t

THE TRANSACTIONS

50

OF THE SA INSTITUTE OF ELECTRICAL

December

ENGINEERS

1984

Torque and speed harmonic analysis of a PWM

CSI-fed induction motor drive
P Pillay* BEng, MScEng, GradSA1EE
EJ Odendal*
RG Harley*

PrEng, MSc(Eng),

FSA1EE,

M1EE,

M1EEE

PrEng, MScEng, PhD, MSA1EE, M1EE, M1EEE

SYNOPSIS
This paper analyses the transient and steady state behaviour of a pulse width modulated current-source-inverter
fed induction motor drive. It pays particular attention to the relationship between the harmonic components of the current, torque and speed, in order to provide strategies to minimize certain
torque and speed harmonics. It shows that pulse width modulation slows down the dynamic response time of the motor.

Indexing terms: PWM inverter, induction motor, analysis, current source inverter.

List of principal symbols

CSI
dB
FFT
H
IAL
IBL
ICL
IDc
idl
id2
iql
iq2
J
Lll
L22
Lm
[M]
[M]T
[M]-I
p
p. u.
PWM
R,
R2
Te
TL
vdl
vd2
Vql
vq2
Ct
A
Wb
Wi
w,
e

current source inverter

decibels
Fast Fourier Transform
inertia constant = Jw/2 J Wb!2
stator current of line A
stator current of line B
stator current of line C
direct current
stator d-axis current
rotor d-axis current
stator q-axis current
rotor q-axis current
inertia of motor
stator self inductance
rotor self inductance
mutual inductance
matrix M
transpose of a matrix M
inverse of a matrix M
derivative operator d/dt
per unit
pulse width modulation
stator phase resistance
rotor phase resistance
electrical torque
load torque
stator d-axis voltage
rotor d-axis voltage
stator q-axis voltage
rotor q-axis voltage
angle of pulse width modulation
21T/3
rad.
base speed in rade/s
fundamental frequency of inverter rade/s
rotor speed in rade/s
arbitrary angle = wt

I Introduction
There is an increasing need for variable speed drives,
and with the advent of power semi-conductors the vari-

* The authors are with the Department of Electrical Engineering.

University of Natal, King George V A venue, Durban, 4001.

able frequency fed induction motor drive is becoming a

serious competitor for the conventional dc motor drive.
Frequency conversion usually takes place by first rectifying the fixed ac mains and then inverting to a new variable frequency. The dc link between rectifier and inverter can be operated with the link voltage held
constant, or with the link current held constant; the latter method is illustrated in Fig 1and is usually referred to
as a constant link current or current source inverter
(CSI) .

~
IDC

w
B

CONTROL

CONTROL

CI RCUITRY

CI RCUITRY

Fig I Current source inverter fed induction motor

This paper investigates the behaviour of an induction

motor supplied from a CSI which switches the dc link
current sequentially through the stator phase windings.
The stator phase current therefore consists of a series of
blocks or pulses per half cycle which represent a fundamental sine wave plus numerous harmonics. As a consequence, the induced rotor current also contains numerous harmonics. All these current harmonics give rise to
the two types of parasitic torques,(!) namely those which
have constant values and those which pulsate as a function of time; both these types are described below:
(a) A steady parasitic torque is produced when a current harmonic in the rotor interacts with an air gap flux
harmonic of the same order. It has a non-zero constant
average value and can either add to or subtract from the
steady torque (called the fundamental torque) produced
by the fundamental current and fundamental air gap flux
to yield a net steady electrical torque. In a three phase
bridge rectifier or inverter, all even harmonics of current

f
;j.

