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ALL_11-1133-TIE
1
AbstractMultiphase electric drives have been recently
proposed for applications where the highest overall system
reliability and a reduction in the total power per phase are
required. Strategies derived from the conventional Field
Oriented Control (FOC) have been traditionally used in high
performance speedcontrol applications of multiphase drives.
The wellknown Direct Torque Control (DTC) technique has
been also applied in the multiphase case, but the achieved
performance with hysteresis control based approach is far from
that obtainable with the threephase drive, although the control
structure is actually more complex. In this paper, a Predictive
Torque Control (PTC) method is introduced as an alternative to
the DTC technique for high performance variablespeed
operation of multiphase drives. Simulation and experimental
results are provided to illustrate the properties of the developed
method.
Index TermsMultiphase Drives, Predictive Control, Variable
Speed Drives.
1
I.INTRODUCTION
INCE the late 1990s multiphase drives have become a
serious alternative to their threephase counterparts in
certain applications due to some intrinsic advantages that they
offer, such as fault tolerance and means for power splitting
into more than three phases [1]. These advantages are
especially interesting for safetycritical and propulsion
applications (moreelectric aircraft [1][2], electrical and
hybrid vehicles [3], allelectric ship propulsion [4]). In a
threephase machine, to maintain the rotating field if one of
the phases is lost, it is necessary to use additional hardware
since there are no two independently controllable currents left.
In contrast to this, multiphase drives can continue to develop
the rotating field when one or more phases are faulted, since
creation of the rotating field requires always two
independently controllable currents, regardless of the phase
1
Manuscript received July 6, 2011, revised February 6, 2012. Accepted for
publication April 11, 2012. This work was supported by the Spanish
Government (reference DPI2009/07955) and Itaipu Binacional/Parque
Tecnolgico Itaipu-Py.
Copyright 2012 IEEE. Personal use of this material is permitted.
However, permission to use this material for any other purposes must be
obtained from the IEEE by sending a request to pubs-permissions@ieee.org.
Color versions of the figures in this paper are available online at
http://ieeexplore.ieee.org.
J.A. Riveros, F. Barrero and S. Toral are with the Electronic Engineering
Department, University of Seville, Avda. de los Descubrimientos s/n, 41092
Spain, (email: jariveros@esi.us.es, fbarrero@esi.us.es, toral@esi.us.es).
E. Levi and M. Jones are with the School of Engineering, Liverpool John
Moores University, Byrom Street, Liverpool, L3 3AF, United Kingdom,
(email: E.Levi@ljmu.ac.uk, m.jones2@ljmu.ac.uk).
M.J. Durn is with the Department of Electrical Engineering, University of
Mlaga, 29120 Mlaga, Spain (email: mjduran@uma.es).
number [1]. Hence, in multiphase drives, only software
reconfiguration is required for fault-tolerant operation. It is
thus possible to operate with a smooth rotating field, although
a certain derating is mandatory to maintain the currents within
the motor limits. Next, the low inverter DC link voltage,
provided by batteries in some of the aforementioned
applications, imposes high phase current requirements,
making multiphase drives especially suitable due to the
reduction of the current per phase for the given power.
High performance applications in multiphase drives require
specific control systems normally obtained from conventional
threephase drives control techniques. The most common
control structure is the wellknown Field Oriented Control
(FOC) technique, a cascaded scheme with an inner current
control loop and an outer speed control loop [1], [2]. The inner
control loop typically generates modulating signals for control
of a twolevel multiphase voltage source inverter (MVSI).
The MVSI is controlled using an appropriate carrierbased or
space vector pulse width modulation technique (CPWM and
SVPWM, respectively). While CPWM methods are simpler to
implement, SVPWM technique offers a better insight into
properties of multiphase drives and inverters.
