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2011 9th IEEE International Conference on

Control and Automation (ICCA)


Santiago, Chile, December 19-21, 2011

WedA3.4

Control of a Five-phase Synchronous Motors


with Third Harmonic Constrained Injection.
Marco Fei and Roberto Zanasi
I2

Abstract This paper deals with the torque control of fivephase permanent magnet synchronous machines with first and
third harmonics injection. A new vectorial approach to describe
the voltage and current limits is proposed. Starting from the
transformed dynamic equations and using the voltage and
current constraints, the optimal current references minimizing
the dissipation and maximizing the torque is obtained. The
proposed control law holds for an arbitrary shape of the rotor
flux. Some simulation results validate the proposed control law.

V1 R s
Is1 Ls
I1
Ls
Is5
Rs
V5

I5

m
V2
Rs
Is1
Ls

Jm

Ls
Vs0

bm

Is3Rs

Ls
Is4
Rs
Stator V4 I4

I3
V3

()
c

I. INTRODUCTION
Multi-phase machines posses many advantages over the
three-phase machines as the higher torque-to-volume ratio
due to the injection of higher order current harmonics for the
machines with concentrated winding and nearly rectangular
back-emf, see [1], [2] and [3]. In [4] and [5] the effects
of the voltage and current limits on the third harmonic
injection are considered. Although the amplitude of the
injected harmonics is tied to the harmonic spectrum of the
back-emf, it is not clear in the cited papers how the current
references are obtained.
This paper uses a new vectorial approach to obtain the optimal current references considering the voltage and current
limits. The paper is organized as follows. Sec. II shows the
details of the dynamic model of the 5-phase synchronous
motors. In Sec. III the current and voltage constraints are
considered and their effects onto the torque producing capability are shown in Sec. IV. The proposed torque control
is given in Sec. V. Some simulation results are presented in
Sec. VI and conclusions are given in Sec. VII.

Fig. 1.

II. ELECTRICAL MOTORS MODELING


The basic structure of a permanent magnet synchronous
motor with five concentrated winding in star connection is
shown in Fig. 1 and its parameters are shown in Tab. 2.
A complex and reduced model expressed in the rotating
frame can be obtained using the following complex
transformation matrix t TN , see [7]:
#
r "
2 ej ej(s ) ej(2s ) ej(3s ) ej(4s )
t
TN =
5 ej3 ej3(s ) ej3(2s ) ej3(3s ) ej3(4s )

Fig. 3 shows how the original 5-dimension model S t in


the fixed frame t has been transformed and reduced to
a 2-dimension complex model S in the rotating frame
. In this frame the 5-phase motor can be seen as a set
of 2 independent electrical machines rotating at velocity
m and 3m within the complex subspaces 1 and 3 ,
respectively. The dynamic equations of the electrical part
of system (1) are equivalent to the following two equations
defined in the complex subspaces k with k {1, 3}:

ms
p
, m
, m
Rs
Ls
Ms0
Mhi
Jm
bm
m
e
s
c ()
c

()

number of motor phases: ms = 5


number of polar expansions
electric and rotor angular positions: = p m
electric and rotor angular velocities: = p m
i-th stator phase resistance
i-th stator phase self induction coefficient
maximum value of the stator mutual inductance
mutual induction coefficient of h-th and i-th phases:
Mhi = Ms0 [aM 1 cos((hi)s ) + aM 3 cos(3(hi)s )]
rotor moment of inertia
rotor linear friction coefficient
electromotive torque acting on the rotor
external load torque acting on the rotor
basic angular displacement (s = 2/5)
total rotor flux chained with stator phase 1
maximum value of function c ()

X
= c () =
normalized rotor flux: ()
ai cos(n )
c n=1:2

Fig. 2.

The transformed system S expressed in the complex reduced rotating frame has the following form:


" # 
  
Zs KN Is
Ls 0 I s
Vs
=
+
. (1)
0 Jm m

KN bm
m
e
M. Fei and R. Zanasi are with the Information Engineering Department,
University of Modena and Reggio Emilia, Via Vignolese 905, 41100 Modena, Italy, e-mail: {marco.fei, roberto.zanasi}@unimore.it.

