Dynamic Modeling and Simulation of

SVM-DTC of Five Phase Induction Motor

U. Mahanta1, D. Patnaik2 B. P. Panigrahi3, A. K. Panda4

1 3
Dept. of Electrical Engineering, IGIT, Sarang Dept. of Electrical Engineering, IGIT, Sarang
2 4
Dept. of Electrical Maintenance, CPP, Nalco, Angul Dept. of Electrical Engineering, NIT, Rourkela
1,2 3,4
Odisha, India Odisha, India
1
umakanta_667@rediffmail.com,2debasis136@yahoo.co.in 3
bibhu89@yahoo.com,4akpanda@nitrkl.ac.in

Abstract—In an inverter, the number of legs can be increased The dynamic equations of 5-phase induction motor in
to any number. So, any number of phase voltages can be synchronously rotating reference frame are given in (1). By
generated with proper firing pulses. In this work, a five phase putting ω e = 0 in (1), equations for the stationary reference
machine is modeled and simulated in MATLAB / Simulink. The
space vector modulation (SVM) technique is applied to the frame can be developed [3, 4].
proposed model for its torque control. The torque control dΨds
characteristic obtained using SVM based DTC is compared with vds = Rsids + − ωeΨqs
dt
a three phase induction machine with same DC link voltage. The
result shows that for equal DC link voltage performance of five dΨqs
phase machine is better than its three phase counterpart.
vqs = Rsiqs + + ωe Ψds
dt
Keywords— Dynamic modeling, space vector modulation based dΨdr
vdr = 0 = Rr idr + − (ωe - ωr )Ψqr (1)
DTC, Five phase induction motor, stationary reference frame dt
dΨqr
I. INTRODUCTION vqr = 0 = Rriqr + + (ωe - ωr )Ψdr
dt
The multiphase machines are rapidly gaining popularity
due to their inherent advantage as compared to its three phase dixs
v xs = Rs ixs + Lls
counterpart such as reduced per phase inverter rating, low dt
space harmonic content, greater reliability, fault tolerant di ys
feature and increased power as compared to three phase v ys = Rs i ys + Lls
machine [1-8]. Classical DTC for drive control uses a look up dt
table for generation of firing pulses [3,9,10]. The SVM-DTC di
overcomes the limitation of classical DTC such as higher v0 s = Rs i0 s + Lls 0 s
torque pulsation, variable switching frequency [12-15]. In dt
SVM-DTC, a reference voltage is synthesized based on its Where
location in a sector and effective switching time is calculated Ψij is the flux linkage (i=q or d and j= s or r )
with the help of reference voltage, DC link voltage and sector vqs , v ds : q and d- axis stator voltages
information.
v qr , v dr : q and d- axis rotor voltages
In this work, the 5-phase induction machine is modeled in v xs , v ys : x and y- axis stator voltages
stationary reference frame. Taking the mathematical
equations a model is simulated in MATLAB / Simulink. The v 0 s : zero sequence stator voltage
method of modeling is analyzed and simulated. The space R s : stator resistance
vector modulation (SVM) based DTC has been applied for R r : rotor resistance
performance study of the 5-phase induction motor. In 5-phase
SVM-DTC both the large and medium vectors of switching Lls : stator leakage inductance
states are used for developing firing pulses. The simulated ω e : stator angular electrical frequency
results are compared with its three phase counterpart. As ω r : rotor angular electrical speed
SVM-DTC uses the stator voltage and current for
When five phase balanced supply is fed to a 5-phase
development of logic circuit, stationary reference frame is
induction motor, in addition to the fundamental, 3rd harmonic
used for simulation of 5-phase induction motor model.
voltages also develop inherently. Thus 5-phase induction

