Field Oriented Control of a Five Phase Induction

Motor Fey by a Z-Source Inverter

Omar Ellabban1,2, Member, IEEE, and Haitham Abu-Rub1, Senior Member, IEEE
1
Texas A&M University at Qatar, Doha, 23874, Qatar
2
Helwan University, Cairo 11790, Egypt

Abstract— Multiphase electric drives have been recently This will be done by proposing a high reliable variable speed
proposed for applications where the highest overall system drive system based on five-phase induction motor fed by a ZSI
reliability and power distribution per phase are required. The and controlled by a field oriented control concept. The
recently proposed Z-source inverter (ZSI) provides a ride- proposed five-phase ASD system will has, compared to three-
through capability during input voltage sags, also, it reduces line phase VSI fed ASD system, higher reliability, better dynamic
harmonics; improves load power factor; increases inverter performance, higher efficiency and voltage sag ride-through
reliability; and extends output voltage range. This paper capability.
proposes the combination of the multiphase machine concept
and the ZSI with the vector control concept to produce a very II. MODELING OF FIVE PHASE INDUCTION MOTOR
high reliable adjustable speed drive (ASD) system. In this
paper, a five phase induction motor is fed by a ZSI and In deriving the five-phase induction machine model, it is
controlled by field oriented control (FOC) method. Simulation assumed that the machine windings are sinusoidally
results are provided to illustrate the potential of the new distributed so that all higher spatial harmonics of the magneto
proposed multiphase ASD system. motive force can be neglected and the flux path is linear. In
order to simplify the model, it is necessary to apply a
Keywords — Five phase induction motor, ZSI, field oriented coordinate transformation, which will remove the time varying
control. inductances. The coordinate transformation is utilized in the
power invariant form. The following transformation matrix is
I. INTRODUCTION therefore applied to the five-phase winding [3], [6], [7]:
Multiphase machines offer higher efficiency, reduced
torque pulsations, higher torque density and greater fault 2 2
2 2
tolerance. Furthermore, in a multiphase drive the energy 1 2 4 4 2
delivered through each phase of the inverter is less than in a 0 2 4 4 2
three-phase system, giving advantages for the design of
inverters for high power machines [1]. Multiphase induction √ √ √ √ √

machines have been receiving much attention in the literature; (1)

however, much of this has been related to a specific number of Where 2 ⁄5 and this transformation matrix has the
phases, particularly the five-phase machine [2]. following pseudo-orthogonal property, ,
The methods of speed control of multiphase machines are where and are the inverse and transpose
in principle the same as for three-phase machines. Constant matrices of T θ , respectively.
V/f control is nowadays of relatively little interest, since the The transformation of variables for the stator variables is
cost of implementing more sophisticated control algorithms is given by:
negligible compared to the cost of multiphase power
electronics and the multiphase machine itself. The emphasis is (2)
therefore placed further on vector control and direct torque where f’s variables denote v’s, i’s, or λ’s. The corresponding
control (DTC) [3]. transformation of variables for the rotor variables is given by:
The Z-source inverter (ZSI) is an emerging topology of
power electronics converters with very interesting properties
(3)
such as buck-boost characteristics and single stage conversion.
It can: produce the desired AC output voltage, even one By applying the above transformation to the stator inductance,
greater than the input voltage; provide ride-through during voltages and flux linkages equations, the following equations
voltage sags without additional circuits; improve the power will be obtained in the arbitrary rotating (q-d-x-y-0) reference
factor and reduce the harmonic current and the common-mode frame:
voltage [4]. The above features make the ZSI fed ASD Stator voltage equations:
systems highly desirable and reliable when compared to
voltage source inverter (VSI) fed ASDs. A ZSI for ASD
systems has been proposed in [5] where the features and
advantages of the ZSI fed induction motor system over the
traditional VSI based system were outlined. (4)
This paper addresses the combination of the advantages of
both the multiphase machines and the ZSI and the fast
dynamics performance of the field oriented control concept.