978-1-4577-1476-4/11/$26.00 2011 IEEE

Basic structure of a star-connected five-phase synchronous motor.

957

Parameters of the multi-phase synchronous motor.

Lsk I sk = (Rs + jp m Lsk )I sk K k m + V sk (2)



where: Lsk = Ls + Ms0 m2s aM k 1 . Note that, according
to [2], the first two odd components aM 1 Ms0 and aM 3 Ms0
of the mutual inductance (see Tab. 2) are explicitly considered. The components K 1 and K 3 of torque vector K N
are function of the coefficients an of the rotor flux Fourier
series shown in Tab. 2. In this paper only the coefficients a1
and a3 of the normalized rotor flux are considered, so the

WedA3.4

Ls1 0
0 Ls3

0 0
Fig. 3.


R + jp m Ls1
0
0 I s1
s

0
Rs + j 3 p m Ls3

I s3 =

q
q
Jm m
jpc 52 a1
jpc 52 3 a3

jpc 52 a1
V s1
I s1
q

I V s3
jpc 52 3 a3

s3 +

m
e
bm

Dynamic model of star-connected 5-phase synchronous motors in the reduced complex rotating frame .

components K 1 and K 3 are constant, see [9]:


# "
#
"
r " #
Kd1 +jKq1
K1
5 a1

.
=
= jpc
K N =
2 3a3
Kd3 +jKq3
K3

flux and the stator current harmonic with the same order k.
According to this the amplitude of the injected harmonics is
tied to the harmonic spectrum of the rotor flux: it is useless
to apply high Iqk in subspaces with low components kak .

(3)

The motor torque m and the transformed back-electromotive


force E are:


m = Re K N Is , E = K N m .
(4)

III. MULTI HARMONICS CONSTRAINTS


The amplitudes of components Vsh and Ish of the voltage
and current vectors t Vs and t Is in (5) and (6) are bounded,
respectively, by the maximum voltage Vmax of the inverter
DC link and the maximum rated current Imax , therefore the
following constraints hold:

In [1] and [2] it is shown that it is possible to increase


the motor torque of a multi phase motor by injecting odd
harmonics with order below ms . Let us now consider the
case of balanced voltage and current stator vectors t Vs
and t Is composed only by the first and third harmonics.
The phase voltages Vsh and the phase currents Ish with
h {0 : 4} are:

Vm1 + Vm3 Vmax ,

Let us define the vectors VM , IM and K R2 as:


"
#
"
#
"
#
|V s1 |
|I s1 |
|K 1 |
VM =
, IM =
, K =
.
|V s3 |
|I s3 |
|K 3 |

Vsh = Vm1 cos((v1hs))+Vm3 cos(33(v3hs)), (5)


where v1 , v3 , i1 and i3 are proper initial phase shifts.

The transformed vectors Vs = t TN t Vs and Is =

t
TN t Is have the following structure:
"
# "
# r "
#
Vd1 +jVq1
V s1
Vm1 ejv1
5

Vs =
=
=
(7)
2 Vm3 ej3v3
Vd3 +jVq3
V s3
" # "
# r "
#
I s1
Id1 +jIq1
Im1 eji1
5

Is =
=
=
(8)
2
VI3 +jIq3
Im3 ej3i3
I s3

This equation shows the dependence of torque m on the


quadrature components Iq1 and Iq3 of the current vectors
I s1 and I s3 . From (9) it is clear that the torque production
capability of the machine increases injecting also the third
harmonic. Moreover it shows that the motor torque is generated by the interaction between the harmonics ak of the rotor

(10)

(11)

The voltage
p and current constraints (10), multiplied by
constant m2s , can be rewritten as a 1-norm constraints on
vectors VM and IM :
r
5
Vmax = VM ,
(12)
k VM k1 = VM 1 +VM 3
2
r
5
Imax = IM .
k IM k1 = IM 1 +IM 3
(13)
2
In the design of the control law there are some degrees of
freedom that will be used to distribute the maximum voltage
VM and current IM into the components VM 1 , VM 3 and IM 1 ,
IM 3 to satisfy the constraints (12) and (13).

