An Advanced Disturbance Reduction Field-Oriented
Control for Six-phase Induction Machine
K. A. Chinmaya∗ , G. K. Singh†
Department of Electrical Engineering.
Indian Institute of Technology Roorkee, Roorkee.
Uttarakhand, India.
Email: chinmay.vasista@gmail.com∗ , gksngfee@iitr.ac.in†
Abstract—These days multiphase induction machines are being
considered for various applications in transportation and power
sector. This is because of their capability to achieve enhanced
power when compared to its three-phase counterparts. In addi-
tion to this, a multiphase drive improves the reliability at the
system level, thus contributing to overall system efficiency. An
efficient control strategy is necessary to operate a multiphase
induction motor drive in variable speed. Variation in load torque
causes speed disturbance to any machine drive operating in closed
loop, consequently affecting the system performance. This paper,
therefore, proposes a simple and elegant rotor field oriented
control (RFOC) methodology for a six-phase induction motor
(SPIM) with 30°phase displacement between the two three-phase
winding sets. Proposed RFOC consists of an additional loop for
the resilient speed control under input load disturbances without
any additional PI controllers. A detailed dynamic modeling
of SPIM with vector space decomposition (VSD) SVPWM is
presented in the paper. In order to verify the effectiveness
proposed RFOC, necessary simulation results are provided using
MATLAB/SIMULINK software and experimental analysis is
performed on 1.5 hp induction machine.
Index Terms—Multiphase induction machine, space vector
pulse width modulation (SVPWM), rotor field oriented control
(RFOC), load disturbance reduction technique.
I. I NTRODUCTION
With the increase in application of electric machines in
mining, automotive and industrial sectors, demand towards
high powered electric drives are increasing day by day. This
higher output power can also be accomplished by employing
multiphase induction motor drives. Multiphase drive system
was first proposed in 1969 [1], however it was in the last
two decades that researchers attention towards it has increased
consistently. Multiphase induction machines possess several
advantages over their three-phase counterparts such as; higher
reliability, reduced torque pulsation, higher power in the same
machine frame, decreased DC link current harmonics in case
of voltage source converter (VSC) fed drives, etc. [2], [3].
Among multiphase induction machines, most discussed one
is a six-phase induction machine with a phase displacement
of 30° between the two three-phase winding sets [4]. It is
capable of eliminating the sixth order torque harmonics, which
can be observed in three-phase induction motor when supplied
from a VSC. This machine is also known as asymmetrical
six-phase induction machine (ASIM) or dual stator winding
induction machine (DSIM). Neutral points of the stator can be
978-1-5386-1138-8/18/$31.00 ©2018 IEEE
configured either isolated or as a single neutral point, whereas,
physical fault transmission between the two three-phase and,
flow of triplen harmonic currents can be avoided with isolated
neutral points [5].
The per phase stator resistance and leakage reactance of
a SPIM are less than that of a three-phase machine, which
in order reduces the capacity to restrain the stator harmonic
currents [6]. Space vector pulse width modulation (SVPWM)
techniques are observed to be controlling the harmonic spec-
trum of output voltage, without changing any machine de-
sign. SVPWM techniques for asymmetrical SPIM have been
reported in few literature. Conventional SVPWM similar to
that of three-phase SVPWM is reported by Gopakumar et.
al in [6]. Zhao et. al proposed an SVPWM technique by
using vector space decomposition (VSD) method in [7]. Vector
classification technique was proposed by Bakhshai et. al in [8].
A comparative analysis of SVPWM techniques for six-phase
IM drive has been presented in [9].
Three-phase variable speed drives are being used since
1960s, and field oriented control (FOC) or commonly known
as vector control methods are the most recognized control
strategies for both induction machines and permanent magnet
synchronous machines. These FOC techniques have been
extended to multiphase systems, which offer higher degrees of
freedom, thus contributing to the system efficiency [10], [11].
However, while performing SPIM control, small asymmetries
leading to unbalanced current sharing between two sets of
three-phase windings is noted in some publications [12], [13].
These unbalance current sharing can be eliminated either
by utilizing four inner loop current controllers [14], or by
performing quasi-balanced operation [15].
When these machines are being used in variable speed
applications, a sudden change in the load torque can affect
the speed control. Maintaining speed even with continues load
variation is very important in some applications. In order
to achieve this, an advance disturbance reduction rotor field
oriented control (RFOC) for asymmetrical SPIM is proposed
in this paper. Protuberance in the drive speed is decreased
by feed-forwarding input load torque as an equivalent q-
axis current iqL before current controller. The paper dis-
cusses the detailed dynamic modeling of asymmetrical SPIM,
and six-phase PWM converter in section I. Then in section
 Lls ωl d1s
q-axis
a iq1s
L'lm Llr rr
ωl d2s
b1-axis rs Lls
iqr
br-axis a2-axis iq2s
vq1
Lm vqr
vq2
ar-axis
L'ldq
b2-axis

