lr 0 0

0 0 0 rs L + j e ls 0 0 0 0

j e Lm Lls 2 Ls Lr L2 m j e Lm Ls Lr L2 m 0 0 rr + j e L r ro 0 0

0 j e L m Ls Lr L2 m 0 ro rr j + e L r 0 0 (5.346) 0

275

When the speed harmonic component is taken into account, then the Equations have to be separate into their real and imaginary parts. The resulting systems of steady-state equations will be solved by iteration to obtain the results. Substituting Equations (5.109) through (5.116) and (5.226) through (5.231) into Equation (5.339), gives

a a b (v + jvbsim ) + c1 v dsre + jvdsim 2 1 bsre + d1 (vesre + jvesim )

rs Lr Lls ( ) + r i ji vqsre jvqsim + s qsre qsim 2 L L L2 s r m = + je Lm Lls 2 ( + j ) qrre qrim 2 Ls Lr Lm (5.347)

a a b (v + jvbsim ) + c1 vdsre + jvdsim 2 1 bsre + d1 (vesre + jvesim )

rs Lr Lls ( ) + r i ji vqsre jvqsim + s qsre qsim 2 L L L2 s r m = + e Lm Lls 2 ( + j ) qrim qrre 2 Ls Lr Lm (5.348)

Separating real and imaginary parts,

rs Lr Lls e Lm Lls 2 a 2 b1vbsre + c1v dsre + d1v esre = v qsre + L L L2 rs 2 iqsre L L L2 qrim (5.349) m s r m s r

rs Lr Lls e Lm Lls 2 a 2 b1vbsim + c1v dsim + d 1vesim = v qsim + L L L2 rs 2 iqsim + L L L2 qrre (5.350) m s r m s r

From Equation (5.214),

0=
rs Lr Lr (vqsre + jvqsim ) (iqsre + jiqsim ) je Lm 2 (qrre + jqrim ) + j e 2 2 L s L r Lm L s Lr Lm L s Lr Lm

276

 jrs Lr rs Lr Lr (vqsre + jvqsim ) i j i i i + qsre e qsre qsim e qsim 2 2 2 L L L L L L L L L s r m s r m s r m 0= j e Lm e Lm + qrre qrim 2 2 L L L L L L m s r m s r (5.351) Separating the real and imaginary parts
0=
rs Lr e Lm Lr v qsre i + e iqsim + qrim 2 2 qsre L s Lr Lm L s Lr Lm Ls Lr L2 m rs Lr e Lm Lr v qsim e iqsre i qrre 2 2 qsim L s Lr Lm L s Lr Lm Ls Lr L2 m

(5.352)

0=

(5.353)

From Equation (5.215),

0=
rs Lr j e L m Lr (idsre + ji dsim ) ( ) (drre + jdrim ) v + jv + j dsre dsim e 2 2 L s Lr Lm Ls Lr L2 m L s Lr Lm

jrs Lr rs Lr Lr ( ) v jv i j i i i + + dsre dsim dsre e dsre dsim e dsim L L L2 L L L2 Ls Lr L2 m s r m s r m 0= j e Lm e Lm + drre drim 2 Ls Lr L2 L s Lr Lm m (5.354) Separating the real and imaginary parts 0 = L22 v dsre rs L22 idsre + e idsim + L11 drim 0 = L22 v dsim e idsre rs L22 idsim L11 drre From Equation (5.216),
0=
rs 1 (v ysre + jv ysim ) + j e L (i ysre + ji ysim ) Lls ls jrs rs 1 (v ysre + jv ysim ) i j i i i + ysre e ysre ysim e ysim L L Lls ls ls

(5.355) (5.356)

0=

(5.357)

277

Separating the real and imaginary parts 0 = L33 v ysre L44 i ysre + e i ysim 0 = L33 v ysim e i ysre L44 i ysim From Equation (5.217), rr Lm rr (iqsre + jiqsim ) ( ) + j j + e qrre qrim L L r = r 1 + ro ( drre + j drim ) + j r1im ( drre j drim ) 2 rr Lm jrr rr (iqsre + jiqsim ) qrre + j e qrre qrim e qrim Lr Lr Lr (5.360) = 1 1 + ro drre + j ro drim + j r1im drre + r1im drim 2 2 (5.358) (5.359)

v qrre jv qrim

v qrre jv qrim

Separating the real and imaginary parts 1 v qrre = L55 iqsre L66 qrre + e qrim + ro drre + r1im drim 2 1 v qrim = L55 iqsim e qrre L66 qrim + ro drim + r1im drre 2 From Equation (5.218), rr 1 ( ) + j j + ro ( qrre + j qrim ) j r1 ( qrre j qrim ) e drre drim L 2 r = rL + r m (idsre + jidsim ) Lr 1 1 rr drre + j e drre ro qrre j ro qrim j r1 qrre + r1 qrim 2 2 Lr = jrr drim e drim + rr Lm (idsre + jidsim ) L L r r (5.363) Separating the real and imaginary parts 278 (5.361)

(5.362)

v drre jv drim

v drre jv drim

1 v drre = ro qrre r1 qrim L66 drre + e drim + L55 idsre 2

1 v drim = ro qrim r1 qrre e drre L66 drim + L55 idsim 2

(5.364)

(5.365)

From Equation (5.340),

a a s 6 (vbsre + jvbsim ) + s 7 v dsre + jv dsim + s8 (vesre + jv esim ) = s5 (v qsre + jv qsim ) + v dsre + jv dsim

(5.366) Separating the real and imaginary parts

a s 6 vbsre + s 7 v dsre + s8 vesre = s5 v qsre + v dsre a s 6 vbsim + s 7 v dsim + s8 v esim = s5 v qsim + v dsim

(5.367) (5.368)

From Equation (5.341),

a a s10 (vbsre + jvbsim ) + s11 v dsre + jv dsim + s12 (vesre + jv esim ) = s 9 (v qsre + jv qsim ) + v ysre + jv ysim

(5.369) Separating the real and imaginary parts

a s10 vbsre + s11v dsre + s12 v esre = s 9 v qsre + v ysre a s10 vbsim + s11v dsim + s12 vesim = s9 v qsim + v ysim

(5.370) (5.371)

These Equations can be written in matrix form as

A4 x 4 = b4
1 x 4 = A4 b4

(5.372) (5.373)

where b4 and x4 are, respectively, given by Equations (5.374) and (5.375), with
a b411 = 2 b1vbsre + c1vdsre + d1vesre

a b421 = 2 b1vbsim + c1vdsim + d1vesim

)
279

a b4131 = s6 vbsre + s7 vdsre + s8vesre

a b4141 = s6 vbsim + s7 vdsim + s8vesim a b4151 = s10vbsre + s11vdsre + s12 vesre

a b4161 = s10 vbsim + s11vdsim + s12 vesim

Let Lo1 = (rs L22 Lls rs ) 2 1 Lls rs Lls

L11 =

e Lm
L s Lr L
2 m

L22 =

Lr Ls Lr L2 m rr Lr

L33 =

L44 =

L55 =

rr Lm Lr

L66 =

The matrix A4 is given by Equation (5.376).

280

b4 = b411 x 4 = v qsre
1 0 L22 0 0 0 0 0 A4 = 0 0 0 0 t 5 0 t 9 0

b421 v qsim
0 1 0 L22 0 0 0 0 0 0 0 0 0 t5 0
t9

0 0 0 0 0 0 v qrre v dsre
0 0 0 0
L22

v qrim iqsre iqsim

0
Lo1

v drre idsre

v drim idsim
0 0 0 0

b4131 i ysim

b4141

b4151

b4161

(5.374)

v dsim
0 0 0 0 0
L22

v ysre
0 0 0 0 0 0
L33

v ysim
0 0 0 0 0 0 0
L33

i ysre
0 0 0 0

qrre
0 0 0 0 0 0

qrim
0 0 0 0 0 0

drre
0
L11 Lls 2

drim ]T
L11 Lls 2

(5.375)
0 0 0 0 0
L11 0 0 0 L11 0 0 0 1 r1im 2 ro e L66 0 0 0 0

Lo1

0 rs L22
e

e
rs L22

0 L11 0 0 0 0
L66 e ro

0 L11 0 0 0 0 0

0 0 0 0
L55

0 0 0 0 0
L55

rs L22 e

e
rs L22

0 0 0 0 0 0 0 1 0 0 0

0 0 0 0 0 0 0 1 0 0

0 0 0 0
L55

0 0 0 0 0
L55

L44 e

e
L44

0 0

0 0 0 0 0 0 0 1 0

0 0 0 0 0 0 0 1

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0

e
L66

ro
1 r1im 2
L66 e

0 0 0 0 0 0 0

0 0 0 0 0 0

0 0 0 0 0

0 0 0 0

1 r1 2 0 0 0 0

1 r1im 2
ro

0 0 0 0

0 0 0 0

(5.376)

281

5.5.3

Results and Discussion for Two Non-adjacent Open Phase Fault

The validity of the models presented in section 5.5 - 5.5.2 has been investigated through the computer simulation of the full-order model of the machine with stator phases a and c open-circuited. The steady-state model is used to calculate the state variables and then the results are compared. Figure 5.30 through Figure 5.33 present the simulation of the free acceleration starting process of the machine. The phase voltage is applied to the remaining three phases (b, d, and e) and Equations (5.321) and (5.314) are used to determine stator phase a and c voltages, respectively. Figure 5.30(a) and (b) show the rotor speed and electromagnetic torque, respectively, showing the characteristics similar to those of the healthy induction machine. In Figure 5.31(a) the stator phase a and c currents are zero as expected. The stator phase voltages are shown in Figure 5.32 with the starting transients of the open phases a and c as they develops the voltages are clearly displayed in Figure 5.32(a) and (b), respectively. When the rotor speed is in steady state, the load torque is changed from 0 to 11 Nm to show the effect of the speed harmonics. The dynamic responses of the machine to load changes are shown in Figure 5.33(a) and (b) for the rotor speed and electromagnetic torque, respectively. In Figure 5.34 through Figure 5.37, the waveforms of the variables are shown after the speed has reached steady-state average value. It is evident from Figure 5.34(a) and (b) that the speed and torque consist of the harmonics at twice the frequency of the supply voltages as predicted by the harmonic balance technique model. The unbalance caused by the two open phases fault is clearly indicated in the stator phase

282

load currents, Figure 5.35. Figure 5.36 (a) and (b) show that when the machine is loaded, the open phase a and c voltages are affected as they are reduced. This is due to the fact that the voltage waveforms are induced by the other phases and the rotor circuits. Figure 5.38(a) and Figure 5.38 (b) show the peak values of the rotor speed and torque pulsations, respectively as a function of the rotor speed. In Figure 5.34 (a) the average rotor speed is approximately 359.95 rad/sec, the peak value of the speed oscillations is about 0.15 rad/sec. In Figure 5.34(b) the average torque is 11 Nm and the peak of the torque oscillations is about 5 Nm. These speed and torque values are fairly comparable to those in Figure 5.38(a) and Figure 5.38(b), respectively. Figure 5.40 presents the torque-speed characteristics at both normal and two openphase faulted conditions. First the normal operation of the machine is computer simulated and the steady-state torque curve is superimposed on the simulated curve. Then the same procedure is followed for the open phase faulted condition. Under this operation, the torque envelope is obtained by adding the peak of the pulsation torque to, and subtracting it from the average value obtained from the harmonic balance technique. Comparing the results of the dynamic computer simulation and the steady state calculations for both cases, the harmonic balance technique gives average and peak values of the torque that compare fairly with simulation results. The stator input and reactive powers at steady state are shown in figure 5.41(a) and Figure 5.41(b), respectively. The speed and torque oscillations are also shown in figure 5.42 (a) and Figure 5.42(b), respectively. The results of which compare well with those presented in Figure 5.34(a) and Figure 5.34(b), respectively, as well as Figure 5.38(a) and Figure 5.38(b), respectively.