December /984

THE TRANSACfIONS

OF THE SA INSTITUTE

OF ELECfRICAL

ENGINEERS

51

1i

anu those divisible by three are absent on the ac side.

hence only the 5th, 7th, 11th, 13th etc are present. The
constant parasitic torque produced by the 5th harmonic
rotor current interacting with the 5th harmonic air gap
flux is called the 5th torque harmonic (although its value
is constant) and it acts in the opposite direction to the
fundamental torque; on the other hand, the constant
parasitic 7th torque harmonic acts in the same direction
as the fundamental torque. All the group (a) parasitic
torques have an odd order, with the 5th, 11th, 17th. 23rd
etc components aiding the fundamental and the 7th,
13th, 19th, 25th etc components opposing the fundamental. The net effect of all these steady aiding and opposing parasitic torque components is a slight reduction
in the value of the net steady state torque of the motor.
The effect of the group (a) parasitic torques is therefore
neglected for the purpose of this paper.
(b) A parasitic torque which pulsates as a function of
time around a zero value (also referred to as a torque
harmonic) is produced when a harmonic rotor current
interacts with a harmonic air gap flux (including the fundamental) of a different order. The average value of such
a pulsating parasitic (PP) torque is therefore zero. The
interaction with the fundamental air gap flux produces
the largest pulsating parasitic (PP) torque component
and is therefore more important to consider than the
other PP torque components produced by interaction
with the higher order harmonic fluxes.
The 5th and 7th current harmonics, when interacting
with the fundamental air gap flux, produce a 6th harmonic PP torque; in a similar way the lith and 13th current harmonics produce a 12th harmonic PP torque etc.
The group (b) parasitic torques therefore pulsate at the
6th, 12th, 18th, 24th etc harmonic frequencies. However
their magnitudes are 1/6th, 1/12th, 1/18th, 1/24th etc respectively of the steady fundamental torque for a motor
supplied by rectangular blocks of current; in that case
the 6th harmonic PP torque is usually the largest and
most troublesome of all, especially at low speeds when
the torque pulsation can be in the 30-100 Hz range
where shaft mechanical resonances often occur. Sustained operation at such resonant frequencies could result in accelerated wear of gear teeth and/or reduced
shaft life, thus leading to an early fatigue failure.

be reduced by regulating (the link current and therefore)

the line current to contain some ripple as shown in Fig 2
(c); Fig 2 (d) illustrates that the resulting torque pulsations are reduced to impulses of extremely short duration and in practice the rotor and load inertias effectively
dampen out the effects of these impulses upon the
speed.
The third method is to switch the inverter elements in
a pulse width modulated (PWM) fashion and produce a
PWM train of current pulses in an effort to reduce the
current harmonics and hence the torque harmonics.
Previous authors have considered these parasitic pulsating torques as a steady state problem only, and no
attention has been given to the transient behaviour of a
PWM CSI -fed induction motor. Of the steadv state solutions, Lienau (5)proposes that for a three pulse PWM
wave (shown in Fig 3), the width of the side pulse should
be a = 12, but Chin and Tomita (2)state that ashould be
7,5. This paper calculates the transient response to
large disturbances and then uses the Fast Fourier Transform (FFT) of the time domain torque and speed
waveforms to further investigate the relationship between a and the amplitudes of their individual harmonic
components. It also investigates the interrelationship
between current, torque and speed harmonics.

I
.

11
0

11
2

6"

(a)

(b)

511 11
6"

311 1171" 211

""2 """6

Une current when link current has no ripple

Parasitic torque pulsations for motor line current waveform of (a)

Various methods have been proposed (2)in an attempt

to eliminate these group (b) parasitic pulsating torques:
The first method is to use a twelve pulse inverter
which creates no 6th harmonic PP torque but only the
12th and higher PP torque harmonics. However this
method is expensive since twelve thyristors or other
switching devices are required in the inverter instead of
only six, in addition to a transformer with two phase
shifted secondary windings (delta and star).
The second method is to regulate the instantaneous
value of link current(3. 4)by using a feedback control system. Fig 2 (a) shows the assumed rectangular blocks of
stator current from a current source inverter, and typical
accompanying parasitic torque pulsations appear in Fig
2 (b). For the current in Fig 2 (a) to have flat tops, the
link current I DC in Fig 1should have no ripple. However,
Lipo (3)suggests that the parasitic torque pulsation can

711
h

I eSwt
K
IKt

(c)

(d)

11

11

6"

2'

511
"6

11

Une current when link current is regulated to have ripple

Parasitic torque pulsations for motor line current waveform of (c)

