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10.1109/TPEL.2015.2456234, IEEE Transactions on Power Electronics
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 1, NO. 1, AUGUST 2014
I. I NTRODUCTION
IX phase drives are usually made out of two common
voltage source inverters (VSI) and a modified three-phase
machine, as depicted in Fig. 1. Such a drive setup offers several
advantages over standard three-phase drives [1], [2], [3], [4],
i.e.
Current sharing among more phases, if the inverters are
connected in parallel,
Voltage sharing among more levels, if the inverters are
connected in series,
Full redundancy of inverter and machine, if the inverters
are connected in parallel.
The six-phase system is preferably used for high power and
safety critical applications, where the nominal machine current
or voltage is beyond the rating of the switching devices.
Six-phase machines can be classified into two types: symmetrical and asymmetrical [2]. In a symmetrical machine, the
three-phase sets are shifted by = j 3 (j N) (see Fig.
2). The asymmetrical machine is characterized by any other
shift angle. The case = 6 has been discussed extensively,
since it offers the advantage of eliminating the sixth order
torque harmonics. This intrinsic effect can be explained by
decomposing the torque producing and the fifth and seventh
order machine states and mapping them onto two independent
subspaces [8]. This machine type, however, suffers from its
low leakage inductance in the non-torque producing subspace
[9], which leads to increased current distortion resulting from
switching behavior of the inverters.
The symmetrical six-phase arrangement of Fig. 2a with
a displacement angle of = offers the lowest magnetic
coupling between the three-phase sets and leads to a favorable
high ratio of the leakage inductances. In comparison to the
asymmetrical counterpart this characteristic is expected to
decrease current distortions if a proper switching sequence is
applied
As shown in Fig. 1, either the upper (+Ud /2) or the lower
(Ud /2) DC-Bus voltage level is available at the output
of the inverter half-bridges. In order to generate a certain
output voltage, the reference value has to be modulated by
sequentially applying the upper and lower voltage level. Within
one switching cycle, the resulting output voltage exhibits
the same mean volt-seconds as the reference value but with
additional voltage distortions. Assuming a highly inductive
RL-load, they lead to current harmonics, which results in extra
and unwanted machine losses.
There are a variety of articles proposing methods to pre-
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U
(1)
M=
SS
U
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(a) Small sized and zero vectors pro- (b) Vectors of a certain sector projected onto the (1 , 1 ) plane.
jected onto the (2 , 2 ) plane.
Fig. 3. Selected voltage space vectors and its projection onto the first and
second plane.
Switching State
000000
000111
111000
111111
100000
~v1a
100111
000100
~v1b
111100
100100
100101
~v3a
~v3b
101100
101101
000101
~v5a
111101
101000
~v5b
101111
TABLE I
~v0
~v1
~v2
~v3
~v4
~v5
(a) Sequences of the first kind, starting with ~v0 = |000000| and ending
with ~v0 = |111111|. Alternative
vectors in brackets.
Following the vectors of figure 4a and comparing all possible paths with figure 3b five different pulse patterns become
visible in the subspace (2 , 2 ). Considering native paths only
(i.e. excluding vectors on brackets), one also achieves five
different pulse patterns in the (1 , 1 ) plane. Following the
same paths but with the alternative vectors where applicable
(alternative paths), one again achieves the same patterns but
rotated by . Following a native path within the positive halfcycle and the corresponding alternative path in the opposite
direction within the negative half-cycle results in an extra
degree of freedom, enabling some optimization as will be
discussed in section IV. Table II summarizes the native vector
sequences of the first type within the positive half-cycle from
No. 1 to 5.
The second sequence type offers no alternative vectors but
a higher amount of branches, which increases the number of
possible sequences to 14. However, a reference vector ~v =
[0, 0] is assumed for the (1 , 1 ) plane, reducing the number
of relevant sequences to 6, as summarized in table II (No. 6 to
11) for the positive half-cycle. The sequence of the negative
half-cycle is identical but in the reverse order.
No.