283

400 350 300

r [ rad/sec ]

250 200 150 100 50 0 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 (a)

50 40 30 Te [ Nm ] 20 10 0 -10 -20 -30 0 0.2 0.4 0.6 0.8 1 Time [ sec ] 1.2 1.4 1.6 1.8 2 (b)

Figure 5.30 Starting transients (a) rotor speed and (b) electromagnetic torque

284

5 ias [ A ] 0 -5 200 ibs [ A ] 0 -200 5 ics [ A ] 0 -5 200 ids [ A ] 0 -200 100 ies [ A ] 0 -100

x 10

-14

(a)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(b)

0 x 10
-14

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(c)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(d)

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

(e)

0.2

0.4

0.6

0.8

1 Time [ sec ]

1.2

1.4

1.6

1.8

Figure 5.31 Starting transients Stator phase currents (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

285

200

vas [ V ]

100 0 -100 -200 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

(a)

200

vbs [ V ]

100 0 -100 -200 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

(b)

200

vcs [ V ]

100 0

(c)

-100 -200 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

200

vds [ V ]

100 0

(d)

-100 -200 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

200

ves [ V ]

100 0

(e)

-100 -200 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time [ sec ]

Figure 5.32 Starting transients stator phase voltages (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

286

380

375
r [ rad/sec ]

370 (a) 365

360

355 3.5

4.5

5.5

20

15

Te [ Nm ]

10 (b) 5

-5 3.5

4.5 Time [ sec ]

5.5

Figure 5.33 Simulation Dynamics of (a) rotor speed and (b) electromagnetic torque due to a load torque change of 11 Nm applied at 4 seconds.

287

360.15 360.1 360.05

r [ rad/sec ]

360 359.95 359.9 359.85 359.8 359.75 5.97 5.975 5.98 5.985 5.99 5.995 6 (a)

16

14

Te [ Nm ]

12 (b) 10

5.97

5.975

5.98

5.985 Time [ sec ]

5.99

5.995

Figure 5.34 Simulation Steady-state (a) rotor speed and (b) electromagnetic torque at a load torque of 11 Nm.

288

30

ias ibs ics

20

ids ies

10

Stator currents [ A ]

-10

-20

-30

5.97

5.975

5.98

5.985

5.99

5.995

Time [ sec ]

Figure 5.35 Simulation Steady-state stator phase currents at a load torque of 11 Nm.

289

200

vas [ V ]

100 0 -100 -200 5.97 5.975 5.98 5.985 5.99 5.995 6

(a)

200

vbs [ V ]

100 0 -100 -200 5.97 5.975 5.98 5.985 5.99 5.995 6

(b)

200 100 0 -100 -200 5.97 5.975 5.98 5.985 5.99 5.995 6

(c)

200 100 0 -100 -200 5.97 5.975 5.98 5.985 5.99 5.995 6

(d)

200 100 0 -100 -200 5.97 5.975 5.98 5.985 5.99 5.995 6

(e)

Figure 5.36 Simulation Steady-state stator phase voltages at a load torque of 11 Nm (a) phase a (b) phase b (c) phase c (d) phase d (e) phase e

290

250 vas 200 vbs vcs vds

a

ves

150

100

Stator voltages [ V ]

50

-50

-100

-150

-200

-250

5.97

5.975

5.98

5.985 Time [ sec ]

5.99

5.995

Figure 5.37 Stator phases a and c open Simulation Steady-state stator phase voltages at a load torque of 11 Nm showing the unbalance

291

0.25

0.2
r1 [ rad/sec ]

0.15

(a)

0.1

0.05

50

100

150

200

250

300

350

400

7 6 5 Tepuls [ Nm ] 4 3 2 1 0 0 50 100 150 200

r [ rad/sec ]

(b)

250

300

350

400

Figure 5.38 Phases a and c open circuited Steady-state calculation results (a) Peak value of the speed harmonic component and (b) Peak value of the torque pulsation

292

50

40

30

Electromagnetic torque, T [ Nm ] e

20

10

Te: Simulation - Fault operation Teavg: - Fault operation Teavg-Tepuls: - Fault operation

-10

Teavg+Tepuls: - Fault operation

-20

-30

20

40

60

80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 Rotor Speed, r [ rad/sec ]

Figure 5.39 Various torque components of the five-phase induction machine under unbalanced stator phases a and c open circuited based on computer simulation and steady-state calculations.

293

70

60

50

40

Electromagnetic torque, T [ Nm ] e

30

20

10

0 Teavg -Tepuls: - Fault operation Teavg +Tepuls: - Fault operation Teavg: - Fault operation -20 Te: - Normal operation Te: Simulation - Fault operation -30 Te: Simulation - Normal operation

-10

-40

20

40

60

80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 Rotor Speed, r [ rad/sec ]

Figure 5.40 Various torque components of the five-phase induction machine under balanced and a stator phases a and c open based on computer simulation and steadystate calculations.

294

7000

6000 Real power, p [ W ]

5000

(a)

4000

3000

2000

5.97

5.975

5.98

5.985

5.99

5.995

4000 3500 Reactive power, q [ var ] 3000 2500 2000 1500 1000 500 0 5.97 5.975 5.98 5.985 Time [ sec ] 5.99 5.995 6 (b)

Figure 5.41 Simulation Steady-state stator input five-phase power (a) Real power and (b) Reactive power at a load torque of 11 Nm.

295

0.2 Rotor speed oscillations [ rad/sec ] 0.15 0.1 0.05 0 -0.05 -0.1 -0.15 -0.2 5.97 5.975 5.98 5.985 5.99 5.995 6 (a)

5 4 Torque speed oscillations [Nm ] 3 2 1 0 -1 -2 -3 -4 -5 5.97 5.975 5.98 5.985 Time [ sec ] 5.99 5.995 6 (b)

Figure 5.42 Simulation Steady-state (a) rotor speed oscillations and (b) electromagnetic torque oscillations at a load torque of 11 Nm.

296

5.6

Conclusion

This Chapter has presented a steady state and dynamic model of the open phase faults for a five phase induction motor for one phase, two adjacent phases as well as two non-adjacent phases. Circuit based models have been developed which can help to predict not only the starting transients and steady-state performance and pulsating components but also the dynamics such as the small-signal stability of the faulted machine. This is made possible by the application of the harmonic balance technique on the full-order differential Equation model of the faulted machine in stationary reference frame. The resulting Equations are also used in determining the stability of the five-phase induction motor under open-phase faults. Simulation results and steady state results have been presented, in which it has been possible to calculate the speed harmonic components as well as the torque pulsations. Small signal analysis has been performed to predict the stability of the faulted machine. At low rotor speeds, the machine exhibits instability due to the rotor flux linkage. If the speed harmonics are neglected, the resulting model is stable at relatively high speed operating conditions. The analysis presented in this work has shown that with one or two phases missing, the five-phase machine is able to start and generate a high percentage of rated torque as demonstrated in the presented results. The analytical methodologies presented in this work have great promise in the study of the transient, steady state and dynamic responses of various faults of multi-phase electric machinery.

297

CHAPTER 6 ROTOR FLUX VECTOR CONTROL OF A FIVE PHASE INDUCTION MACHINE

6.1

1 Introduction

Induction machines are widely used in the industrial drive system as a means of converting electric power to mechanical power. The do offer a high performance as well as independent control on torque and flux linkages, which is similar to that of the DC machine. It is also possible to drive the induction machines above their rated speed through flux weakening [6.1, 6.2]. The vector control is referred for controlling both amplitude and phase of the AC excitation. Vector control of the voltages and currents results in the control of the spatial orientation of the electromagnetic fields in the machine, which leads to field orientation. The control schemes available for induction motor drives are the scalar control, direct torque control, adaptive control and vector (field) oriented control. The rotor flux oriented control is usually employed although it is possible to implement stator flux oriented control and magnetizing (air gap) flux oriented control [6.3]. Both the stator and rotor flux linkages are necessary for vector control scheme. The field-oriented control of induction machine systems can be categorized in two groups. One, as direct field oriented control with flux sensors for determining the flux magnitudes and phase angle. The second classification is indirect field oriented control in

298

which the magnitude and space angle are obtained from the stator currents and rotor speed. The space angle is the sum of the rotor angle (obtained from the rotor peed) and the calculated slip (obtained from the reference values). In this Chapter, the Equations for the vector control of a five-phase induction machine are derived using both the fundamental and harmonic components of the state and machine variables and parameters. Control Simulation results using the fundamental model are presented.

6.2

Vector Control of an Induction machine

The induction machine Equations transformed to the qd reference frame for the fundamental components are presented as follows v qs1 = rs1iqs1 + p qs1 + e1 ds1 v ds1 = rs ids1 + p ds1 e1 qs1
' ' ' ' ' v qr 1 = rr1i qr 1 + p qr 1 + ( e1 r 1 ) dr 1 ' ' ' ' ' v dr 1 = rr1i dr 1 + p dr 1 ( e1 r 1 ) qr 1

(6.1) (6.2) (6.3) (6.4)

For the third harmonic components, the voltage Equations are given by v qs 3 = rs iqs 3 + p qs 3 + 3 e 3 ds 3 v ds 3 = rs ids 3 + p ds 3 3 e 3 qs 3
' ' ' ' ' v qr 3 = rr 3 i qr 3 + p qr 3 + 3( e 3 r ) dr 3 ' ' ' ' ' v dr 3 = rr 3 i dr 3 + p dr 3 3( e 3 r ) qr 3

(6.5) (6.6) (6.7) (6.8)

299

The torque Equation of an induction machine in terms of rotor flux linkages and stator currents is given as
m P L Te1 = m1 'dr1iqs1 'qr1ids1 2 2 Lr1

(6.9)

For the third harmonic components, the torque Equation is given by

m P L Te 3 = 3 m 3 'dr 3iqs 3 'qr 3ids 3 2 2 Lr 3

(6.10)

The fundamental components of the stator and rotor qd flux linkages are obtained as shown by the following Equations (6.11) to (6.18)
' qs1 = Ls1iqs1 + Lm1iqr 1 ' ds1 = Ls1ids1 + Lm1idr 1 ' 'qr1 = Lm1iqs1 + L'r1iqr 1 ' 'dr1 = Lm1ids1 + L'r1idr 1

(6.11) (6.12) (6.13) (6.14)

For the third harmonic components, the flux linkages are given by
' qs 3 = Ls 3 iqs 3 + Lm3 iqr 3 ' ds 3 = Ls 3 ids 3 + Lm3 idr 3 ' 'qr 3 = Lm3 iqs 3 + L'r 3iqr 3 ' 'dr 3 = Lm3 ids 3 + L'r 3idr 3

(6.15) (6.16) (6.17) (6.18)

where p is the differential operator v qs1 is the fundamental component of the q-axis stator voltage. v ds1 is the fundamental component of the d-axis stator voltage.

