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10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
I.
INTRODUCTION
One important advantage of a multiphase machine over its
three-phase counterpart is its higher fault-tolerance [1].
Hence, fault-tolerant operation and control are important
research topics in this area. Although fault tolerance can be
achieved via special machine design [2][6] and the use of
application-specific converter topologies [7][10], the
majority of studies [11][26] focus on the post-fault control
methods for n-phase machines driven by an n-leg voltage
source converter (VSC), since this is the most common
topology in practice. The discussion here follows this
common trend, assuming star-connected stator windings.
Among multiphase machine, machines with multiple threephase windings, such as six-, nine-, and twelve-phase
machines, are often considered for various applications.
Compared with multiphase machine with prime phase
numbers, machines with multiple three-phase windings can
benefit from the well-established three-phase technology.
Due to the existence of the multiple winding sets, the
machine can be configured with single or multiple neutral
points. Fig. 1 shows the connections of stator windings for an
asymmetrical six-phase machine with single and two neutral
Manuscript received September 30, 2013; accepted November 15, 2013.
H.S. Che is with the UMPEDAC, Wisma R&D, University of Malaya,
59990 Kuala Lumpur, Malaysia (e-mail: hsche@um.edu.my).
M.J. Duran is with the Department of Electrical Engineering, University
of Malaga, 29071 Malaga, Spain (e-mail: mjduran@uma.es).
E. Levi and M. Jones are with the School of Engineering, Technology and
Maritime Operations, Liverpool John Moores University, Liverpool L3 3AF,
U.K. (e-mails: e.levi@ljmu.ac.uk and m.jones2@ljmu.ac.uk).
N.A. Rahim and W.P. Hew are with the UMPEDAC, Wisma R&D,
University of Malaya, 59990 Kuala Lumpur,
Malaysia (e-mails:
nasrudin@um.edu.my and wphew@um.edu.my).
b1
b1
a2
b2
a2
b2
30
c1
c2
(a)
a1
30
c1
a1
c2
(b)
Fig. 1. Stator winding magnetic axes in an asymmetrical six-phase machine with (a) single and (b) two neutral points (positive direction is clockwise).
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10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
f k f a1
f a2
fb2
f c 2 T
fx
fy
f 0
f 0
1 1
2
3
0
2
1 x 1 1
2
[T6 ]
3 y 0 3
2
0
1
1
0
0
0
12
fxy f
f b1
f
f c1
3
2
1
2
3
2
12
3
2
T
3
2
1
2
1
2
3
2
1
2
3
2
(2)
0
1
0
(3)
m
ids*,iqs*
Slip speed
estimation
m *
m
Speed
controller
is,is
s=r
iqs*
ids*,iqs*
ids, iqs
d-q current
controllers
[D]
vds*
vqs*
[D]-1
vs*
vs*
ixs*,iys*
ixs, iys
x-y current
controllers
vxs*
vys*
i0+s*,i0-s*
Zero sequence
current
controllers
i0+s, i0-s
v0+s*
v0-s*
is
is
ixs
iys
i0+s
i0-s
[T6]
ia1b1c1
ia2b2c2
vs*
vs*
vxs*
vys*
v0+s*
v0-s*
[T6]-1
va1b1c1*
va2b2c2*
v xs ( Rs Lls
v ys ( Rs
d )i
dt xs
d )i
Lls dt
ys
(4)
v0 s ( Rs Lls
v0 s ( R s
d )i
dt 0 s
d )i
Lls dt
0 s
d i
dt s
r Mi s
r Lr ir M
d i
dt s
r Mis
0 ( Rr Lr
d )i
dt r
(5)
sin s cos s
Indirect rotor flux oriented control (IRFOC) is achieved by
using s = r, where rotor flux angle r is obtained from
measured rotor position (or speed m) and reference d-q
stator currents. The controllers structure for IRFOC of a sixphase induction machine is shown in Fig. 2. References for
ixs, iys, i0+s and i0-s are normally set to zero, to minimise stator
copper losses.
Regardless of the neutral point connection (single or two
isolated neutrals), the same controller structure can be used,
with a difference that for the two isolated neutrals the zerosequence current controllers are, since i0+s and i0-s cannot
flow, disabled by setting v0+s* = v0-s* = 0.
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
III.
