Analysis of a Four-Phase Induction Machine with Direct Torque Control

Julio Viola, Flavio Quizhpi, Jos e Restrepo, Juan Pablo Pes antez, Marco Miguel S anchez BOL UNIVERSIDAD SIMON IVAR, UNIVERSIDAD POLITECNICA SALESIANA Valle de Sartenejas, Baruta, Edo. Miranda, Caracas, Venezuela Calle Vieja y Elia Liut, Cuenca, Azuay, Ecuador Phone: +58 (212) 906-4012 Email: jcviola@usb.ve URL: http://www.usb.ve

Acknowledgments
The authors want to thank to Prometeo Project of SENESCYT (Ecuador) and Universidad Polit ecnica Salesiana for the nancial support to this research work.

Keywords
<<Induction motor>>, <<Direct torque and ux control >>, <<Multiphase drive>>.

Abstract
In this work the design and control of a four-phase induction machine (4P-IM) is addressed. The 4PIM is controlled using a four-phase voltage source inverter (4P-VSI) with a generalization of the classic direct torque control (DTC) scheme. An analysis of the available valid switching states and voltage space vectors is developed and a switching table is obtained. Finally, the systems fault tolerant characteristics are briey considered for operation with gate suppression in one IGBT. In this case, operation is still possible with the use of switching strategy that employs the remaining space vectors available during the fault.

Introduction
The use of four wires for electric transmission is not new and has been proposed before as a solution to improve efciency of traditional three wire lines [1]. The main idea behind the concept of four-phase (4P) electric transmission is to obtain higher reliability and transmission capacity by adding just one phase to a three-phase (3P) system. More complex solutions to achieve similar results are based on sixphase (6P) and twelve-phase (12P) systems [2]. Conversion from 3P to 4P systems have been addressed using double Scott and double LeBlanc congurations [3] and more recently in [4] a novel transformer topology allows to convert from 3P to 4P systems using just one four-leg core transformer. There are few works, however, addressing the analysis of the structure of four-phase electronics converters which would be the natural option for connecting to four-phase systems. In [5] it is proposed the use of a 4P-VSI as a converter from a three-phase system to a four-phase system. In [6] a 4P-VSI is analyzed but the fourth leg is used as neutral return connection when unbalanced load currents are considered. Other works presented the use of 4P-VSI applied to switched reluctance machines (SRM) [7], [8], although in these applications the topology for the VSI is different as the SRM have typically open-ended windings, requiring the midpoint of each converters leg to be open. The authors have previously proposed the design and operation of a 4P-IM, where its performance is analyzed when connected to a 4P system obtained from a 3P system, using to this aim a double Scott transformer conguration [9]. In a scenario where power transmission would be made with 4P voltage system a 4P-IM would be feed by a 4P-4P reducer transformer which is by far less complex and less expensive than any transformer conguration to convert from 3P to 4P. In that work, also, a 4P-VSI driving the 4P-IM with an open loop V/f algorithm was presented as an option to operate the machine, showing promising results.

B b wr stator rotor a C c A

air gap

(a)

(b)

Figure 1: (a) Schematic circuit for the 4P-IM, (b) Experimental stator currents obtained for the 4P-IM.

The present study proposes a generalization for the classic DTC scheme [10], originally developed for three-phase induction machines (3P-IM), which is rst implemented and simulated in MATLAB and later experimentally tested. Also the operation of the proposed DTC scheme when a fault condition occurs in the 4P-VSI is briey discussed.

Four Phase Induction Machine

The operating principle of the 4P-IM presented in [9] is a generalization of the classic 3P-IM operation with the stator composed by four windings symmetrically allocated with an angular separation of /2 rad. Fig. 1(a) shows a scheme for the 4P-IM stator conguration. The design presented in [9] uses a squirrel cage rotor. If this 4P-IM is excited by a four-phase voltage system having four sinusoidal voltage signals with the same frequency and amplitude, the resulting stator ux linkage will be rotating. The four voltage components can be represented as: van (t ) vbn (t ) vcn (t ) vdn (t ) = = = = Vmax sin(t ) Vmax sin(t /2) Vmax sin(t + ) Vmax sin(t + /2) (1) (2) (3) (4)

If the system is balanced the instantaneous sum of the four voltage signals equals to zero. In Fig. 1(b) experimental stator currents are shown when the 4P-IM is started with a 4P voltage system which was obtained using the double Scott transformer connection [9].

