A Novel Direct Torque Control (DTC) Method for Five-Phase Induction Machines

Hamid A. Toliyat Huangsheng Xu

Senior Member, IEEE Student Member, IEEE

Electric Machines & Power Electronics (EMPE) Laboratory

Department of Electrical Engineering
Texas A&M University
College Station, TX 77843-3128
Phone: (409) 862-3034
Fax: (409) 845-6259
E-mail: toliyat8ee.tamu.edu

Abstract- In this paper, direct torque control (DTC) of five- Direct torque control (DTC) of induction motors, which
phase induction motor is developed. A novel DTC scheme is has been developed in the recent decade, is a powerful
proposed, where fast torque response with low ripple in the control method for motor drives [6]-[9]. Featuring direct
stator flux and torque of five-phase induction motor can be control of the stator flux and torque instead of the
achieved. In comparison with DTC for three phase induction conventional current control technique, it provides a
motor, the five-phase DTC system has thirty-two space voltage
vectors, which provide greater flexibility in selecting the inverter systematic solution to improve operating characteristics of
switching states thus accomplishing a more precise control of the not only the motor but also the voltage source inverter (VSI).
stator flux and torque. Simulation and experimental results In principle, DTC method is based on instantaneous
clearly demonstrate a better dynamic and steady state space vector theory. By optimal selection of the space voltage
performance with DTC for five-phase induction motor, which vectors in each sampling period, DTC achieves effective
suggest that the combination of DTC with multi-phase induction control of the stator flux and torque. Thus, the number of
motor have a great practical prospect in motor drives. space-voltage X E G i s X d switching frequency directly
influence the performance of DTC control system. Also, DTC
I. INTORDUCTION
strategy is dependent upon the motor drive configuration [8]-
High phase number drives possess several advantages
[9]. In this paper, the DTC is developed for a five-phase
over conventional three phase drives such as: reducing the
induction motor. The difference between DTC of three-phase
amplitude and increasing the frequency of torque pulsations,
and five-phase induction motors is investigated.
reducing the rotor harmonic currents, reducing the current per
A schematic diagram of three-phase induction motor
phase without increasing the voltage per phase, lowering the
drive is shown in Fig. 1. There are eight switching states,
dc link current harmonics and higher reliability. By
where the corresponding space voltage vectors: six non-zero
increasing the number of phases it is also possible to increase
active voltage switching space vectors and two zero space
the torque per rms ampere for the same volume machine [l].
vectors we illustrated in Fig. 2.
When a voltage source inverter is used to supply a motor, its
stator harmonic current amplitudes are determined not only
by the source amplitude and waveform, but also by the motor
leakage inductances at harmonic frequencies. These
inductances are a function of the number of phases and can
be quite small so that certain harmonic currents have large
amplitudes as mentioned by Ward and Harer [2], Abbas et al.
[3], and Klingshirn [4]. However, Pavithran et al. [5] have
shown that the five-phase drive operates satisfactorily when
fed from a pulse width modulation (PWM)inverter.
The high phase order drive is likely to remain limited to
specialized applications where high reliability is demanded Fig. 1 Three-phaseinduction motor-invertersystem.
such as electrichybrid vehicles, aerospace applications, ship
propulsion and high power applications where a combination In order to maintain the stator flux and torque within the
of several solid states devices form one leg of the drive. limit of two hysteresis bands, DTC of three-phase motor
Therefore, the requirement of n separate drive units.in a selects one of the six space voltage vectors and two zero
multi-phase system is not oppressive for large drives since voltage vectors in a sampling period. The limited eight
many of the necessary components are presented in the available voltage vectors, which could be applied to the three-
contemporary designs. phase DTC system, determine the presence of ripple in the
stator current and torque. Various methods have been

0-7803-5864-3/00/$10.00 0 2000 IEEE 162

introduced to improve the stator current and torque
performance such as predictive control of torque and double
three-phase inverter scheme [IO]. In general, the objective of
these schemes is to generate a number of voltage vectors
more than that used in basic DTC scheme.

Fig. 4 Space voltage vectors of five-phase inverter.