Ish = Im1 cos((i1 hs))+Im3 cos(33(i3 hs)), (6)

where Idk , Iqk , Vdk and Vqk are, respectively, the direct
and quadrature components of the current and voltage vectors I sk and V sk . Expressions (7) and (8) show that the
first harmonics of amplitude Vm1 and Im1 in (5) and (6)
V s1 and I s1 with modulus
are transformed
into vectors p
p
VM 1 = m2s Vm1 and IM 1 = m2s Im1 which move within
the complex subspace 1 , while the third harmonics of
amplitude Vm3 and Im3 are p
transformed into vectorspV s3 and
I s3 with modulus VM 3 = m2s Vm3 and IM 3 = m2s Im3
which move within the complex subspace 3 . Substituting
(3) and (8) in (4) the motor torque can be rewritten as:
r
i
ms h
m = pc
(9)
a1 Iq1 + 3a3 Iq3 .
2

Im1 + Im3 Imax .

IV. VECTORIAL CONTROL


In steady-state condition, the dynamic equations in (2)
are: V sk = Z sk I sk jK
q qk m , Z sk = Rs +j k p m Lsk .
2 +V2 V
The voltage constraint Vdk
M k in subspace k
qk
with k {1, 3} can be rewritten as follows:
2

2
(Idk X0k ) + (Iqk Y0k ) R0k
(14)


VM k
(15)
where R0k (m ) = R0k |V |=V =
sk
Mk
|Z sk |

2
X0k (m ) = Re(C 0k ) = Kqk k p m
Lsk |Z sk |2 (16)

(17)
Y0k (m ) = Im(C 0k ) = Kqk m Rs |Z sk |2 .

Relation (14) is the mathematical expression of the maximum


voltage circle CV k corresponding to the value VM k that
satisfies the voltage constraint (12). The current vector I sk
satisfies the voltage constraint only if its modulus is inside
the maximum voltage circle CV k . The terms C 0k (m ) =

958

WedA3.4

a)

b)

Geometrical analysis of the control vectors


k

CV k

Iqk

IV k

CV k

CI k

I Zk

CV k

Iqk

I sk = I Zk

I Ck

I Ik

Iqk

R0k

Ck

IM k

I sk = 0

Idk

Idk

X 0k

R0k

Idk
Y 0k

C 0k

CI k

c)
I ik

I ck

R0k

d)
CI k

Iqk

Iqk

IM k

I zk

CI k
IM k

I vk

Fig. 4.

Maximum current circles CV k and CI k in subspace k .

Idk

CV k

Idk
R0k

2
Idk

2
Iqk

2
IM
k

Fig. 5. Maximum current circles CV k and CI k in subspace k


obtained modulating the components VM k and IM k .

CI 3 . Therefore the voltage and current limits determine the


torque producing capability of the two subspaces 1 and
3 . For a given m it is possible to modulate the components VM 1 , IM 1 and VM 3 , IM 3 in the subspace 1 and
3 in order to increase or decrease the maximum voltage
and current circles CV 1 , CI 1 and CV 3 , CI 3 satisfying the
constraints (12), (13). For the torque control law described in
the next section, four different constraints distributions into
the subspaces 1 and 3 will be considered, see Fig. 5.
The dashed lines are the voltage and current circles CV k
and CI k showed in Fig. 4, while the solid lines are the new
circles CV k and CI k obtained modulating the components
VM k and IM k .
In Fig. 5.a the operation point is I sk = I Zk I Ck I Ik ,
so the torque can be generated using only the quadrature
component Iqk . Given the current constraint IM k and using
equations (21) and (22), one obtains the component VM k :
q
2 + (I
2
VM k = |Z sk | X0k
(26)
M k Y0k ) .

(18)

that defines the maximum current circle CI k . A graphical


representation of the voltage and current circles CV k and
CI k on the complex plane k for a particular value of m
is shown in blue and purple in Fig. 4. The intersection zone
Ck of the two circles, shown in grey in Fig. 4, represents the
domain in which both the voltage and current constraints are
satisfied. Subtracting equation (18) from equation (14) one
obtains the following relation:
2
2
2
2
2X0k Idk 2Y0k Iqk + X0k
+ Y0k
R0k
+ IM
k = 0.