r
L'ldq q-axis
a1-axis d-axis rs Lls ωl q1s

L'lm Llr rr
id1s
rs Lls ωl q2s

idr
vd1 id2s
Lm vdr
vd2
c1-axis

cr-axis c2-axis d-axis

(a) (b)
Figure 1: a) Phasor representation of an asymmetrical SPIM, b) d − q axis equivalent circuit of SPIM.

II, RFOC using six PI controllers, feed-forward technique arbitrary frame of reference can be written as [16],
to reduce load disturbance and VSD SVPWM technique
vq1 = r1 iq1 + ωa λd1 + pλq1
are presented. Proposed methodology is implemented using
MATLAB/SIMULINK software and simulation results are vd1 = r1 id1 + ωa λq1 + pλd1
presented in section IV. Experimental results obtained with the vq2 = r2 iq2 + ωa λd2 + pλq2
laboratory prototype are given in section V. Finally, conclusive vd2 = r2 id2 + ωa λq2 + pλd2
remarks of the proposed field-oriented control is discussed in
0 = rr iqr + (ωa − ωr )λdr + pλqr
section VI.
0 = rr idr + (ωa − ωr )λqr + pλdr

II. M ULTIPHASE DRIVE MODEL . where ωa is the arbitrary reference speed and p denotes
differentiation.
Multiphase drive system consists of a VSC supplying SPIM. Stator and rotor flux linkages can be expressed as,
Multiphase induction machines can be modeled by either λq1 = Ll1 iq1 + Llm iq − Lldq id2 + Lm (iq1 + iq2 + iqr )
transforming individual pair of three-phase windings into ’n’
λd1 = Ll1 id1 + Llm id − Lldq iq2 + Lm (id1 + id2 + idr )
number of phases [16] or by using vector space decomposition
transformation [7]. In this paper, machine model is formulated λq1 = Ll2 iq2 + Llm iq − Lldq id1 + Lm (iq1 + iq2 + iqr )
in arbitrary frame of reference by transforming individual λd1 = Ll2 id2 + Llm id − Lldq id2 + Lm (iq1 + iq2 + iqr )
three-phases into two axes (d − q) machine model. Six-phase λqr = Llr iqr + Lm (iq + iqr )
d − q model of induction machine is supplied from a six-
λdr = Llr idr + Lm (id + idr )
phase PWM converter realized in terms of switching functions.
A simplified mathematical modeling of six-phase induction N1 N1
Llm = Llm , Lldq = Lldq
motor and six-phase VSI are described in this section. N2 N2
iq = iq1 + iq2 , id = id1 + id2
A. Modeling of six-phase induction machine. where L0lm is the common mutual leakage inductance and
L0ldqis mutual leakage coupling between two stator windings.
Phasor representation of stator and rotor windings of asym- The torque equation of the induction machine can be
metrical SPIM is given in Fig. 1a. Two three-phase stator expressed as
windings labeled a1 , b1 , c1 and a2 , b2 , c2 are displaced by
3 P Lm
thirty degrees. Neutral of both the winding sets are kept [(iq1 + iq2 )idr − (id1 + id2 )iqr
Tem = (1)
isolated to prevent physical fault transmission, and flow of 2 2 Lr
triplen harmonic currents as mentioned earlier. Two stator B. Six-phase voltage source converter model.
windings of each three-phases are distributed uniformly and An m-level n-phase inverter has mn space vectors; there-
are displaced by 120°apart. The rotor windings ar , br , cr are fore, a six-phase two-level VSI has 26 i.e. 64 space vectors,
equivalent to the six-phase stator windings. corresponding to the 64 switching states. They are comprised
The d − q axes equivalent circuit of the six-phase induction of 48 active vectors, 4 null vectors and 12 superimposed
machine is shown in Fig. 1b. Voltage equations of SPIM in redundant vectors. Increased number of switching vectors
 28 60

