Extended Summary 本文は pp.

420–429

Dual-Three Phase Induction Machine Drives Control—A Survey

Radu Bojoi Non-member
Francesco Farina Non-member
Francesco Profumo Non-member
Alberto Tenconi Non-member
(Dipartimento di Ingegneria Elettrica, Politecnico di Torino, Italy, [email protected])

Keywords: multi-phase drives, dual-three phase induction machine, control

1. Introduction
Multi-phase motor drives can be proposed for special custom ap-
plications to solve particular technical problems. Despite the higher
complexity of the drive, the interest on the multi-phase drives has
grown in the last years, in particular on the five-phase and six-phase
ones, with induction and synchronous motors.
The paper reviews the most relevant results and provides a com-
prehensive survey and analysis of the control issues on the VSI fed
dual-three phase induction machine drives (two sets of windings
shifted by 30 electrical degrees with isolated neutral points); the ma-
chine modeling and the modulation strategy aspects are discussed to
introduce the different control schemes.
2. Advantages and Applications
The paper discusses the potential advantages of the dual-three
phase induction motor drives that can be exploited in specific appli- Fig. 1. Dual-three phase induction machine
cations (mainly high power/high current applications):
• Mitigation of torque pulsation problems.
dual-three phase induction motor drives is mainly dedicated on the
• Reduction of the rotor harmonic losses.
field oriented and direct torque control techniques.
• Reduction of the rated current of the components.
5.1 Field Oriented Control A decoupled control of the
• The possibility to increase the torque per ampere ratio.
dual-three induction machine flux and torque can be obtained by a
• Improvement of the reliability at system level.
direct extension of the three-phase case. On the contrary, the current
• Reduction of the current harmonics in the DC link capacitor.
control extension from the three-phase to the dual-three phase drive
• The possible to modify the pole-pairs number using the inverter.
must consider some specific aspects such as the unbalance current
• The possibility to supply more machines from a single inverter.
sharing between the two stator winding sets and the multiple cou-
3. Machine Model pling terms. The paper presents different current control implemen-
The paper present two different modeling approaches that can be tation, either in stationary frame or in synchronous reference frame,
used for machine analysis and drive control: able to cope with these problems.
( 1 ) Vector Space Decomposition (VSD) theory. 5.2 Direct Torque Control The paper presents two main
( 2 ) Dual Three-Phase (DTP) modeling approach. groups of Direct Torque Control solutions:
The VSD approach decomposes the original six-dimensional vec- • Variable switching frequency solutions; Direct Self Control and
tor space of the machine into three orthogonal subspaces; only one Switching-Table based techniques.
is involved in the electro-mechanical energy conversion. The DTP • Constant switching frequency solutions; Pulse Width Modulation
approach is based on the classical theory used for the analysis of based techniques.
three-phase electrical machines. A common aspect is the lack of current control that imposes a
4. PWM Strategies for Six-Phase VSI dedicated design of the drive power units in order to avoid unbal-
The inverter contains a network of 12 power switches arranged anced current sharing between the three-phase stator sets. Other as-
in 6 legs, so 26 = 64 configurations can be obtained; this increases pects concern the phase current waveforms, the control robustness
the number the possible PWM strategies. The paper focuses on ad- against the parameters detuning and the flux/torque estimation.
vantages and drawbacks of the most important PWM techniques: 6. Conclusions
Conventional Space Vector Modulation. Dedicated control schemes solutions for the dual-three phase
1. Multilevel Conventional Space Vector Modulation. induction motor drives have been developed and experimentally
2. Vector Space Decomposition Modulation strategy. demonstrated. Some solutions could be of immediate relevance
3. Double three-phase Space Vector Modulation. to industry. Novel concepts, related to the exploitation of spe-
4. Double zero-sequence injection) technique. cific properties of dual-three phase machines in particular applica-
5. Control of Dual-Three Phase Drives tions, such as single-inverter multi-motor drives or dual-source mo-
The research work concerning the control aspects of the tor drives are in early research stage.

–8–
 Paper

Dual-Three Phase Induction Machine Drives Control—A Survey

Radu Bojoi∗ Non-member
Francesco Farina∗ Non-member
Francesco Profumo∗ Non-member
Alberto Tenconi∗ Non-member

The paper aims to perform an overview on the state-of-the-art in the control of multi-phase drives employing dual-
three phase induction machines. In particular, the paper is focused on modeling aspects, Pulse-Width Modulation
(PWM) techniques for Voltage Source Inverters (VSI), Field Oriented Control (FOC) and Direct Torque Control (DTC)
strategies for dual-three phase induction machines. Furthermore, the paper briefly presents the advantages of dual-three
phase induction motor drives over the conventional three-phase drives and the different applications reported in the lit-
erature.