11. EQUATIONS OF FIVE-PHASE INDUCTION MOTOR

A four-pole five-phase induction motor is used for the
Fig. 2 Space voltage vectors of three-phase induction motor. analysis and test of DTC system. The winding axes of the
five stator windings are displaced by 2z/Srad. Iron
In comparison with three-phase induction motor drives, saturation is neglected in the analysis. The basic equations of
five-phase induction motor drives are supplied with a five- five-phase induction motor are expressed in instantaneous
phase VSI inverter, as shown in Fig. 3. In this case, there are vectors forms [l]. The voltages V,and currents f,for the
two zero voltage states associated with either all five of the
upper switches “on” or all of five bottom switches “on”. five-phase induction motor are represented as follows
Besides, there are thirty non-zero modes of switching. The respectively, that is:
I.2n
- I.4a
- -1-.4a .2n
total number of the five-phase inverter switch combinations is V, = -2[ v u + v b e 5 +v,e 5 +vde 5- +v,e-’Tl
(1)
. 2’ = 32. In particular, the 32 space voltage vectors are 5
.2n .4n .4x .2n
composed of three sets of different amplitude vectors, and I , =-[io
2 + i , e ’ T + i c eI - 5 + i d e-1- 5 +i,e-’71
(2)
divide the switching plane pattern into 10 sectors as shown in 5
Fig. 4. The ratio of the amplitudes of the voltage vectors is where
1:1.618:1.618’ from the smallest one to the largest one v, ,v b ,v,, vd ,v, are the instantaneous values of phase
respectively [ 111-[ 121. voltages and i, ,ib,i, ,id, i, are instantaneous values of phase
Therefore, five-phase induction motor drive has many currents.
more space voltage vectors than three-phase induction motor.
The increased number of space voltage vectors allows the The stationary transformation matrix T is given by:
generation of a more elaborate switching vector table in
which the selection of the voltage vectors is made according
to real-time variation of stator flux and torque. Moreover, the
different amplitudes of voltage vectors provide increased Using the five-phase transformation developed in [ 111-
possibility to minimize the ripple in the stator flux and [ 121, the dynamic behavior of five-phase induction motor is
torque. described by the following equations written in terms of
space vectors in the stationary reference frame:
Stator voltage and rotor voltage equations:

Q = R,I, dt
+&-W,JA, (4)
where
A,,;1,are stator and rotor flux linkages respectively,
I - I R,, R, are stator and rotor resistances respectively,
w, is the rotor angular speed expressed in electrical
radians,
Fig. 3 Five-phase induction motor-drivesystem.