Fig 2 Waveforms of current and torque

52

THE TRANSACTIONS

OF THE SA INSTITUTE OF ELECTRICAL

centre pulse

T[

T[

2"

side

ENGINEERS

December

/984

pulse

Fig 3 Pulse width modulated line current waveform

2 Theory
2.1 Analysisof the PWM current waveform appliedto the
motor
Fig 2 (a) shows 120 rectangular blocks of stator line
current from a typical current source inverter. When
PWM is applied to the inverter the line current
waveform changes to that shown in Fig 3 in which a can
be varied between 0 and 30; for a = 0 the waveform
degenerates to the 120blocks of Fig 2 (a).
The waveform of Fig 3 can be represented as the following Fourier series (Appendix A):
x

iAL(Wt)

= n=1
L [2I/mT][cos(n(30
- a - cos(n300)
- cos(n(150 - a + cos(n(30 + a
- cos(n(150 + a + cos(n1500)] sin(nwt) (1)

Expressions for iBLand in are obtained by replacing nwt

in Eqn (1) by (nwt - J..)and (nwt + J..)respectively.

The following analysis of the CSI-fed induction motor

is based on the well known (7)two-axis theory. An idealised symmetric motor is assumed, with a balanced sinusoidal airgap mmf and a linear magnetic circuit. Iron and
mechanical losses, stray load losses and mechanical
damping are all neglected. All motor resistances and inductances are independent of frequency, which limits
the usefulness of these models to wound rotor and single
cage rotors with shallow bars.
The two-axis voltage equations of a voltage fed induction motor are expressed below in terms of currents and
a reference frame rotating in synchronism with the fundamental component of the stator current:

where

[v] = [Vdh

(2)

VdZ, Vq2V

(3)

[i] = [idhiqh id2,iq2V

(4)

Vqh

s = (w; - W,)/Wi

tions are only required for the rotor currents id2, iq2 such
that:(6)

+ [L2]P[i2] + [Lm]p[id
+ Wi[G1][id + SWi[G2][i2]

[V2] = [R2][i2]

where

(6)

[V2] = [Vd2,vdT
[id = [idh iqlV
[i2] = [idZ,iq2V

The other matrices in Eqn (6) appear in Appendix B.

Eqn (6) can be rearranged to yield the following differential equations for the rotor currents:
p[i2] = -[B]{ {[R2] + sw;[G2]}[i2]
+ sw;[Gd[id + [Lm]p[id}
(7)

where [B]

= [L2]-I.

Eqn (7) is nonlinear and is inte-

grated numerically step-by-stepto yieldvalues for idZ,iq2

2.2 Two axis analysisof the current source inverter fed

induction motor

[v] = [R][i] + [L]P[i] + w;[F][i]+sw;[G][i]

iqlare independent predefined variables (obtained from

a Park's transform of iAL,iBb ied and differential equa-

(5)

The other matrices in Eqn (2) appear in Appendix B.

In a short circuited rotor circuit VdZ, Vq2are zero.
However, in the case of a current source inverter idh

which are used together with idh iqlto compute the electrical torque T, from:
T, = wbLmUdZiql -

iq2 idl)/3

(8)

The mechanical motion is described by:

pw, = (T, - Td/J

(9)

For a sinusoidal line current to the motor, idh iql are

constant quantities in a synchronously rotating reference frame. However, in the case of an inverter fed
motor, where the line current consists of a series of harmonics, idh iql are functions of time (see Appendix D)
and are defined by the Park transform operating on each
harmonic component and summating the result. Expressions for pidh piql are required in Eqn (6) and are
found by differentiating the summated series expressions for idl, iqlas shown in Appendix D.
A computer program was developed to predict the dynamic behaviour of the PWM CSI-fed induction motor
drive when it is subjected to a variety of severe disturbances such as a start-up, a change in load after running
up, or a change in values of link current IDeor inverter

output frequency Wi'The independent variables are idl'

iql, pidl, piql and their accuracydepends on the number n
of harmonics used in the Fourier series. The value of n
has to be infinity in order to represent the wave exactly,

THE TRANSACTIONS

December 1984

OF THE SA INSTITUTE

but it has been shown elsewhere (6)that thirty-one current harmonics (n = 31) usually yield sufficient accuracy
while also keeping computation time down.
The program starts by finding the magnitude of each
of the thirty-one harmonic current components. It then
calculates idl, iql, pidl, piq, and uses these values to find
id2,iq2,Teand w, at each step of the integration process.