Keywords: multi-phase drives, dual-three phase induction machine, control

1. Introduction
In the past the three-phase distribution grid has imposed
the same number of phases for AC machines since they have
been directly connected to the grid for industrial applications.
In adjustable speed AC drives, the machine is usually sup-
plied by a DC-AC converter, so the number of phases is not
limited any more by the utility grid. Hence, from the advent
of the power electronic devices, multi-phase motor drives
have been studied to solve particular technical problems. For
example, in high power/high current applications, the multi-
phase solution allows to divide the controlled power on more
inverter legs, reducing the rated current of the power elec-
tronic switches and offering a high reliability at system level
due to the redundant structure. These aspects can justify the
higher complexity of the multi-phase drive in special cus-
tom applications, such as electrical ship propulsion, trac-
tion drives, electric/hybrid vehicles, high power pumps and
aerospace applications (1) .
In the last five years, the interest on the multi-phase drives
has considerably grown and an important increase of the
quantity in published work has been noticed. As a direct con-
sequence, some international conferences have hosted ses-
sions dedicated to multi-phase motor drives (2) . The literature
reports different multi-phase solutions from the point of view
of the phase number and the machine type; the more interest- Fig. 1. Dual-three phase induction machine
ing and addressed ones are the five-phase and six-phase ones,
employing induction and synchronous permanent magnet or
synchronous reluctance motors (3) .
The paper deals with a review on the most relevant research with isolated neutral points (Fig. 1).
results published in the literature (1)–(51) , regarding the VSI fed This machine is reported in the literature with different
dual-three phase induction motor drives. The machine has names, such as: six-phase (28) , split phase (33) , dual three-
two sets of windings spatially shifted by 30 electrical degrees phase (20) , dual-star (11) or quasi six-phase (3) induction machine.
Furthermore, the same name is sometimes used for different
∗ Politecnico di Torino, Dipartimento di Ingegneria Elettrica phase displacement between the two three-phase stator sets.
C.so Duca degli Abruzzi, 24, 10129, Torino, Italy
To have an unique nomenclature, the term dual-three phase
e-mail: [email protected]
website http://www.polito/research/eeeee machine will be used in this paper specifying, when nec-
tel: +39.011.564.6356, Fax: +39.011.564.7199 essary, the phase displacement between the stator sets for

420 IEEJ Trans. IA, Vol.126, No.4, 2006

 Dual-Three Phase Drives Control—A Survey

values different from 30 electrical degrees. imposes high phase currents; the multi-phase solution allows
Since the paper attempts to provide a comprehensive sur- reducing the current per phase without increasing the voltage
vey and analysis of the dual-three phase induction machine per phase (1) .
drives control, the machine modeling and the modulation (4) The possibility to increase the torque per ampere ra-
strategy aspects are discussed before the presentation of the tio for the same machine volume. This is possible in multi-
different control schemes. phase drives using spatial mmf forces other than the funda-
mental component. This aspect has been investigated in (9) for
2. Advantages and Applications
a dual-three phase machine drive, where up to almost 40% of
The dual-three phase induction motor drives have several torque density improvement can be obtained (compared to a
advantages over their three-phase counterparts; some of these three-phase machine with the same flux peak value) by inject-
advantages are common to multi-phase drives. ing third harmonic zero sequence components in the phase
(1) Reduction of the amplitude with a simultaneous in- currents; that is possible by connecting the machine winding
crease of the frequency of torque pulsations; that reduces the neutral points to the midpoint of the inverter DC link.
mechanical stress for the mechanical load. (5) Improved reliability at system level. An important is-
(2) Reduction of the rotor harmonic losses due to the ab- sue in favor of the multi-phase drives is the reliability; the
sence of some rotor harmonic currents. multi-phase machines, due their phase redundancy, can start
These are two of the advantages that started years ago the and run with one or more phase open. The higher reliability
interest towards the multi-phase machine due to the limited of multi-phase drives is fully exploited if each machine phase
switching frequency capability of the power electronic com- is supplied by an independent, four-quadrant converter (10) .
ponents available at that time. These aspects are still valid A high power application is presented in (11) (12) for a loco-
for very high power applications. motive where two independent three-phase inverters supply
When supplied by a square-wave VSI or Current Source four dual-three phase induction motors in parallel; in case of
Inverter (CSI), a three-phase induction machine develops an failure on one inverter, the drive operates with the other valid
electromagnetic torque having a dominant time harmonic of inverter supplying the remaining three-phase stator winding
frequency six times the supply fundamental frequency. This sets.
torque harmonic leads to important mechanical stress for (6) Reduction of the current harmonics drawn by the DC
the mechanical system in high power drives. The situation link filter capacitor for VSI, especially for inverter square-
is significantly improved for the dual-three phase induction wave operation. In the multi-phase drives, it is possible to
machine (Fig. 1) whose particular winding configuration re- lower the DC link current harmonics flowing in the DC link
sults in the elimination of all air-gap flux time harmonics capacitor filter, reducing significantly both capacitor size and
and induced rotor current harmonics of order k = 6 · n ± 1, cost, especially for the inverter square-wave operation (13) (14) .
(n = 1, 3, 5, · · · ). As consequence, all torque harmonics of In case of PWM operation, the dual-three phase solution, ei-
order k = 6 · n, (n = 1, 3, 5, · · · ) are eliminated, reducing ther with zero degrees (15) or 30 degrees (16) displacement be-
significantly the torque ripple and the rotor losses, as demon- tween the machine stator winding sets, allows a reduction of
strated in the simulation carried out in (4) and experimentally the DC link current harmonics.
confirmed in (5) (6) . (7) When the supply frequency must be kept constant,
A comparison between two high power traction drives it is possible to obtain a speed variation by modifying the
employing three-phase and dual-three phase induction ma- number of the machine pole-pairs. Another benefit of using
chines, respectively, is performed in (7) , showing a reduction multi-phase machines is the possibility to extend the constant
of the torque ripple by one half for dual-three phase drive in power operation range by changing the machine number of
contrast to the three-phase counterpart. poles. That can be done by controlling the frequency and
(3) The rated current of the power electronic switches is phase of the machine currents without mechanical switches,
halved respect to the three-phase inverter of the same power. as illustrated in (17) (18) for a dual-three phase induction machine
The introduction of PWM controlled inverters in low and having 60 degrees displacement between the stator sets (true
medium power range, due to the development of power elec- six-phase machine). This advantage can be useful in appli-
tronics technology, has eliminated the need to use multi- cations with limited value of supply voltage, such as in EV.
phase machines to reduce the torque pulsations (3) . However, Other advantages coming from pole changing, such as the
high current devices with high switching frequencies are not reduction of the acoustic noise and the current ripple, are ad-
available yet. In this case, the sharing of the controlled power dressed in (18) .
on more inverter legs is an alternative solution to the com- (8) The possibility to supply more than one machine from
ponent paralleling to reduce the rated current of the power a single inverter to get a multi-motor, multi-phase drive.
switches. For applications requiring multi-motor drives, like paper
As illustrated in (8) , a vector-controlled 850 kW dual-three mills, textile manufacturing, etc., the three-phase drives so-
phase induction machine drive (with zero displacement be- lution leads to a system where each machine is fed by an
tween the machine stator winding sets) is used to drive a melt inverter sharing with the other inverters a common DC link.
pump in a polyethylene plant. The machine is fed by a GTO In case of high-power two-motor induction drives, it is possi-
inverter having a switching frequency of 500 Hz. ble to use two different dual-three phase induction machines
Electrical Vehicles (EV) represent another possible appli- supplied by a single VSI with appropriate series connection
cation that can benefit from current splitting, because in many of the stator windings of these two machines, as described
cases the low inverter DC link voltage (provided by a battery) in (19) .