300

iqs1 is the fundamental component of the q-axis stator current. ids1 is the fundamental component of the d-axis stator current.

qs1 is the fundamental component of the q-axis stator flux linkage. ds1 is the fundamental component of the d-axis stator flux linkage.
' v qr 1 is the fundamental component of the q-axis rotor voltage.

' v dr 1 is the fundamental component of the d-axis rotor voltage.

' iqr 1 is the fundamental component of the q-axis rotor current.

' idr 1 is the fundamental component of the d-axis rotor current.

'qr1 is the fundamental component of the q-axis rotor flux linkage

'dr1 is the fundamental component of the d-axis rotor flux linkage

v qs 3 is the third harmonic component of the q-axis stator voltage. v ds 3 is the third harmonic component of the d-axis stator voltage. iqs 3 is the third harmonic component of the q-axis stator current. ids 3 is the third harmonic component of the d-axis stator current.

qs 3 is the third harmonic component of the q-axis stator flux linkage. ds 3 is the third harmonic component of the d-axis stator flux linkage.
' v qr 3 is the third harmonic component of the q-axis rotor voltage.

' v dr 3 is the third harmonic component of the d-axis rotor voltage. ' iqr 3 is the third harmonic component of the q-axis rotor current.

' idr 3 is the third harmonic component of the d-axis rotor current.

301

'qr 3 is the third harmonic component of the q-axis rotor flux linkage.

'dr 3 is the third harmonic component of the d-axis rotor flux linkage.
Te1 is the fundamental component of the electromagnetic torque. Te 3 is the third harmonic of the electromagnetic torque.

e1 is the fundamental component frequency of the reference frame of transformation. e 3 is the third harmonic component frequency of the reference frame of transformation
m is the number of stator phases.

P is the number of stator poles.

Now, the stator currents and rotor flux linkages are chosen as state variables, the stator flux linkages and rotor currents can be expressed in terms of state variables by eliminating the stator flux linkages and rotor currents. From Equations (6.13) and (6.17), respectively, the q-axis fundamental and third harmonic rotor currents can be obtained as Equations (6.19) and (6.20)
' iqr =

1 ' qr Lm iqs L'r

(6.19)

' iqr 3 =

1 ' qr 3 Lm 3iqs 3 L'r 3

(6.20)

Similarly, Equations (6.14) and (6.18), respectively give the d-axis fundamental and third harmonic rotor currents as presented in Equation (6.21) and (6.22)
' idr =

1 ' dr Lm ids L'r

) )

(6.21)

' idr 3 =

1 ' dr 3 Lm 3ids 3 L'r 3

(6.22)

302

' ' Substituting for iqr 1 and i dr1 from Equations (6.19) and (6.21) into Equations (6.11)

and (6.12), respectively, the following expressions for the fundamental components of qaxis and d-axis stator flux linkages are obtained

qs1 = Ls1iqs1 +

Lm1 ' qr1 Lm1iqs1 L'r1 L

)
(6.23)

m1 m1 ' qs1 = Ls1 L' iqs1 + L' qr1 r1 r1

L2

m1 m1 ' ds1 = Ls1 L' ids1 + L' dr1 r1 r1

L2

(6.24)

' ' Substituting for iqr 3 and i dr 3 from Equations (6.20) and (6.22) into Equations (6.15)

and (6.16), respectively, the following expressions for the third harmonic components of q-axis and d-axis stator flux linkages are obtained

qs 3 = Ls 3 iqs 3 +

Lm 3 ' qr 3 Lm 3iqs 3 L'r 3

)
(6.25)

qs 3

L2 Lm 3 ' m3 = Ls 3 L' iqs 3 + L' qr 3 r3 r3 L2 Lm 3 ' m3 = Ls 3 L' ids 3 + L' dr 3 r3 r3

ds 3

(6.26)

Substituting for the qd stator flux linkages from Equations (6.23) and (6.24) into Equations (6.1) and (6.2) gives the following results for the fundamental component stator voltage Equations
L2 L2 L 1 ' Lm1 ' m1 m1 ids1 + m v qs1 = rs1iqs1 + L pi L + p + dr1 s 1 qs 1 e 1 s 1 qr 1 e 1 ' ' ' ' L L L L r1 r1 r1 r1

303

v qs1 = rs1iqs1 + L 1 piqs1 + e1 L 1ids1 +

Lm1 ' Lm1 ' p + dr1 qr 1 e 1 L'r1 L'r1 Lm1 ' L 1 ' p dr1 e1 m qr1 ' Lr 1 L'r1

(6.27)

v ds1 = rs1ids1 + L 1 pids1 e1 L 1iqs1 +

(6.28)

Similarly, Substituting for the qd stator flux linkages from Equations (6.25) and (6.26) into Equations (6.5) and (6.6), the following results for the third harmonic component stator voltage Equations are obtained
L2 L2 L 3 L ' m3 m3 ids 3 + m v qs 3 = rs 3iqs 3 + L pi L + p'qr 3 + 3 e 3 m 3 dr 3 e3 s 3 ' ' s 3 L' qs 3 Lr 3 Lr 3 L'r r3 v qs 3 = rs 3iqs 3 + L 3 piqs 3 + 3 e 3 L 3 ids 3 + Lm 3 L 3 ' p'qr 3 + 3 e 3 m dr 3 ' Lr 3 L'r 3 Lm 3 L 3 ' p'dr 3 3 e 3 m qr 3 ' Lr 3 L'r 3

(6.29)

v ds 3 = rs 3ids 3 + L 3 pids 3 3 e 3 L 3 iqs 3 +

(6.30)

Equations (6.27) and (6.28) can be re-written as

L 1 piqs1 = v qs1 rs1iqs1 e1 L 1ids1 Lm1 ' L 1 ' p qr1 e1 m dr1 ' Lr 1 L'r1 Lm1 ' L 1 ' p dr1 + e1 m qr1 ' Lr 1 L'r1

(6.31)

L 1 pids1 = v ds1 rs1ids1 + e1 L 1iqs1

(6.32)

Equations (6.29) and (6.30) can be re-written as

L 3 piqs 3 = v qs 3 rs 3iqs 3 3 e 3 L ids 3 Lm 3 L 3 ' p'qr 3 3 e 3 m dr 3 ' Lr 3 L'r 3 Lm 3 L 3 ' p'dr 3 + 3 e m qr 3 ' Lr 3 L'r 3

(6.33)

L 3 pids 3 = v ds 3 rs 3ids 3 + 3 e 3 L 3 iqs 3

(6.34)

for a squirrel cage induction machine

' ' v qr 1 = 0 and vdr 1 = 0

304

' ' vqr 3 = 0 and v dr 3 = 0

Therefore Equation (6.3) becomes 0= rr'1 ' qr1 Lm1iqs1 + p'qr1 + ( e1 r )'dr1 Lr 1

' qr 1

rr'1 Lm1 rr'1 ' = qr1 + iqs1 ( e1 r )'dr1 Lr 1 Lr 1

(6.35)

Equation (6.4) becomes 0= rr'1 ' dr1 Lm1ids1 + p'dr1 ( e1 r )'qr1 Lr 1

p'dr1 =

r' L rr'1 ' dr1 + r1 m1 ids1 + ( e1 r )'qr1 Lr 1 Lr 1

(6.36)

Equation (6.7) becomes rr'3 ' 0= qr 3 Lm3 iqs 3 + p'qr 3 + 3( e3 r )'dr 3 Lr 3

p'qr 3 =

rr'3 ' r' L qr 3 + r 3 m 3 iqs 3 3( e 3 r )'dr 3 Lr 3 Lr 3

(6.37)

Equation (6.8) becomes 0= rr'3 ' dr 3 Lm3 ids 3 + p'dr 3 3( e 3 r )'qr 3 Lr 3

p'dr 3 =

rr'3 ' r' L dr 3 + r 3 m3 ids 3 + 3( e3 r )'qr 3 Lr 3 Lr 3

(6.38)

Substituting Equations (6.35) and (6.36) into Equations (6.31) and (6.32), respectively results into

305

L 1 piqs1

rr'1 ' r' L qr1 + r1 m1 iqs1 L 1 ' Lm1 Lr 1 = v qs1 rs1iqs1 e1 L 1ids1 ' Lr1 dr1 e1 m ' Lr 1 L r1 ' ( e1 r ) dr1
rr'1 L2 rr'1 Lm1 ' m1 + r i L i + qr1 qs1 s1 e1 1 ds1 '2 '2 qs1 L L r 1 r 1 = v Lm1 Lm1 Lm1 ' + e1 r e1 ' ' dr 1 L' Lr 1 Lr 1 r1

L 1 piqs1

rr'1 L2 rr'1 Lm1 ' Lm1 ' m1 + L 1 piqs1 = v qs1 r i L i + dr1 s 1 qs 1 e 1 1 ds 1 qr 1 r ' ' 2 ' 2 L L L r1 r1 r1

L 1 piqs1 = v qs1 r 1iqs1 +

rr'1 Lm1 ' L 1 ' qr1 e1 L 1ids1 r m dr1 '2 Lr 1 L'r1

(6.39)

L 1 pids1

rr'1 ' rr'1 Lm1 ids1 + Lm1 L 1 ' dr1 Lr 1 qr1 = v ds1 rs1ids1 + e1 L 1iqs1 ' Lr1 + e1 m Lr 1 L'r1 + ( )' e1 r qr 1
r' L r ' L2 L 1 v ds1 rs1ids1 + e1 L 1iqs1 + r1 ' 2m1 'dr1 r1 ' 2m1 ids1 m e1'qr1 ' Lr 1 Lr 1 Lr 1 = + Lm1 r 'qr1 + e1 Lm1 'qr1 L' L'r1 r1

L 1 pids1

rr'1 L2 rr'1 Lm1 ' L 1 m1 + L 1 pids1 = v ds1 r i L i + + dr1 + m r 'qr1 ds1 e1 1 qs1 '2 '2 ' s1 Lr 1 Lr 1 Lr 1

L 1 pids1 = v ds1 r 1ids1 +

rr'1 Lm1 ' L 1 ' dr1 + e1 L 1iqs1 + r m qr1 '2 Lr 1 L'r1

(6.40)

