UPEC2010
31st Aug - 3rd Sept 2010
Model of an Induction Machine with an Arbitrary
Phase Number in Matlab/Simulink for Educational Use
Obrad orevi, Nandor Bodo, Martin Jones
Liverpool John Moores University
O.Dordevic@2009.ljmu.ac.uk N.Bodo@2009.ljmu.ac.uk
Abstract-The use of voltage source inverter (VSI) in high
performance drives removes the restriction of the number of
motor phases. Due to the reported advantages of multi-phase
machines they have become of increasing interest to the
industry. This paper provides a Matlab/Simulink built n-phase
machine model in terms of physical variables along with the VSI
and V/f control scheme that a user can easily set to any phase
(n3) number. Efforts have been made to produce the simplest
model possible, so that a student can easily understand the
mathematical model of the machine and relate it to the variables
within the Simulink model. After a short theoretical review of
the mathematical model of an induction machine with an
arbitrary phase number, the Simulink implementation is
discussed. Simulation results for a three- and five-phase
machine are provided, to prove the validity of the model and
capabilities of the developed software.
Index Terms--Multi-phase machines, simulation, voltage
source inverters.
I. INTRODUCTION
In recent times huge efforts have been made to explore
multi-phase machines. It is well known that numerous
advantages can be obtained in comparison to three-phase
machines. Reduction of torque pulsation, increased reliability
and fault tolerance, improved power sharing capabilities and
possibilities for realisation of series-connected multi-motor
drives with supply coming from a single multi-phase voltage
source inverter are all analyzed. Survey papers [1]-[4] give
an in-depth insight into the recent research. Various supply
schemes have been developed for machines with concentrated
and sinusoidal windings, including space vector PWM and
carrier-based modulation techniques [5], [6].
Mass production, low cost and off-the-shelf availability of
three-phase machines and VSIs make them the first choice for
the industry. Due to the development of high speed
microcontrollers and the use of VSIs, one can easily create
and control any number of phase voltages. Thus, the number
of phases is not restricted to three anymore. By the late
1990s multi-phase drives have become contenders in
applications like ship propulsion, locomotive traction, electric
and more electric vehicles, more-electric aircraft and high
power industrial applications. With regard to these facts an
increase in multi-phase machine use can be expected in the
future.
Modelling of the machines leads to an insight into the
electro-mechanical and electrical transients. Generalized
models for number of phases higher than three are not
available in commonly used simulation packages. A physical
M.Jones2@ljmu.ac.uk
variable model of a multi-phase machine is obtained in [7].
Here the actual equations are fed into a Simulink C-MEX S-
function block. Thus, it is difficult for the student to
understand the correspondence of the physical variables and
the simulation model. The paper gives simulation results for
a 3, 6 and 9-phase machines behaviour for the case when a
single winding becomes open-circuited and the behaviour of a
9-phase machine when several windings (1, 2 or 3) become
open-circuited. A space vector PWM simulation for a three-
phase inverter, using Matlab/Simulink, is addressed in [8].
In this paper a model of an induction machine with an
arbitrary phase number and symmetrical spatial phase shift,
sinusoidal MMF distribution and single isolated neutral point
is introduced. It is assumed that rotor winding has been
referred to stator. The model is built with the aim of
developing teaching material suitable for an MSc course in
variable speed drives. For this reason, as already noted, the
model discussed here is obtained in the simplest way
possible. To begin with, the theoretical background for each
part of the model is addressed in the order the signals are
processed. Beginning with the references obtained by V/f
control, the inverter model and, finally, the phase variable
model of the machine are formulated. Next, an insight into
the developed model is given with emphasis on the blocks
that contain novel solutions. Finally, simulation results for
three- and five-phase machines are provided, to prove the
validity of the models.
II. MODEL OF AN N-PHASE INDUCTION MACHINE AND
INVERTER
As multi-phase machines are supplied from inverters, the
following functional blocks are considered: n-phase reference
signal generator, inverter, and the machine. The reference
signals are equal to the desired fundamental phase voltages:
vis = 2V sin(t (i 1) ) , (1)
where i (1,2,...,n) is the number of the phases, V is the
voltage rms value (the same for all phases), =2f is the
electrical angular frequency and =2/n is the electrical
phase shift between two consecutive phases. The V/f control
is shown in Fig. 1. In the operating region below rated
frequency, rms voltage is obtained by:
V = (Vnom Vboost ) f / f nom + Vboost , (2)
where index nom stands for rated values. Boost voltage rms
value (Vboost) is included as well to compensate the voltage
 V
L11s L12 s ... L1ns
L L22 s ... L2 ns
Vnom [Ls ] = 21s
... ... ... ...