978-1-4678-6503-1/15/$31.00 © 2015 IEEE

 motor is excited by fundamental d1-q1 and 3rd harmonic x-y 10 26
voltages. The x-y components are fully decoupled from d1-q1
components [2, 6, 7]. As the rotor is shorted, the third Sector 3
harmonic components cannot appear in the rotor winding. 11 Sector 4 27 2 18
Sector 2
Since only d1-q1 components appear in both stator and rotor,
the model of the 5-phase induction motor will be similar to 3- 8
14 30
phase induction motor model based on state space equations 24
Sector 5 3
as given in (2). So, in the presented model, the fundamental 19 Sector 1
space harmonics is energized and third harmonic components 15
π5
9 25
are cancelled. 6 16 22
y-axis

dFqs ª ω R º 12
= ωb «vqs − e Fds − s ( Fqs − Fmq )» Sector 6 28 Sector 10
dt ¬ ωb xls ¼ 1
7 17
23
dFds ª ω R º
= ωb «vds + e Fqs − s (Fds − Fmd )» 13
29 4
20
dt ¬ ωb xls ¼ Sector 7 Sector 9

dFqr ª (ω − ωr ) R º
= −ωb «vqr + e Fdr + r ( Fqr − Fmq )»
Sector 8
(2) 5 21
dt ¬ ωb xlr ¼
dFdr ª (ω − ωr ) R º x-axis
= −ωb «vdr − e Fqr + r (Fdr − Fmd )»
dt ωb xlr Fig. 2 Switching Vectors of a 5-phase VSI in x-y plane
¬ ¼
Where The phase voltage of the 5-phase induction motor with
Fij is the flux linkage (i=q or d and j= s or r ) different switching states are developed using (3).
Fmq , Fmd : q and d axis magnetic flux linkage variable Vdc
Vas = ( S AB + S AC + S AD + S AE )
xls : stator leakage reactance 5
x lr : rotor leakage reactance V
ω b : motor angular electrical base frequency
Vbs = dc ( S BA + S BC + S BD + S BE )
5
II. 5-PHASE VOLTAGE SOURCE INVERTER V
Vcs = dc ( S CA + S CB + S CD + S CE ) (3)
The supply is given through 2-level five leg inverter. The 5
output of the inverter has 32 possible switching states with 30 V
active (non-zero) switching vectors and two non-active (zero) Vds = dc ( S DA + S DB + S DC + S DE )
switching vectors [11, 17]. The active switching vectors are 5
divided in to three groups; large, medium and small switching Vdc
vectors. The active vectors for for d1-q1 planes and x-y planes Ves = ( S EA + S EB + S EC + S ED )
5
are shown in Fig. 1 and Fig. 2 respectively.
12 28 III. SVM-DTC PRINCIPLE
The output voltage for different switching state is
Sector 3
24
considered as space vectors in space vector modulation [13-
14 Sector 4 30 8
Sector 2 16]. The reference voltage is synthesized by switching
4
between the neighboring vectors, such that the volt-second
13 20
29 balance is maintained. The reference signal sampling is done
Sector 5 10
Sector 1
periodically to obtain constant switching frequency. For the
26
π 5
implementation of SVPWM in MATLAB / Simulink, the
6 15 22
0,31 q-axis following three steps are simulated; sector identification,
9 16 25
effective switching time calculation and determination of
5
Sector 6 21 Sector 10 switching states. The reference voltage sector identification is
2
11 18 done by comparing the stationary frame d-q components. The
27
effective switching time is calculated with the help of
7
23 1
17 reference voltage vector, DC link voltage, sector number and
Sector 7 Sector 9 total sampling time Ts. Finally, the switching states for 5-
phase VSI are generated using the sector information and
3
Sector 8
19 switching time for each inverter leg which includes both the
effective switching time and zero sequence time.
d-axis As the 5-phase VSI output consists of both d1-q1 and x-y
Fig. 1 Switching Vectors of a 5-phase VSI in d1-q1 plane plane, it is desired to attenuate the x-y plane vectors as they
represent the 3rd harmonic of the fundamental causing losses
in the system. To suppress this x-y plane vectors, in this For the four active space vectors val ; vbl ; vam ; vbm the
,
proposed SVM model both the large and medium vectors are
used. The attenuation of x-y plane vectors in sector 1 is effective switching times t al ; t bl ; t am ; t bm are calculated by
explained with Fig. 3 & 4. using (5).
24 (1 1 0 0 0) v *s § τ · §π ·
t al = ¨ ¸ t s sin ¨ k − α ¸
29 (1 1 1 0 1)
V m sin π ( 5) 2
©1+τ ¹ ©5 ¹