978-1-4673-4569-9/13/$31.00 ©2013 IEEE 1624

Rotor voltage equations: rotor inductance, and the rotor time constant, respectively.
The d-axis component of the stator reference current, ids* , may
also be obtained by using the reference input flux,  rref ,
which is the output of a PI flux controller, as:
(5)
r
ids*  ref
Lm
(12)
By using the rotor speed,  rm , and the slip frequency,  sl ,
Stator flux linkages equations: which is given by:
1 ids*
 sl  (13)
 r iqs*
(6)
the angle of the rotor flux,  e , may be evaluated as:

Rotor flux linkages equations:


 e  ( sl   r )dt (14)
Proportional integral controllers regulate the stator voltages,
* *
vds and vqs , to achieve the reference stator currents, ids* and
(7) iqs* . The required voltage is then synthesized by the inverter
using pulse width modulation (PWM). During motor operation
the actual rotor resistance and inductance can vary. The
The electromagnetic torque is determined by: resulting errors between the values used and the actual
(8) parameters cause an incomplete decoupling between the
The mechanical equation of rotor motion is given by: torque and the flux. In order to compensate for this incomplete
decoupling, the values of compensation voltages are added to
(9) the output of the current controllers. This voltage
Where is the inertia and is the number of poles pairs in a compensation can improve the performance of the current
machine. control loops [8], [9].

III. FIELD ORIENTED CONTROL OF A FIVE PHASE

INDUCTION MOTOR
High performance applications in multiphase drives
require specific control algorithms. The most common control
structure is the well-known vector control. The principal aim
of the vector control is to independently control the flux and
torque in an induction motor, in a similar way to the control of
a separately excited DC motor. In the indirect field oriented
control method, the rotating reference frame is rotating at
synchronous angular velocity, . This reference frame allows
the phase currents to be viewed as two dc quantities under
steady state conditions. The q-axis component is responsible
for the torque producing current, , and the d-axis is
responsible for the field producing current, . These two
vectors are orthogonal to each other so that the field current Fig. 1 Block diagram of the IFOC of a five-phase induction motor
and the torque current can be controlled independently. Fig. 1
shows a block diagram of the IFOC technique for a five-phase IV. MODELING AND CONTROL OF THE ZSI
induction motor [3]. There are three different topologies for a voltage fed two-
The q-axis component of the stator reference current, ∗ level ZSI: the basic ZSI, the bidirectional ZSI and the high
may be computed using the reference torque, , which is performance ZSI (HP-ZSI). The HP-ZSI can operate at wide
the output of a PI speed controller, as: load range with small Z-network inductor, eliminate the
possibility of the dc link voltage drops, and simplify the Z-
2 2 Lr Tref network inductor design and system control . Therefore, the
iqs*  (10)
5 p Lm  r HP-ZSI topology will be used is this work. Fig. 2 shows the
where  r is the estimated rotor flux, which is given by: HP-ZSI topology, which consists of inductors (L1 and L2) and
capacitors (C1 and C2) connected in X shape to couple the
L
 r  m ids (11) inverter to the dc voltage source, in addition to a diode D, a
rs 1 bidirectional switch S7 and a buffer capacitor C [10]. The ZSI
where Lm , Lr and  r are the magnetization inductance, the can produce a desired ac voltage regardless of dc source