Four-phase voltage source inverter

Voltage source inverters are widely used when variable frequency and amplitude are required to control electric machines. Even when the output voltage signals are not sinusoidal, the intrinsic low-pass effect of stator windings allows to obtain almost sinusoidal stator currents if proper modulation is applied to switched voltages. The topology for the 4P-VSI is shown in Fig. 2, where the midpoint of each leg is connected to one phase of the 4P-IM. With the proposed topology 16 valid switching states (SS) can be obtained, which are depicted in Fig. 3. When the upper switch in a leg is turned on the leg state is labeled as 1 and when the lower switch is turned on the leg state is labeled as 0, resulting in the combinations shown in Table I where the values of the resulting phase-to-phase and phase-to-neutral voltages are also shown. The effect of switching states considering the spatial distribution of 4P-IM stator windings, can be represented using the concept of voltage space vector where the effects of phase lag of each voltage component and the angular separation of each winding can be combined into one space vector resulting vs (t ) = vAN (t )e j0 + vBN (t )e j 2 + vCN (t )e j + vDN (t )e j 2
3

(5)

SA

SB

SC

SD +

VCC
SA SB SC SD

vAB
A B

vBC vDA
C

vCD
D

Figure 2: Four-phase voltage source inverter

1 VDC 0

1 VDC

1 VDC

1 VDC

1 VDC 0

1 VDC

1 VDC

1 VDC

1 VDC 0

1 VDC

1 VDC

1 VDC

1 VDC 0

1 VDC

1 VDC

1 VDC

Figure 3: Valid switching states for the 4P-VSI

Table I: Valid switching states for the 4P-VSI and the resulting phase-phase and phase-neutral voltages
SS SS0 SS1 SS2 SS3 SS4 SS5 SS6 SS7 SS8 SS9 SS10 SS11 SS12 SS13 SS14 SS15 SA 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 SB 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 SC 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 SD 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 vAB 0 VDC VDC 0 0 VDC VDC 0 0 VDC VDC 0 0 VCC VCC 0 vBC 0 0 VDC VDC VDC VDC 0 0 0 0 VDC VCC VCC VCC 0 0 vCD 0 0 0 0 VDC VDC VDC VDC VDC VDC VDC VCC 0 0 0 0 vDA 0 VDC 0 VDC 0 VDC 0 VDC VDC 0 VDC 0 VCC 0 VCC 0 vAN 0
3 4 VDC 1 4 VDC 1 2 VDC 1 4 VDC 1 2 VDC

vBN 0 1 4 VDC
3 4 VDC 1 2 VDC

vCN 0
1 4 VDC 1 4 VDC 1 2 VDC 3 V 4 DC 1 2 VDC 1 2 1 4

vDN 0 1 4 VDC 1 4 VDC 1 2 VDC 1 4 VDC 1 2 VDC 1 2 VDC 3 4 VDC

3 4 VDC 1 2 VDC 1 2 VDC 1 4 VCC 1 2 VCC 1 4 VCC 1 4 VCC

1 4 VDC 1 2 VDC
1 2 VDC 1 4 VDC

1 2 VDC 1 4 VDC 1 4 VDC 1 2 VDC 1 2 VDC

1 4 VCC 1 2 VCC 1 4 VCC 3 4 VCC

VDC VDC

1 4 VDC 1 2 VDC 1 2 VDC

1 4 VCC 1 2 VCC

1 4 VDC 1 2 VDC 1 2 VDC 3 4 VCC 1 2 VCC 1 4 VCC 1 4 VCC

3 4 VCC 1 4 VCC 0

where the factors e ji are complex quantities meeting e ji = 1i = cos i + j sin i (6) Each term in the right hand of ( 5) can be seen as a vector in the direction of the axis associated to the corresponding stator winding vs (t ) = vAN (t ) + vBN (t ) + vCN (t ) + vDN (t ) (7) Fig. 4(a) shows the resulting 8 active voltage space vectors and the null vector obtained for the 16 valid switching states. Using the values for the phase-to-neutral voltages shown in Table I and (7) it can be noted that space vectors V0 , V2 , V4 and V6 have a magnitude of VDC and space vectors V1 ,V3 ,V5 y V7 have a magnitude of 2VDC . As can be seen some vectors can be obtained with more than one SS, being this redundancy useful to implement control algorithms with reduced switching characteristics.