Using this relation together with (18), one obtains the intersection points I Ik and I ik of circle CV k with circle CI k :

v


u
2 P2
Y0k
X0k
Y0k X0k Pk u 2
k

t

IM k
+jPk
1j
I I,ik =

C 0k C 0k
Y0k
C 0k 2
|C 0k |

(19)

In Fig. 5.b the operation point is the origin I sk = 0 because


IM k = 0, so the torque generated by subspace k is zero.
The component VM k has the following structure:


(27)
VM k = |Z sk | C 0k = Kqk m .

2
R0k
+IM k2
2Y0k

.
where Pk =
The coordinates of the other points shown in Fig. 4 are:
I V k (m ) = X0k (m ) + jY0k (m ) + jR0k (m )
q
2 ( ) X 2 ( )
I Zk (m ) = jY0k (m ) + j R0k
m
m
0k
I Ck = jIM k
I vk (m ) = jY0k (m ) jR0k (m )
q
2 ( ) X 2 ( )
I zk (m ) = jY0k (m ) j R0k
m
m
0k
I ck = jIM k

I sk = I Ik

I sk = C 0k

X0k +j Y0k and R0k (m ) represent the center and the radius
of CV k . When velocity m increases the radius R0k of circle
CV k decreases and its center C 0k moves in the complex
plane k . The current vector I sk must also satisfy the
current constraint (13):

(20)

In Fig. 5.c the operation point is I sk = C 0k because VM k =


0, so the torque generated by subspace k is negative. The
component IM k has the following structure:



IM k = C 0k = Kqk m |Z sk | .
(28)

(21)
(22)
(23)
(24)
(25)

The torque can be generated only by the current vectors


I s1 and I s3 inside the intersection zones C1 and C3 of the
maximum voltage and current circles CV 1 , CI 1 and CV 3 ,
959

In Fig. 5.d the operation point is I sk = I Ik I ik . Also in


this case the torque generated by subspace k is negative.
Given the current constraint IM k , from (19) one obtains
R0k + IM k = |C 0k | and the component VM k is:

VM k = |Z sk | |C 0k | IM k = Kqk m |Z sk |IM k . (29)

WedA3.4
3

Kq3
IM
IM a

3
K

Kq3
IM IM e
IM f

VM
IM d

VM

IM c

a)

IM c

VM c

IM d
Kq1 IM

1
b)

VM

1
a)

Fig. 6. Minimum dissipation a) current and b) voltage constraints


distribution for a 5-phase machine with Kq3 > Kq1 .

Fig. 7.

These four cases show that when the operation point is


defined, the components VM k and IM k are bounded by the
equations (18) and (14).

where:

VM

are the distribution coefficients of the current constraint


IM into the subspaces 1 and 3 . Only the quadrature
components Iq1 and Iq3 of the current vectors I s1 and I s3 are
used to generate torque (see Fig. 5.a), therefore the current
vector Imd which minimizes the power dissipation is:
"
#

e1
jK
K N

d
(33)
Imd =
d =
e3
| K N |2
jK

(30)

where Kc > 0 is a diagonal matrix used for the control


design and Id is obtained as follows:

IM if d M (m )

(31)
Id =
Icc if M d (m ) < d < M (m )


Imd if 0 d M d (m )

Note that the current vector Imd is parallel to the torque


vector K N . Substituting (32) in (26) and using the voltage
constraint (12), one obtains the following equation:
|Z s1 |

where d is the desired torque, M d (m ) is the maximum


torque with minimum dissipation while M (m ) is the
maximum torque. These two limit torques are function of
the motor parameters, the voltage and current constraints and
the control law. The desired torque d can be provided using
the minimum dissipation torque control when d M d and
using the convex combination torque control when M d <
d < M . When the desired torque d is greater than the
maximum torque M , the maximum torque control must be
used for satisfying the constraints, in this case the desired
torque is saturated to M .
This control law, used together with relation (30), provides
the desired torque d satisfying the constraints (12), (13) and
minimizing, when possible, the current dissipation.

q
2 +( K
e 1 Y01 )2
X01
d

{z

VM 1

|Z s3 |

q
2 +( K
e 3 Y03 )2 = V .
X03
d
M

{z

VM 3

(34)
At low velocity the current constraint limits the torque. Using
(32) and the current constraint (13) the maximum torque with
minimum dissipation at low velocity is:
.h
i
e1 + K
e3
K
M d (0) = I
M

Substituting M d (0) in (34) one obtains the rated velocity


rM d . When m > rM d , the limit torque decreases and
it is limited by the voltage constraint. Given m > rM d ,
equation (34) can be numerically solved with respect to d
in order to obtain the maximum torque M d (m ) satisfying
minimum dissipation and the voltage and current constraints.
The desired torque d can be obtained with minimum current
vector Imd only if d < M d (m ).