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voltage. Because of this special structure, the ZSI has an ratio at certain operating point, respectively, and L , C are the
additional switching state, when the load terminals are shorted Z-network inductor and capacitor, respectively [11].
through both the upper and lower switching devices of any In this paper a dual-loop capacitor voltage controller is
phase leg, which called the shoot-through (ST) state besides used [12], as shown in Fig. 5, to control the capacitor voltage
the eight traditional non-shoot through (NST) states. vc of a HP-ZSI. This controller generates the ST duty ratio d 0
To design a controller for the HP-ZSI, a proper dynamic
model for its switching operation is needed. An accurate small by controlling both the inductor current iL and the capacitor
signal model of the ZSI gives not only a global but also a voltage vc of the HP-ZSI. The loop gains for inner current
detailed view of the system dynamics, and provides guidelines loop Ti ( s) and outer voltage loop Tv ( s) can be expressed as:
to system controllers design since the transfer functions could
be derived accordingly. Ti ( s )  Gci ( s )GM ( s )Gid ( s )
G ( s )GM ( s )Gvd ( s ) (19)
Tv ( s )  cv
1  Ti ( s )
where Gcv ( s ), Gci ( s ) and G M (s ) are the transfer functions for
the outer voltage loop and the inner current loop controllers
and the modified modulation signal transfer function,
respectively. For the outer voltage and the inner current loops,
Fig. 2 High- performance ZSI topology
a two pole and one zero controller has been designed to
A third order model, with state variables: capacitor voltage compensate the low-frequency loop gain and improve the
vc , inductor current iL , and load current il , of the HP-ZSI can phase margin, whose transfer function is:
be illustrated by simplifying the ac side circuit to an equivalent (1  s  z )
Gc ( s )  Gc 0 (20)
dc RL load, Z l , in parallel with a switch S2 and the s (1  s  p )
bidirectional switch S7 is represented by a switch S1, as
shown in Fig. 3. Where, Rl is calculated by power balance as
Rl  8 Z ac 3 cos  , Z ac  Rac  jLac , where Rac and Las are
the resistance and the inductance of the ac load per phase,
respectively and Ll is determined so that the time constant of
Fig. 3. A simplified equivalent circuit for the HP-ZSI
the dc load is the same as the ac load as Ll Rl  Las Rac . The
two basic operation modes of the HP-ZSI are shown in Fig. 4.
In Mode 1, the energy transferred from the source to the load
is zero because the load side and the source side are decoupled
by the ST state. In Mode 2, real energy transfer between the
source and the load occurs. Equations (15-18) represents: the
third order small signal model, the steady state values of the
state variables, the control to capacitor voltage Gvd (s ) and Fig. 4. The basic two equivalent operation modes: (a) shoot-through
control to inductor current Gid (s ) small signal transfer state, (b) non shoot-through state
functions of the ZSI, where Vin , Rl , Ll , I L , VC , I l , D0 are the
input battery voltage, the equivalent dc load resistance, the
equivalent dc load inductance, and the steady state values of
inductor current, capacitor voltage, load current and ST duty
Fig. 5. Dual-loop capacitor voltage control of the HP-ZSI

 2 D0  1   1  D0   2VC  Vin 
 0 0  ~    
~
 iL (t )   L L L
  iL (t )     
d ~   1  2 D0  (1  D0 )  ~    ~   2I L  Il  ~
v ( t )  0  v (t )  0  v (t )    d 0 (t ) (15)
dt  ~     ~c    in 
c
C C   C
     
 il (t )   2(1  D0 )  Rl   il (t )    (1  Do )    2VC  Vin 
0
 Ll Ll   Ll   Ll 
1  Do 1  Do V
VC  Vin , I L  Il , Il  C (16)
1  2 D0 1  2 D0 Rl
( 2 I L  I l ) Ll Ls 2  [(2 I L  I l ) Rl L  (1  D0 )(2VC  Vin ) L  (1  2 D0 )(2Vc  Vin ) Ll ]s  (1  2 D0 )(2Vc  Vin ) Rl
Gvd ( s )  (17)
Ll LCs 3  Rl LCs 2  [2 L(1  D0 ) 2  Ll ( 2 D0  1) 2 ]s  Rl (2 D0  1) 2
(2VC  Vin ) Ll Cs 2  [ Rl C (2VC  Vin )  (1  2 D0 )(2 I L  I l ) Ll ]s  (1  D0 )(2VC  Vin )  (1  2 D0 )(2 I L  I l ) Rl
Gid ( s )  (18)
Ll LCs 3  Rl LCs 2  [2 L(1  D0 ) 2  Ll (2 D0  1) 2 ]s  Rl (2 D0  1) 2