Direct torque control for the 4P-IM

As in the original version of DTC the selection of the most appropriate voltage space vector in each control cycle is based on the use of a switching table having three input parameters: angular position of the stator ux linkage space vector, electric torque error and stator ux linkage error. As the main difference with the original DTC it is worth noting that instead of 6 angular sectors in this inverter topology there are 8 angular sectors. Also, since 9 voltage space vectors are available in each control period, it is possible to obtain a ner control of the stator ux linkage and in this approach a 3-level hysteresis comparator is used instead of the 2-level one used in original DTC. Fig. 4(a) shows the 8 angular sectors used as reference to make the selection of the best voltage space vector. In Fig. 4(b) an example of a stator ux linkage vector is shown and how each available voltage space vector will change its phase and magnitude in the next control cycle. The resulting switching table is shown in Table II where is the output of the 3-level comparator for the stator ux error and is the output for the 3-level comparator for the electric torque error. A start-up of the machine is simulated using MATLAB to solve the system of differential equations developed in [9]. The following parameters are used in the simulation: Rs = 1.115 , Rr = 1.083 , Lls = 15 mH, Llr = 15 mH, Lm = 203 mH, B = 0.005 N.m.s, J = 0.089 kg.m2 , VDC = 170 V, where Rs and Rr are the stator and rotor resistances, Lls and Llr are the stator and rotor leakage inductances, Lm is the mutual inductance between stator and rotor windings, B is the friction coefcient, J is the moment of inertia and VDC is the DC bus voltage. The phase and magnitude of stator ux linkage are recorded and depicted in Fig. 6(a) when a 1.5 Wb ux reference was set. For the same conditions Fig. 6(b) shows the evolution of electric torque when the 4P-IM is started with a 5.0 N.m torque reference. If an outer speed control loop is implemented with a classic PI controller and the speed reference is set to 100 rad/s, the torque reference is adjusted by the controller to track the speed reference. In Fig.7 the evolution of mechanical speed during the machine start-up is shown.

B
(0,1,1,0) (1,1,0,0) (0,1,0,0) (1,1,1,0)

B V3 V2 V1 V1 V3 Ys
A

V3 S3

V2 S2 S1

V1

(0,0,1,0) (0,1,1,1)

S4
(0,0,0,0) (1,1,1,1) (1,0,1,0) (0,1,0,1)

(1,0,0,0) (1,1,0,1)

V5

V7 V0 A

V4 VNULL S5 S6 V5
(0,0,1,1)

V0 S0

V4

S7 V6 D
(0,0,0,1) (1,0,1,1)

V7
(1,0,0,1)

V5

V6 D

V7

(a)

(b)

Figure 4: (a) Voltage space vectors for the 4P-VSI and angular sectors, (b) Example of available voltage space vectors.

2 1.5 1 sy (Wb) 0.5 0 0.5 1 1.5 2 2 1 0 sx (Wb) 1 2

Figure 5: Stator ux linkage evolution.

6 5 Electric torque (Nm) 4 3 2 1 0 0

0.1

0.2

0.3

0.4

0.5 time (s)

0.6

0.7

0.8

0.9

Figure 6: Electric torque evolution.

150

Rotor speed (rad/s)

100

50

0 0

0.5

1.5
time (s)

2.5

Figure 7: Rotor speed evolution for a 100 rad/s speed reference.

Table II: Switching table for the proposed DTC scheme.

=1 =1 =0 = 1 =1 =0 =0 = 1 =1 = 1 =0 = 1 S0 V1 V0 V7 V2 VNU LL V6 V3 V4 V5 S1 V2 V1 V0 V3 VNU LL V7 V4 V5 V6 S2 V3 V2 V1 V4 VNU LL V0 V5 V6 V7 S3 V4 V3 V2 V5 VNU LL V1 V6 V7 V0 S4 V5 V4 V3 V6 VNU LL V2 V7 V0 V1 S5 V6 V5 V4 V7 VNU LL V3 V0 V1 V2 S6 V7 V6 V5 V0 VNU LL V4 V1 V2 V3 S7 V0 V7 V6 V1 VNU LL V5 V2 V3 V4

B
(1,1,0,0) (1,1,1,0)

V2 S2 S1

V1

C VNULL
(1,1,1,1) (1,0,1,0)

(1,0,0,0) (1,1,0,1)

V0 S0

S7 S6 V6 D
(1,0,1,1)

V7
(1,0,0,1)

Figure 8: Voltage space vectors for the 4P-VSI when a fault in SA is simulated.