Substituting Equations (6.37) and (6.38) into Equations (6.33) and (6.34), respectively results into

L 3 piqs3 = vqs3 rs 3iqs3 e3 L 3ids3

rr'3 ' rr'3 Lm3 iqs3 + Lm3 L 3 ' qr 3 Lr 3 dr 3 ' Lr 3 3e3 m Lr 3 L'r 3 ' 3(e3 r )dr 3
306

 r L L 3 piqs 3 = v qs 3 rs 3 + L
' r3

2 m3 '2 r3

r Lm 3 ' iqs 3 3 e 3 L 3ids 3 + L' 2 qr 3 r3

' r3

L 3 Lm 3 r ' e3 m ' Lr 3 ' Lr 3 + 3 dr 3 Lm 3 e 3 L' r3

rr'3 L2 rr'3 Lm 3 ' Lm 3 ' m3 + L 3 piqs 3 = v qs 3 r i L i 3 + 3 dr 3 s qs e ds qr r 3 3 3 3 3 3 ' '2 '2 L L L r3 r3 r3

L 3 piqs 3 = v qs 3 r 3iqs 3 +

rr'3 Lm 3 ' L 3 ' qr 3 3 e 3 L 3 ids 3 3 r m dr 3 '2 Lr 3 L'r 3

(6.41)

L 3 pids3 = vds3 rs 3ids3 + 3e3 L 3iqs3

rr'3 ' rr'3 Lm3 + ids3 Lm3 L 3 ' dr 3 Lr 3 ' Lr 3 + 3e m qr 3 ' Lr 3 L r 3 ' + 3( ) e3 r qr 3

r' L r ' L2 vds3 rs3ids3 + 3e3 L 3iqs3 + r 3 '2m3 'dr3 r 3 '2m3 ids3 Lr 3 Lr 3 L 3 pids3 = 3 Lm3 e3 'qr3 + 3 Lm3 r 'qr3 + 3e3 Lm3 'qr3 ' ' L' L L r3 r3 r3
rr'3 L2 rr'3 Lm 3 ' L 3 m3 + L 3 pids 3 = v ds 3 r i L i + 3 + dr 3 + 3 m r 'qr 3 ds 3 e 3 3 qs 3 '2 '2 ' s3 L L L r3 r3 r3

L 3 pids 3 = v ds 3 r 3ids 3 where L 1 = Ls1

rr'3 Lm 3 ' L 3 ' + ' 2 dr 3 + 3 e 3 L 3iqs 3 + 3 r m qr 3 Lr 3 L'r 3

(6.42)

L2 rr'1 L2 L2 rr'3 L2 m1 m1 m3 m3 r = r + L = L r = r + and , and 1 3 3 s1 s3 s3 L'r1 L'r21 L'r 3 L'r23

Aligning the rotor flux linkage with the d-axis of the synchronous reference frame, the q-axis rotor flux linkage and its derivative are zero. Thus

'qr1 = 0
p'qr1 = 0

(6.43) (6.44)

307

'r1 = 'dr1
where 'r1 is the fundamental component of the rotor flux linkage.

(6.45)

'qr 3 = 0
p'qr 3 = 0

(6.46) (6.47) (6.48)

'r 3 = 'dr 3
where 'r 3 is the harmonic component of the rotor flux linkage.

Substituting Equations (6.43) - (6.48) into Equations (6.9) - (6.10), and (6.35) (6.42), results into For the fundamental components
Te1 = mP Lm1 ' dr1iqs1 4 Lr1

(6.49)

0=

rr'1 Lm1 iqs1 ( e1 r )'dr1 Lr 1 rr'1 Lm1 rr'1 ' = dr1 + ids1 Lr 1 Lr 1
Lm1 ' dr1 L'r1

(6.50)

' dr 1

(6.51)

L 1 piqs1 = v qs1 r 1iqs1 e1 L 1ids1 r

(6.52)

L 1 pids1 = v ds1 r 1ids1 +

rr'1 Lm1 ' dr1 + e1 L 1iqs1 L'r21

(6.53)

For the third harmonic components

Te 3 = 3 mP Lm 3 ' dr 3 iqs 3 4 Lr 3

(6.54)

rr'3 Lm 3 0= iqs 3 3( e3 r )'dr 3 Lr 3

(6.55)

308

' dr 3

rr'3 ' rr'3 Lm3 = dr 3 + ids 3 Lr 3 Lr 3

Lm 3 ' dr 3 L'r 3

(6.56)

L 3 piqs 3 = v qs 3 r 3iqs 3 3 e 3 L 3 ids 3 3 r

(6.57)

L 3 pids 3 = v ds 3 r 3ids 3 +

rr'3 Lm 3 ' dr 3 + 3 e 3 L 3 iqs 3 L'r23

(6.58)

Equation (6.50) yields the expression of the fundamental component of the slip frequency required for rotor field orientation control given by rr'1 Lm1 iqs1 ( e1 r ) = Lr1 'dr1 (6.59)

Equation (6.55) yields the expression of the third harmonic component of the slip frequency required for rotor field orientation control given by

( e3 r ) = rr 3 Lm3

'

iqs 3

3Lr 3 'dr 3

(6.60)

The input-output linearization method is used to design the control scheme of the mphase induction machine as follows [6.1] Equations (6.51) - (6.53) can be re-arranged and written as
L 1 piqs1 + r 1iqs1 = v qs1 e1 L 1ids1 r Lm1 ' dr1 = qs1 L'r1

(6.61)

L 1 pids1 + r 1ids1 = v ds1 + e1 L 1iqs1 + rr'1 Lm1 rr'1 ' + dr1 = ids1 = dr1 Lr 1 Lr 1

rr'1 Lm1 ' dr1 = ds1 L'r21

(6.62)

' dr 1

(6.63)

Equations (6.56) - (6.58) can be re-arranged and written as

309

L 3 piqs 3 + r 3 iqs 3 = v qs 3 3 e 3 L 3 ids 3 3 r

Lm 3 ' dr 3 = qs 3 L'r 3

(6.64)

L 3 pids 3 + r 3 ids 3 = v ds 3 + e 3 L 3iqs 3 + rr'3 ' r' L dr 3 = r 3 m 3 ids 3 = dr 3 Lr 3 Lr 3

rr'3 Lm 3 ' dr 3 = ds 3 L'r23

(6.65)

p'dr 3 +

(6.66)

Now, the rotor electrical speed, r , is given by 2J p r = Te TL P where Te is the total electromagnetic torque due to the two torque components, i.e. Te = Te1 + Te 3
J is the ,moment of inertia and TL is the load torque.

(6.67)

Substituting Equations (6.49) and (6.54) into Equation (6.67), the following is obtained
Lm 3 ' 2J mP Lm1 ' p r = i 3 i + dr 1 qs 1 dr 3 qs 3 TL P L L 4 r 1 r 3

p r = where

P 2J

mP Lm1 ' Lm 3 ' + i 3 i T = dr 1 qs 1 dr 3 qs 3 L Lr 3 4 Lr 1

(6.68)

qs1 is the output of the q-axis fundamental component of current controller

ds 1 is the output of the d-axis fundamental component of current controller

dr1 is the output of the rotor fundamental component of flux linkage controller is the output of the speed controller

310

 qs 3 is the output of the q-axis third harmonic component of current controller

ds 3 is the output of the d-axis third harmonic component of current controller

dr 3 is the output of the rotor third harmonic component of flux linkage controller
The controller outputs are related to the reference and actual quantities as follows For the fundamental components
* qs1 = K qs1 (iqs 1 i qs1 )

(6.69) (6.70) (6.71)

* ds1 = K ds1 (ids 1 i ds1 ) ' dr1 = K dr1 ('* dr1 dr1 )

for the rotor speed

= K ( r* r )
For the third harmonic components
* qs 3 = K qs 3 (iqs 3 i qs 3 ) * ds 3 = K ds 3 (ids 3 i ds 3 ) ' dr 3 = K dr 3 ('* dr 3 dr 3 )

(6.72)

(6.73) (6.74) (6.75)

where K qs1 , K ds1 , K dr1 and K are the transfer functions of the controller for q-axis fundamental component of current, d-axis fundamental component of current, fundamental component of rotor flux linkage and rotor speed, respectively. K qs 3 , K ds 3 , and K dr 3 are the transfer functions of the controller for q-axis third harmonic component of current, d-axis third harmonic component of current, and third harmonic component of rotor flux linkage, respectively.

311

From Equations (6.61) and (6.62), the fundamental components of the qd reference stator voltages are given by
* v qs 1 = qs1 + e1 L 1i ds1 + r

Lm1 ' dr1 L'r1

(6.76)

* ds1

rr'1 Lm1 ' = ds1 e1 L 1iqs1 '2 dr1 Lr 1

(6.77)

From Equations (6.64) and (6.65), the third harmonic components of the qd reference stator voltages are given by
* v qs 3 = qs 3 + 3 e 3 L 3 i ds 3 + 3 r

Lm 3 ' dr 3 L'r 3

(6.78)

* v ds 3 = ds 3 3 e 3 L 3 i qs 3

rr'3 Lm 3 ' dr 3 L'r23

(6.79)

From Equation (6.63) the fundamental component of the reference d-axis stator current is given by
* ids 1 =

Lr 1 dr1 r Lm1
' r1

(6.80)

From Equation (6.66) the third harmonic component of the reference d-axis stator current is given by
* ids 3 =

Lr 3 dr 3 r Lm 3
' r3

(6.81)

Now if the two slips are equal, then the relationship between the two torque producing currents iqs1 and iqs 3 is given as

( e3 r ) = ( e1 r )
rr'1 Lm1 iqs1 rr'3 Lm 3 iqs 3 = 3Lr 3 'dr 3 Lr1 'dr1 312

(6.82) (6.83)

iqs 3

rr'1 Lm1 Lr 3 'dr 3 =3 ' iqs1 rr 3 Lm 3 Lr1 'dr1

From Equations (6.68) and (6.84), the reference q-axis current is given by
2J + TL * P = iqs 9r 2 mP Lm1 dr1 + r1 dr 3 4 Lr1 rr 3 dr1

(6.84)

where
* v qs 1 is the fundamental component of the q-axis reference stator voltage.

* v ds 1 is the fundamental component of the d-axis reference stator voltage. * v qs 3 is the third harmonic component of the q-axis reference stator voltage.

* v ds 3 is the third harmonic component of the d-axis reference stator voltage.

* ids 1 is the fundamental component of the d-axis reference stator current.

* ids 3 is the third harmonic component of the d-axis reference stator current. * iqs is the q-axis reference stator current.