電学論 D，126 巻 4 号，2006 年 421

 In conclusion, the dual-three phase induction motor drives
are suitable in high power/high current applications. In par-
ticular, the transport applications (ship propulsion, locomo-
tive, EV) are frequently addressed in the literature.
3. Machine Model
The construction of the dual-three phase induction motor is
rather similar to the three-phase one, having the same rotor,
the same stator magnetic core but the stator windings are split
into two three-phase sets. As consequence, also the mathe-
matical modeling approach of dual-three phase induction ma-
chines is similar to the three-phase ones and usually it is ob-
tained under the same simplifying assumptions: sinusoidally
winding distributions, unity stator and rotor turns ratio, con-
stant air-gap, the magnetic saturation and the core losses are Fig. 2. Machine single phase circuits according to VSD theory
neglected.
⎧
When necessary, the mmf spatial harmonics ought to be ⎪
⎪
⎪ v̄ s = R s · ī s + p· λ̄ s ⎧
also considered, as for pole-changing control (17) (18) . Here- ⎪
⎪
⎪ ⎪
⎪
⎪ v̄ s = v sα + j · v sβ
⎪
⎪
⎪ 0 = R · ī + p· λ̄ − j·ω · λ̄ ⎪
⎪
⎪
inafter, the machine modeling will consider only the funda- ⎪
⎪
r r r r r
⎪
⎪ ī s = i sα + j · i sβ
⎪
⎨λ̄ s = L s · ī s + M· īr ⎪
⎨
mental spatial mmf in the air-gap. ⎪
⎪ , ⎪
⎪ īr = irα + j · irβ
⎪
⎪
⎪ λ̄r = M· ī s +Lr · īr ⎪
⎪
⎪
The literature reports two different modeling approaches: ⎪
⎪ ⎪ λ̄ s = λ sα + j · λ sβ
⎪
⎪
⎪ P M   ⎪⎪
⎪
⎩
( 1 ) Vector Space Decomposition (VSD) theory. ⎪
⎪
⎩T e = kT · · · λrα ·i sβ −λrβ ·i sα λ̄r = λrα + j · λrβ
( 2 ) Dual Three-Phase (DTP) modeling approach. 2 Lr

Both machine models can be used for machine operation kT = 1 for power invariant form of [T 6 ]
· · · · · (1)
analysis and drive control, depending on the application. kT = 3 for non-power invariant form of [T 6 ]
3.1 Vector Space Decomposition (VSD) Theory The
VSD theory has been introduced in (20) to transform the orig- where ωr is the rotor speed, P is the number of poles and p is
inal six-dimensional space of the machine into three two- the derivative operator. The machine parameters are reported
dimensional orthogonal subspaces (α, β), (µ1 , µ2 ) and (z1 , z2 ) in Appendix.
by using a proper 6 × 6 transformation matrix [T 6 ] either in As shown by (1), the torque production involves only quan-
power invariant (20) (21) or non-power invariant (amplitude in- tities in the (α, β) subspace and consequently the machine
variant) forms (22) (see Appendix). control is simplified since it needs to act only on a two-
The rotor cage is considered to be equivalent with a dual- dimensional subspace.
three phase wound rotor. In addition (20) , neglects the sta- In practice, the combined effects of the two stator sets in
tor mutual leakage inductance for short-pitch machines. As the air-gap flux and torque production are represented by a
demonstrated in (20) , the [T 6 ] matrix has these properties: “mean” bi-phase machine in the (α, β) subspace (Fig. 2). The
• The fundamental components of the machine variables (d, q) synchronous reference frame, oriented either on the
and the harmonics of the order k = 12 · n ± 1, (n = machine rotor flux, stator flux or air-gap flux is obtained as
1, 2, 3, · · · ) are mapped in the (α, β) subspace. These for a three-phase machine (23) .
components contribute to the air-gap flux. The machine model in the (µ1 , µ2 ) subspace describes two
• The harmonics of the order k = 6 · n ± 1, (n = 1, 3, 5, · · · ) independent passive R-L circuits as
are transformed in the (µ1 , µ2 ) subspace. These harmon-   
v sµ1 R + Lls · p 0 i
ics (the 5th, 7th, . . . ) do not contribute to the air-gap flux = s · sµ1 · · · · · · (2)
v sµ2 0 R s + Lls · p i sµ2
since the (α, β) and (µ1 , µ2 ) subspaces are orthogonal.
• The zero-sequence components (of order k = 3 · n, For ideal sinusoidal supply, the voltage components in the
n = 0, 1, 2, 3 · · · ) are mapped in the (z1 , z2 ) subspace. (µ1 , µ2 ) subspace are zero. In case of non-sinusoidal supply,
Hence, from the point of view of the flux and torque pro- such as power electronic converters, the voltage excitation in
duction, the analysis and control of the machine using the the (µ1 , µ2 ) subspace will produce current components in this
VSD theory is greatly simplified, since the machine model subspace; these components are limited only by a low value
in the (α, β) subspace is identical to the model of a three- of the equivalent impedance, i.e. the stator resistance and the
phase machine (Fig. 2). If the two stator sets have isolated stator leakage inductance.
neutral points, no current components flow in the (z1 , z2 ) sub- A modified VSD model of a short-pitch machine, taking
space (20) ; consequently, the machine model referred to the into account the mutual leakage inductance, is presented in (24) .
stationary reference frame can be reduced to two sets of de- Here, it has been demonstrated that the leakage inductance
coupled equations corresponding to the machine (α, β) and values for the (α, β), (µ1 , µ2 ) and (z1 , z2 ) circuits are different;
(µ1 , µ2 ) subspaces (20) . full-pitch coils maximize the impedance in the (µ1 , µ2 ) and
Using complex vector notation, the machine model in the (z1 , z2 ) subspaces, being the better choice for inverter fed op-
(α,β) subspace is (20)–(22) eration (24) ; test measuring procedures for the machine leakage
inductances are also given in (24) .