Fault tolerance
The operation of the 4P-IM with a trigger suppression in one IGBT in the 4P-VSI is evaluated by simulations. The test consisted in xing the upper switch of the inverter leg A to state 1 forcing the corresponding lower switch to be permanently in state 0. As a consequence of the faulty device the available voltage space vectors are reduced due to the fact that vector V0 is now applied all the time. In Fig. 8 the remaining voltage vectors are shown, noting that vector VNULL can be obtained by applying vector V4 . In this scenario the switching strategy is modied to use the voltage space vectors V2 , V6 and VNULL to obtain an oscillating stator ux magnitude along the B D axis, which resembles the operation principle of a single-phase motor. In Fig. 9 the rotor speed evolution is shown when a 100 rad/s reference is set and a fault in switch SA is simulated at t = 1.5 s. After a transient of about 1.5 s the rotor speed reach the speed reference at t = 3 s. For the same conditions the oscillating stator ux magnitude along the B D axis is shown in Fig. 10. Other strategies proposed for 3P-IM with DTC under fault conditions can be adapted to the 4P-IM. In [11], for example, the operation of a single DC link dual three-phase inverter with faulty devices is presented, being this method suitable to be generalized for a dual four-phase inverter driving a 4P-IM.

Conclusion
The use of 4P voltage systems has been reported as a potential evolution to current 3P systems to obtain more transmission capacity and efciency. The use of 4P-IM controlled by a 4P-VSI, however, is barely developed across the current literature. The work presented the generalization of the DTC scheme for a 4P-IM showing that the method leads to a stable and predictable performance of the machine. Also an

150

Rotor speed (rad/s)

100

50

0 0

0.5

1.0

1.5
time (s)

2.0

2.5

3.0

Figure 9: Rotor speed evolution for a 100 rad/s speed reference and a simulated fault at t = 1.5 s.

2 1.5 1 0.5
Y (Wb)
sy

0 -0.5 -1 -1.5 -2 1.2 1.3 1.4 1.5

time (s)

1.6

1.7

1.8

Figure 10: Evolution of stator ux magnitude along the B D axis when a fault is simulated at t = 1.5 s.

adaptation is proposed for the DTC algorithm when a faulty device is simulated showing that the 4P-IM can be operated in this condition until the damaged switch can be replaced. Future works will include the analysis of other methods to deal with fault conditions and experimental results for these schemes.

References
[1] G. Mazzanti and S. Quaia, Four-phase ac connections: An alternative possibility for the expansion of transmission grids, Power Delivery, IEEE Transactions on, vol. 25, pp. 1010 1018, april 2010. [2] T. Landers, R. Richeda, E. Krizanskas, J. Stewart, and R. Brown, High phase order economics: constructing a new transmission line, IEEE Transactions on Power Delivery, vol. 13, pp. 1521 1526, Oct. 1998. [3] M. J. Heathcote, The J & P Transformer Book: A Practical Technology of the Power Transformer. Linacre House, Jordan Hill, Oxford OX2 8DP: Elsevier, 12th ed., 1998. [4] L. Guangye and Y. Yihan, Three-phase-to-four-phase transformer for four-phase powertransmission systems, IEEE Transactions on Power Delivery, vol. 17, pp. 1018 1022, Oct. 2002. [5] Z. Zhu, Y. Chen, and R. Wang, Research on the symmetrical four-phase voltage produced by the three-phase four-bridge inverter, in IEEE Power Electronics Specialists Conference, 2008. PESC 2008, pp. 1912 1915, June 2008. [6] P. C. Loh and D. Holmes, A multidimensional variable band ux modulator for four-phase-leg voltage source inverters, IEEE Transactions on Power Electronics, vol. 18, pp. 628 635, Mar. 2003. [7] Y. Dessouky, B. Williams, and J. Fletcher, A novel power converter with voltage-boosting capacitors for a four-phase SRM drive, IEEE Transactions on Industrial Electronics, vol. 45, pp. 815 823, Oct. 1998. [8] S. Wang, Q. Zhan, Z. Ma, and L. Zhou, Implementation of a 50-kW four-phase switched reluctance motor drive system for hybrid electric vehicle, IEEE Transactions on Magnetics, vol. 41, pp. 501 504, Jan. 2005. [9] J. Viola, F. Quizhpi, and G. Parra, Vector analysis of a four-phase induction machine, in IEEE 4th Latin American Symposium on Circuits and Systems, 2013. LASCAS 2013, pp. 1 4, Feb. 2013. [10] I. Takahashi and T. Noguchi, A new quick-response and high-efciency control strategy of an induction motor, IEEE Transactions on Industry Applications, vol. IA-22, pp. 820 827, Sept. 1986. [11] J. Restrepo, A. Berzoy, A. Ginart, J. Aller, R. Harley, and T. Habetler, Switching strategies for fault tolerant operation of single DC-link dual converters, IEEE Transactions on Power Electronics, vol. 27, no. 2, pp. 509518, 2012.