44 24
12 56
20
VDC A1 A2 B1 B2 C1 C2 30 62
8 61 52
29
40
26 36
4 46 45 58
14 13 25 16 48
22 57
42
O 54
31
10 0 63
Va1 Va2 Vb1 Vb2 Vc1 Vc2
9 32 53
21 41
n1 6
n2 47 38 50 49
15 17 59
5 18
27
Figure 2: Six-phase voltage source inverter connected to SPIM 23
37
34
11 2 1 55
33
43
7 51
39 19
allows smooth transmission of output voltage between the
adjacent voltage vectors. The output phases of SPIM are 3 35
denoted as a1,b1,c1 and a2,b2,c2 and inverter leg pole points
Figure 3: Six-phase VSI phase voltage space vectors in d-q
as A1 ,A2 ,B1 ,B2 ,C1 ,C2 . Phase voltages can be realized in terms
plane
of inverter leg voltages as,

va1 = (1/3)(2vA1 − vB1 − vC1 ) order to do so, d− and q − axis variables must be decoupled
from each other. Dynamic voltage equations in terms of flux
vb1 = (1/3)(2vB1 − vC1 − vA1 )
linkage and stator currents can be written as,
vc1 = (1/3)(2vC1 − vA1 − vB1 )
va2 = (1/3)(2vA2 − vB2 − vC2 ) 
1 + τs (1 − σ)

dids1
Vds1 = Rs ids1 + σLs
vb2 = (1/3)(2vB2 − vC2 − vA2 ) τr dt
vc2 = (1/3)(2vC2 − vA2 − vB2 ) − ωa σLs iqs1 − ωa (σLs − Lls )iqs2 (4)
In a six-phase VSI, voltages are projected into a six dimen- Ls (1 − σ) Lm d
+ ids2 − λr + (σLs − Lls ) ids2
sional space having two orthogonal two dimensional planes τr Lr τr dt
called as d1 -q1 and d2 -q2 and a zero sequence plane 01 -
02 . Space vectors for SPIM in stationary frame, using power
 
1 + τs (1 − σ) diqs1
invariant transformation can be defined as, Vqs1 = Rs iqs1 + σLs
τr dt
+ ωa σLs ids1 + ωa (σLs − Lls )ids2 (5)
vd1 q1 = vd1 + jvq1 Lm Ls (1 − σ) d
= 0.33(va1 + a4 vb1 + a8 vc1 + ava2 + a5 vb2 + a9 vc2 ) + ωa λr + iqs2 + (σLs − Lls ) iqs2
Lr τr dt
(2)
 
vd2 q2 = vq2 + jvq2 1 + τs (1 − σ) dids2
Vds2 = Rs ids2 + σLs
= 0.33(va1 + a8 vb1 + a16 vc1 + a5 va2 + avb2 + a9 vc2 ) τr dt
(3) − ωa σLs iqs2 − ωa (σLs − Lls )iqs1 (6)
where, a=exp(jπ/6) Ls (1 − σ) Lm d
+ ids1 − λr + (σLs − Lls ) ids1
Space vectors in d1 -q1 plane of a six-phase VSI are shown τr Lr τr dt
in the Fig. 3. Depending on the magnitude, active vectors are
 
classified as largest, second largest, third largest and shortest 1 + τs (1 − σ) diqs2
vectors. 12 redundant vectors resides along with third largest Vqs2 = Rs iqs2 + σLs
τr dt
vectors, therefore they can be synthesized by either of the two + ωa σLs ids2 + ωa (σLs − Lls )ids1 (7)
switching state combinations. Null vectors are mapped to the
Lm Ls (1 − σ) d
origin. + ωa λr + iqs1 + (σLs − Lls ) iqs1
Lr τr dt
III. ROTOR FIELD ORIENTED CONTROL OF INDUCTION where,
GENERATOR
Speed control strategy of SPIM is shown in Fig. 4. In this Lm 2 Ls Lr
σ =1− , τs = , τr =
work, rotor field oriented control (RFOC) with two sets of d-q Ls Lr Rs Rr
current controllers are implemented for SPIM speed control. The d-axis flux linkages are assumed to be aligned with the
RFOC independently controls the machine torque and flux. In rotor flux-linkage vector λr and q-axis flux-linkages are set to
 1/2 IqL estimator Chv
ω*r i * vq1 i-1
q
PI PI
ωr Speed iq1 vq2 S
PI Load
PI dq/ V
i * iq2 vd1 SPIM
λ*r PI d
PI abc P
Flux id1 vd2 W i-2
λr PI PI M
id2
isense
abc/dq