3 Results
This section uses the above techniques to evaluate the
predicted response of a PWM CSI-fed 2 kW induction
motor of which the parameters appear in Appendix E.
Throughout these investigations the PWM waves are
represented by thirty-one current harmonics (n = 31),
and the inertia constant H = 0,8 see unless otherwise
stated.
3.1Start-up of a PWMCSI-fedinductionmotor
Fig 4 shows the electrical torque transients for a noload start-up when the motor is supplied from a 10 Hz
PWM current wave for modulation angles a of 0. 7,5,
12and 20. An increase in a reduces the duration of the
centre block of current in Fig 3 and hence the magnitude
of the fundamental components of the current wave (Fig
7) and of the torque wave, and hence the value of the net
accelerating torque. As a result the larger values of a
increase the start-up time as shown by the speed curves
of Fig 5 which also illustrate the speed pulsations. The
pulsating parasitic torques do not contribute to the startup time since their average values are zero. This analysis

-1.5~~~~~~:~ __D~~RE~~_n
=:
IL

OF ELECTRICAL

i
I

53

therefore proves that the dynamic behaviour of the induction motor is affected by the value of the modulation
angle. The link current could have been increased to
compensate for a drop in fundamental current, but this is
impossible if the link current already equals rated current, and would moreover require complex closed-loop
feedback linking the modulation angle back to the rectifier's current controller.
3.2 Change of load
Figs 4 and 5 further show the torque and speed curves
of the induction motor when a load of 0,2 p. u. is applied
1,25 s after switching on. Pulse width modulating the
current wave clearly forces the motor to be more sluggish and hence impairs its dynamic performance.
3.3 Determination of the optimum modulationangle
The optimum value of the modulation angle a is defined as that value of a which ensures a minimum value
for a harmonic component of the parasitic pulsating
motor torque or speed. Due to the nonlinearities in the
equations, the speed harmonics cannot be expressed as
explicit functions of a. However, it is possible to select a
series of values for a and analyse by Fast Fourier Transform (FFT), the time domain waveform of torque or
speed either during start-up or at final steady state speed
after start-up, depending on the particular region of interest. This investigation considers the following values
of modulation angle a:
0 5 7,5 10 12 15 20 30

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THE TRANSACTIONS

54

OF THE SA INSTITUTE OF ELECTRICAL

ENGINEERS

December

1984

SPEED
1. 25

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December /984

THE TRANSACfIONS

OF THE SA INSTITUTE

OF ELECfRICAL

55

ENGINEERS

a = 0 corresponds to 120rectangular blocks of current

and is hereafter referred to as the base case for purposes
of comparison.
Fig 6 shows only the four line current waveforms for a
equal to 0, 7,5, 12and 20 since the waveforms for the
other four values of a are similar in appearance. However, Fig 7 shows the Fast Fourier Transforms (FFT) of
peak-to-peak values of the individual harmonics present
in the current waveforms for all eight values of a.
Fig 7 (a), which applies to the base case, clearly shows
that the magnitude of each current harmonic is inversely
proportional to its harmonic order, eg the 5th current
harmonic has a magnitude of l!5th that of the fundamental (10 Hz), while the 7th current harmonic has a magnitude of l/7th that of the fundamental, etc. However, this
property is only true of the base case where no PWM is

PWM current wave.

As a is increased to 7.so and even larger (Figs 8 (c) to
(h)), the pulsating torque produced by the central current block steadily reduces in magnitude and duration
while that due to the side pulses increases. Eventually at
a = 30, the central block of pulsating torque disappears
altogether, and only the side pulses remain. The FFT
results in Table 1 show that in contrast to the base case,
the amplitudes of the harmonics present in the PWM
produced pulsating torques are not inversely proportional to their harmonic order, and in fact do not bear
any fixed relation to each other, just as the current harmonics in Fig 7 (b) to (h) did not bear any relation to
each other.