Other control methods, such as Direct Torque Control
(DTC), have also been adapted and applied in the multiphase
drive area. This is an interesting alternative to FOC when fast
torque dynamic performance is required [5]. The DTC,
developed in the mid1980s, is widely used in threephase
drives at present. Its basic principle is to select the appropriate
stator voltage vectors from a table, according to the signs of
the errors between the references of torque and stator flux and
their estimated values. Classic hysteresisbased DTC has been
also applied in multiphase drives, with the idea of exploiting
the good features found in threephase drives, such as low
machine parameter dependence and simple control structure
[6][7]. However, the results obtained with the classic DTC,
which relies on only the set of the largest vectors in the look
up table, are not good in the case of a multiphase machine
with sinusoidal field distribution. This is so since the
hysteresisbased DTC is inherently a system with two inputs
only, so that only two variables (stator flux and torque) are
controlled. While in a threephase drive this corresponds to
the number of degrees of control freedom (two only), in a
multiphase (nphase) drive there are (n1) degrees of
freedom; hence controlling only two yields a poor
performance, which is manifested in large stator current
harmonics of low order.
To improve the DTC performance, some modifications have
been recently suggested. In [8] a variation of the conventional
VariableSpeed FivePhase Induction Motor
Drive Based on Predictive Torque Control
Jose A. Riveros, Federico Barrero, Senior Member, IEEE, Emil Levi, Fellow, IEEE,
Mario J. Durn, Sergio Toral, Senior Member, IEEE, Martin Jones.
S
Copyright (c) 2011 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.
ALL_11-1133-TIE
2
hysteresisbased DTC is presented for a fivephase induction
machine. Two active voltage vectors (rather than the singe
one) are applied during a sampling period, to produce a virtual
voltage vector with the idea of minimizing the harmonic
content in the xy stator current components. The obtained
results show an improvement, although the performance of
this DTC is still not as good as in a conventional threephase
drive. This DTC method is termed further on modified
DTC. A further proposal to improve the performance of the
DTC in the lowspeed region, by making a more complex
control structure, is given in [9] where a demagnetization
lookup table is added after the classical flux and torque lookup
tables. Reported results show that the low order harmonics are
reduced, at the expense of increasing the computational cost of
the control method.
Predictive control is a control theory developed at the end of
the 1970s. This control method has been recently introduced
as a viable alternative in power converters and drives [10].
Developed schemes have demonstrated good performance in
the current and torque control of conventional drives, at the
expense of a high computational cost [11][12]. It is a more
flexible control scheme than DTC [13] and it also provides
faster torque response than the FOC [14]. The interest in
predictive control approach and multiphase drives has grown
during the last few years [15][16], when the development of
modern microelectronics devices has removed the
computational barriers in their implementation. However,
predictive control techniques have been only proved as a
viable alternative to conventional controllers in the current
regulation of the multiphase power converter [15][20].
Predictive Torque Control (PTC), as a variation of the
predictive current control methods, has been recently analyzed
as an alternative to classic DTC at a theoretical level [21]
[22]. Promising simulation results, using PTC in conjunction
with a symmetrical fivephase induction machine with
sinusoidal MMF distribution, have been reported, but no
experimental results were provided.
This paper builds on the work presented in [22]. Details of
the realtime implementation are provided, and, for the first
time, experimental verification of the PTC for a fivephase
induction machine is reported. A further main contribution of
the paper is an evaluation of the performance and advantages
of the PTC, as an alternative in multiphase electrical drives to
DTC, for high performance applications. Modified DTC rather
than the classic DTC (as in [22]) is considered for comparative
purposes. The viability and effectiveness of the PTC strategy
are confirmed using experimental results, which are compared
with those obtained using the modified DTC method. The
paper is organized as follows. Section II introduces the five
phase induction motor drive, whose discretized model is the
basis of the predictive controller. The developed PTC method
is then described in Section III, detailing the necessary
particularization for the fivephase induction motor drive.
Simulation and experimental results are provided in Section
IV to analyze the PTC technique behavior in the speed and
torque control of the drive, and the results are further
compared to those obtained with the modified DTC method.
The conclusions are presented in the last section.