422 IEEJ Trans. IA, Vol.126, No.4, 2006

 Dual-Three Phase Drives Control—A Survey

Fig. 4. Stationary frame circuit for the DTP approach

considering the mutual leakage inductance for short-pitch
machines

Fig. 3. Single-phase equivalent circuits for the DTP approach

3.2 Dual Three-Phase (DTP) Modeling Approach The modified DTP machine model in arbitrary (d, q) rotat-
This approach has been introduced in (4) . The machine has ing reference frame, taking into account the mutual leakage
multiple three-phase stator sets and the rotor cage is equiv- inductance, is given in (1) (28) .
alent with a three-phase wound rotor; the machine single-
phase equivalent circuits in stationary reference frame are de- 4. PWM Strategies for Six-Phase VSI
picted in Fig. 3.
The quality of the phase current waveforms, as well as
To have a complete equivalence between the DTP and the
the drive dynamic performance, is greatly influenced by the
VSD modeling approaches, the magnetizing inductance and
power electronic converter. When supplied by a square-wave
the rotor parameters of Fig. 3 are one half respect to those
VSI (5) , the dual-three phase induction machine draws large
employed by the VSD theory (Fig. 2).
current harmonics of order k = 6·n±1, (n = 1, 3, 5, · · · ) which
Using complex vector notation, the machine model in the
do not contribute to the air-gap flux and do not influence the
stationary reference frame is
torque pulsations. These harmonics (5th , 7th , . . . ) are limited
⎧
⎪
⎪
⎪v̄ = R s · ī s1 + p · λ̄ s1 only by the stator resistancce and the stator leakage induc-
⎨ s1
⎪
⎪v̄ s2 = R s · ī s2 + p · λ̄ s2 · · · · · · · · · · · · · · · · · (3) tance; they will produce additional losses in the machine re-
⎪
⎩0 = R · ī + p · λ̄ − j · ω · λ̄
r r r r r sulting in the increase of size and cost of both machine and
⎧ inverter.
⎪
⎪
⎪λ̄ = L s · ī s1 + M · ī s2 + M · īr
⎨ s1 A possible approach to solve the problem is to use external
⎪
⎪λ̄ s2 = M · ī s1 + L s · ī s2 + M · īr · · · · · · · · · · · · · · · · · (4)
⎪
⎩λ̄ = M · ī + M · ī + L · ī filters, as shown in (29) . Another solution concerns the ma-
r s1 s2 r r
  chine structure, as shown in (30) , where an end winding struc-
3 P M
Te = · · · λ̄r × ī s1 + ī s2 ture using magnetic rings has been used. That increases the
2 2 Lr stator leakage reactance only for the current harmonics, act-
3 P M
   ing as a machine built-in selective filter.
= · · · λrα · i s1β + i s2β − λrβ · (i s1α + i s2α )
2 2 Lr Besides simultaneous regulation of voltage amplitude and
· · · · · · · · · · · · · · · · · · · · (5) frequency, the PWM operation for VSI can improve the qual-
ity of the delivered current waveforms for multi-phase drives.
A complete description of the DTP machine state-space In this way, acting on the power converter, the problem of
model in (d, q) synchronous reference frame aligned on the the low frequency current harmonics is solved, without mod-
machine rotor flux is given in (8) (25) . ifying the machine design and construction. For high power
The model for the zero sequence circuits is drives the PWM operation is not possible and multilevel volt-
     
v s10 Rs 0 i s10 d Lls 0 i s10 age synthesis can be used (31) , by means of multi-converter
= · + ·
v s20 0 Rs i s20 dt 0 Lls i s20 topologies.
· · · · · · · · · · · · · · · · · · · · (6) The suitable approach for the analysis of the six-phase in-
verter PWM operation is the VSD (20) theory, since it provides
However, if the star connection is used and the neutral an unified method to demonstrate the generation of the loss-
points of the two stator sets are not connected, the zero- producing current components.
sequence currents will be automatically zero even when the The inverter contains a switching network of 12 power
two sets of supply voltages have zero-sequence components. switches arranged to form 6 legs; each leg supplies one mo-
The single-phase circuit in stationary reference frame of tor phase (Fig. 1). Only one of the power switches of the
Fig. 3 and described by (3–6) is valid only for full-pitch ma- same leg can operate in the on state to avoid the shortcircuit
chines or when neglecting the mutual leakage inductance of the DC link, so 26 = 64 possible configurations can be ob-
in case of short-pitch machines. If the mutual leakage in- tained. The machine phase voltages can be computed using
ductance has to be considered (27) , the single phase machine the switching function associated to one inverter leg; that is
equivalent circuit must be modified (Fig. 4). defined as

電学論 D，126 巻 4 号，2006 年 423

 Fig. 6. Inverter voltage vectors in the (µ1 , µ2 ) subspace
Fig. 5. Inverter voltage vectors in the (α, β) subspace