6.3

Controller Design

As it has been derived in Equations (6.61) (6.63) and (6.68), there are four controllers a controller for flux control, two controllers for the q- and d-axis currents and a controller for the rotor speed. The pole placement method called the Butterworth method is used in the design of controllers, in which the parameters are selected to locate the eigen-values of the transfer function uniformly in the left half of the s-plane, on a 313

circle of radius o , with its center at the origin. The poles are evenly distributed around the circle [3.5]. The design steps using the Butterworth method are firstly, the transfer function of the controller is obtained; then the denominator of the transfer function is compared with the Butterworth polynomial by equaling the coefficient of each term. Since the Butterworth polynomial is expressed only in term of o , if the value of o is selected, all the controller parameters can be obtained. The value of o determines the dynamic response of the controller. It should be noticed that in a control system with multiple controllers, the values of o for different controllers must be properly designed.

6.4

PI Controller Design Based on Fundamental Components

The four controllers discussed in the previous section are designed. Only the fundamental components are considered at this stage. In this section, the subscripts 1 and 3 for the respective fundamental and third harmonic components will be dropped. Therefore, all variables and parameters in the Equations presented in this section are for the fundamental quantities. The transfer function for a PI (proportional integral) controller is expressed as K x = K px + K ix p (6.85)

The Butterworth second order polynomial is give as shown in Equation (6.45). This characteristic Equation will be used to compare the characteristics Equation for different 314

controller transfer functions in order to determine the appropriate value of o to tune the respective controllers
2 p 2 + 2 o p + o =0

(6.86)

6.4.1

Stator Q-axis Current and D-axis Controller Design

The transfer functions for a PI q-axis current controller is expressed as in Equations

K qs = K pq + K iq p

(6.87)

K iq * iqs iqs L piqs + r iqs = K + pq p

K iq K iq * iqs L p + r + K + i = K + pq qs pq p p

iqs i
* qs

K pq + =

K iq p K iq p

L p + r + K pq +
pK pq + K iq

iqs
* iqs

L p 2 + (r + K pq ) p + K iq

iqs
* iqs

1 ( pK pq + K iq ) L = 1 (r + K pq )p + K iq p2 + L L

(6.88)

The characteristic Equation of the transfer function in Equation (6.88) is

315

p2 +

1 (r + K pq )p + K iq = 0 L L

(6.89)

Comparing Equation (6.89) with Equation (6.86), the following is obtained 1 (r + K pq ) = 2o L K pq = 2 oq L r

2 K iq = oq L

(6.90) (6.91)

Similarly, the stator d-axis current controller is given by

1 ( pK pd + K id ) L = 1 (r + K pd )p + K id p2 + L L

ids * ids

(6.92)

The characteristic Equation is

p2 +

1 (r + K pd )p + K id = 0 L L

(6.93)

Therefore, K pd = 2 od L r
2 K id = od L

(6.94) (6.95)

6.4.2

Flux Controller Design

The transfer function for a PI flux controller is expressed as K dr = K pr + K ir p (6.96)

316

K '* rr' ' p + ' dr = K pr + ir ( dr 'dr ) p Lr

' dr

K ir ' K ir rr' = + p K K + + + pr dr pr p p L'r

'* dr

' dr '* dr

K pr + = p+

K ir p

K rr' + K pr + ir ' p Lr
pK pr + K ir

'dr = '* dr

rr' p + L' + K pr p + K ir r
2

(6.97)

The characteristic Equation is

rr' p + p + K ir = 0 L' + K pr r
2

(6.98)

Comparing Equation (6.98) with Equation (6.86), the following is obtained rr' + K pr = 2 or L'r K pr rr' = 2 or ' Lr (6.99) (6.100)

2 K ir = or

317

6.4.3

Speed Controller Design

The speed controller is designed as follows K = K p + K i p (6.101)

K i * p r = r r K p + p

K i K i * r r = K p + p p + K p + p
K p + p + K p K i p K + i p

r = r*

pK p + K i r = r* p 2 + pK p + K i

(6.102)

The characteristic Equation is

p 2 + pK p + K i = 0

(6.103)

Comparing Equation (6.103) with Equation (6.86), the following is obtained K p = 2 o

2 K i = o

(6.104) (6.105)

Figure 6.1 shows the controller block diagram for the five-phase induction motor drive. The Equations shown in Figure 6.1 are explained as follows
* , is given by The q-axis stator reference voltage, v qs

318

* = qs + e L ids + r vqs

Lm ' dr L'r

(6.106)

* The d-axis stator reference voltage, v ds , is given by

* = ds e L iqs vds

rr' Lm ' dr L'r2

(6.107)

* The d-axis stator reference current, ids , is given by

* = ids

Lr dr rr' Lm

(6.108)

* The d-axis stator reference current, ids , is given by

2J + TL * P iqs = mP Lm ' dr 4 Lr The slip speed is, sl , is given by

(6.109)

sl =

rr' Lm iqs Lr 'dr

(6.110)

The stator flux linkages are estimated as follows

ds = (v ds rs ids )dt
Then the rotor flux linkages are obtained as
dr = Lrm (ds L ids )

qs = (v qs rs iqs )dt

(6.111)

qr = Lrm (qs L iqs )

Lrm =

Lr Lm

(6.112)

The stator voltage frequency is given by the slip speed and the rotor speed as

e = r + sl

(6.113)

319

This frequency is used to transform the stationary quantities to the synchronously rotating reference frame.
* * M qs and M ds are q-axis and d-axis modulation indices.

v dc is the inverter dc supply. The block diagram of Figure 6.1 consists of two cascaded control loops. The outer control loop regulates the rotor speed and the rotor flux linkage independently. The
* output of the rotor speed and the flux linkage controllers form the reference signals, iqs

* and ids , for the inner loop q-axis and d-axis stator currents controllers, respectively. The

inner current control loop regulates independently the q-axis and d-axis stator current components, iqs and ids . The instantaneous five-phase stator currents are sampled and transformed to q-d components iqs and ids in the synchronous reference frame. These actual d-q current signals are then compared with their reference signals to generate the error signals, which are passed through two PI controllers to form the output signals qs and ds . These two voltage signals are compensated by the corresponding cross coupling
* * and vds . They are then used by the PWM terms to form the q-d voltage signals v qs

module to generate the IGBT (Insulated Gate Bipolar Transistor) gate control signals to drive the IGBT converter.

320

qr dr
Modulation signals Eq (6.711) and (6.112) Line voltages and phase currents mas
* M qs

iqs ids v qs v ds T 1 ( )

r* +
-

iqs

Eq (6.106)

mbs T 1 ( ) mcs mds mes

* M ds

* dr +
-

Kr

Eq (6.108)

* + ids

ids

K ds

ds +
+

* v ds

2 v dc

PWM Generation

5-Phase Inverter

Eq (6.109)

* iqs +

K qs

qs +
+

* v qs

2 v dc

ie

id

i c ib

ia

e
+

dr

Eq (6.107)

PWM signals Carrier signals Motor Speed and position

sl
Eq (6.110) Figure 6.1 Control Block Diagram for the five-phase induction motor drive

321

6.5

Controller Simulation Results

The rotor reference d-axis flux is chosen to be 0.275 Wb. This will produce the daxis current using the flux controller output. From the speed controller output and the daxis rotor flux, the reference q-axis current required to produce the desired torque is obtained. Figure 6.2 shows the controller simulation for the five phase induction machine. Figure 6.2(a) shows the q-axis stator actual current and the reference current. Figure 6.2(b) shows the d-axis stator actual current and the reference current. Figure 6.2(c) shows the d-axis rotor actual current and the reference current. Figure 6.2(d) shows the actual rotor speed. Figure 6.2(e) shows the reference rotor speed. The reference speed is varied linearly from 0 to 450 rad/sec for 1.5 sec and then made constant at 40 rad/sec for 1.5 sec. At 3 sec it is varied linearly from 450 rad/sec to 0 rad/sec for 1.5 sec, then made constant at 0 rad/sec until the simulation time is for 4.5 sec. At this point it varies linearly until -250 rad/sec for the next for 1.5 sec and it stay constant for 1.5 sec before increasing linearly following the same procedure. It can be seen from the graphs of Figure 6.1 that the actual values are able to track the reference values. Figure 6.3 shows the stator q-axis and d-axis flux linkages as the response due to change in reference speed. Shown also are the q-axis and d-axis rotor flux, the slip speed and the stator frequency. It can be noted that the controller is effective in the sense that the variables are giving the values as expected. Figure 6.4 shows the stator q-axis voltage, stator d-axis voltage, electromagnetic torque, rotor q-axis current and rotor d-axis current. The q-axis voltage increases from

322

zero to the maximum value where it has to remain constant as it has already reached its maximum limit. The stator reference and actual phase currents are shown in Figure 6.5. These currents are obtained by performing the inverse transformation fro the qd variables to the abcde variables by using proper reference frame of transformation.

iqs, iqs [A]

50 0 -50 5 0 -5 0.4 0.2 0 400 200 0 -200 -400 400 200 0 -200 -400

(a)
0 2 4 6 8 10 12 14 16

ids, ids [A]

(b)
0 2 4 6 8 10 12 14 16

dr, dr [Wb]

(c)
0 2 4 6 8 10 12 14 16

r [rad/sec]

(d)
0 2 4 6 8 10 12 14 16

r [rad/sec]

f f
0 2 4 6 8 10 12 14

(e)
16

Time [sec]

Figure 6.2 Controller simulation (a) Stator q-axis current (b) Stator d-axis current (c) Rotor d-axis flux (d) Actual rotor speed (e) Reference rotor speed

323

 qs [W b ]

0.4 0.2 0 -0.2 0.4 0 2 4 6 8 10 12 14 16

(a)

ds [W b]

0.2 0 0.4 0.2 0 -0.2 0.4 0 2 4 6 8 10 12 14 16 0 2 4 6 8 10 12 14 16

(b)

qr [W b]

(c)

dr [W b ]

0.2 0 60 40 20 0 -20 0 2 4 6 8 10 12 14 16

(d)

sl [rad/sec]

(e)
0 2 4 6 8 10 12 14 16

400 200 0 -200 -400

e rad/sec]

(f)
0 2 4 6 8 Time [sec] 10 12 14 16

Figure 6.3 (a) stator q-axis flux linkage (b) stator d-axis flux linkage (c) rotor q-axis flux linkage (d) rotor d-axis flux linkage (e) slip speed and (f) stator frequency.

324

150 100 50 0 -50 -100 50

v qs [ V ]

(a)
2 4 6 8 10 12 14 16

v ds [ V ]

0 -50 2 4 6 8 10 12 14 16

(b)

T e [N m ]

10 0 -10 2 10 5 0 -5 -10 4 2 4 6 8 10 12 14 16 4 6 8 10 12 14 16

(c)

iqr [ A ]

(d)

idr [ A ]

2 0 2 4 6 8 10 12 14 16

(e)

Time [sec]

Figure 6.4 Controller simulation (a) stator q-axis voltage (b) stator d-axis voltage (c) Electromagnetic torque (d) rotor q-axis current (e) rotor d-axis current

325

10

i* a s , ia s

0 -10 2 10 4 6 8 10 12 14 16

(a)

i* bs , ibs

0 -10 2 10 4 6 8 10 12 14 16

(b)

i* c s , ic s

0 -10 2 10 4 6 8 10 12 14 16

(c)

i* ds , ids

0 -10 2 10 4 6 8 10 12 14 f* 16 f

(d)

i* e s , ie s

0 -10 2 4 6 8 10 12 14 16

(e)

Time

Figure 6.5 Stator reference and actual phase currents (a) stator phase a current (b) stator phase b current (c) stator phase c current (d) stator phase d current (e) stator phase e current. (Magenta actual phase currents, Blue - reference phase currents).