Vboost L
n1s Ln 2 s ... Lnns

L11r L12 r ... L1nr

fnom f
L L22 r ... L2 nr
[Lr ] = 21r (6)
Fig. 1. Applied V/f law. ... ... ... ...

drop on stator resistance Rs at lower frequencies. In the Ln1r Ln 2 r ... Lnnr
operating region above rated frequency V=Vnom holds true. cos cos( + ) ... cos( + (n 1) )
The modulation technique used is carrier based. The cos( ) cos ... cos( + (n 2) )
reference or modulation signals are compared to a high [Lsr ] = M
... ... ... ...
frequency triangular carrier signal. When the modulating
cos( ( n 1) ) cos( + ( n 2) ) ... cos
signal is larger than the carrier, the corresponding leg voltage
is equal to Vdc/2 (Vdc/2 otherwise). This corresponds to while [Lrs]=[Lrs]t holds true. [Ls], [Lr] and [Lsr] stand for
turning on the upper (lower, respectively) switches in the inductance matrices of the stator winding, rotor winding and
actual VSI. Further on, the phase voltages are obtained as: mutual stator to rotor inductances, respectively. M is the
1 n
mutual inductance, is an electrical position of the rotor
vip = vil v jl ,
n j =1
(3) (number of pole pairs times mechanical position) and =2/n
is the space shift between two consecutive phases.
where Vil is the i-th leg voltage, and vip is i-th phase voltage. Terms of mutual inductance matrix between stator and rotor
These phase voltages are then applied to the machine. can be expressed in general as:
General tools for multi-phase machine modelling have Lij = L ji = M cos( + ( j i ) ) . (7)
been developed in the first half of the 20th century [9].
Considering an n-phase machine, the phases of both stator Self-inductance terms contain the leakage inductance L
and rotor are denoted with indices 1 to n according to the and mutual inductance. Terms of stator and rotor winding
spatial distribution of the windings. Additional indices s and mutual inductances can be expressed in general form as:
r identify stator and rotor. The machines windings are Lij = L ji = M cos(( j i ) ) . (8)
considered to be connected in star, with a single isolated To obtain self-inductances, leakage inductance has to be
neutral point. The voltage equilibrium and flux linkage added to diagonal terms: Lii=M+L. Thus, matrices [Ls] and
equations in physical variables are given in compact matrix [Lr] can be obtained in the same way as [Lsr], considering
form, as: =0, and adding a diagonal matrix of leakage inductances
[vs ] = [Rs ][is ] + d [ s ] dt [L]=diag(L). Complete matrix of inductances can be
[vr ] = [Rr ][ir ] + d [ r ] dt formed as:
(4) [L ] [Lsr ]
[ s ] = [Ls ][is ] + [Lsr ][ir ] [L] = s . (9)
[ r ] = [Lr ][ir ] + [Lsr ] t [is ] [Lrs ] [Lr ]
Electrical position is defined with:
where voltage, current and flux linkage column vectors are
defined as: = dt , (10)
where stands for electrical rotor speed. Correlation with
[vs ] = [v1s v2 s v3s ... vns ] t mechanical angular speed is =Pm where P is number of
[vr ] = [v1r v2 r v3r ... vnr ] t magnetic pole pairs. Finally, the equation of mechanical
[is ] = [i1s i2 s i3s ... ins ] t (5)
movement is expressed in terms of electrical variables as:
J d
[ir ] = [i1r i2r i3r ... inr ] t Te TL = . (11)
P dt
[ s ] = [ 1s 2 s 3s ... ns ] t Here, electromagnetic torque is governed with its general
[ r ] = [ 1r 2r 3r ... nr ] t form:
t d [Lsr ]
and [Rs] and [Rr] are diagonal nn matrices, defined with Te = P[is ] [ir ] . (12)
[Rs]=diag(Rs) and [Rr]=diag(Rr). The inductance matrices are d
defined with:
 III. DESCRIPTION OF THE SIMULINK BLOCKS
As already noted, the models of the induction machine,
inverter and appropriate voltage references have been
developed using the computer programme package
Matlab/Simulink. Matlab computes every variable as a
complex matrix [10]. As all motor equations are given in a
matrix form, especially in the case of multi-phase machines,
these equations are directly used to make a universal n-phase
model of a machine in Simulink. Using the same principle, a
universal n-phase inverter and universal n-phase V/f source
blocks have been developed. Finally, the developed blocks
are serially connected to form the final model shown in Fig.
2. Each block is masked and the required parameters can be
set by the user in a pop-up window, shown in the Appendix.
N-Phase Sinusoidal Source is a symmetrical sinusoidal
source block where the number of phases can be set by the
user. It implements V/f law with user defined boost voltage.
Rs, Rotor resistance Rr, Stator leakage inductance Lgs,
Rotor leakage inductance Lgr, Magnetising inductance Lm
and Rotor inertia. Input signals are phase voltages and load
torque. Output signals are produced electromagnetic torque,
rotor shaft speed, stator currents and stator and rotor flux
decomposed into their magnitude and position. The block
consists of three parts: a) electrical, b) torque producing, and
c) mechanical, as illustrated in Fig. 4. Comparing part a) of
the machine model with stator and rotor voltage equilibrium
equations (the first pair in (4)), and flux equations (the second
pair in (4)), it is clear that they are directly mapped into
Simulink blocks. The same can be said for part b), torque
producing part, which is governed by equation (12), while the
rest of the machine model mechanical equation (part c)) is
in the standard form that satisfies mechanical torque equation
(11). L total block concatenates its sub-matrices as in
equation (9) and is rewritten as:

[Ltot ] = M [Lxx (0)] + Lst [I ] M [Lxx ( ) ]

Nominal voltage and nominal frequency parameters
determine the knee of the characteristic (Fig. 1). Transient
time (Acceleration time) sets the time in which the required
Frequency is achieved. If ramping of the desired amplitude is
not required, this parameter is set to zero.
N-Phase PWM VSI block is an ideal voltage source inverter
(VSI) with carrier based pulse width modulation (PWM).
Number of legs of the inverter is adjustable by parameter
Number of phases. Carrier is triangular and its frequency can
be set by PWM switching frequency. Also, DC link voltage
(Vdc) can be specified. Simulink model of this block is
shown in Fig. 3. Input signal to this block (Refs) must have
the same number of phases, and for full PWM operation (no
over-modulation) its value has to be in the range of Vdc/2 to
+Vdc/2. The outputs from the inverter are phase voltages
(Vphase) for the star connected motor, rather than leg
voltages. Dead-time is not considered here.
N-Phase Induction Motor block, shown in Fig. 4,
[M [Lxx ( ) ]] M [Lxx (0) ] + Lr [I ] (13)
Lxx ( ) = [cos( + ( j i ) ) ] nn .
Thus, description of the block L total reduces to
explanation of the block Lxx. Lxx block produces n n
matrix. Lxx matrix generator block is shown in Fig. 5. It has
rotor position as an input (Theta rot el), which is set to zero
for calculating mutual part of stator and rotor inductance
matrices (8), and takes the instantaneous electrical position of
the rotor , for calculating mutual inductance matrix Lsr (7).
By analysing Matrix Multiply block inside Lxx (Fig. 5), it can
be seen that its output matrix is determined by xij=j. Also,
Vdc /2
Refs
1
> 1
Switch
Vphase

implements a symmetrical n-phase induction motor model CARRIER

-Vdc /2 1/NPh
assuming isolated single-neutral star connection and squirrel
cage rotor. The list of user defined parameters is as follows:
Fig. 3. N-Phase PWM VSI block.
Number of phases, Number of pole pairs, Stator resistance

Torque
Torque

V gen V phase
Out Refs Vphase V stator
Rotor Speed [rpm]
Speed RPM

N-Phase Stator currents

Sinusoidal Source Stator Currents R and S flux
N-Phase PWM VSI Psi s
Stator Flux and its Position In1
Psi r
Load Torque
Psi s angle
Rotor Flux and its Position In2 Psi r angle

Load Torque Selecting and unwrapping R and S

N-Phase Induction Motor flux position

Fig. 2. Serially-connected blocks for simulation.