S j = 1, if the upper switch is on (lower switch is off)
S j = 0, if the upper switch is off (lower switch is on)
· · · · · · · · · · · · · · · · · · · · (7)

where j = a, b, c, x, y, z.
For the machine having isolated neutral points, the ma-
chine phase voltages are separately computed for each three-
phase set as
⎛ ⎞ ⎫
⎜⎜⎜ 1  ⎟⎟⎟ ⎪
⎪
⎪
⎜
vis = ⎜⎝⎜S i − · S k ⎟⎠⎟ · vDC i = a, b, c ⎪
⎟ ⎪
⎪
⎪ Fig. 7. Conventional SVM
3 k=a,b,c ⎪
⎪
⎬
⎛ ⎞ ⎪ · · · · · · (8)
⎜⎜⎜  ⎟
⎟ ⎪
⎪
⎪
⎜ 1 ⎟
⎟ ⎪
⎪
v js = ⎜⎜⎝S j − · S k ⎟⎟ · vDC j = x, y, z⎪ ⎪
3 k=x,y,z ⎠ ⎪ values of the switching functions for the inverter legs (con-
⎭
sidered in the order abcxyz). The inverter provides only 48
independent non-zero vectors and one zero vector to form a
where vDC is the inverter DC link voltage.
12-sided, 4-layer polygon in each machine subspace.
Using the VSD matrix transformation [T 6 ] and the ma-
The vectors with underlined switching configuration num-
trix form of (8), the voltage components in the machine sub-
ber N are obtained for different switching configurations of
spaces (α, β), (µ1 , µ2 ) and (z1 , z2 ) are computed as
the inverter.
⎡ √ √ ⎤
⎢⎢⎢ ⎥ According to the VSD theory, the main goals of the PWM
0 ⎥⎥⎥⎥⎥
1 1 3 3
⎢⎢⎢ 1 − − − converter control are:
⎢⎢⎢ √2 √2 2 2 ⎥⎥⎥
⎡ ⎤ ⎢⎢⎢⎢ ⎥⎥⎥⎥ ⎡ ⎤ • To generate the reference voltage vector v̄∗s in the (α, β)
⎢⎢⎢ v sα ⎥⎥⎥ ⎢⎢⎢ 0 3
−
3 1 1
−1 ⎥⎥⎥ ⎢⎢⎢ S a ⎥⎥⎥ subspace, according to the desired flux and torque.
⎢⎢⎢ v sβ ⎥⎥⎥ ⎢⎢⎢ 2 2 2√ √2 ⎥⎥⎥ ⎢⎢⎢ S b ⎥⎥⎥
⎢⎢⎢ ⎥⎥⎥ ⎢⎢⎢ ⎥⎥⎥ ⎢⎢⎢ ⎥⎥⎥ • To have zero average voltage vector in the (µ1 , µ2 ) sub-
⎢⎢⎢ v sµ1 ⎥⎥⎥ vDC ⎢⎢⎢ 1 1 3 3 ⎥⎥⎥ ⎢⎢⎢ S c ⎥⎥⎥
⎢⎢⎢ ⎥⎥⎥ = ⎢⎢⎢ 1 − − − 0 ⎥⎥⎥ · ⎢⎢⎢ ⎥⎥⎥ space to minimize the loss-producing harmonics.
⎢⎢⎢ v sµ2 ⎥⎥⎥ 3 ⎢⎢⎢ ⎥⎥⎥ ⎢⎢⎢ S x ⎥⎥⎥
⎢⎢⎢ v ⎥⎥⎥ ⎢⎢⎢ √2 √2 2 2 ⎥⎥⎥ ⎢⎢⎢ S ⎥⎥⎥ 4.1 Conventional Space Vector Modulation (CSVM)
⎢⎣ sz1 ⎥⎦ ⎢⎢⎢ 3 3 1 1 ⎥⎥ ⎢⎣ y ⎥⎦
−1 ⎥⎥⎥⎥ S z
⎢⎢⎢ 0 − This strategy has been proposed for dual three-phase drives
v sz2 ⎢⎢⎢ ⎥⎥⎥ in (32) . For this strategy, similar to the one widely used for the
2 2 2 2
⎢⎢⎢ ⎥
⎢⎢⎣ 0 0 0 0 0 0 ⎥⎥⎥⎥ three-phase inverters (33) , two adjacent external vectors and the
⎦
0 0 0 0 0 0 zero vector are used during a switching period to achieve the
· · · · · · · · · · · · · · · · · · · · (9) reference vector (Fig. 7) in the (α, β) subspace. Since only
the (α, β) plane is controlled, harmonic voltage components
As shown in (9), no voltage components are generated in will be generated in the (µ1 , µ2 ) subspace. As a result, large
the (z1 , z2 ) subspace; for this reason, the machine topology loss-producing current harmonic components will flow in the
with two separate neutral points is usually preferred. motor phases (32) .
Considering all the 64 inverter switching configurations, 4.2 Multilevel CSVM (ML-CSVM) This approach
the projections of the normalized voltage vectors (respect to is based on a similar concept used by the PWM techniques for
the DC link voltage vDC ) in the remaining orthogonal sub- the multilevel inverters to reduce the voltage distortion in the
spaces (α, β) and (µ1 , µ2 ), are depicted in Figs. 5, 6. (α, β) subspace. Thus, only non-zero vectors are used; their
The decimal numbers in Figs. 5, 6 show the inverter choice depends on the reference voltage magnitude (Fig. 8).
switching state N, i.e. its binary equivalent number gives the Even with reduced voltage distortion in the (α, β) subspace,