A. Minimum dissipation torque control


The current constraint vector IM which minimizes the
power dissipation is the vector with the minimum modulus
parallel to vector K (see Fig. 6.a). Indeed the scalar product
of the four vectors IM a , IM b , IM c and IM d with the vector
K is the same but the vector with minimum modulus is the
vector IM c parallel to K . Note that the vector IM d does
not satisfy the current constraint, therefore this distribution
cannot be used. The voltage vector VM c related to the
current vector IM c is reported in Fig. 6.b. The current
constraint vector IM minimizing the power dissipation is:
" #
e1
K
d
K
IM =
K =
d =

(32)
2
e3 d
|K |
|K |
K

b)

a1
3a3
e 3 = Kq3 =
e 1 = Kq1 =
K
5 2 2 , K
5 2 2
2
2
pc 2 [a1 +9a3 ]
pc 2 [a1 +9a3 ]
|K |
|K |

Torque m can be controlled by current vectors Id in


frame not exceeding the constraints on the maximum input voltage and current. When Id is constant, the condition

Is = Id can be achieved using the following control:


Vs = Zs Is + K m Kc ( Is Id )

Kq1 IM

Maximum torque a) current and b) voltage constraints


distribution for a 5-phase machine with Kq3 > Kq1 .

V. TORQUE CONTROL

VM e
IM g

B. Maximum torque control


The maximum torques M (m ) can be obtained maximizing the projection of the vector IM onto the torque
vector K , see Fig. 7.a. The vectors IM c , IM f and IM g do
not maximize the torque because their projections onto K
are smaller than the projection of vector IM e . The vector
IM = IM e that maximizes the scalar product KT IM is
obtained giving the maximum value IM to the component
IM 3 related to the maximum component Kq3 of vector K .
The voltage vector VM e related to the current vector IM e is
reported in Fig. 7.b.
To reach this goal it is necessary to sort the components
Kq1 and Kq3 of the vector K and apply the following
960

WedA3.4

current and voltage constraints distribution (the reason will using (35) until VM g 0. At the end, when VM g = 0, the
equation (35) can be rewritten as:
be explained later):
(

q
IM k = IM |C 0g |, VM k = VM if k = G

2 + (I
2 if k = G
IM k = IM G , VM k = |Z sG | X0G

Y
)
MG
0G
.
IM k = |C 0g |,
VM k = 0
if k = g

if k = g
IM k = IM g , VM k = Kqg m |Z sg | IM g
(35) In this case the component IM g in the subspace g is
whereG is the index of the maximum component of K and used to keep the component VM g equal to zero as shown in
Fig. 5.c. Using this control the only subspace that generates
g is the index of the other component of K .
torque
is G , indeed the current components I sg in the
When Kq1 < Kq3 then g = 1 and G = 3, otherwise when
other
subspace
g is negative or equal to zero.
K > K then G = 1 and g = 3. The subspace
q1

q3

related to the maximum component Kqk of the torque vector


is shown in Fig. 4 and the subspace g is shown in Fig. 5.d.
Note that the component IM G is univocally defined by the
current constraint (13): IM G = IM IM g .
Substituting the components VM k of (35) in the voltage
constraint (12) one obtains the following equation:
q
2
2 + (I
Kqg m |Z sg | IM g + |Z sG | X0G
M G Y0G ) = VM
(36)
Given m , equation (36) can be rewritten as:
q
|Z sg |
VM Kqg m
2
2 + (I I
X0G
+
IM g
M g Y0G ) =
M
|Z sG |
|Z sG |