. applied. When the current

0,8s.

ispulse widthmodulated, the

magnitudes of the current harmonics do not bear any

fixed relation to each other as illustrated in the rest of Fig
7. For a = 5 for example, the 11th and 13th current harmonics are almost zero, but for a= 10,the 29th and 31st
current harmonics are almost zero.
The following sections evaluate the effects which different values of a have on the torque and speed pulsations.
Torque pulsations
The 6th harmonic component of the pulsating torque
. is

usually the most troublesome one (produced by the

5th and 7th harmonic currents) and some designers

select an a of 12 since this has zero 5th harmonic
current.
Fig 8 shows the eighth pulsating torque waveforms
(for the eight values of a) after the motor has reached a
final steady speed. The corresponding eight FFTs which
show the peak-to-peak magnitudes of the individual torque harmonics look similar to Fig 7 and are therefore
summarized in Table 1. Note that the fundamental component of the current waveform in Fig 6 (a) has a peak
value of 1,047 of the magnitude of the de link current
which in this case is 1p.u. However a peak magnitude of
1,414 p. u. is needed for the fundamental component of
current to produce rated torque. Since torque is proportional to the square of the current, the magnitude of the
fundamental component of torque when the de link current is Ip.u. is (1,047/1,414)2 = 0,548p.u. Hence the
peak-to-peak value of the 6th torque harmonic must
equal 2(0,548/6) = 0,183 p. u. which is verified in Table 1
for a = 0, while that of the 12th torque harmonic is
2(0,548/12) = 0,092 p. u. which is also verified in Table 1.
Fig 8 (a) shows the steady pulsating torque of the base
case (no PWM)<8)after start-up with a large 6th harmonic content at 60 Hz for a fundamental frequency of
10 Hz. Column 1of Table 1 confirms that the amplitudes
of the various frequency components present in the torque pulsations are inversely proportional to their order.
Fig 8 (b) shows the torque pulsation produced when
PWM is applied with a

= 5. During

the period marked

as Tin this diagram, the torque pulsation due to the central block of current has an amplitude which is less than
that of the base case (Fig 8 (a)) and shorter in duration.
There is however an additional torque pulsation on
either side of T in Fig 8 (b) due to the side pulses of the

Table I Peak-to-peak amplitudes (p,u,) of various torque harmon-

ics for different modulation angles when the inertia constant H

0'

5'

7,5'

10'

12'

15'

20'

30'

6th

0,184

0,136

0,080

0,007

0,060

0,159

0,300

0,348

12th

0,090

0,000

0,088

0,172

0,222

0,250

0.158

0.039

18th

0,059

0.059

0.141

0,172

0,149

0,058

0,047

0,092

24th

0,044

0,089

0,132

0,087

0,018

0,040

0,076

0,026

30th

0,036

0,088

0,084

0,002

0,032

0,032

0.061

0,072

harmonic no.

However, there is a relation between each torque harmonic and certain current harmonics, eg for a = 5
(Table 1) the 12th torque harmonic is zero since the 11th
and 13th current harmonics (Fig 7 (b)) are approximately zero. Similarly the 30th torque harmonic is zero for
a = 10(the 29th and 31st current harmonics are zero).
Large current harmonics therefore produce large torque
harmonics. If it is required to have an extremely low 12th
torque harmonic (regardless of the magnitudes of the
other harmonics) a should be 5. Similarly the smallest
6th and 30th torque harmonics are produced by a = 10,
the smallest 18th by a = 20 and the smallest 24th by a

30. These various harmonic components of torque all

act together on the rotating shaft to produce a speed
waveform, and it is often the severity of a particular
speed harmonic which might be of concern to a designer
in which case his analysis to find the best value of a
should include an evaluation of the harmonic components present in the pulsating speed.
Speed pulsations
The harmonic

components

of the base case (a

0)

speed pulsations which are summarized in Table 2, have

relative amplitudes which follow the relative amplitudes
of base-case harmonic torques in Table 1; however it is
quite clear that this relationship does not extend to the
PWM produced results in the rest of Table 2. For example, for a = 7,5 in T~ble 1, the 6th harmonic of torque is
smaller than the 18th or 24th harmonics but the 6th harmonic of speed is the largest of all the harmonics in Table
2; similarly for a = 15the 6th torque harmonic is smaller
than the 12th, but the 6th speed harmonic is larger than
the 12th. The usual (5)choice ofthe 'optimal' value of ato
be 12,givesa lower 6th torque harmonic than a = 7,5,
but the latter has a lower 6th speed harmonic. However
the results indicate that of all the values of switching