424 IEEJ Trans. IA, Vol.126, No.4, 2006

 Dual-Three Phase Drives Control—A Survey

Fig. 8. Multilevel CSVM

Fig. 10. Double SVM strategy

Fig. 9. VSD modulation strategy

the average voltage in the (µ1 , µ2 ) plane is not zero and will
produce even higher current harmonics compared with the
CSVM (34) .
4.3 Vector Space Decomposition Modulation (VSDM)
Strategy This strategy, derived in (20) from machine mod-
eling, controls both (α, β) and (µ1 , µ2 ) subspaces using 4 adja- Fig. 11. Double zero-sequence injection technique
cent non-zero vectors and one zero vector during one switch-
ing period, as shown in Fig. 9. Due to the minimization
of the mean voltage in the (µ1 , µ2 ) subspace, this modula- (α, β) subspace is controlled, the current harmonics are con-
tion strategy offers great advantages concerning the reduction siderably reduced compared with the CSVM method (34) (36) (37) .
of the loss-producing current harmonics. This aspect is ex- 4.5 Double Zero-Sequence Injection (DZSI) Tech-
tremely important for short-pitch machines, where the equiv- nique The main goal of this strategy (34) is the implemen-
alent impedance in the (µ1 , µ2 ) subspace is reduced in con- tation with low cost DSP controllers having digital modula-
trast with full-pitch machines (24) . Implementation problems tors based on ramp comparison PWM. Thus, the three-phase
of the VSDM strategy have been reported in (20) , due to its zero sequence injection (38) has been extended to the dual-
complexity. However, by performing intensive off-line com- three phase case, as shown in Fig. 11. This method gives
putations and appropriate choosing of zero-voltage vectors results similar to those obtained with the DSVM strategy (34)
during one sampling period, a low cost DSP implementation and represents a good solution, especially for full-pitch ma-
has been proposed in (35) for a short-pitch machine. chines.
4.4 Double Three-Phase SVM (DSVM) For this ap-
5. Control of Dual-Three Phase Drives
proach, introduced in (36) , the six-phase inverter consists of
two independent three-phase inverters sharing the same DC In the literature, the papers dedicated to the control aspects
link. From the machine point of view, the voltage vector of the dual-three phase induction motor drives are mainly
projections provided by both inverters form two 6-side poly- dedicated to the vector control techniques (field oriented and
gons phase-shifted by 30 electrical degrees. Each three-phase direct torque control) while less interest is devoted toward
inverter is independently controlled using the three-phase scalar control.
SVM (33) . As already stated about the machine model and the mod-
The reference voltage vectors for the two identical SV ulation strategy, also the vector control schemes for three-
modulators have the same amplitude, but the reference volt- phase machines can be extended to the dual-three phase
age vector for the (xyz) inverter lags the reference voltage drives. In fact, the VSD theory (20) demonstrates how the ma-
vector of the (abc) inverter by 30 electrical degrees, as shown chine model can be transformed into a system of decoupled
in Fig. 10 for positive speed. Another approach is to use the equations in orthogonal reference frames (Fig. 2), being the
same reference voltage vector applied to two different SVM (α, β) equation system identical to that obtained for a three-
modulators, as described in (37) . Despite the fact that only the phase machine, while the (µ1 , µ2 ) current components do not

電学論 D，126 巻 4 号，2006 年 425

 Fig. 13. Double (d, q) synchronous frame current control

Fig. 12. DRFOC scheme for dual-three phase induction

machine drives

contribute to the machine flux and torque production.

5.1 Field Oriented Control (FOC) The FOC theory
aims to obtain a decoupled control of the machine flux and
torque. That is possible for the dual-three induction machine
by referring the (α, β) machine model (obtained either with
VSD or the DTP) to a rotating (d, q) reference frame aligned
on the one of the machine flux linkages: rotor flux, stator flux
or air-gap flux.
The d-axis component of the stator current vector controls
the flux, meanwhile the q-axis current component controls
Fig. 14. Stationary frame current control scheme
the torque. For this reason, the FOC requires current control
on the inverter. The current control forms an inner loop of the
overall control system, receiving the reference currents from high-power machine. The current control uses a double
the outer loops (flux loop and torque/speed loops) (39) . (d, q) synchronous reference frame approach to simultane-
The literature reports papers mainly dedicated on Direct ously control the flux-producing components (ids1 , ids2 ) and
Rotor Field Oriented Control (DRFOC) for dual-three phase the torque-producing components (iqs1 , iqs2 ) corresponding to
induction motor drives. In this case, the rotating (d, q) refer- the two stator winding sets. A decoupling scheme for cur-
ence frame is aligned on the rotor flux vector whose magni- rent regulation, based on the machine state-space model, has
tude and position are provided by a flux estimator, as shown been also proposed. Another DRFOC scheme, based on the
in Fig. 12. VSD theory (which gives a simpler rotor flux estimation) and
The flux estimation needed for field orientation can be per- also using the double (d, q) current control, is discussed in
(22)
formed using either the VSD (Fig. 2) or DTP (Fig. 3) ma- , meanwhile a comparison of different (d, q) synchronous
chine models; for example, a rotor flux estimation using the frame current regulation schemes is given in (43) .
DTP machine model for a dual-three phase Direct Rotor FOC The basic double (d, q) current control scheme (8) (22) (42) is il-
(DRFOC) scheme is presented in (40) , where the stator wind- lustrated in Fig. 13. When the neutral points of the two three-
ings are connected in series and supplied by a three-phase phase stator sets are connected, the control scheme must be
inverter with hysteresis current control. When VSD machine completed with other two PI regulators, as described in (9) .
model is used, the dual-three phase drives adopt flux esti- The double (d, q) synchronous reference frame current
mators normally employed for the three-phase induction ma- control for dual-three phase drives has the disadvantage of
chines. the multiple speed-dependent coupling terms to be compen-
On the contrary, the current control extension from the sated (8) (42) . For this reason, a straightforward current control
three-phase to the dual-three phase drive must consider some scheme in stationary (α, β) reference frame has been pro-
specific aspects; in particular, the small inherent asymme- posed in (43) ; this scheme does not need decoupling schemes
tries between the two three-phase power sections can lead and it is able to deal with the unbalance current sharing be-
to unbalance current sharing between the two stator winding tween the two stator winding sets (Fig. 14).
sets (9) (41) . The (α, β) current components, are regulated by means of a
This phenomenon can arise when the machine is supplied regulator being equivalent to a PI regulator in (d, q) reference
from two completely independent three-phase voltage source frame. The fundamental current components which appear in
converters. the (µ1 , µ2 ) subspace in case of unbalance current sharing, are
The current control can be implemented either in station- forced towards zero by two Resonant Regulators (RR) tuned
ary frame or in synchronous reference frame, depending on on the fundamental frequency (43) , as shown in Fig. 14.
the required current control performance for the considered 5.2 Direct Torque Control (DTC) The main goal of
specific application. DTC is to obtain a fast, decoupled control of the stator flux
A Direct Rotor FOC (DRFOC) scheme based on DTP and the electromagnetic torque without inner current con-
machine modeling is discussed in (8) for a GTO inverter-fed trol loops (44) . From the literature, the DTC solutions for the