1
2
3
4
5
6
7
8
9
10
11
Voltage
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
Vector Sequences
~v1a ~v2
~v3b ~v4
~v1a ~v2
~v3b ~v1b
~v1a ~v5b
~v3b ~v4
~v1a ~v5b
~v3b ~v1b
~v1a ~v5b
~v0
~v1b
~v1a ~v5b
~v4
~v5a
~v1a ~v3a ~v4
~v3b
~v1a ~v3a ~v2
~v3b
~v5a ~v3a ~v4
~v3b
~v5a ~v3a ~v2
~v3b
~v5a ~v1b
~v2
~v1a
TABLE II
VOLTAGE V ECTOR S EQUENCES
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~v5a
~v5a
~v5a
~v5a
~v5a
~v1b
~v1b
~v1b
~v5b
~v5b
~v5b
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
~v0
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IV. O PTIMIZATION
To comply with the constraint given by equation (3), the
on-times tk of the seven vectors ~vk applied within only one
half-cycle need to be evaluated for the symmetrical sequences
previously examined. Introducing the duty cycle dk as the
relative on-time of vector k over the half-cycle (dk = 2tk /Ts ),
the following relation holds:
7
X
~vk dk = ~v
(4)
k=1
Comparing equation (6) with (7) and (10), the linear equation system with seven variables has to fulfill five conditions.
Thus, there are two degrees of freedom left for optimization
if the second type sequences are applied. Using the first type,
however, increases the possibilities. Taking a native path for
one half-cycle and the corresponding alternative path for the
other half-cycle, as explained in section III, leads to zero voltseconds in the first subspace, independent of the duty cycles.
Taking sequence 1 of table II, for example, results in an
optimization problem with four degrees of freedom and the
following equation parameters:
0
0 6 3
4
6
12
(11)
Aeq = 0 0 0 43 23 43 0
1 1 1
1
1
1
1
~beq = v , v , 1 T
(12)
2
A. Constraints
The optimization process has to take the bound condition
of the duty cycles into account:
0 dk 1
(5)
Aeq d~ = ~beq ,
(6)
(8)
dk = 1
(9)
k=1
0
12
6 0
0 6
12
0 0
0
0
0
4 3
4 3
0
(10)
Aeq = 0 6
12
6
12
6
0 0
0
0
4 3
2 3
4 3
1 1
1
1
1
1
1
B. Optimization Function
Assuming high switching frequencies, i.e. a switching over
fundamental frequency ratio of fs /f0 > 20, and a predominantly inductive load with a very small resistance, one
can apply the harmonic flux calculation in order to estimate
the current distortion,
as explained in [31].
T The harmonic
flux vector ~h = h1 , h1 , h2 , h2
is calculated by
integrating the applied voltage vectors ~vk with respect to the
time d:
Z 1
~h (M, ) =
~vk ~v dd,
(13)
0
L1
L2
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(16)
C. Optimization Results
Minimizing the overall distortion as explained in section
IV-B within the constraints of section IV-A leads to harmonic
flux trajectories according to equation (13) in both subspaces.
The trajectories vary with the reference vector, expressed by
M and , as well as with the voltage vector sequence applied.
The harmonic flux trajectories of two different vector sequences of table II are depicted in Fig. 5. Additionally, the
trajectory of a standard three-phase SVM technique is illustrated there. As seen in Fig. 5b, the standard technique leads to
a harmonic flux only in the subspace (2 , 2 ). The trajectory
describes two equal triangles rotated by , each circumscribed
within one half cycle. The trajectory of sequence 2 and 10 also
forms two triangles but with smaller side lengths. The triangles
of sequence 2 are circumscribed one time within a cycle and
those of sequence 10 two times. This leads to smaller harmonic
flux values for both sequences in that subspace compared to
the standard SVM technique.
Focusing on the trajectories of subspace (1 , 1 ), however,
both latter sequences lead to extra distortion due to active
vectors applied (see Fig. 5a). Within one cycle, the trajectory
of sequences 2 and 10 starts and ends at zero and their form
is circumscribed one time per cycle. Since sequence 10 is of
the second type, its average values avg1 and avg1 are zero
as discussed in section IV-B. Sequence 2 is of first type and
thus, its average value is not necessarily zero.
h2
h1
0.1
-0.1
-0.2
-0.1
0.1
h1
(a) h -trajectories in first subspace.