'I

56

THE TRANSACTIONS

OF THE SA INSTITUTE

angles considered, a value of (}'= 10producesthelowest

6th harmonic component of both speed and torque pulsations.
These relationships between corresponding harmonics of the parasitic pulsating torque and speed are the
result of the complex manner in which the torque harmonics produce the speed harmonics. Unlike the re-

OF ELECTRICAL

December

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-j 0

/400

(a)

/984

lation between current and torque harmonics (large current harmonics produce large torque harmonics), large
torque harmonics do not necessarily produce large
speed harmonics. The reason for this is that the rotor
inertia smooths out the effects of the higher order torque
harmonics and hence does not respond to them as well as
it does to the lower order harmonics.

4,

,;

ENGINEERS

U
..~

I"

''', ."'"
FREQ.

current

for different

JOO

(h)
modulation

400

HZ.
angles

December 1984

THE TRANSACTIONS

OF THE SA INSTITUTE

OF ELECTRICAL

ENGINEERS

57

If the design criterion is to minimize the 6th speed harmonic then (Yshould be 10. This is usually the most important speed harmonic to minimize. since for 5 to 50 Hz
supply frequency operation. this pulsation lies in the 30
to 300 Hz range. where shaft mechanical resonances
could occur. However this conclusion rests on an analysis which so far has been carried out on only one value of
inertia. The following section therefore investigates
whether the value of (Y= 10dependsonthevalueofH.

inertia smooths out the effects of the higher order torque

harmonics. In other words, the variations in the speed
caused by the higher order torque harmonics of a given
magnitude are smaller than those caused by the lower
order torque harmonics of the same magnitude. However, the smallest torque harmonic does produce the
smallest corresponding speed harmonic.
(d) In a PWM CSI system it is therefore a fallacy to
argue that the design object should be to minimize the

Torque and speed pulsations with reduced inertia

5th current harmonic

only by using (Y= 12 because this

does not result in a minimum 6th harmonic of speed or

The results in Tables 1 and 2 were repeated but with
torque. To minimise the 6th speed or torque harmonic.
the inertia constant H reduced to OA s: a comparison of
the
modulation angle (Yshould be 10since this value rethese results with those in Table 1 when H was 0.8 s duces
both the 5th and 7th current harmonics to such an
showed that the relative torque harmonics were identiextent that it produces a smaller torque harmonic than
cal as expected since they do not depend on H.
that produced when using a modulation angle of 12;
However. due to the lower inertia. the speed pulsamoreover, this angle does not depend on the value of the
tions for H = OA s were found to be larger than those for
inertia. Chin and Tomita(2) state that (Yshould be 7,5.
H = 0,8 s in Table 1. What is more important though, is
but it is not contradictory to this paper since they define
that the relative magnitudes of the speed harmonics for a
an integral that in effect summates all torque harmonics
given value of (Ywere the same, regardless of the inertia
up to the 24th and they thereafter attempt to minimize
constant; as an example. for (Y= 5and H = 0,8 s (Table
this sum. This paper uses a completely different method
2), the 12th speed harmonic is the lowest and the 6th is
(FFf) to find the magnitudes of the individual current,
the highest with the others approximately equal in magtorque
and speed harmonics; it investigates the renitude, but this is also true for (Y= 5and H = 0,4 s. Similationship between them, and provides criteria for the
lar comparisons for other values of (Yin Table 2 lead to minimization of anyone particular harmonic of torque
the same conclusion, namely that the optimum value of (Y
or speed.
can be chosen independently of the inertia constant H. (e) The dynamic behaviour of the induction motor is
In other words an (Y= 10ensures the lowest value of 6th
affected by the value of the modulation angle (Yof the
harmonic speed, irrespective of the value of the motor PWM CSI. Due to the reduction of the fundamental curand load inertia.
rent component, the motor becomes sluggish and operTable 3 summarises the optimum values of the moduates at a larger steady state slip as (Yis increased. Howlation angle in order to minimize certain harmonic comever at (Y= 10, the dynamic behaviour is not much
ponents present in the torque and speed pulsation re- slower.
sults presented above.