426 IEEJ Trans. IA, Vol.126, No.4, 2006

 Dual-Three Phase Drives Control—A Survey

Fig. 16. ST-DTC for dual-three phase induction motor drive

Fig. 15. DSC for dual-three phase induction motor drive

three-phase machines can be divided into two main groups:

• Direct Self Control (DSC) and Switching-Table based
DTC (ST-DTC) techniques; these solutions give variable
switching frequency.
• Pulsewidth Modulation based DTC (PWM-DTC) tech-
niques; these solutions impose constant inverter switch-
ing frequency.
The DSC and the ST-DTC schemes can be extended for Fig. 17. PWM-DTC dor dual-three phase induction motor drive
dual-three phase drives (44)–(46) , considering the larger number
of non-zero voltage vectors that can be provided by the six-
phase inverter. currents using PWM operation.
Furthermore, a general consideration is that the lack of cur- In this case, an average stator voltage command vector over
rent control imposes a dedicated design of the drive power a sampling period must be computed, to get the required sta-
units in order to avoid unbalanced current sharing between tor flux and electromagnetic torque. The basic PWM-DTC
the two three-phase stator sets (26) . scheme is shown in Fig. 17.
The basic DSC scheme for dual-three phase induction mo- A predictive PWM-DTC scheme, using the VSD theory for
tor drives is shown in Fig. 15. By using the voltage vectors machine modeling, has been proposed in (48) to get sinusoidal
corresponding to the external layer of the 12-side polygon machine currents; the algorithm has been implemented in sta-
in the (α, β) subspace (Fig. 5), the DSC imposes a 12-side tor flux synchronous reference frame.
polygonal trajectory of the stator flux. To get a robust control scheme against motor parameters
However, that is achieved by generating 5th and 7th volt- detuning, a PWM-DTC scheme, based on the VSD theory,
age harmonics; these voltages will produce large current har- is presented in (51) . The reference voltage vector is obtained
monics in the (µ1 , µ2 ) subspace, as shown by the simulation through simple PI regulators implemented in stator flux syn-
results of a DSC scheme described in (47) . chronous reference frame. The stator flux is estimated by
That will result in the increase of size and cost of both ma- means of a full-order observer, which provides also stator
chine and inverter. However, the DSC strategy can be used current estimation; the estimated currents are used to com-
in high power, low switching frequency applications, such as pensate the inverter dead-time effects (51) .
traction drives (48) .
6. Conclusions
The ST-DTC basic scheme for dual three-phase induction
motor drives is shown in Fig. 16. Based on the estimated The available literature about the dual-three phase induc-
stator flux position, a torque three-level hysteresis regulator tion motor drives is mainly dedicated to high power/high cur-
and a flux two-level regulator are used to generate the in- rent and high reliability applications, such as traction drives,
verter switching functions through an optimal Switching Ta- ship propulsion, EV, pumps, compressors, etc. These appli-
ble (ST). The key issue for ST-DTC is the ST design in order cations can better exploit the advantages of the multi-phase
to get sinusoidal machine phase currents, by minimizing the solution over the conventional three-phase counterpart.
current components in the (µ1 , µ2 ) subspace. Different ST The major part of the published papers dealt with the de-
design solutions are discussed and experimented in (49) with velopment of control schemes for dual-three phase induction
good torque and flux regulation performance but with some motor drives starting from well-known three-phase solutions.
problems regarding the phase currents distortion. Other ST- The transition from the three-phase to the dual-three phase
DTC strategies, involving voltage vectors from internal lay- machine control requires dedicated solutions. In particular,
ers of the 12-side polygon in the (α, β) subspace (Fig. 5) have to avoid possible stator current distortion and unbalance cur-
been simulated in (50) . rent sharing between the two stator winding sets, specific
In several applications, such as EV, it is preferred to have a approaches in terms of machine modeling, modulation tech-
constant switching frequency to obtain quasi sinusoidal phase niques and current control schemes have been developed and

電学論 D，126 巻 4 号，2006 年 427

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428 IEEJ Trans. IA, Vol.126, No.4, 2006