326

6.6

Conclusion

The vector control of the five-phase induction machine has been presented. Four controllers have been realized and different expressions for obtaining the controller parameters have been derived. Simulation results have been presented. A careful examination of the presented results show that the controller is working and it is possible to get the actual values of the stator and rotor variables. The rotor reference d-axis flux was chosen to be 0.275 Wb, whereas the speed was ramped from 0 to 450 rad/sec for the rising part, then kept constant at 450 rad./sec, before it was ramped to 0 rad/sec for the falling part. The speed was then allowed to become negative after it was kept at 0 rad/sec for some time. Figure 6.4 (c) reveals the torque produced according to the commanded speed. The actual rotor speed in Figure 6.2 (d) tracked the reference rotor speed of figure 6.2 (e) effectively.

327

CHAPTER 7 CONVERTER RECONFIGURATION FOR IMPROVED EXTENDED SPEED RANGE OF MULTIPHASE INDUCTION MOTOR DRIVES

7.1

Introduction

One of the advantages of a multiphase machine apart from its tolerance is that it can be used in high speed applications. In general, the maximum speed of the machine is limited by the inverter voltage and current limits. High speed operation can be made possible by either employing an inverter with higher voltage or by reducing the counter emf value of the machine using field weakening techniques. Other techniques employed to achieve significant wider speed ranges include reducing the per phase equivalent impedance of the machine, pole amplitude and phase modulation by changing the number of poles. These techniques require additional semiconductor devices in the converter as well as special machine designs. An m-phase machine (where m > 3 ) can be connected in m +1 different ways. With these available alternatives, the speed range of an m-phase 2

machine can be significantly increased. As the connection pattern changes from one to the other, the impedance of the machine seen by the inverter varies making it possible to achieve higher speeds before the converter rating voltage is reached. In such connection transitions different torque-speed characteristics are realized. In this Chapter, the approach in reconfiguring the inverter in order to achieve wider speed range of operation for the multiphase induction machines is presented.

328

7.2

Multiphase Stator Winding Machine Connections

For an odd number of phases, the stator winding of a multiphase machine can be connected in m +1 different ways. The first two are the normal star connection and delta 2

connection. The normal delta connection in this case is called the conventional delta. The remaining configurations are the alternate delta connections which are obtained buy changing the phase sequences. In order to achieve the alternate connections, the machine windings are supposed to be connected in delta across the inverter legs. In this section, the peaks of the voltages across the phase windings of the five and seven five machines are calculated as examples. Since the machine is supplied through an inverter, it is easiest to implement the connection changeover from one delta configuration to the other by changing the modulation signals sent to the base drives of the inverter legs.

7.2.1

Five Phase Stator Winding Machine Connections

With the five-phase machine, there are three possible connections one star and two alternate delta connections. Figure 7.1 (a) shows the schematic representation of a five phase stator winding connected in star configuration. Figures 7.1 (b) and (c) show the delta connections of the five phase stator winding of the induction machine in the conventional and alternate configurations, respectively. It is obvious that the difference between the configuration of

329

Figure 7.1 (b) and that of Figure 7.1 (c) is the phase sequence orientation, which will eventually result in different magnitudes of the peak voltages across the machine phase windings. The phase sequence for the delta connection of the five-phase machine are abcde and acebd.
a a

ves vds vcs

d

vas

vea
b

vab

vbs vde vbc

(a)
a d

vcd

(b)

vda

vac
c

vbd

vce

veb
b

(c)

Figure 7.1 Different stator winding connections for a five-phase stator winding (a) star (b) normal (conventional) delta, abcde and (c) alternate delta, acebd. 330

7.2.2

Seven Phase Stator Winding Machine Connections

For the seven phase stator winding, there are four possible connections one star and three alternate delta connections, i.e. 7 +1 = 4 different connections. Whereas the star 2

and normal delta connections have the same abcdefg phase sequence, the three alternate delta connections are obtained by changing the phase sequences alternately. The four connections for a seven phase stator winding are shown in Figures 7.2, 7.3, 7.4 and 7.5 for the star, conventional delta, alternate delta I, and alternate delta II, respectively.

Figure 7.2 Seven phase stator winding in star connection.

331

For the seven phase machine there are abcdefg, acegbdf, and adgcfbe phase sequences for the three alternate delta connections as shown in Figures 7.3, 7.4 and 7.5, respectively.
a

vab b

vga

vbc

vfg

f vcd vef

vde e d

Figure 7.3 Seven phase stator winding in conventional delta (abcdefg) connection. The peak of the phase voltage across each phase winding in Figure 7.3 is 0.8678Vm

332

vac c

vfa

vce

vdf

d veg vbd

vgb b g

Figure 7.4 Seven phase stator winding in alternate delta (acegbdf) connection I. The peak of the phase voltage across each phase winding in Figure 7.4 is 1.5637Vm

333

vad d

vea

vdg

vbe

b vgc vfb

vcf f c

Figure 7.5 Seven phase stator winding in alternate delta (adgcfbe) connection II. The peak of the phase voltage across each phase winding in Figure 7.5 is 1.9499Vm

334

7.3

Converter Reconfiguration

If the m-phase machine is supplied through an m-leg inverter, the voltages across the machine phases change based on the winding connections. If the machine is star connected, then each phase voltage is equal to the inverter leg output voltage. For the other connections, each phase voltage is equal to the voltage difference between the two inverter legs to which the phase winding is connected. For the five-phase machine, the magnitude of the voltage across each phase winding will be 1.1756Vm and 1.902Vm for abcde and acebd,, respectively. Similarly for the sevenphase machine, the amplitudes of the voltages across each phase winding will be 0.8678Vm , 1.5637Vm and 1.9499Vm for abcdefg, acegbdf, and adgcfbe,, respectively. In general, for the alternate delta connections, the voltages across each phase winding are obtained as Vij = Vmij cos(t ij ) where Vmij = Vm

(cos cos ) + (sin sin )

2
i j i j

Vm is the peak of the inverter-leg output voltage.

i , j = (k 1) ij = tan 1

2 , k = 1, 2, L, m m

sin i sin j , i j, cos cos i j

i, j = a, b, c, d , e for m = 5, i, j = a, b, c, d , e, f , g for m = 7 The configurations with lower voltages are suitable for higher torque, lower speed range operation while those with higher voltages will give lower torques, high speed 335

range operating points. Assume the phase angles of the inverter voltages shown in Figure 1(c) are 0, 2 4 6 8 , , and for legs a, b, c, d, and e, respectively; the magnitude of 5 5 5 5

the machine winding phase voltage is 1.1756Vm , which is equivalent to the configuration of Figure 1(a). If these angles are multiplied by a factor of 3, the magnitude of the voltage across each machine phase will be 1.902Vm which is equal to the magnitude of machine phase voltage for the acebd delta configuration of Figure 7.1(b). This connection can be realized through the phase angles of the modulation signals. In general, given the modulation signals for the five legs of the star connection of the machine windings of the induction machine, the respective factors (k i ) with which the phase angles are multiplied by to obtain the ith delta configuration are given by k i = odd (1, 3, L, m 2) , where m(odd ) is the number of phases and i = 1, 2, 3, L, m 1 . 2

Thus by changing the phase angles of the modulation signals, as illustrated in Table 7.1 for a five-phase machine, an automatic changeover between the delta winding configurations without adding any mechanical or semiconductor switches are realized. Figure 7.6 shows the phase windings of a five phase induction machine connected across the outputs of the voltage source five phase voltage source inverter in a conventional delta connection. Figure 7.7 shows the phase windings of a five phase induction machine connected across the outputs of the voltage source five phase voltage source inverter in an alternate delta connection. Switching over from the connection in Figure 7.6 to that of Figure 7.7 would require physical switching between the windings. Instead of using a physical switch, the proposed approach requires one to change the modulation angle of the modulating signals

336

for the respective legs and by so doing, the voltages across the windings in Figure 7.6 will be as if the windings are connected as shown in Figure 7.7.

Table 7.1 Modulation signals for star connection and changeover from delta connection I to delta connection II Phase Star connection (abcde-n) a b
M cos(t + )

Delta connection I (abcde)

M cos(t + )

Delta connection II (acebd)

M cos(t + 3 )

2 + M cos t 5 4 + M cos t 5 6 + M cos t 5 8 + M cos t 5

2 + M cos t 5 4 + M cos t 5 6 + M cos t 5 8 + M cos t 5

6 + 3 M cos t 5 12 + 3 M cos t 5 18 + 3 M cos t 5 24 + 3 M cos t 5

where M is the magnitude of the modulation index and is the phase angle.

337

S ap

S bp

S cp

S dp

S ep

vd 2
a

vd 2

S an

S bn

S cn

S dn

S en

Figure 7.6 Five-leg inverter feeding a five-phase induction machine in abcde delta connection.

S ap

S bp

S cp

S dp

S ep

vd 2
a

vd 2

S an

S bn

S cn

S dn

S en

Figure 7.7 Five-leg inverter feeding a five-phase induction machine in acebd delta connection.

338

7.4

Rotor Reference Frame Vector Control

The induction machine equations represented in the qd synchronous reference frame are given by [7.1] The stator voltage Equations are
v qs = rs iqs + p qs + ds v ds = rs ids + p ds qs

(7.1)

The rotor voltage Equations are

' ' v qr = rr' iqr + p'qr + ( r )'dr ' ' v dr = rr' idr + p'dr ( r )'qr

(7.2)

The stator flux linkages are given by

qs = Ls iqs + Lm iqr ds = Ls ids + Lm idr

The rotor flux linkages are given by
' 'qr = Lm iqs + L'r iqr ' 'dr = Lm ids + L'r idr

(7.3)

(7.4)

The electromagnetic torque is given by

Te = mPLm ' dr iqs 'qr ids 4 Lr

(7.5a)

The rotor speed is pr = 2J (Te TL ) P (7.5b)

For rotor field oriented control [7.2] 'qr = 0 and p'qr = 0 . Therefore from (7.4) and (7.5)

339

' iqr =

Lm iqs Lr

(7.6)

Te =

mPLm ' dr iqs 4 Lr

(7.7)

' ' At steady state the derivative of the peaks are zero. Therefore, since v qr = v dr = 0 , then

from (7.2)
' idr =0

(7.8)

Substituting (7.6) and (7.8) into (7.3) results into

qs = L iqs ds = Ls ids
L2 where L = Ls m L'r Substituting (7.8) into (7.4), the following d-axis rotor flux Equation is obtained

(7.9a) (7.9b)

'dr = Lm ids
Substituting (7.9) into (7.1) at steady state,
v qs = rs iqs + Ls ids v ds = rs ids L iqs

(7.10)

(7.11)

Substituting (7.6) and (7.10) into (7.2), the slip speed is obtained as

sl =

rr' iqs L'r ids

(7.12)

where sl = r

340

7.4.1

Constant Torque Region

In this region, while the rotor flux producing current is kept constant, the speed increases from zero to base speed, as shown in Figure 7.9 during which the q- and d-axis currents are constant. The rated stator current is drawn under this condition. Under this condition, the phase machine winding voltage also increases from zero to the maximum allowable rated value. The torque is constant as depicted in Figure 7.10. The constraints on the inverter voltage and currents are [7.2-7.5]
2 2 vqs + vds Vs2 2 2 iqs + ivds I s2

(7.13a) (7.13b)

Vs and I s are the peak values of the inverter maximum allowable voltage and current. If the stator resistance drop is neglected, then the transition stator frequency from constant torque region to field weakening region I (when the machine phase voltage and current are rated values concurrently) is 1 =
2 2 2 2 L2 s i ds rated + L (I s i ds rated )

Vs

(7.14)

where ids rated is the stator d-axis rated current at rated flux.