163
 J=[O -’]
1 0
Since stator resistance R, is relatively small, the voltage
drop ],R, might be neglected. The discrete time representation
Stator and rotor flux linkage equations: of the above equation is:
A, = L,I, + L,I, (5) ;Is(”)=&*I) +vs *T (14
a, = L,I, + L,I, (6) where T is the sampling period.
where According to both (13) and (14), it is clear that stator
L,, Lr,L, are stator, rotor and magnetizing inductances flux directly depended on space voltage vector V, and system
respectively, sampling period. Therefore, by selecting the thirty-two
5 voltage vectorsV, properly it is possible to control the stator
L, =-Lm, +L,
2 flux 2,, and drive the stator flux A, along a predetermined
5
Lr = T L m r + 4v path.
5 Furthermore, the relationship between the torque of five-
L, = T L m s (9) phase induction motor and space voltage vector V,is
I,, I , are stator and rotor currents respectively, analyzed. From (3) to (9), the following expressions can be
Electromagnetic torque and mechanical motion equations derived [ 101:
are given by: T, = (Pw,T, J - I)& +&Is (15)
5P 5P dt
T, =--(A,XI,)=---(I,XA~) (10)
22 2 2 -As
Lr = A, +&I,
(1 6)
T,-T,=J,* r,
dt where
where
P is the pole number,
J , is the mechanical motion inertia.
Finally, the torque can be expressed as following:
L,,--
dTe - P(A~XU,)-R,T, - P ~ W , ( A ,
(1 7)
111. DIRECT TORQUE CONTROL PRINCIPLE OF FIVE
dt
PHASE INDUCTION MOTOR DRIVES
where
Fig. 3 shows the five-phase pulse width modulated
RI L r + Rr Ls
(PWM) inverter. Each phase switching function, which is R”, =
called S a ,S,, S, ,S, ,S, , can take either 1 or 0 value based on Lm
In the above equation, stator and rotor flux linkages,
the state of the upper or lower switch. If the upper switch is
‘on” then the switching function assumes a value of ‘l’, else A,,A, , and shaft speed U , , cannot change instantaneously
‘0’.Therefore, the space voltage vector V, might be written and only V,can be changed in every sampling interval.
as follow: According to ( 5 ) and (6),the relationship between A, and dr
.2K .4K .4K .2K
2
V, = - E d [ S o + S b e
I-
’ +S,e ’
I-
+Sde
-1-
’ (12)
can be obtained as follow:
5 -A,
Lr = A, + LUIS (1 8)
where Lm
Ed is the DC link voltage; Since L,, is very small, if I 1, I is limited, the difference
and S, ,S,, S, ,S, ,S, are .,five-phase inverter switching between As and A, is relatively small, i.e., A, =: A,. Hence,
functions. (17) can be written as:
Thirty-two switching combinations can be considered
according to the above relationship: two zero voltage vectors dTe
L,,-= P(A, xV,)-R,T, - P20r(IAs 1’) (19)
and thirty non-zero space voltage vectors as shown in Fig. 4. dt
These voltage vectors have three different amplitudes. The From the above equation, it can be noticed that the
switching plane is correspondingly divided into 10 sectors. torque directly relates with space voltage vector V, and the
Each sector is 7r/5rad, i.e. for any sectorell, stator flux d, . When the stator flux A, maintains constant,
(a/5)( n - I) < e, < (7r/5)n = 1.2,. ..io. proper selection of the space voltage vectors can increase or
According to (3), the stator flux Ascan be obtained as: decrease the torque quickly.
In all, by employing different space voltage vector V, ,
A, = ji(Vs - I$, )dl (13) both the stator flux and torque of five-phase induction motor
can be controlled simultaneously.