π
v s* § τ · § π·
Sector 1
t bl = ¨ ¸ t s sin¨ α − (k − 1) ¸
5

16 (1 0 0 0 0)
q1-axis
25 (1 1 0 0 1)
V m sin π ( 5) 2
© 1+τ ¹ © 5¹
(5)
v s* § 1 · §π ·
t am = ¨ ¸ t s sin ¨ k − α ¸
V m sin π ( 5) 2
© 1+τ ¹ ©5 ¹
v *s § 1 · § π·
t bm = ¨ ¸ t s sin¨ α − ( k − 1) ¸
( 5)
d1-axis
V m sin π © 1+τ 2 ¹ © 5¹
Fig. 3 Switching Vectors for Sector 1 in d1-q1 plane
24 (1 1 0 0 0) Where

2 π 5 v al = v bl = V l =
2
V DC 2 cos
π
y-axis 5 5
16 (1 0 0 0 0)
25 (1 1 0 0 1)
2
v am = v bm = V m = V DC
5
t al t V
= bl = l = τ = 1.618
29 (1 1 1 0 1) t am tbm Vm
x-axis
The firing pulses to the upper half IGBTs of 5-phase VSI
Fig. 4 Mapping of Sector 1Switching Vectors in x-y plane are generated by comparing the switching time interval of
adjacent vectors with a triangular carrier signal. The inverted
The vector numbers 16 and 29 are opposite to vector signals of upper half IGBTs are fed to the lower half.
numbers 25 and 24 respectively. As the ratio of lengths of
medium to smaller is 1.618, if the time of application of the The Electromagnetic torque developed is calculated using
smaller vector is increased in the same proportion, they will (6) and the angular speed is calculated using (7).
have equal volt-second and will cancel each other. It will
5 p
result in elimination of the x-y components, thus helping in Te = × × (ψ dss i qss − ψ qss i dss ) (6)
reducing harmonics. 2 2
Switching time of different legs is determined by equal 2 dω r
volt-second principle using (4). (Te − TL ) = × ( J − Bω r ) (7)
p dt
v*s t s = val tal + vbl tbl + vamtam + vbmtbm where Te, J and B are the load torque, moment of inertia and
(4) damping coefficient respectively.
vbl
IV. SIMULATION RESULTS
vbm The SVM-DTC scheme is implemented with the
developed model in MATLAB/Simulink. The simulation is
vs*
π done with the following machine parameters: 0.75 KW, 3
5 ∝ phase, Stator: 220V, 50 Hz, Star Connected, 3A; Rated
q1-axis Torque=4.94707 Nm, Rated speed: 1440 RPM, Rs=5.58 ȍ,
vam val
Rr=4.3 ȍ, M=0.24H, Ls=0.26H, Lr=0.26H, Lls=Llr=0.02H,
Jind_motor=0.0088kg.m2, Damping Coefficient B=0.003
Nms/rad [9, 10].

The reference torque command is a square wave type as

shown in Fig. 6. The rated torque is applied during starting. At
d1-axis time t=1.1 sec and 1.5 sec, there are step fall of the reference
torque from 100% to 30% and at time t=1.3 sec and 1.7 sec,
Fig. 5 Reference vector generation using adjacent vectors there are step rise from 30% to 100%.
 Reference Torque and Actual Torque Vs. Time (5-Ph IM)
6 Fig. 9. shows that both d1 and q1 stator fluxes are
sinusoidal in nature and the d1 axis stator flux leads the q1 axis
5 stator flux by 90 degree as the modeling is done in stationary
T o rqu e in N m

4 reference frame. It is also observed that with the variation of

reference torque , the frequency of stator flux is also changing.
3
Stator Current Vs. Time (5-Ph IM)
2 5

1 3

C urrent in A m p
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time in second
1
Fig. 6 Reference and Actual Torque Vs.Time
-1
The expanded views of Fig. 6 for torques response during
step fall and step rise are shown in Fig. 7 and Fig. 8 -3
respectively. -5
Reference Torque and Actual Torque Vs. Time 1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time in second
(Step Fall for 5-Ph IM)
6 Fig. 10 Five Phase Stator Current (Ia,Ib,Ic,Id,Ie) Vs. Time

5 Fig. 10 shows the variation of stator currents with respect

T o rq u e in N m

4 to change in applied torque for the same interval of time.