 Dual-Three Phase Drives Control—A Survey

IEEE IECON, Vol.1, pp.T50–T64 (1998) Francesco Farina (Non-member) received the M.Sc. in 2001 and the
( 47 ) R. Bojoi, F. Farina, G. Griva, F. Profumo, and A. Tenconi: “Direct Torque Ph.D. in 2005, both in Electrical Engineering from
Control for Dual-Three Phase Induction Motor Drives”, Conf. Rec. IEEE the Politecnico di Torino, Torino, Italy. He then
IAS, Vol.2, pp.1342–1349 (2004) joined the Department of Electrical Engineering of
( 48 ) O. Bruno, A. Landi, and L. Sani: “Harmonic Reduction in DSC Induction the Politecnico di Torino where he is currently re-
Motors With Two Three-Phase Stator Winding Sets”, Electric Machines and
searcher under grant. His fields of interest are the
Power Systems, Vol.27, No.12, pp.1259–1268 (1999)
control design of high performance multiphase induc-
( 49 ) K. Hatua and V.Y. Ranganathan: “Direct Torque Control Schemes for Split-
tion motor drives and the sensorless control of brush-
phase Induction Machines”, Conf. Rec. IEEE IAS, Vol.1, pp.615–622 (2004)
( 50 ) L. Chen and K-L. Fang: “A Novel Direct Torque Control for Dual-Three
less motor drives.
Phase Induction Motor”, Conf. Rec. IEEE Machine Learning and Cybernet-
ics, pp.876–881 (2003)
( 51 ) F. Farina, R. Bojoi, A. Tenconi, and F. Profumo: “Direct Torque Control
with Full Order Stator Flux Observer for Dual-Three Phase Induction Motor Alberto Tenconi (Non-member) received the M.Sc. in 1986 and the
Drives”, Conf. Rec. IPEC, in press (2005) Ph.D. in 1990, both in Electrical Engineering from
the Politecnico di Torino, Torino, Italy. From 1988 to
1993, he worked for the Electronic System Division
Appendix of FIAT Research Center, where he was engaged in
the development of electrical vehicle drive systems.
The transformation matrix [T 6 ] used for the VSD theory is He then joined the Department of Electrical Engi-
⎡ √ √ ⎤ neering Politecnico di Torino where he is now Asso-
⎢⎢⎢ ⎥
0 ⎥⎥⎥⎥⎥
1 1 3 3
⎢⎢⎢⎢ 1 − 2 − 2 − ciate Professor. His fields of interest are high perfor-
⎢⎢⎢ √ √ 2 2 ⎥⎥⎥ mance drives design, new power electronic devices
⎢⎢⎢ ⎥⎥⎥
⎢⎢⎢ 0 3 3 1 1 ⎥ applications, and non conventional electric machines development. The re-
⎢⎢⎢ − −1 ⎥⎥⎥⎥ search activity is documented by more than 80 papers published on Interna-
⎢⎢⎢ 2 2 2
√ √ 2 ⎥⎥⎥⎥ tional Journals and in International Conference. Prof. Tenconi has partici-
⎢⎢⎢ ⎥⎥⎥
[T 6 ] = k · ⎢⎢⎢ 1 − 1
−
1
−
3 3 ⎥⎥⎥ pated, both as designer and as scientific responsible, at many National and
⎢⎢⎢ 2 2 2 2
0 ⎥⎥⎥⎥ European Research Programmes. Prof. Tenconi is IEEE Member and he is
⎢⎢⎢ √ √ ⎥⎥⎥ reviewers for International Journals.
⎢⎢⎢ 3 3 1 1 ⎥⎥
⎢⎢⎢ 0 − −1 ⎥⎥⎥⎥
⎢⎢⎢ 2 2 2 2 ⎥⎥⎥
⎢⎢⎢ ⎥
⎢⎢⎣ 1 1 1 0 0 0 ⎥⎥⎥⎥ Francesco Profumo (Non-member) was born in Savona, Italy, in
⎦ 1953. He graduated in Electrical Engineering from
0 0 0 1 1 1 the Politecnico di Torino, Italy, in 1977. Since 1978
⎧
⎪
⎪
⎪
1 to 1984, he worked as Senior Engineer for the R&D
⎪
⎪ k = √ for the power invariant form
⎪
⎨ 3
Ansaldo Group in Genova (Italy). In 1984 he joined
⎪
⎪
⎪
the Department of Electrical Engineering of the Po-
⎪
⎪
⎪ 1 litecnico di Torino, where he was Associate Profes-
⎩ kT = for the non - power invariant form sor till 1995. He is now Professor of Electrical Ma-
3
chines and Drives at Politecnico di Torino and Ad-
junct Professor at University of Bologna. He was Vis-
app. Table 1. List of machine parameters and symbols iting Professor at the Department of Electrical and Computer Engineering of
the University of Wisconsin-Madison (USA) in the years 1986–1988 and
at the Department of Electrical Engineering and Computer Science of Na-
gasaki University (Japan) (years 1996–1997, for one semester). His fields
of interest are power electronics conversion, high power devices, applica-
tions of new power devices, integrated electronic/electromechanical design,
high response speed servo drives, new electrical machines structures. He
published more than 190 papers in International Conferences and Techni-
cal Journals. Dr. Profumo is an active member of the IEEE-IAS Drives
Committee and serves as Co-Chairman of the same Committee (IEEE-IAS
Transactions Review Chairman). He was also AdCom member of the IEEE
PELS. He is member of the Technical Program Committee of several Inter-
national Conferences in the Power Electronics and Motor Drives field and
he was the Technical Co-Chairman of the PCC’02 in Osaka (Japan) in 2002.
Dr. Profumo won the IEEE-IAS second prize paper in 1991 and in 1997 and
the IEEE-IAS first prize paper in 1992. Dr. Profumo has been the Coordina-
Radu Bojoi (Non-member) received in 1993 the M.Sc. Degree in tor or partner of several Projects in the frame of the European Commission
Electrical Engineering from the Technical University activities (Tempus, Comett, Joule, Human Capital and Mobility, Alfa, Euro-
“Gh. Asachi” Iasi, Romania, and the Phd. in 2003 pean Union S&T Grant Programme in Japan, Leonardo da Vinci). He is a
from Politecnico di Torino, Italy. Since 1994 to 1999 Registered Professional Engineer in Italy.
he was Assistant Professor in the Department of Elec-
trical Utilization, Electrical Drives and Industrial Au-
tomation from Technical University of Iasi. In 2004
he joined the Department of Electrical Engineering
of the Politecnico di Torino as Assistant Professor.
His main research field is the DSP and FPGA-based
digital advanced control solutions for three-phase and multi-phase electrical
drives and power electronic converters.

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