-0.1
0.1
h2
(b) h -trajectories in second subspace.
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102
2.5
2
1.5
1
0.5
0
12
12
12
2
rms
2
Fig. 6. Overall and decomposed distortion characteristics for several modulation techniques: the standard three-phase SVM (dashed-dotted line), the optimal
six-phase modulation (dotted line), the fragmented sector mapping (dashed line), the optimal interleaved (gray solid line) and the approximated interleaved
approach (black solid line).
Due to the symmetrical design of the machine, any modulation technique known from the three-phase case is also
applicable to the six-phase drive. Here, the standard threephase SVM of [32], [33], which consists of a sequence
including the zero vector ~v0 and the active vectors ~v2 and
~v4 of Fig. 3 is examined. According to Table I, this strategy
can only be achieved by applying sequence 1, excluding the
small and medium vectors. Doing so, the three remaining duty
cycles can be calculated as follows:
d2
3
d4 = 0
2d0
1
2 3
1
0
v2
0 v2
1
1
(19)
v2
2d2
6
12
4
v2 ,
2d
=
(20)
3
4 3
4 3
d
1
1
1
1
4
| {z }
|
{z
}
Aeq
~beq
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2 3
9j
4 3
Straight Line
0
0
5j
12
~v2
4j
8j
Fig. 7. Fragmented sector mapping in the first sector of the second subspace.
The sector is divided into four fragments, where each is referred to a voltage
vector sequence, i.e. reference vector ~v2 points to a fragment related to
sequence 4.
to the standard SVM for M < 0.5 or even higher for any other
modulation index, as depicted in Fig. 8a.
For the fragmented sector mapping, the harmonic flux rms
in both subspaces is independent of , as illustrated in Fig.
6a and 6b. The distortions in the second subspace are close to
the minimum and the overall distortions mainly depend on the
rms flux of the first subspace and its contribution expressed
by the square of .
C. Optimal Interleaved Space Vector Modulation
Another way of controlling the output is to interleave the
switching signals. Therefore it is necessary to group three
phases together, i.e. phases a,b,c as set I and x,y,z as set II.
Both groups are operated as a common three-phase system and
its output is modulated by a standard continuous SVM-scheme,
as described in section V-A. Doing so, one can transform the
phase variables Xa Xz according to:
XI
Xa
XI
Xb
X0I
= TC
Xc ,
(21)
XII
Xx
0
T
C
XII
Xy
X0II
Xz
where TC is the Clarke matrix, defined in the appendix.
Combining equation (21) with (2), an expression between
the transformed three-phase sets and the subspaces defined in
Section II is achieved. Eliminating the zero-sequence entries
of the equation, the normalized voltages of the first and second
subspace can be converted to:
1 0 1 0
v I
v 1
v1 1 0 1
0 1
v I
=
(22)
v2 2 1 0
1
0
vII
0 1 0 1
vII
v 2
vI,II
0
d2
3
6
d4 = 0
0 vI,II
(23)
2 3
2d0
1
1
1
1
Additionally, there is another degree of freedom for control:
The time shifting d between the pulse pattern of the two
sets. As explained in Fig. 9 (top), d leads to time lagging
switching states Sx , Sy , Sz of Set II compared to the one of Set
I Sa , Sb , Sc . This behavior results in an interleaved harmonic
flux characteristic of both three-phase sets, as depicted in Fig.
9 (bottom).
The overall distortion over a whole switching period is
calculated according equations (16) and (22):
Z
1
1 2 2
2
h1 + 2h
+ 2h2 + 2h dd
rms =
1
2
2 0
2
Z 2
2 1
2
1
hI hII + hI hII
=
8 0
2
2
2
+ hI + hII + hI + hII dd
(24)
R
R
2
1
With 12 0 2h, dd = 0 2h, dd the distortion of equaII
I
tion (24) can be rearranged as a sum of a d-dependent and
an independent term :
2rms
1
=
2
1
1+ 2
Z
2h + 2h dd+
I
I
{z
}
|
1
4
1
1
2
Z
6=f (d)
hI hII + hI hII dd
{z
}
|0
(25)
=f (d)
d = 0
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0.5
0.4
HDF
0.3
0.2
0.1
0
0.2
0.4
0.6
0.8
0.2
0.4
0.6
0.8
0.2
0.4
0.6
0.8
v 2
2 3
3j
4 3
5j
12
4j
7j
10j
2j
7j
3j
5j
12
v 2
7j
j
4j 10
2j
8j
j
10
v2
(a) = 1.