With the reduction of torque from 100% to 30%, it is
3 observed that the stator current also reduces from 3.4 Amp to
2 3.2 Amp accordingly. Similarly, with the increase in
1.10019 sec reference torque from 30% to 100%, the magnitude of stator
1
1.098 1.0985 1.099
1.0995 1.1 1.1005 1.101 1.1015 1.102 currents increases from 3.2 Amp to 3.4 Amp.
Time in second
Fig. 7 Reference and Actual Torque Vs. Time (during step fall)

In Fig. 7, the torque response to a step fall of reference

torque from 100% to 30 % at t=1.1 sec is shown. The torque
developed by the machine follows closely the path of
reference torque and reaches nearly 0.00019 sec.

Reference Torque and Actual Torque Vs. Time

(Step Rise for 5-Ph IM)
6

5
Torque in Nm

2
1.7006 sec Fig. 11 Five Phase Stator Flux Trajectory
1
1.698 1.6985 1.699 1.6995 1.7 1.7005 1.701 1.7015 1.702
Time in second
Fig. 8 Reference and Actual Torque Vs. Time (during step rise)

In Fig. 8, the torque response to a step rise of reference

torque from 30% to 100 % at t=1.7 sec is shown.. The
developed torque reaches the reference torque in 0.0006 sec.

Stator d1-q1 Flux Vs. Time (5-Ph IM)

1
0.8
0.5
Flux in W b

-0.5
-0.8 Fig. 12 Five Phase Rotor Flux Trajectory
-1
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 As shown in Fig. 11 and Fig. 12, both the stator and rotor
Time in second
flux trajectories are circular in nature as the d1-q1 fluxes are
Fig. 9 Stator Flux d1-q1 Components Vs. Time (5-phase IM) in quadrant to each other.
 The response for torque, stator current and stator flux for Stator Current Vs. Time (3-Ph IM)
three phase induction motor are shown in Fig. 13-17 for the 5
same time interval as 5-phase induction motor. Fig. 13 shows
3
the torque responses with respect to time. Fig. 14 and Fig. 15

C u rrent in A m p
are the expanded version of Fig. 13 for the analysis of the 1
torque response during step fall and step rise respectively.
With the same change in reference torque, the stator flux -1
variation and stator line current response are shown in Fig. 16 -3
and Fig. 17. Fig. 18 and Fig. 19 shows the stator and rotor
flux trajectory of 3-phase induction motor. -5
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time in second
Reference Torque and Actual Torque Vs. Time (3-Ph IM) Fig. 17 Three Phase Stator Current (Ia,Ib,Ic) Vs. time
6

5
Torque in Nm

1
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8
Time in second
Fig. 13 Reference and Actual Torque vs. Time

Referenve Torque and Actual Torque Vs. Time

(Step Fall for 3-Ph IM)
6

5
Torque in N m

2 Fig. 18 Three-Phase Stator Flux Trajectory

1.10033 sec
1
1.098 1.0985 1.099
1.0995 1.1 1.1005 1.101 1.1015 1.102
Time in second
Fig. 14 Reference and Actual Torque vs. Time during step fall

Reference Torque and Actual Torque Vs. Time

(Step Rise for 3-Ph IM)
6

5
T orque in N m

2
1.70093 sec
1
1.698 1.6985 1.699
1.6995 1.7 1.7005 1.701 1.7015 1.702
Time in second
Fig. 15 Reference and Actual Torque Vs.Time during step rise
Fig. 19 Three-Phase Rotor Flux Trajectory
Stator d-q Flux Vs. Time (3-Ph IM)
1
V. CONCLUSIONS
0.5 With equal DC link voltage of 400 V and reference torque
Flux in W b

having magnitude 4.95 Nm, the 5-phase induction motor and

0 3-phase induction motor torque control are analyzed with the
help of proposed model. Fig. 6 and Fig. 13 indicate that the
-0.5 pulsation in torque for 5-phase machine is less compared to 3-
phase machine. A comparison study of SVM-DTC for 3-
-1
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 phase and 5-phase induction motor has been conducted. The
Time in second performance analysis for both the motors is summarized in
Fig. 16 Stator Flux d-q Components Vs. time (3-phase IM) Table I.
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