Figure 4: Schematic diagram of rotor field-oriented control.

zero. As d-axis current is responsible for the flux-production, it load torque measurement is very difficult in real time, therefore
is renamed as if and q-axis current is responsible for torque a method to estimate the load torque from rotor speed, and
production, it is renamed as iT . The rotor flux-linkages are electromechanical torque is discussed in this section. Using
given by, speed dynamic equations, load torque can be written as,

λr = λd r, λqr = 0 (8) dωr

Tl = Te − Bωr − J (13)
dt
The rotor currents can be rewritten with respect to (8) as,
With a discrete time difference, aforementioned equation
  can be written as,
1
if = [1 + τr p]λr (9)
Lm
ωr (k) − ωr (k − 1)
Tl (k) = Te (k −1)−Bωr (k −1)−J (14)
  
Lm iT
ωsl = (10) ts
τr λr
By substituting for Te from equations (11) and (12), load
where, torque can be rewritten as,
Lr
if = id1 + id2 , iT = iq1 + iq2 τr =
rr Tl (k) = Ke · λr (k − 1) · iT (k − 1) − Bωr (k − 1)
The electromagnetic torque can be given by, ωr (k) − ωr (k − 1) (15)
−J
ts
Te = Ke λr iT (11)
Load torque compensating current iq L can be obtained by
where,     the following equation,
3 P Lm
Ke = (12)
2 2 Lr
2Lr
The implementation methodology of rotor field oriented iqL = Tl (k) = G1 Tl (k) (16)
P Lm λr
control involves six PI controllers. PI values are obtained
by designing transfer function of the SPIM with RFOC. The Effective sum of iqs and iqL are capable of compensating
outer PI controller is used for speed control and flux control, for the change in load torque, and simultaneously maintain the
which generate reference currents i∗q and i∗d . Internally, four desired speed demand. Estimation of load torque compensating
PI controllers are used to control the direct and quadrature current iqL is shown in Fig. 5. Feed forwarding input load
currents of two sets of windings in SPIM. These PI controllers torque as an equivalent q-axis current in current loop gives
generate the reference voltage for PWM converters. effective improvement in speed response.

A. Disturbance reduction feed-forward loop B. Vector space decomposition SVPWM.

The main objective of any control technique is to improve
the system speed response, but a change in load torque will
cause a sluggish reaction and affect the speed under closed
loop control. In order to avoid this kind of interference,
a modification in the existing RFOC is proposed by feed
forwarding load torque compensating current iqL . However,
SVPWM techniques can improve the current quality in a
multiphase machine [17]. Vector space decomposition pro-
posed by Zhao and Lipo in [7] is most utilized SVPWM
technique. In this method, along with one null vector four
active space vectors of the largest magnitude adjacent to the
reference vector are considered to synthesize space vector.
 dr
Te -4
x 10
Fcn( dr,Iqs) 1.5

iqs TL iqL
_+

signal (p.u)
Reference
B _ G1 1

0.5

Wr +_ J/ t 0
1 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08
Time (S)
200 150

40

Mag (Vrms)
100

voltage (A)
100
Figure 5: Feed forwarding load torque as an equivalent q-axis

Phase
20

0 0
0 100 200 300 400 500

current iqL -100

50

-200 0
1 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08 0 1000 2000 3000 4000 5000
Time (S) Frequency (Hz)
4 3
Vector switching times can be calculated by volt-second bal- 1

current (A)
ance from the following equation.