C. Convex combination torque control


When M d < d < M the two previous control laws
cannot be used and the optimal control law which satisfies the
constraints (12), (13) and minimizes the current dissipation
is quite complex and difficult to be found. In this case the
following suboptimal control law is used. The torque d
is obtained using the current vector obtained as a convex
combination of the maximum current vector IM , see (37),
and the maximum current vector with minimum dissipation

, see (33):
IM d = | K
|2 M d

where coefficient is: =

This relation can be solved with respect to IM g obtaining the


voltage VM g of the considered subspaces. The components
I sk of the maximum current vector IM are univocally
defined from the constraints distribution (see Sec. IV):


" #
max I vk , I Ik , I Zk Ck if k = G
I
s1

, I sk =
IM =
I Ik
if k = g
I s3

d N (m )
.
M (m ) N (m )

VI. SIMULATION RESULTS


The simulation results described in this section have been
obtained in Matlab/Simulink environment considering a motor with the following electrical and mechanical parameters:
ms = 5, p = 1, Rs = 2 , Ls = 0.03 H, Ms0 = 0.025 H,
aM 1 = 1, aM 3 = 1/3, r = 0.02 Wb, Jm = 1.6 kg m2 ,
bm = 0.15 Nm s/rad, Vmax = 100V, Imax = 35A a1 = 0.8,
a3 = 0.2. The external torque e is zero until t = 15 s then
e = 25 Nm (see the black dashed line in Fig. 8). The time
behaviors of motor velocity m , motor torque m , desired
torque d , external torque e and maximum torques M and
N are shown in Fig. 8 and the corresponding trajectories on
the torque plane (m , m ) are reported in Fig. 9. In Fig. 9
the limit torques M d (m ) and M define three zone: the

(37)
At low velocity the current constraint limits the torque. The
maximum value IM is given only by the subspace G and
the equation (35) can be rewritten as:
(
p
2 + (I
2 if k = G
IM k = IM , VM k = |Z sG | X0G
M Y0G )
IM k = 0, VM k = Kqg m

Icc = IM d + ( IM IM d )

if k = g

Note that the component VM g in the subspace g it is used


to keep the current vector I sg equal to zero as it is shown
in Fig. 5.b. The maximum torque at low velocity is:
r
ms
GaG IM .
M (0) = pc
2

Motor velocity m
m [rad/s]

80

When the velocity m increases the components VM g and


VM G increase and there is a velocity rM for which the
voltage constraint is exactly satisfied. The rated velocity
rM can be obtained substituting the components VM g and
VM G in (12). When m > rM the voltage constraint
limits the torque then it is necessary to redistribute the
current constraint IM into the subspace g to reduce the
components VM g , see (29). Since this operation causes a
reduction of the torque (see vector IM f in Fig. 7.a), the
current constraint IM is redistributed into the subspaces g

60
40
20
0
0

10

15

20

25

30

35

40

45

Motor torque m and desired torque d

N M

m , d [Nm]

35
30

A B

25
20

15
10
5
0
0

10

15

20

25

30

35

40

45

Time [s]

Fig. 8. Time behaviors of motor velocity m , motor torque m


(brown), desired torque d (red), external torque e (magenta) and
maximum torques M and N (black).

961

WedA3.4

m , d [Nm]

35

E D

30

25

IM
50

140

k IM k1 [A]

N (0)

k VM k1 [V]

40

VM

160

M
N

M (0)

Multi harmonics voltage constraint

Multi harmonics current constraint

Zoom of Torque plane


45

120

VM 1 + VM 3

100

80

60

40

IM 1 + IM 3

40

30

20

10
20

0
0

10

15

20

25

30

35

40

10

Time [s]

15

20

25

30

35

40

Time [s]

Time behaviors of the sum of components VM k and IM k


of vectors VM and IM .

Fig. 11.

20

C
15

Current in the subspace 1

Current in the subspace 3

10

16

50

14

D
0
50

100

40

150

m [rad/s]

Motor torque m (brown), desidered torque d (red)


and maximum torques M and N (black) as a function of motor
velocity m .

12

Fig. 9.