7.4.2

Field Weakening Region I

The stator qd voltages and currents are given by the equality constraint version of Equations (7.13) which still hold true in the field weakening region I. For this region of

341

operation, the speed increases beyond base speed and the q- and d-axis stator currents vary with rotor speed. They are given in (7.15) iqs =
2 2 2 L2 s I s Vs 2 2 2 L2 s L

(7.15a)

ids =

2 2 Vs2 2 L Is 2 2 2 L2 s L

(7.15b)

The rotor speed increases until the voltage is no longer able to supply the rated current. Thus the current constraint in (7.13) does not hold any more, Figure 7.9. This is the point at transition from field weakening region I to field weakening region II which is discussed in the next subsection. That is, the phase voltage corresponds to the rated phase voltage but the phase current drawn by the motor is less than the rated phase current.

7.4.3

Field Weakening Region II

In field weakening region II, the current constraint no longer holds true. In this case there is not enough phase voltage from the source to supply the rated phase current. Therefore by using the torque optimization approach, the optimum q- and d-axis stator currents and slip speed can be obtained as dTe =0 diqs iqs opt = Vs 2opt L Vs 2opt Ls 342 (7.16)

(7.17a)

ids opt =

(7.17b)

The optimum value of slip speed is given by

slip opt

rr' Ls = ' Lr L

(18)

where opt is the transition frequency between field weakening regions I and II given by

opt =

Vs Ls L I s

2 L2 s + L 2

(7.19)

As the frequency increases beyond opt the stator currents decrease as

iqs = Vs 2L Vs 2Ls

(7.20a)

ids =

(7.20b)

7.4.4

Current Controller design

Two controllers are required. The q-axis current controller and d-axis current controller. Using Equations (7.4) the rotor currents can be eliminated as follows
' iqr =

1 ' qr Lm iqs L'r 1 ' dr Lm ids L'r

)
)

(7.21)

' idr =

(7.22)

Substituting Equations (7.21) and (7.22) into Equations (7.3), stator flux linkages are given by
' m m qs = Ls L' iqs + L' qr r r

L2

(7.23)

343

' m m ds = Ls L' ids + L' dr r r

L2

(7.24)

Substituting for the qd stator flux linkages from Equations (7.23) and (7.24) into Equations (7.1) gives the following results for the stator voltage Equations
v qs = rs iqs + L pi qs + e L ids + Lm L ' p'qr + e m dr ' Lr L'r Lm L ' qr p'dr e m ' Lr L'r

(7.25)

v ds = rs ids + L pi ds e L iqs +

(7.26)

Equations (7.25) and (7.26 can be re-written as

L pi qs = v qs rs iqs e L ids Lm L ' dr p'qr e m ' Lr L'r Lm L ' p'dr + e m qr ' Lr L'r

(7.27)

L pi ds = v ds rs ids + e L iqs

(7.28)

' For a squirrel cage induction machine, the rotor voltages are zero, i.e. v qr 1 = 0 and ' vdr 1 = 0.

Therefore Equation (7.2) becomes For the q-axis rotor voltage Equation rr' ' 0= qr Lm iqs + p'qr + ( e r )'dr Lr

p'qr =

r'L rr' ' qr + r m iqs ( e r )'dr Lr Lr

(7.29)

For the d-axis rotor voltage Equation 0= rr' ' qr Lm iqs + p'qr + ( e r )'dr Lr

344

rr' ' 0= dr Lm ids + p'dr ( e r )'qr Lr

p'dr =

r'L rr' ' dr + r m ids + ( e r )'qr Lr Lr

(7.30)

Substituting Equations (7.29) and (7.30) into Equations (7.25) and (7.26), respectively results into L piqs = v qs r iqs + rr' Lm ' L ' qr e L ids r m dr '2 Lr L'r rr' Lm ' L ' dr + e L iqs + r m qr '2 Lr L'r (7.31)

L pids = v ds r ids + where L = Ls

(7.32)

L2 rr' L2 m m r = r + and . s ' '2 Lr Lr

Aligning the rotor flux linkage with the d-axis of the synchronous reference frame, the q-axis rotor flux linkage and its derivative are zero. Thus

'qr = 0
p'qr = 0

(7.33) (7.34) (7.35)

'r = 'dr
where 'r is the rotor flux linkage.

Substituting Equations (7.33) - (7.35) into Equations (7.5a) and (7.29) (7.32), results into
Te = mP Lm ' dr iqs 4 Lr

(7.36)

345

rr' Lm 0= iqs ( e r )'dr Lr p'dr = r'L rr' ' dr + r m ids Lr Lr

Lm ' dr L'r

(7.37)

(7.38)

L pi qs = v qs r iqs e L ids r

(7.39)

rr' Lm ' L pids = v ds r ids + '2 dr + e L iqs Lr

(7.40)

Equation (7.37) yields the expression of the fundamental component of the slip frequency required for rotor field orientation control given by
m ( e r ) = rr L '

'

iqs

L r 'dr

(7.41)

The input-output linearization method is used to design the control scheme of the 5phase induction machine as follows [6.1] Equations (7.39) and (7.40) can be re-arranged and written as
L pi qs + r iqs = v qs e L ids r Lm ' dr = qs L'r

(7.42)

L pids + r ids = v ds + e L iqs + where

rr' Lm ' dr = ds L'r2

(7.43)

qs is the output of the q-axis current controller

ds is the output of the d-axis current controller

The controller outputs are related to the reference and actual quantities as follows For the fundamental components

346

* qs = K qs (iqs iqs )

(7.44) (7.45)

* ds = K ds (ids ids )

where K qs is the transfer function of the controller for the q-axis stator current. K ds is the transfer function of the controller for the d-axis stator current, From Equations (7.42) and (7.43), the fundamental components of the qd reference stator voltages are given by
* = qs + e L ids + r v qs

Lm ' dr L'r

(7.46)

* v ds = ds e L iqs

rr' Lm1 ' dr L'r2

(7.47)

where
* v qs is the q-axis reference stator voltage.

* v ds is the d-axis reference stator voltage.

* ids is the d-axis reference stator current. * iqs is the q-axis reference stator current.

The reference rotor flux linkage beyond the base speed is given by
4 3 2 * dr = a 4 r + a 3 r + a 2 r + a1 r + a o

(7.48)

where a o = 0.8940 Wb a1 = 1.7325 x 10 3 Wb sec rad 1 a 2 = 1.5065 x 10 6 Wb sec 2 rad 2 347

a3 = 6.05025 x 10 10 Wb sec 3 rad 3 a 4 = 9.1 x 10 14 Wb sec 4 rad 4 The reference voltages are given by
* * = qs + e L ids + r* v qs

Lm dr Lr

(7.49)

* * = ds e L iqs rr' v ds

Lm dr L2 r

(7.50)

The reference currents are given by

* = idr

* dr
Lm

(7.51) (7.52)

v ds = e qs
' v ds = e Ls iqs + Lm iqr ' 'qr = Lm iqs + Lr iqr

(7.53) (7.54) (7.55)

'qr = 0
' iqr =

Lm iqs Lr

(7.56)

L2 v ds = e Ls m iqs Lr

(7.57)

This gives the stator current as

* = iqs * v ds

L2 m e Ls L r

(7.58)

If the actual q-axis stator current is greater than the rated q-axis current, then the reference current is given by 348

* * iqs = I s2 ids

(7.59)

When the actual voltage exceeds the rated voltage, then the following Equations will generate the reference voltages
* v qs = e ds

(7.60)

' ' However, the d-axis rotor current, idr is zero, i.e. idr =0 ' ds = Ls ids + Lm idr = Ls ids
' dr = Lm ids + Lr idr = Lm ids

(7.61) (7.62) (7.63)

ids =

dr
Lm

Therefore,

ds =

Ls dr Lm Ls * dr Lm

(7.64)

* = e v qs

(7.65)

The reference speed is ramped at a slope of 300 rad / sec/ sec . Figure 7.8 shows the block diagram for extended speed range operation of a five phase induction motor drive.

349

Vs max
Voltage Limiter Current Limiter

Vs Is Modulation signals
* v qs 2 2 Vs = v qs + v ds 2 2 I s = iqs + ids

+ I s max

Line voltages and phase currents mas

iqs ids v qs v ds T 1 ( )

iqs

Eq (7.49)

* M qs

mbs T 1 ( ) mcs mds mes

* M ds

* dr

1 Lm

* + ids

ids

K ds

ds +
+ Eq (7.50)

* v ds

2 v dc

PWM Generation

5-Phase Inverter

Eq (7.58) and (7.59)

* iqs +

K qs

qs +
+

2 v dc

ie

id

i c ib

ia

e
+

PWM signals Carrier signals Motor Speed and position

sl
Eq (7.41)

Figure 7.8 Control Block Diagram for extended speed range operation of the five-phase induction motor drive

350

7.5

Steady-State Results

Steady-state results for the five-phase induction machine in different stator winding configurations are presented in this section. Figure 7.9 and Figure 7.10 show the steadystate results for different stator winding connections. It can be seen that the base speeds depend on the type of winding connection. Also with connections that have higher magnitudes of the phase winding voltage, result in lower torque values but with an extended speed range. Assuming the voltage across the machine phase winding during star configuration is 1 per unit (p.u.), then when the winding is connected in conventional delta (Figure 7.1(a)), the peak voltage across the machine phase winding is 1.1765 p.u, whereas for the alternate delta connection (Figure 7.1(b)) the peak voltage across the machines phase winding is 1.902 p.u. In Figure 7.10, it has been clearly shown that for the delta connection with a phase peak voltage of 1.902 p.u., the torque in the high speed range is higher than that for the other delta and star connections. Thus in high speed applications, relatively high torque can be obtained by changing the voltages across the machine winding as it has been presented in section 7.2. In Figure 7.10, when the machine winding is star connected, higher torque is obtained during the constant torque operation region until the speed is 1 p.u., at a point which field weakening region I starts. At a rotor speed of about 2 p.u., the torque due to the conventional delta connection is higher than those of the other two connections, and therefore the converter has to switch from star connection to delta connection until at appoint when the torque produced due to the alternate delta connection is greater than the

351

other two connections. Thus at a rotor speed of about 2.4 p.u. the changeover from conventional delta to alternate delta will take place.