Mag (Irms)
0.5

Phase
2
0
0
0 100 200 300 400 500
1
-2

T1 vd1 + T2 vd2 + T3 vd3 + T4 vd4 + T0 vd5 = Ts vd∗ (17) -4

1 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08
0
0 1000 2000 3000 4000 5000
Time (S) Frequency (Hz)
T1 vq1 + T2 vq2 + T3 vq3 + T4 vq4 + T0 vq5 = Ts vq∗ (18)
Figure 6: Vector space decomposition SVPWM waveform.
T1 vx1 + T2 vx2 + T3 vx3 + T4 vx4 + T0 vx5 = 0 (19)
From top to bottom: Reference signal, phase voltage with
T1 vy1 + T2 vy2 + T3 vy3 + T4 vy4 + T0 vy5 = 0 (20) frequency spectra, phase current with frequency spectra
Ts = T1 + T2 + T3 + T4 + T0 (21)
50
where, d-q and x-y subscripts denotes the components of
(rad/S)
Speed 0
space vectors in the particular plane. v1 to v4 indicates four
-50
adjacent active space vectors and v5 is zero space vector. T0 15
Torque
(N-m)

to T4 are the switching times of corresponding space vectors. 0

This PWM technique provides the maximum output voltage in -15
the d-q plane by keeping the x-y plane harmonics minimum. 1
Rotor flux
(Wb)

0.5
IV. S IMULATION RESULTS
0
10
Currents (A)

The system is simulated with 1.5 hp six-phase six-pole

Phase

induction machine (parameters are listed in appendix) using
MATLAB/SIMULINK software. Vector space decomposition
(VSD) SVPWM is used to synthesize the output voltage. The
simulation results of VSD SVPWM are shown in Fig. 6. In
this technique, a null vector and four active vectors from
the outermost polygon are selected to obtain the reference
voltage; hence, decreasing the amplitude of d2 -q2 vectors. This
controlling of switching vectors in d2 -q2 subspace decreases
the harmonic content in the phase current when compared to
that of the conventional SVPWM method.
RFOC simulations are performed at a reference speed of
40 rad/s. A load torque of 5 N-m was applied at t=1 s.
Drive performance is evaluated for the change in speed, and
change in load torque. Machine speed, electromagnetic torque,
rotor flux, and stator currents for variation in the reference
speed, and load torque are presented in Fig. 7. As it can
be observed, machine speed is tracking reference speed very
effectively and it continues to do so even with the load torque
variation. Simulated waveforms of d− and q − axis currents
in synchronous frame of reference are exhibited in Fig. 8.
Torque producing components of the machine, iq1 , and iq2 are
varying with the change in speed and load torque, whereas flux
producing components id1 , and id2 are maintained constant.
Extended view of drive speed, with and without feed
forward control is presented in Fig. 9. From the simulated
0
-10
0 0.4 0.8 1.2 1.6 2
Time (S)
Figure 7: Simulated waveforms of; speed, torque, rotor flux,
and motor currents
waveform, reduction in the disturbance can be observed with
feed-forward control. Reduction of disturbance depends on
size and rating of the machine. As machine considered in this
analysis is smaller one, observable variation is quite less, but
for a high power machine, even small reduction can benefit
with a larger impact.
V. E XPERIMENTAL RESULTS
Laboratory set up consisting of 1.5 hp, six-pole, six-phase
induction machine is developed for performing the exper-
imental validation. Two IGBT SEMIKRON converters are
connected to two sets of SPIM windings. These converters
are connected in parallel to three-phase diode rectifier, thus
sharing a common DC-link. Gate pulses for two sets of three
IGBT converters are generated with dSPACE DS1104.
Experimental waveforms of phase current and phase voltage
during steady state with VSD SVPWM are presented in
Fig. 10a. As the number of active vectors for synthesizing
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VI. C ONCLUSION .
A simple and elegant form of RFOC, based on a dynamic A PPENDIX
model of SPIM is presented in this paper. As both stator ASIM parameters
terminals are controlled as separate entities, unbalance current Stator resistance [Rs ] 4.12 Ω
sharing observed in previous works is eliminated inherently. Rotor resistance [Rr ] 8.79 Ω
Simulation and experimental results of aforementioned control Stator leakage inductance [Lls ] 21.6 mH
strategy, and of VSD SVPWM are exhibited for verification. Rotor leakage inductance [Llr ] 43.3 mH
With an additional feed-forwarding loop injecting load torque Mutual inductance [Lm ] 234.6 mH
equivalent q-axis current, improvement in speed response Number of poles [p] 6
is observed. This feed-forwarding loop will be much more
beneficial for fault-tolerant operation of SPIM.