(b) =
9j
9j
5j
12
4j
3j
8j
2j
v2
(c) .
3
.
2
Fig. 8. Top: Harmonic distortion functions (HDF) depending on the modulation index for different inductance ratios and several modulation techniques: the
standard three-phase SVM (dashed-dotted line), the optimal six-phase modulation (dotted line), the fragmented sector mapping (dashed line), the optimal
interleaved (gray solid line) and the approximated interleaved approach (black solid line).
Bottom: Optimal voltage vector sequences depending on the voltage reference vector in the second subspace and the inductance ratio.
Sa
0
1
Sx
0
1
Sb
0
1
Sy
0
1
Sc
0
1
Sz
0
hI , hII
0.1
0
-0.1
0.5
1
d
1.5
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(see Fig. 8c). For lower ratios (1 < < 3), however, the
distortion function shows similar or even superior performance
compared to the optimized modulation scheme (see Fig. 8b).
As recognized from Fig. 6, the improved behavior is caused
by lower 2rms -values around = j 3 . Analyzing further
the voltage vector applied in this range as done in Fig. 9,
one recognizes a symmetrical and continuous vector sequence
in the (1 1 ) and (2 2 ) planes, but the sequence does
not include a zero voltage vector and is thus not under
consideration for optimization as explained in section III.
0.9
0.9
0.9
d
dd +
dd d M cos () = 0, (32)
6
d0 +d4 3
d0
which yields in an explicit solution for the time shifting:
(2d0 + d4 )
2 6M cos ()
1
3 M sin ()
= +
2
2 3M cos ()
d =
0.7
0.8
0.7
0.7
0.6
0.5
0.6
0.5
0.5
12
0.6
Fig. 10. Optimal (solid lines) and approximated (dashed line) d characteristics for different modulation indexes.
(29)
(33)
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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 1, NO. 1, AUGUST 2014
10
1
12
1
2
3
1 0
23
2
Tpp =
1
1
3 1 2
2
3
3
0 2
2
1
1
1
2
2
2
3
3
TC = 0
2
2
3 1
1
1
2
1
0
1
0
1
2
23
12
23
1
2
3
2
1
2
3
2
ACKNOWLEDGMENT
The authors would like to thank DFG (Deutsche
Forschungsgemeinschaft) for its financial support.
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0885-8993 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
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11
0.4
Ih2 [A2 ]
0.3
0.2
0.1
0
0.2
0.4
M
(a) With =
18
19
0.6
0.8
0.2
0.4
M
(b) With =
0.6
180
19
0.8
>> 1
Ia [A]
Ia [A]
Ia [A]
Fig. 12. Harmonic current for different operation strategies: the standard three-phase SVM (dashed-dotted line), the fragmented sector mapping (dashed line),
the optimal interleaved (gray solid line) and the approximated interleaved approach (black solid line).
10
Ih2SV M = 1.053 A2
0
-10
10
Ih2SV M = 1.024 A2
0
-10
10
Ih2Intl = 1.005 A2
0
-10
10
Ih2Intl = 0.194 A2
0
-10
10
0
-10
10
0
-10
0.008
t [s]
(a) With =
18
19
0.016
0.008
t [s]
(b) With =
180
19
0.016
>> 1
Fig. 13. Current waveforms over one fundamental cycle with M = 0.8 for different operation strategies and under nominal conditions: the standard three-phase
SVM (top), the approximated interleaved approach (middle) and the fragmented sector mapping (bottom).
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0885-8993 (c) 2015 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
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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. Citation information: DOI
10.1109/TPEL.2015.2456234, IEEE Transactions on Power Electronics
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 1, NO. 1, AUGUST 2014
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