164
 IV.DTC METHOD FOR FIVE-PHASE INDUCTION
MOTOR
As described previously, the goal of DTC of five-phase
induction motor is to maintain the stator flux and torque
within the limits of flux and torque hysteresis bands by
proper selection of the stator space voltage vectors during
each sampling period. The voltage vectors are selected
according to the errors of stator flux and torque. Table 1
summaries the combined effects of each voltage vector on
both the stator flux and torque, assuming the stator flux is
located in the first sector.
The 32 voltage vectors are divided into three groups
according to their amplitudes. The larger the amplitude of
voltage vector is, the higher its influence will be on the
flux As and torque T,. This is illustrated in Table 1 with the
number of arrows. For example, three arrows upward (tft)
or downward (.l,L.l,) represents the flux A, and torque T,can be
maximized or minimized, when these voltage vectors are
applied. The arrow (TJ) describes that flux almost stays
constant.
In other words, consider the motor runs in the counter-
clockwise direction, which is the positive direction of speed
and hence the torque. Initially, the space voltage vector V, ,
in the largest group, is employed to start the motor and build
the stator flux within a short period of time. Accordingly,
stator flux is defined in the first sector. If the flux d, is less
than the commanded flux a,', one of the voltage vectors V,, ,
VIS, V24, V,,, which are the adjacent vectors to V,,
including V, itself can be selected to increase its amplitude.
Likewise, a reduction in flux A., can be achieved by applying
any of the vectors: VIZ, VI4, V,, V,, or V,. It is worth
nbticing that these vectors have different affect on the stator
flux. Voltage vectors V, , and V, have a larger effect on the
flux amplitude, whereas Vi7 , Vz4 , VI,, and V, have a lesser
impact.
The other voltage vectors in this group reduce the flux
amplitude further. The zero voltage vectors Vo and V,, do not
affect substantially the flux, with the exception of the flux
weakening due to the voltage drop on the stator resistance.
Similar analysis can be applied to the voltage vectors in the
second group and the third group. However, the voltage
vectors in these two groups do not affect the flux amplitude
as significantly as the ones in the first group. So, they can be
utilized for finer adjustment of the stator flux when the motor
runs at the steady state.
Simultaneous control of both the stator flux and torque is
achieved according to the following scheme. As shown in
Table 1, for positive shaft speed and voltage vectors given in
the first group, the stator flux d, and torque T, can be
increased by applying the two voltage vectors V,, , and V, .
Likewise, a decrement of the flux d, and torque T, can be
165
obtained by either V, , or V, . When the flux d, needs to be
increased, whereas the torque T, needs to be decreased, V,,
or V,,could be selected. Voltage vectors V,, or V,, can lead
to a reduction in the stator fluxd,, and an increase of the
torque T,. Although, the zero voltage vectors V,, and V,, do
not affect the stator flux A, significantly, they can be used to
decrease the torque T,. Therefore, when it is required to
maintain the stator flux d, and decrease the torque T,, the
optimum voltage vector would be Vo, or V3*. A similar
analysis on how the voltage vectors affect the stator flux d,
and torque T, can be carried out for the second group and the
third group of voltage vectors shown in Table 1.
v6 '14 VU v7A VU VI1 VI9 v3 vl v002)
I,(,, 111 12 1 7 tt ttt f t t 1 11 tl
Table 1 Stator flux and toque variation for different voltage vectors.
This algorithm is performed at every sampling period
where a proper voltage vector is selected to minimize the
errors of the flux and torque so that the flux A., and torque T,
follow the desired values. Due to the number of voltage
vectors for five-phase induction motor, it is very cumbersome
to adopt look-up table method to complete the selection
process for each sampling period in the simulation and
control program. However, the simple technique developed in
this paper can be used to select the proper voltage vectors.
Fig. 5 is a block diagram representation of DTC control
strategy for five-phase induction motor. The system consists
of inner torque loop , stator flux loop and outer speed loop.
Whenever a speed command a,* is given, the system
automatically compares it with the motor actual speed or.
Since the error of speed directly reflects torque, the output of
speed PI controller is used as the torque reference value T,'
to make the necessary torque adjustment. Once the proper
adjustment is done, the motor speed should follow the given
value U,'. At the same time, the DTC system samples in real
time the five-phase stator currents and DC link voltage,
which are used to calculate the stator flux d, and torque T,.
These values are compared with the reference values of the about f0.5", which is rather low for a DTC motor drive
stator flux A,' and torque Te*. Based on these results, an system. Besides, it can be noted that the torque dynamic
response is quite rapid, and the system achieves the steady
optimal voltage vector table is generated, which sends out the status in less than 0.2sec. Fig. 8 shows the motor stator
switch gating signals to control the five-phase motor drive.
Ill currents iSd,is, in stationary reference frame.
Fh. Ruu LlrNrr E l a m m k 1-
eo, , , . . . ., . , ,

. l O l . , , , , , . . .
0 0 . 0 0.1 0.15 0.2 0.25 0.3 0.55 0.4 0.45
I

Fig. 7 Developed electromagnetic toque of five-phase induction motor

U
=
Y (load torque = 5 Nm).

Fig. 5 Block diagram of DTC for 5-phase induction motor drive.

V. SIMULATION RESULTS
The overall five-phase induction motor drive plus the
DTC algorithm has been implemented on a digital computer
for a 7.5 hp, four-pole, five-phase induction motor whose
parameters are listed in the appendix. The sampling period is
defined as60p.s. The reference values are 5Nm for the load
torque and 0.54Wb for the stator flux. The motor is running
at 300rpm. ! . . . . . . . . . & I
Fig. 6 shows the stator q-axis flux versus d-axis flux 0 0.0 0.1 0.15 0.2 0.25
I
0.3 0.55 0.4 0.46 0.5

trajectory in the stationary reference frame. After an initial
transient, the stator flux locus quickly becomes a circle,
where the amplitude of the stator flux IY=,/-can
perfectly track the commanded value A,* (0.54Wb).
FM P h i Swor h
0.6
I simulation results of the stator flux, torque. and the stator
Fig. 8 Stator currents of five-phaseinduction motor.
In order to verify the improvement of DTC for five-
phase induction motor, a similar has been performed on a
. 7.5hp, four-pole, three-phase induction motor with the same
sampling frequency and reference values. Fig. 9 to 11 show
currents for this case.
FMphPe yuhbu SUIa Rim

0.4.