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 V. PROPOSED MULTIPHASE ASD SYSTEM Table 1 Simulation System Parameters
Parameter Value
Fig. 6 shows the complete proposed multiphase ASD ZSI parameters
system containing: the input dc source, the HP-ZSI, the dual Inductance, L 100 µH
loop capacitor voltage control, the IFOC speed control and the Capacitance, C 100 µF
five-phase induction motor with speed and current Switching frequency, Fs 10 kHz
Input DC voltage, Vin 450V
measurements. Where the dual-loop capacitor voltage control
Five phase induction motor
generates the ST duty ratio and the IFOC generates the Output power 15 kW
modulation signals, independently, according to the operating RMS line voltage, VLL 400 V
conditions. To insert the ST correctly, the switching frequency Input frequency, f 50 Hz
of the inverter should be constant. Therefore, in this paper, the No. of pole pairs, P 4
IFOC based on a PWM voltage modulation with voltage Stator resistance, Rs 10 Ω
decoupling compensation is used to insert the ST state within Rotor resistance, Rr 6.3 Ω
the switching signals correctly. The maximum constant boost Stator inductance, Lls 0.04 H
Rotor inductance, Llr 0.04 H
control (MCBC) method is used in this paper as a ST control
Mutual inductance, Lm 0.42 H
method, because of, it requires less inductor value and results Inertia, J 0.03 kg. m2
in less switch voltage stress, less output current total harmonic Fraction factor, B 0.008 N.m.s
distortion, better Z-network behavior, high obtainable ac Rated flux, ψr 1.2707 Wb
output voltage and higher efficiency [13]. Rated load torque, Tn 8.35 N.m

VI. SIMULATION RESULTS VII. CONCLUSION

In order to verify the proposed multiphase ASD system This paper proposes a new high reliable and more efficient
with closed loop speed control and capacitor voltage control ASD system based on five phase induction motor and a high-
strategies, simulations are carried out using MATLAB/ performance ZSI. The proposed system obtained its high
SIMULINK for a five-phase induction motor using the reliability from combining the reliability of both the
parameters in Table 1. In the simulation model, the MCBC multiphase machine and the ZSI. In addition, the system is
method is used and the modulation index is calculated from expected to have higher efficiency due to the higher efficiency
the reference voltage by IFOC method. Fig. 7 shows the five- of both the five phase induction motor and the ZSI compared
phase IM motor response during acceleration and deceleration to their counterparts the three phase induction motor and the
with the rated load torque, and the figure shows very good voltage source inverter. Also, the ZSI has the ability of
speed and torque control performance. Fig. 8 shows the HP- boosting the input voltage to overcome any input voltage
ZSI response where the capacitor voltage tracks its reference drops. Simulation results verify the ability of the IFOC
during different operation modes. Fig. 9 and Fig. 10 show the technique and the dual-loop capacitor voltage control to
system response during 20% input voltage step-down, where achieve the required performance during different operation
the system still keep its good performance without any modes. The proposed ASD system can be used in the
retardation. applications where very high operation reliability combined
with high efficiency are required.

Fig. 6 The complete block diagram of the proposed multiphase ASD system

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Fig. 7 Five-phase induction motor response during different operation modes

Fig. 8 HP-ZSI response during different operation modes

Fig. 9 Five-phase induction motor response during 20% input voltage step-down

Fig. 10 HP-ZSI response during 20% input voltage step-down

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 [7] Atif Iqbal, Sk. Moin Ahmed,Md. Arif Khan, Mohd. Rizwan Khan and
ACKNOWLEDGEMENT Haitham Abu-Rub, “Modeling, Simulation and Implementation of a
Five-Phase Induction Motor Drive System”, the 2010 Joint International
This work was supported by NPRP grant No. 09 - 233- 2- Conference on Power Electronics, Drives and Energy Systems (PEDES)
096 from the Qatar National Research Fund (a member of & 2010 Power India, 20-23 Dec. 2010.
Qatar Foundation). The statements made herein are solely the [8] A. Iqbal, Sk. M. Ahmed, H. Abu-Rub, “Vector Control of a Five-phase
Induction Machine Using Synchronous Current Controller and ANN
responsibility of the authors. based Space Vector PWM”, the 2010 International Power Electronics
Conference (IPEC), 21-24 June 2010.
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