18

ids for star

16

iqs for star Is for star ids for k = 1.1756 iqs for k = 1.1756 Is for k = 1.1756 ids for k = 1.9020 ids for k = 1.9020 Is for k = 1.9020

14

12

Is , i qs , i ds [ A ]

10

1000

2000

3000 r [ rad/sec ]

4000

5000

6000

Figure 7.9 Stator peak, q-axis and d-axis currents as functions of rotor speed for the three different connections of the five-phase induction motor.

352

18

16
for k = 1.1756

14

Star connection for k = 1.9020

12

10 Te [ Nm ] 8 6 4 2 0 0

1000

2000

3000
r [ rad/sec ]

4000

5000

6000

Figure 7.10 Torque as a function of rotor speed for the three different connections of the five-phase induction motor.

353

7.6

Control Simulation Results

Figure 7.11 shows the simulation results for rotor field oriented control of a fivephase induction machine for varying speed commands in which the actual rotor speed closely follows the command rotor speed. The reference d-axis rotor flux linkage is 0.4574 Wb. Figure 7.12 shows the electromagnetic torque and both the actual and reference rotor speed. Figure 7.12 also shows the simulation results for the field weakening control. It can be observed that before base speed (i.e. 1 p.u.), the torque is approximately constant and as the speed increases, the torque and the flux are gradually reduced. At about 2 p.u. speed, the machine winding connection is changed from star to delta configuration until the speed is about 2.4 p.u. when changeover from conventional delta to alternate delta occurs. It is important to note that during field weakening operation, the reference d-axis rotor flux linkage is given by Equation (7.48).

354

30 15 iqs, iqs 0 -15 -30 8 ids, ids 4 0 0.5

dr, dr
* iqs

(a) iqs 12 13 14 15 16

10

11

ids 0 1 2 3 4 5 6 7 8

ids 9 10 11 12 13 14 15 16

(b)

0.25 0 480 360 240 120 0 -120 -240 30 15

dr

dr

(c)

10

11

12

13

14

15

16

r , r

(d)

10

11

12

13

14

15

16

Te

(e)

0 -15 0 1 2 3 4 5 6 7 8 Time 9 10 11 12 13 14 15 16

Figure 7.11 Simulation for the speed controlled five-phase machine, (a) actual and reference q-axis stator currents (b) actual and reference d-axis stator currents (c) actual and reference d-axis rotor flux linkages (d) actual and reference rotor speed and (e) electromagnetic torque.

355

16 12 iqs, iqs 8 4 0 8 6 ids, ids 4 2 0 0.6

dr, dr
*

iqs 0 1 2 3 4 5 6

iqs 7

(a)

ids

ids (b)

0.4 0.2 0 40 20 0 6 0 1 2 3 4 5

dr

dr

(c)

Te

(d)

r in p.u.

4 2 0 0 1 2 3 Time 4 5 6 7

(e)

Figure 7.12 Simulation for the speed field weakening control of a five-phase machine, (a) actual and reference q-axis stator currents (b) actual and reference d-axis stator currents (c) actual and reference d-axis rotor flux linkages (d) electromagnetic torque and (e) reference rotor speed.

356

7.7

Conclusion

In this Chapter, the approach to reconfigure the inverter in order to achieve wider speed range of operation for the multiphase machines has been presented. The multiphase machines offer extended range speeds of operations when connected in different delta schemes across the inverter output phases. By changing the phase angles of the modulation signals, changeover connection from one delta configuration to the other is achieved. The higher the voltage across the machine phase winding, the higher the speed range and lower the operating torque point. Steady state and simulation results for the rotor flux oriented control have been presented and clearly show that it is possible to operate at higher speeds with a relatively high torque when other connections of the stator windings of the multiphase machine are explored.

357

CHAPTER 8 CONCLUSIONS AND FUTURE WORK

8.1

Introduction

A complex stationary reference frame transformation has been analyzed. It can be used to transform variables of the multiphase system into complex quantities and thus eliminating the time variation. This eases the process of computation and its also simplifies the expressions. Three kinds of transformed variables have been discusses. The forward rotating complex variable, the backward rotating complex variable which are conjugate o s the forward rotating ones and the zero sequence components. The zero sequence component is a real quantity. Therefore for any system with odd number of phases, there are m 1 m 1 forward rotting complex vectors and backward rotating 2 2

vectors. Whereas for the case when the number of phases are even, there exist two zero sequence component. The second one occurring at m . Using the complex reference 2

frame, expressions for determining the real and reactive power have bee derived. These Equations are such that one can compute the power by using the actual machine variables (current and voltage). The reference frame of transformation used in this Thesis obeys power invariance. Therefore, one can obtain the actual values of the real and reactive powers by using the transformed variables without any need of using a multiplying factor. The obtained expressions are good for calculating the power of the multiphase 358

systems and can be applied in any mode of operation, healthy as well as fault operations, as long as the natural variables are known. A five-phase induction machine has been modeled. The winding function method is used to calculate the self and mutual inductances in the stator windings and the rotor circuits, with constant air gap in which the space harmonics of the stator windings and rotor circuits are accounted for. A n x n complex variable reference frame transformation is carried out to simplify computation of the currents, voltages and torque equations. Computer simulation results of the no-load starting transient have been shown with the response of the machine for a change in the load torque. This approach has made it possible to calculate the rotor bar currents. A five-phase carrier based PWM (Pulse Width Modulation) induction motor drive has been presented. The induction machine windings have been connected in alternate ways to increase the torque produced by the machine. A third harmonic voltage component has been injected to detect the ability of a five phase machine to contribute a third harmonic torque component to the fundamental torque component. The dynamics of a five phase induction motor under open phase faults has been considered. Using stationary reference frame and harmonic balance technique, circuit based models have been used to analyze the open phase, two adjacent phases and two non-adjacent phase faults. A voltage source converter has been reconfigured for the purpose of operating the induction motor at high speeds.. It investigates the possibilities of operating a multi-phase induction motor drive in field weakening region under optimum torque production. Computer simulation results for the current controllers have shown to agree with those

359

found in several literature. The advantage of this approach is that torque can be optimized during field weakening regions I and II by employing proper means of changing over from one winding connection to the other, for the available delta configurations. For the five phase induction machine considered in this work, there are two different delta connections, conventional delta (with the peak voltage across the machine phase winding of 1.1756 p.u.) and the alternate delta (with the peak voltage across the machine phase winding of 1.902 p.u.).

8.2

Suggestions for Future Work

Extension of the investigation of five phase induction machines and multiphase systems still has many areas to be accounted for. One of the areas of research is how to control the machine under open phase faults, as well as short-circuited turns. The modeling of the machine using the winding function approach can lead to a controller design, which could command the required current to reduce the high phase currents that occur because of faults. The modulation strategy using space vector approach is currently attracting attention from researchers especially on how to utilize the dc link voltage fully in all sectors for multiphase machine control.

360

REFERENCES

361

[1.1] J. R. Fu and T. A. Lipo, Disturbance Free Operation of a Multiphase Current Regulated Motor Drive with an Opened Phase, IEEE Transactions on Industry Applications, vol. 30, No. 5, pp. 1267-1274, 1994. [1.2] [1.3] Levi, E. Multiphase Electric Machines for Variable-Speed Applications, IEEE Transactions on Industrial Electronics, vol. 55, No. 5, pp. 1893-1909, May 2008. Williamson, S. and Smith, A. C., Pulsating Torque and Losses in Multiphase Induction Machines, IEEE Transactions Industry Applications, vol. 39, No. 4, pp. 986993, July/August 2003. Abbas, M. A., Christen, R., and Jahns, T. M., Six-Phase Voltage Source Inverter Driven Induction Motor,IEEE Transactions on Industry Application, vol. IA-20, No. 5, pp. 1251-1259, September/October 1984. Pavithran, K. N., Parimelalagan, R. and Krishnamurthy, M. R., Studies on inverter-fed Five-Phase Induction Motor Drive, IEEE Transactions on Power Electronics, vol. 3, No. 2, pp. 1177-1184, 1988. Lyra, R. O. C. and Lipo, T. A., Torque Density Improvement I a Six-phase Induction Motor with Third Harmonic Current Injection, IEEE Transactions on Industrial Applications, vol. 38, No. 5, pp. 1351-1360, September/October 2002. Singh, G. K., Nam, K., and Lim, S. K., A Simple Indirect Field-oriented Control Scheme for Multiphase Induction Machine, IEEE Transactions on Industrial Electronics, vol. 52, No. 4, pp. 1177-1184, August 2005. Bojoi, R. Levi, E., Farina, F., Tenconi, A., and Profumo, F, Dual Three-phase Induction Motor Drive with Digital Current Control in the Stationary Reference Frame, IEE Proc. Electr. Power Appl., 2006, vol. 153, No. 1, pp. 129-139, 2006. Kianinzhad, R., Nahid, B., Betin, F., and Capolino G. A., A new field orientation Control of dual three phase induction machines, In Proc. IEEE ICIT, pp. 187192, Hammamet, Tunisia, 2004.

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[1.9]

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VITA

Sosthenes Francis Karugaba was born in Muleba District, Kagera Region, Tanzania. He received his BSc. Electrical Engineering from the University of Dar es Salaam, Tanzania, in 1999. In Fall 2006, he joined Tennessee Technological University and is a candidate for Master of Science Degree in Electrical Engineering.

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PUBLICATIONS

Conferences

1.

Sosthenes Karugaba, Olorunfemi Ojo and Michael Omoigui , Switching Function Based Modeling of Flying Capacitor DC-DC Converters, Conference Record of IEEE Power Electronics Specialists Conference, June, 15-19 2008, Rhodes, Greece.

2.

Sosthenes Karugaba, Ge Wang, Olorunfemi Ojo, and Michael Omoigui, Dynamic and Steady-State Operation of a Five Phase Induction Machine with an Open Stator Phase, accepted for presentation at the NORTH AMERICAN POWER SYMPOSIUM 2008 Conference, September 28 - 30, 2008, Calgary, Canada.

3.

Michael Omoigui, Olorunfemi Ojo and Sosthenes Karugaba, Analysis of MultiTerminal Unified Power Flow Controller for Power Transfer, accepted for presentation at the NORTH AMERICAN POWER SYMPOSIUM 2008 Conference, September 28 - 30, 2008, Calgary, Canada.

368