0.2.

IO .
42.

Q.6 L 1
46 Q.4 42 0 02 M OB
luxd 4.4 .
Fig. 6 Stator flux of five-phase induction motor.
4.6 L
4.6 4.4 4.2 0 0.2 0.4
Fig.7 is the developed electromagnetic torque T, of five- k d

phase induction motor during start up. The torque ripple is Fig. 9 Stator flux of three-phase induction motor.

166
 Fig. 9 illustrates the stator q-axis flux versus d-axis flux
for the three-phase induction motor. Although, the stator
flux locus is circular, it is not as smooth as it was shown in
Fig. 6 for the five-phase induction motor. Fig. 10 is the
electromagnetic torque reof three-phase induction motor. The
torque ripple is about f2Nm in the steady state, which is
much larger than the torque ripple for the five-phase
induction motor. Fig. 11 shows the stator currents j,, jJq in
the stationary reference frame for three-phase induction
motor. In comparison with Fig. 7 and 8, it is evident that the
ripple of the stator current and torque is greatly reduced for
DTC of five-phase induction motor. These results point to the
fact that DTC of five-phase induction motor can result in a
more accurate control of stator flux and torque.
m.
Fig. 12 and 13 show that both the stator current and flux
of five-phase induction motor are practically ideal sinusoidal
waveforms with lower ripple. In Fig. 13, it can be seen that
torque pulsation is very small in the steady state.
Fig. 14 presents the stator current and speed during start-
up. It appears that the stator current and speed regulations
have a swift response, which quickly achieve.the steady state.
In comparison with Fig. 15 to 17, an obvious performance
improvement can be noticed for DTC of five-phase induction
motor. The stator current and torque ripples are less in five-
phase induction motor than in the three-phase induction
motor. The starting current is also significantly lower.
Therefore, experimental results show that DTC for five-phase
induction motor have higher dynamic and steady state
performance, which is consistent with the theoretical analysis
and simulation results obtained previously.
I I I I I I I I I I I

60.

40.

L
50.
r
20.

8mJdiv-r O.Wo0 Z.OA/div-In ZOV/div-Va

Fig. I2 Stator cunent and phase voltage of five-phase induction motor.

'h
40

8ddiv-r SNnddiv-To O.Wo0 0.SWUdiv-Fluxq

I
Fig. 13 Stator flux and toque (no load) of five-phase induction motor.
Ag. 11 Stator currents of three-phase induction motor. [ ! ! ! ! ! ! ! ! ! I
VI. EXF'EFUMENTAL RESULTS
A digital control architecture using a TMS32OC32 DSP
is developed to study the application of DTC on five-phase
induction motor. Experiments have been carried out to
compare the performance of DTC for a 7.Shp five-phase
induction motor and a 7.5hp three-phase induction motor.
Fig. 12 to 17 illustrate the experimental results for these two
cases: stator current and phase voltage presented in Fig. 12
and 15; stator flux and torque in Fig. 13 and 16; dynamic 5oonsr/dici 2.0Ndiv-I. O.oo00 2001pmldiv-w
response of stator current and speed in Fig. 14 and 17
Fig. 14 mamic response of stator current and speed of'five.-phase
restxctivelv. induction motor.