II.THE FIVEPHASE INDUCTION MOTOR DRIVE
One of the most frequently considered multiphase machines
is the symmetrical fivephase machine [1][2]. Two different
constructions of the fivephase electrical machine can be
found in the literature. The first one uses distributed windings
that create a nearsinusoidal airgap MMF. This multiphase
drive requires only sinusoidal voltages, so that the low order
harmonics are undesirable in the machines input voltage. The
second one is designed with concentrated stator windings that
generate low order airgap MMF harmonics. In this case,
torque production can be enhanced using stator current low
order harmonic injection. In particular, the third harmonic can
be used in fivephase induction motors. In this work, a five
phase machine with sinusoidal MMF distribution is utilized.
However, the obtained conclusions can be extrapolated to
other multiphase machines (nphase induction machine, with
n>5, n = an odd number).
A scheme of the drive is shown in Fig. 1. The power
converter is a fivephase voltage source inverter with 2
5
=32
possible switching states (30 active and two zero). The vector
[S
a
S
b
S
c
S
d
S
e
]
T
, where S
i
e{0,1}, characterizes each switching
state, where S
i
=0 indicates that the lower power switch is ON
and the upper power switch is OFF, while the opposite holds
true when S
i
=1. Each stator phase voltage v
si
can be then
obtained from the switching state and the DC link voltage V
dc
as follows:
(
(
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
e
d
c
b
a
dc
se
sd
sc
sb
sa
S
S
S
S
S
V
v
v
v
v
v
4 1 1 1 1
1 4 1 1 1
1 1 4 1 1
1 1 1 4 1
1 1 1 1 4
5
(1)
The fivephase drive can be described in two orthogonal
planes [23], and xy, using the vector decomposition
matrix for a fivephase system (0=2/5):
(
(
(
(
(
(
(
(
(
(
(
=
(
(
(
(
(
(
se
sd
sc
sb
sa
sz
sy
sx
s
s
v
v
v
v
v
v
v
v
v
v
1/2 1/2 1/2 1/2 1/2
) 3 sin( ) sin( ) 4 sin( ) 2 sin( 0
) 3 cos( ) cos( ) 4 cos( ) 2 cos( 1
) 4 sin( ) 3 sin( ) 2 sin( ) sin( 0
) 4 cos( ) 3 cos( ) 2 cos( ) cos( 1
5
2
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
|
o
(2)
The zerosequence component (zaxis component) can be
omitted due to the star connection of the winding with isolated
neutral point [22]. Application of (2) in conjunction with (1)
yields stator phase voltage axis components in the and xy
planes, as shown in Fig. 2, where each voltage space vector is
identified by an integer equivalent to the digital number [S
a
S
b
S
c
S
d
S
e
]. The fundamental supply component plus supply
harmonics of the order 10n1 (n=0,1,2,3,) map into the
plane. The supply harmonics of the order 10n3
(n=0,1,2,3,) map in the xy plane, while the zero sequence
harmonic components (5n, with n=1,2,3,) are of no interest
here due to the isolated neutral point.
Copyright (c) 2011 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.
Fig
Fig
ph
co
as
U
in
tra
in
ut
U
st
st
in
d
dx
y
x
u
y
A
g. 1. Schematic d
g. 2. Voltage spa
hase inverter.
The model
ontinuous ti
ssumptions ap
Upon applicatio
n conjunction
ansformation,
n essence the
tilized to form
Using stator c
tatespace va
ationary refer
n statespace f
u B x A
dt
dx
+ =
x C =
|
s s
i i
| o
=
|
s s
v v v
| o
=
|
s s
i i
| o
=
=
M
r
M
A
A
A
t
0
/
0
0
0
11
diagram of the sym
ace vectors in the
of the five
i me is deriv
pplied in the
on of the dec
n with the ph
, which leaves
same as for
m the model
current and
ariables, the
rence frame w
form:
r sy sx
i i
o
|
T
sy sx
v v
|
T
s s | o
r
M
ls
A
t
t
0 /
0 0
0 0
/ 1 0
0
0 0
11
mmetrical fivep
e and xy pla
ephase indu
ved using t
threephase
oupling trans
hasevariabl
s xy compone
r a threepha
in the comm
rotor flux a
model can b
with the follow
|
T
r| o
r
ls
A
A
e
t
t
0
/ 1 0
0 / 1
0 0
0
0
1
15
AL
phase drive.