 3 Theta rot el 1 Omega rot el omega rot rad/s
Stator currents P
s

L total -K - 2
T Rotor
u rad /s to rpm
K*uvec Speed [rpm ]
Transposition Load Torque
1 Psi s Theta rot el L TOT Inv i stator 2
Rs
1 s
1
V stator Matrix -K-
Matrix Theta rot el Out -K - P s
Multiply
Multiply 1/J
Psi ALL M _m
dLxx /dTheta 1
Torque
0 1
s Psi r
V rotor
K*uvec
i rotor

Rr
| |
| |
a) Electrical part | b) Torque producing part | c) Mechanical part

Fig. 4. Simulink block diagram of the n-phase induction motor.

ones (NPh ,NPh)

1 cos( ) cos( 2 ) cos(( n 1) )
...
Ones matrix Matrix
Multiply
0 sin( ) sin( 2 ) sin(( n 1) )
...
-K-
diag (1:NPh)
u
T
cos 1 x1 1 cos( 2 ) cos( 4 ) cos( 2( n 1) )
...
Alpha Out 2 (16)
Diag 123 ... matrix Transposition C = y1 0 sin( 2 ) sin( 4 ) ... sin( 2( n 1) )
n
# # # # % #

1 0 + 1 / 2 1/ 2 1/ 2 ... 1/ 2
0 1 / 2
Theta rot el
1/ 2 1/ 2 ... 1/ 2
Fig. 5. Block diagram of the rotor, stator and rotor to stator mutual inductance
matrix Lxx.
where the last row is omitted for an odd number of phases.
Using Simulink block Cartesian to Polar, stator flux position
transposing it, gives matrix whose elements are xij=i. and angle are calculated and multiplexed into a single output
Subtracting the transposed matrix from the original one gives of the machine (Stator Flux and its Position). Note that the
a matrix whose terms are xij=j-i, that correspond to values of output angle of Cartesian to Polar block is in the range to
multiplying coefficients in (7) and (8). +. Rotor flux is treated in the same manner, but its angle is
Let us now consider dLxx/dTheta block. As the torque is increased by Theta rot el in order to be represented in the
defined with (12), and Lsr=MLxx, where M can be treated as a stator reference frame. As the Theta rot el has an unlimited
constant value, one has: value, rotor flux amplitude and new increased angle are once
d [Lsr ] d [Lxx ] again returned to Cartesian coordinates, and moved forward
=M . (14) to polar coordinates, to get the value of the angle in the same
d d
range to +. Rotor flux magnitude and its position are
Since terms of the [Lxx] matrix are cos((ji)), the terms also multiplexed into one output.
of the matrix dLxx/dt will be:
IV. SIMULATION RESULTS
d cos( ( j i ) )
= sin( ( j i ) ) . (15) In order to verify the model two sets of simulation results
d
are presented for machines with different numbers of phases.
Therefore block dLxx/dTheta is the same as block Lxx with At first, motor parameters are configured according to actual
the only difference being that instead of cos it has sin terms parameters of a three-phase motor. Thus, electrical values are
and is followed by gain of -1. per-phase values of an n-phase machine. Set values are: Rs =
Complete model of the induction machine contains also a 10 , Rr = 6.3 , Lgs = Lgr = 41 mH, Lm = 420 mH.
block for calculating stator and rotor flux, which is for Number of pole pairs is P = 2, and rotor inertia is J = 0.1
simplicity omitted from Fig. 4. This block multiplies the first kgm2. Inverter is set to work at 2 kHz switching frequency
two rows of the Clarke (decoupling) transformation matrix with a 600 V DC link voltage. Nominal motor phase rms
with stator and rotor phase flux values (Psi s and Psi r), thus voltage is 220 V, and nominal frequency is 50 Hz.
yielding the corresponding alpha and beta components. As In the first simulation, number of phases is set to 3.
the machine is regarded as ideal symmetrical one, there are Sinusoidal reference frequency is set to 45 Hz, with peak
only two non-zero components in the stationary reference value of 280 V (<Vdc/2), to avoid inverter over-modulation.
frame [3]. Clarkes transformation in general form for a Reference ramping time is set to zero, so that full amplitude
multi-phase machine is given with: value is applied immediately. Load torque is zero until 2.2 s;
it is then stepped to 5 Nm. In Fig. 6 the torque, speed, phase
current and flux amplitude response are shown. Pull-out
torque is almost 11 Nm, and it is reached at approximately
1.3 s. The transient period ends at about 2 s when the speed
reaches steady state value, determined by the applied
frequency and slip, which is proportional to the mechanical
torque applied to the shaft of the motor. Because at this time
the mechanical load is zero, the rotor speed equals the
synchronous speed, which is 1350 rpm for 45 Hz supply
frequency. Later, when approximately rated load is applied
to the shaft, slip speed increases to 75 rpm, and the rotor
speed decreases to 1275 rpm. The phase currents reach
maximum peak value of 10.3 A, while their peak during no-