167
 the stator flux and torque. Further work is in progress in our
laboratory.
the Office of Naval Research under Grant No. N00014-98-1-
0717.
simulation and experiment are as follows:
Fig. 15 Stator current and phase voltage of three-phase induction motor.
Bddiv-t SNnddiv-Te O.oo00 0.Wdiv-Fluxq
Fig. 16 Stator flux and toque (no load) of three-phase induction motor.
SMhnJdiv-1 2.0Ndiv-Ia O.oo00 zo(Lpmldiv-w
Fig. 17 Dynamic response of stator current and speed of three-phase
induction motor.
VII.CONCLUSION
In this paper a novel DTC method for five-phase
induction motor was developed. Five-phase inverter provides
32 voltage vectors with regard to 8 voltage vectors generated
by three-phase inverter. For verification, a DTC scheme for
five-phase induction motor drive was implemented. The
simulation and experimental results clearly demonstrate that
DTC for five-phase induction motor can achieve a more
precise flux and torque control than three-phase induction
motor for the same commanded inputs. The results suggest
that the combination of DTC with multi-phase induction
motor can realize higher performance.
With the 32 space voltage vectors offered by five-phase
inverter, a better control schemes can be developed for DTC
such as application of zero voltage vectors and those voltage
vectors with the smaller amplitudes to minimize the ripple in
168
ACKNOWLEDGMENT
This material is based in part upon work supported by
APPENDIX
The parameters of five-phase induction motor used in the
Power 7.5hp
Phase voltage 230V
Frequency 6OHz
Poles 4
Stator resistance 0.2m
Rotor resistance 0.1652
Stator leakage inductance 4.76mH
Rotor leakage inductance 1.7mH
Mutual inductance 151.5mH
t ~ inertia 0.04Kg .m2
~ e c h a n imotion
REFERENCES
H.A. Toliyat, and T.A. Lipo, "Analysis of a concentrated winding
induction motor for adjustable speed drive applications-Motor design
and performance," IEEE Trans. on Energy Conversion, Vol. 6 4, Dec.
1991. pp. 684 -692.
E.E. Ward,and H. Harer. "Preliminary Investigation of an Inverter-Fed
5-Phase Induction Motor," Proc. EE,vol. 116, No. 6, 1969.980-984.
M. A. Abbas, R. Christen, and T.M. Jahns, "Six-Phase Voltage Source
Inverter Driven Induction Motor," IEEE Trans. Ind. App.. vol. IA-20,
No. 5, SepJOct. 1984, pp. 1251-1259.
E.A. Klingshim, "High Phase Order Induction Motors-Part I and II,"
IEEET-. Power App. SYS.,vol. PAS-102, NO. 1, Jan 1983. pp. 47-
59.T.Noguchi, M. Ya"oto, S. Kondo, and I. Takahashi, "High
frequency switching operation of PWM inverter for direct toque
control of induction motor", Proceedings of the 1997 IEEE Industry
App. Society Annual Meeting Conference, Vol. 1,1997. pp. 775 -780.
K.N. Pavithran. R. Parimelalagan, and M.R. Krishnamurthy. "Studies
on Inverter-Fed Five-Phase Induction Motor Drive." IEEE Power Elec.,
vol. 3. No. 2. Apr. 1988, pp. 224-235.
I. Takahashi,and T. Noguchi, " Take a look back upon the past decade
of direct toque control of induction motors", proceedings of the 1997
Industrial ElectroNcs Society Annual Meeting Conference. Vol. 2,
1997. pp. 546-551.
M. Depenbrook, "Direct self-control (DSC) of inverter-fed induction
motor", IEEETrans. on PE-3, No. 4, Oct. 1988, pp. 420-429.
J. Kyyra. "Space-vector modulator for poly phase voltage-sourced
DCAC converters", Proceedings of the 1997 IEEE Power ElectroNcs
SpecialistsConference. Vol. 2 , pp. 1500-1506.
G. Buja, D. Casadei, and G.Se-. "Direct toque control of induction
motor drives". proceeding of the 1997 IEEE International Symposium
. -
on Industrial ElectroNcs,Vol. I, pp. TU2-TU8.
[lo] Y. Li. J. Shao, and B. Si. "Direct toque control of induction motor for
low speed drives considering discrete effects of control and dead-time
of invater", proceedings of the 1997 IEEE Industry Applications
Society Annual Meeting Conference, Vol. 1.1997. pp. 781-788.
[1 I] H.A. Toliyat, "Analysis and Simulation of Five-Phase Variable Speed
Induction Motor Drives Under Asymmetrical COM~C~~OW," IEEE
Trans. on Power Electronics. Vol. 13, No. 4, July 1998, pp. 748-756.
[12] H.A. Toliyat, M.M. Rahimian, and T.A. Lipo, "Analysis and modeling
of five phase converters for adjustable s p e d drive applications".
proceedings of the 1993 European Conference on Power Electronics
and Applications. Vol. 5, pp. 194 -199.