anes for a twole
uction mach
he same sta
systems (e.g.
formation ma
e model, rot
ents invariant
ase machine,
mon reference
axis compone
be expressed
wing set of eq
(
(
(
(
(
(
(
(
r
r r
A
A
t
e t
/ 1
0
0
15 6
16
LL_11-1133-T
evel five
hine in
andard
, [24]).
atrix (2)
tational
t (and is
[2]) is
frame.
ents as
in the
quations
(3)
(4)
(5)
(6)
(7)
(8)
= B
C
an
ele
ind
ind
ma
ls
t
an
m
J
e
T
wh
an
spe
pa
inc
eq
reg
pro
spe
the
the
be
mo
Th
av
spe
va
p
s
sta
acc
fun
*
e
T
ba
TIE
=
0 0
0 0
0 0
0 0
1 0
0 1
s
L
o
o
=
s
s
L
L
0
0
1 0
0 1
o
o
Here v
s
deno
nd
r
the stat
ectric speed,
ductance, L
s
ductance, R
r
t
achine, = o
s ls s
R L / = , A
nd ( ( A o = / 1
11
The electroma
e
m
m
T
dt
de
=
(
2
5
o
s
i p =
here J
m
and B
nd T
L
the electr
eed and p the
II
The proposed
art), where a
cluded (lower
qual to the no
gion. The con
ovide the torq
eed
*
m
e , and
e control actio
e model of t
havior of the
odel will be r
he predictive
ailable stator
eed (
m
) and
alues of the ele
| | 1 + k
pred
s
, re
ator voltage
cording to the
nction.
The distance b
*
e
) values and
asic cost functi
0 0 0
0 0 0
1 0 0
0 1 0
0 0
0 0 0
ls
s
L
L
L o
s
r
L M
0 0 0
0 0
0 0 0
0 0 0
otes the stator
or and rotor
M the mu
the stator in
the rotor resis
(
s
L L M = / 1
2
( ) A
r
= o e 1
16
) ( ) (
s
o o t o + / 1
agnetic torque
m m L
B T e
)
o | |
s s s
i i
B
m
are the ine
rical and load
number of po
I.PTCBASED
d control sch
pseudo code
r part). The sta
ominal value
ntrol system i
que reference
d the predictiv
ons (PTC blo
the system f
e controlled
referred to fur
model is it
voltage vecto
stator phase c
ectrical torque
espectively. T
vector that
e optimization
between the re
d the predicte
ion in the form
(
(
(
(
(
(
(
(
0
0
0
0
0
ls
L
(
(
(
(
(
r
L M
0
0
0
r voltage, i
s
th
flux, respect
utual inducta
nductance, L
ls
stance, R
s
stat
)
r
L ,
r r
L = t
) ( ) M o / , A
15
))
r
t o .
e and rotor mo
ertia and frict
d torques,
m
t
ole pairs (
r
=p
D CONTROL SY
heme is show
of the contro
ator flux refer
for operation
includes a PI
to reach a re
ve controller
ock in Fig. 3).
for the predic
variables is t
rther on as th
teratively com
or with the m
currents (i
si
), to
e and stator flu
This informat
must be app
n criterion est
eference flux
ed ones can b
m:
he stator curr
tively,
r
the
ance, L
r
the
s
the stator l
tor resistance
r r
R / ,
s
= t
( ) ( M o o = / 1
5
otion are given
tion coefficie
the rotor mech
p
m
).
YSTEM
wn in Fig. 3
ol algorithm
rence is consta
n in the base
speed contro
eference mech
is applied to
. A discretiza
ction of the
then required
he predictive
mputed using
measured mech
o estimate the
ux, | + k T
pred
e
tion determin
plied to the
tablished by th
(
*
s
) and to
be used to fo
3
(9)
(10)
rent,
s
e rotor
rotor
eakage
of the
s s
R L / ,
)
r
M t ,
n as:
(11)
(12)
ents, T
e
hanical
(upper
is also
ant and
speed
oller to
hanical
decide
ation of
future
d. This
model.
g each
hanical
e future
| 1 + and
nes the
drive,
he cost
orque (
rm the
Copyright (c) 2011 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication.
