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WedA3.4
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.
ms
p
, m
, m
Rs
Ls
Ms0
Mhi
Jm
bm
m
e
s
c ()
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.
957
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 .
.
=
= 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)
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
(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).
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
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 .
958
WedA3.4
a)
b)
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.
Idk
CV k
Idk
R0k
2
Idk
2
Iqk
2
IM
k
(18)
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)
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)
(21)
(22)
(23)
(24)
(25)
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. 7.
where:
VM
e1
jK
K N
d
(33)
Imd =
d =
e3
| K N |2
jK
(30)
IM if d M (m )
(31)
Id =
Icc if M d (m ) < d < M (m )
Imd if 0 d M d (m )
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
(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 |
Kq1 IM
V. TORQUE CONTROL
VM e
IM g
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
, see (33):
IM d = | K
|2 M d
, I sk =
IM =
I Ik
if k = g
I s3
d N (m )
.
M (m ) N (m )
(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
Motor velocity m
m [rad/s]
80
60
40
20
0
0
10
15
20
25
30
35
40
45
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]
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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)
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]
Fig. 11.
20
C
15
10
16
50
14
D
0
50
100
40
150
m [rad/s]
12
Fig. 9.
Vmax
100
30
Iq1 [A]
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
80
40
3-rd
20
49.9
0
100
200
300
w [rad/s]
400
500
B
10
Id3 [A]
1-st
20
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
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-
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,
Quebec, Canada, 2008.
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