4 Conclusions
This paper has analysed the steady state and dynamic
behaviour of a PWM CSI-fed induction motor drive.
The motor was represented by its two-axis equations
(without omitting certain voltage terms) and the current
pulses were represented as a harmonic Fourier series.
Harmonic components give rise to a pulsating torque
and speed of which the severity depends on the amount
of pulse width modulation. The following conclusions
can be drawn from the results:
(a) When each half cycle of the stator line current con.sists of 120 rectangular blocks, instead of a PWM train
of smaller blocks, the magnitudes of the current harmonics, the torque harmonics, as well as the speed harmonics are inversely proportional to their order. When
PWM is applied this relation no longer holds.
(b) There is a clear correlation between the current
and torque harmonics whether PWM is applied or not,
the correlation being that the larger the relevant current
har~onics, the larger the corresponding torque harmOnIc.
(c) There is no clear correlation between the corresponding harmonic components of torque and speed
when PWM is used. For example, a particularly large 6th
harmonic of torque does not necessarily produce a particularly large 6th harmonic of speed, since the motor

5 Acknowledgements
The authors acknowledge the assistance of D C Levy,
R C S Peplow, and H L Nattrass in the Digital Processes
Laboratory of the Department of Electronic Engineering, University of Natal. They also acknowledge the
helpful suggestions and interest shown in this work by
Table 2 Peak-to-peak amplitudes (dB)of various speed harmonics
for different

0,8s.

::s:

modulation
0"

5"

angles when the inertia constant

7,5"

10"

12"

15"

20"

30"

harmonic no.

6th

-0,055 -0,058 -0,064 -0,083 -0,065 -0,057 -0,052 -0.050

12th
24th

-0,068 -0,105 -0,068 -0,062 -0,061 -0,059 -0.062 -0,076

-0,071 -0,075 -0,068 -0.066 -0,067 -0,074 -0,074 -0,070
0,080 0,074 -0,072 -0,074 -0,085 -0,079 -0,074 -0,084

30th

-0,084 -0,076 -0.078 -0,111 -0,084 -0,082 -0,079 - 0,078

18th

Table 3 Optimum values of modulation angle Q'

Harmonic
number
6h

Angle for minimum

torque harmonic
10

Angle for minimum

speed harmonic
10

12th

18th

20

20

24th

30

30

30th

10

10

58

THE TRANSACfIONS

OF THE SA INSTITUTE

M A Lahoud of the Department of Electrical Engineering, University of Natal. They are also grateful for
financial support received from the CSIR and the University of Natal.

MURPHY, J M D: 'Thyristor control of ac motors',

mon Press. 1973. ISBN No 0-08-016943-0.

(Book),

Perga5

ALPHA::>
.:

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(b)

T I ME

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SEC.

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1984

CHIN. T H and TOMITA. H: 'The principles of eliminating pulsating

torque in current source inverter induction motor systems'. IEEE.
VoIIA-I7.
No 2, March/April 1981. pp 160-166.
LIPo. T A: 'Analysis and control of torque pulsations in current fed
induction motor drives', IEEE IAS Anl/I/al Meeting, 1978. paper
CH 1227-5/78, pp 89-96.
CHIN. T H and TOMITA, H: 'Elimination of torque pulsation by the
current instantaneous
value control in squirrel cage induction
motors fed with controlled current inverter'. Elec Eng il/ Japan,
Vol 98. No 4. 1978. pp 105-1/2.
LIENAU. N. MULLER-HELLMANN. A and CHRISTOPHER.H: 'Power

6 References
I

OF ELECfRICAL

-.. ".
-. >,

2')
TIME

Fig 8 Steady pulsating torque for different modulation angles

<c.

(hJ

60

-,11,-

"0

SEC.

100

December 1984

THE TRANSACfIONS

OF THE SA INSTITUTE

converters
for feeding asynchronous
traction motors of singlephase ac vehicles'. Conf Rec 1977, 1nt Semiconductor
Power Converter Conf pp 295-304.
HARLEY,R G, PILLAY, Pand OOENOAL, EJ 0: 'Analysingthe
dynamic
behaviour of an induction motor fed from a current source inverter'. Accepted for publication in Trans of SA lEE.
AOKINS, B and HARLEY,R G: 'The general theory of alternating current machines'. (Book), 1SBN No0412155605,
Chapmafl & Hal/,
1975.
SUBRAHMANYAN,V, YUVARAJAN,Sand RAMASWAMI,B: 'Analysis
of commutations
of a current source inverter feeding on induction
motor load'. 1EEE Trans, Vol1A-16,
No 3, May/lune 1980, pp
332-341.