load steady state equals 2.1 A. After application of the load
torque this value increases to approximately 2.9A. The stator
Fig. 6. Simulation results for 3-phase machine.
and rotor flux values in no-load steady state are 1 Wb and 0.9
Wb respectively, while in loaded conditions they decrease to
0.93 and 0.83 Wb. All these values can be easily checked,
using the equivalent circuit of the machine, thus they serve as
proof of the validity of the model.
In the second simulation the same per-phase parameters are
used for a five-phase machine, inverter and sinusoidal source
model. The same signals are obtained as for the first
simulation and results are shown in Fig. 7. Because per-
phase parameters are the same, it can be seen that torque (and
output power as well) is proportional to the number of phases.
The new pull-out torque is around 17.5 Nm. The rotor inertia
is the same in both cases, so that the transient period is
shorter for the five-phase case. Pull-out torque is reached at
0.8 s. The transient period ends at around 1.3 s. Shown
Fig. 7. Simulation results for 5-phase machine.
currents are phase values, so they are of the same amplitude [5] D. Dujic, Development of pulse-width-modulation techniques for multi-
phase and multi-leg voltage source inverters, PhD Thesis, Liverpool
in steady state under no-load conditions in both cases. John Moores University, 2008.
However, when the load torque is applied to the five-phase [6] A. Iqbal, Modelling and control of series-connected five-phase and six-
machine (the value of which is again 5 Nm), the currents phase two-motor drives, PhD Thesis, Liverpool John Moores
University, 2005.
increase only slightly. It can be seen that the slip is smaller as [7] L. Wang, S. C. Foroosh, J. Jatskevich, and A. Davoudi, Physical
well. The motor speed decreases to 1310 rpm. The same is variable modeling of multi-phase induction machines, Canadian
true of the fluxes, since their values decrease less than in the Conference on Electrical and Computer Engineering CCECE, pp. 999-
three-phase case. While their no-load values coincide with 1004, Niagara Falls, Canada, 2008.
[8] A. Iqbal, A. Lamine, I. Ashra, and M. Mohibullah, Matlab/Simulink
the three-phase ones, the final steady state values are 0.96 Wb model of space vector PWM for three-phase voltage source inverter,
and 0.86 Wb for stator and rotor, respectively. Proc. Int. Universities Power Engineering Conf. UPEC, Newcastle,
UK, pp. 1096-1100, 2006.
V. CONCLUSION [9] D. C. White, H. H. Woodson, Electromechanical energy conversion,
Willey, New York, 1959.
This paper presented a universal n-phase model of an [10] Matalb/Simulink reference guide, available at www.mathworks.co.uk.
inverter fed induction machine. Machine model is
constructed in terms of physical phase variables. It models an AUTHORS ADDRESS
n-phase ideal symmetrical induction machine with star The first author can be contacted at
connected stator winding and squirrel cage rotor. Parameters
of the machine can be easily set by the user and represent School of Engineering, Liverpool John Moores University
standard equivalent circuit per phase values. The results Liverpool L3 3AF, UK
confirm that the model is applicable for any number of e-mail: O.Dordevic@2009.ljmu.ac.uk
phases, odd or even, that is three or more.
APPENDIX
Simulation results are presented for the three-phase and
five-phase drives. They coincide with theory and practice of
multi-phase machines. As the model is for star connected
machine with one isolated neutral point and with squirrel
cage rotor, not all possible winding configurations are
covered, but this structure presents certainly the most
commonly considered configuration of induction machines.
Simplicity of the model means it is particularly well suited for
educational use. As the interest in multi-phase machines is
steadily increasing, this model is a good starting point for
developing a better understanding of how these machines can
be controlled.
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[2] E. Levi Multi-phase electric machines for variable-speed
applications, IEEE Trans. on Industrial Electronics, vol. 55, pp. 1893-
1909, 2008.
[3] E. Levi, R. Bojoi, F. Profumo, H. Toliyat and S. Williamson, Multi-
phase induction motor drives a technology status review, IET
Electric Power Applications, vol. 1, pp. 489-516, 2007.
[4] M. Jones and E. Levi, A literature survey of state-of-the-art in multi-
phase AC drives, Proc. Int. Universities Power Engineering Conf.
UPEC, Stafford, UK, pp. 505510, 2002. Fig. 8. Masked block user-prompt window.