Vmax

100

30

Iq1 [A]

Injected phase current


Imax

Injected phase voltage

10

E
30

20

Iq3 [A]

10

20

Is1 [A]

Vs1 [A]

50
0

10
0

20

20

49.85

49.9

49.95

49.85

Time [s]
Phase voltage spectrum
1-st

current harmonics [A]

voltage harmonics [V]

80

40

3-rd

20

49.9

0
100

200

300

w [rad/s]

400

500

B
10

Id3 [A]

1-st

20

I s1 . From A to B and from D to E the desired torque d


is provided using also the direct components Id1 and Id3 of
current vectors I s1 and I s3 .

15

10

3-rd

VII. CONCLUSIONS
In this paper a new vectorial approach to obtain the
optimal current references considering the voltage and current constraints has been proposed. The optimality of the
control law is guaranteed when the minimum dissipation
torque control or the maximum torque control are applied.
Simulation results obtained in Simulink for a 5-phase motors
validated the effectiveness of the presented control law.

0
0

10

Fig. 12. Current and voltage circles CV k , CI k and current vectors


I sk in the complex subspaces k .

49.95

Time [s]
Phase current spectrum

60

15

4
15

Id1 [A]

30

100

10

50

100

200

300

400

500

w [rad/s]

Fig. 10. Phase current and voltage waveform with their correspond-

ing harmonic spectrum in steady-state condition.

green zone represents the region where the desired torque d


can be provided minimizing the power dissipation, the red
zone represents the region where the desired torque can be
provided using the convex combination and the white zone
is not allowed. The letters A, B, C, D and E refer to the
critical points for the control: A when d = M d , B and D
when d = M , C when the external torque e is applied and
E the final steady-state condition. Note that for d M ,
i.e. from point 0 to point B and from point D to point E,
the control law (30) and (31) guarantees m = d . Fig. 10
shows the phase current and phase voltage waveforms in
the steady-state condition and their corresponding spectrum.
It is clear that the phase voltage and current are obtained
injecting the 1-st and the 3-rd harmonics. Moreover the
obtained current and voltage waveforms satisfy the constraint
(10). The constraints (12) and (13) are always satisfied as it
is shown in Fig. 11. The current vectors I s1 and I s3 in
the complex subspaces 1 and 3 are shown in Fig. 12.
The desired torque d is provided only by the quadrature
components Iq1 and Iq3 until it is d = N in point A. From
point B to point D the maximum torque control IM is used,
the desired torque d is generated only by the current vector

R EFERENCES
[1] E. Semail, X. Kestelyn, A. Bouscayrol, Right Harmonic Spectrum
for the Back-Electromotive Force of a n-phase Synchronous Motor,
Industry Applications Conference, 2004, 39th IAS Annual Meeting.
[2] L. Parsa and H.A. Toliyat, Five-Phase Permanent-Magnet Motor
Drives, IEEE Tran. on Industry Applications, 2005, Vol. 41, No. 1.
[3] S. Xue, X. Wen, Z. Feng, Multiphase Permanent Magnet Motor Drive
System Based on A Novel Multiphase SVPWM, IPEMC 2006, vol.1.
[4] F. Locment, E. Semail, X. Kestelyn, Optimum use of DC bus by
fitting the back-electromotive force of a 7-phase Permanent Magnet
Synchronous machine , EPE 2005, Dresden, Germany, Sep. 2005.
[5] L. Parsa, N. Kim, H.A. Toliyat, Field Weakening Operation of a High
Torque Density Five Phase Permanent Magnet Motor Drive,IEEE Int.
Conference on Electric Machines and Drives, 15 May 2005
[6] R. Zanasi, M. Fei, Saturated Vectorial Control of Multi-phase
Synchronous Motors, NOLCOS 2010 - 8th IFAC Symposium on
Nonlinear Control Systems, Bologna, Italy, 1-3 September 2010.
[7] R.Zanasi, F.Grossi, M.Fei, Complex Dynamic Models of Multi-phase
Permanent Magnet Synchronous Motors, IFAC 2011, 18th World
Congress, Milano, Italy, 28 August - 2 September 2011.
[8] R. Zanasi, The Power-Oriented Graphs Technique: system modeling
and basic properties, VPPC 2010, Lille, France, Sept 2010.
[9] R. Zanasi, F. Grossi, Multi-phase Synchronous Motors: POG Modeling and Optimal Shaping of the Rotor Flux, ELECTRIMACS 2008,
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