7 Appendices
A, Derivation of Fourier Series for the PW M line current
The waveform for iALin Fig 3 is symmetrical about the

wt axis and f(wt)

-f( -wt).

Hence

resented as a Fourier series(9)such that

= BI sin( wt) +

iAL

iAL can be rep-

[P II]= v273

[PII] -I

COS( 0 +

Je) sin(0 + Je)]

In the synchronously rotating reference frame where the

frame rotates at speed w, 0 = wt.
D. Derivation

of the derivatives of the stator currents

= v273 [iALcos( 0)

Park's transform

(Appendix

C)

+ iBLcos( 0 - Je)

(D.1)

+ iCLCOS(O+Je)]

(A.3)

iCL= n=1
L En sin(n (wt + 2n:/3))
B. Elements of matrices
0
0
R2
0
0
-Lm
0
0

RI
0
0
[0
0
0
L,\
-Lll 0
0
0
0
[0

[0R2 0R2]
[-Lm

0
0
0
R?]
L:
0
0
0 ]
[G2]=

C. Definition

[L] =
[
[G] =

[ - Ln

[Lm]=

Lm

Lll

0
Lm

L" 0
0 Ln

Lm
0

~m
0
Lm
0

~n
0
Ln
0 ]

~
0
0
[ -Lm

L22

Lm

~
0
0
-Ln

[L2]=

0 ]

[Ln0 0Ln ]

Lm 0
Lm]

[0

of Park's Transformation

[P 11][[ Fabcd

Je)

Y273 [iALsin( 0) + iBLsin( 0 - Je)

+ iCLsin( 0 + Je)]

(D.2)
(D.3)

Hence

'"

RIO

= Y273 [piAL'cosO+ piBL'cos( 0 + piCLCOS(0 + Je) - iALsinO

- iBLsin(O- Je) - iCLsin(O- Je)]

iql

iBL= n=1
L Bn sin(n,(wt - 2n:/3))

where

(C.4)

(A.2)

n=1
'"

[F Odql]

= v273 v172 COS(O)

sin(O)
v172 COS(O-Je) sin(O-Je)

[ v172

pidl

= L Bnsin(nwt)

]= 0

(C.3)

[Fabel] = [PII]-I[Fodqd

'"

I=

(C.2)

Hence

Hence

v172

[ sin(0) sin(0 - Je) sin(0 + Je)]

idl

Bn = [21/mr][cos(n(30 - 1')) - cos(n300)

- cos(n(150 - 1'))+ cos(n(30 + 1'))
- cos(n(150 - 1')+ cos(n(1500)]

59

cos( 0) cos( 0 - Je) cos( 0 + },)

(A. 1)

B2 sin(2wt) + + Bn sin(nwt)

ENGINEERS

v172 v172

From the orthogonal

where

iAL

OF ELECTRICAL

Matrix
(C.1)

piql

= Y273

[piAL.sinO + piBL.sin( 0 - Je)

+ piCL.sin( 0 + Je) + iALcosO
+ iBLCOS(O- Je) + iCLCOS(O+Je)]

(D.4)

E. Induction motor parameters

Star connected stator
Base time
1s
1 rade/s
Base speed
Base power
3385,8VA
Base stator voltage
220 V (phase)
Base stator current
5,144 A (phase)
Base stator impedance
42,77 ohm
Base torque
21,56Nm
4
Number of poles
Power factor at rated load
0,833
Efficiency at rated load
77,9%
Rated output power
2,2kW
Stator resistance R,
0,086 p.u.
Rotor resistance R2
0,046p.u.
Stator leakage reactanceXI
O,077P'U. expressed
Rotor leakage reactance X2 0,066p.u.
at 50Hz
Magnetizing reactance Xm
1,57p.u. ]
Stator leakage inductance L, 0,000 146p.u.
Rotor leakage inductanceL2 0,00021 p. u.
Magnetizing inductance Lm 0,005 p.u.