ALL_11-1133-TIE
4
Fig. 3. Speed control using the PTC principle: illustration of the control
scheme in the upper part and the pseudo code of the control algorithm in the
lower part.
| | ( )
| |
2
2
*
2
2
* 1
1
sn
pred
s s
n
pred
e e
k
T
k T T
J
|
.
|
\
|
+
+
+
=
(13)
where T
n
and
sn
are two gain factors corresponding to the
rated torque and flux values during the operation in the base
speed region. The table of available stator voltage vectors
includes 31 different vectors in the fivephase drive, so the
predictive model must be evaluated 31 times to find the vector
that minimizes J. This voltage vector (switching state) is
finally applied to the drive during the next sampling period.
It should be noted that the electrical torque and stator flux
errors have the same weight in the cost function (13), since
both error terms are normalized with respect to the rated
values and are therefore in per unit system (and no weighting
factors are used). Selected form of the cost function in (13)
also directly corresponds to the principles of DTC, since
torque and flux errors are equally weighted. However,
different cost functions including other control criteria (for
example, switching stress minimization, DC link voltage
balancing, or the stator current harmonic minimization) could
be applied. Indeed, as explained shortly, the basic cost
function of (13) is modified for the actual implementation to
ensure a better performance.
The predictive model to estimate the electrical torque and
the stator flux is obtained by discretizing equations (3)(12),
using the sampling period T
s
, a zeroorder hold, and assuming
constant A, B and C matrices in a sampling period. Then, the
predictive model is:
] [ ] [ ] 1 [ k U k X k X I + u = + (14)
] 1 [ ] 1 [ + = + k X C k Y (15)
where
s
T A
e
= u , and t
t
d B e
Ts
A
}
= I
0
.
Matrix A depends on the instantaneous value of
m
, since
this is a timevarying linear system. However, the mechanical
speed dynamics is slower than the electrical dynamics, so that
constant speed within a sampling period can be assumed. The
rotor speed is therefore modeled as a constant parameter in
every sampling period, and and must be updated in every
sampling interval. In order to make the implementation of the
predictive model simpler, some offline calculations can be
done [25]. The first one splits A into constant and time
dependent parts, according to:
s s c s s c s
T A T A T A T A T A
e e e e
+
= =
e e
) (
(16)
The
s c
T A
e
matrix can be evaluated offline, since all its
components are constant with a constant sampling period.
However, the
s
T A
e
e
matrix must be obtained in every
sampling period. Using the CayleyHamilton theorem [13],
[21], [22] this timedependent matrix can be defined as:
( ) ( )
( ) ( )
(
(
(
(
(
(
(
(
s r s r
s r s r
T A
T T
T T
CH CH
CH CH
e
s
e e
e e
e
cos sin 0 0 0 0
sin cos 0 0 0 0
0 0 1 0 0 0
0 0 0 1 0 0
0 0 1 0
0 0 0 1
15 16
16 15
(17)
( ) ( ) ( ) ( ) M T CH
s r
= o e o / cos 1 1
15
(18)
( ) ( ) ( ) M T CH
s r
= o e o / sin 1
16
(19)
It should be noted that the matrix can be also evaluated
offline, as ( ) B I e A
s c
T A
c
= I
6
1
or
s
T A
T B e
s c
~
if the
sampling time value is low enough, because the time
dependent terms are cancelled (
s s
T A
T B T B e
s
=
=
).
IV.SIMULATION AND EXPERIMENTAL RESULTS
A program in Matlab/Simulink
\
|
+
+
+
=
o| o| o|
(20)
Two new terms have been added. The first one penalizes
excessive stator current components, while the second one
minimizes the xy stator current components and is of a
slightly different form, when compared to the one used in
[22]. It is interesting to note that the K