3
3
1
1
1
i ys 2 ib1s 2 ic1s 2 ia 2 s 2 ib 2 s
3
1
i0 s ia 2 s ib 2 s
1
3
(7)
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10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
is * I cos s t
(14)
is * I sins t
post _ fault
I dq
post _ fault
I dq
I dq
post _ fault
6In
2In
max(i phase_ post_ fault )
I dq
post _ fault
(15)
(16)
idsn2 aq 2 iqsn2
(20)
idsn2 iqsn2
(21)
i ys * K 3 is * K 4 i s *
R i
is ixs i ys i0 s i0 s
2
(22)
ik s T6 1 ixy Ts
(23)
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
0
1 K1
1
3 K2
ia1s
1 K1
2
2
*
ib1s
1 1 K 3 1 K i *
1
1
2
*
i
2
s *
2
c1s *
i s
3 3
3
ia 2 s
1 K1 K 2
2
2
*
i b 2 s
3
3
1 K1
K2
2
2
(24)
1
K 1 3 1 K 3
i a1s *
2
2 2
b1s
K
1
3
1 K 3
i * 1
2
2 2
c1s *
3
i a 2 s
3
K
3K1
3
3
*
i b 2 s
2
2
2
3 K 1 3K 3
3
2
2
2
1 K2 K4
K 2 3
3
1
1 K 4
2
2 2
*
K
3
3
1 2
1 K 4 is
2
2 2
i s *
3 K 2 3K 4
3
2
2
2
3 K 2 3K 4
3
2
2
2
(25)
The relationship between the coefficients and the threshold
derating factor can be obtained by iteratively varying the
coefficients, based on (24) and (25). Fig. 3 shows the plot of
ao against K1 and K2 , for the machine with two isolated
neutrals. The coefficients and threshold derating factors that
define different modes of post-fault operation with different
neutral point configurations are summarized in Table I. Using
the coefficients listed in Table I, the theoretical mean stator
winding losses for different modes of post-fault operation can
be calculated based on (22). The losses, normalised with
respect to the stator winding loss of the healthy machine, are
X: 0
Y: 0
Z: 55.47
60
X: 0
Y: -1
Z: 57.74
derating
55
50
45
40
0.5
0
1
0.5
-0.5
-1
K1
-0.5
-1.5
-1
K2
Mode
Single VSC
Max Torque
Min Loss
Max Torque
Min Loss
ao
0.577
0.555
0.694
0.536
neutrals
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
ids*
iqs*
is*,is*
[D]-1
Eqn (21)
ixs*,iys*
aq
is*,is*
is, is
[D]
[D]-1
PI
-+
+
-1
ixs*,iys*
ixs, iys
[D]
PI
[D]
[D]
PI
[D]-1
+
-+
i0+s, i0-s
i0+s ,i0-s*=0
[D]-1
PI
PI
vs*, vs*
vxs*, vys*
[D]
v0+s*, v0-s*
Rr = 6.0
J = 0.04 kgm2
p=3
Lm = 0.590 H
Lls_xy = 0.0055 H
Converter Parameters
C = 1500 F
Vdc = 150 V
Controller Parameters
Ki = 8000
Ki = 2500
Speed controller:
Ki = 0.02
Kp = 0.02
point connection.
As noted, the current control structure is shown in Fig. 4.
The overall control structure remains unchanged and as in
Fig. 2, with no modifications of the machine parameters or
transformation matrix. Transition from healthy to post-fault
operation involves enabling of the negative sequence PI
current controllers in the d-q path, and disabling of y and/or
zero-sequence current controllers depending on the neutral
point configuration.
VI.
EXPERIMENTAL RESULTS
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
1.5
1.5
260
1
1
0.5
255
d-q currents
Iy (A) (A)
0.5
0
-0.5
-1
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
-1.5
0.5
-1
-0.5
0
-1
245
-1
0.1
0.2 0 0.3
Ix (A)
Time
(s)
240
0.41
3
1.5
Iy (A)
(A)
d-q currents
0.1
0.2 0.3
Time (s)
0.4
I (A)
0.5
0
10
0
-0.5
-1
0.1
0.2
0.3
0.05
0.1
0.15
0.4
0.5
0.6
0.2 Time
0.25(s) 0.3
Time (s)
0.7
0.8
0.9
0.35
0.4
0.45
0.5
-1.5
0.1
0.2 0.3
Time (s)
0.4
0.1
0.2 0.3
Time (s)
0.4
255
0.5
1
0
0
-0.5
-1
0
I (A)
-1.5
-2
0
250
245
-1-1
-1
260
Speed (rpm)
1
20
-2
-1.5
-0.5
0
1.5
2
30
0
I (A)
250
(a)
40
stator
Estimated
(A)loss (W)
currents
Stator
0.50
-1
-2
Speed (rpm)
1.5
1
I (A)
-1
0.1
0.2 0 0.3
Ix (A)
Time
(s)
240
0.41
(b)
1.5
1.5
260
1
1
0.5
255
Iy (A) (A)
d-q currents
0.5
0
0
-0.5
-1
-2
-1
-1.5
0
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
0.5
-1
0
I (A)
Speed (rpm)
1.5
I (A)
0.50
-0.5
0
-1
-1.5
-0.5
0
250
245
-1
0.1
0.2 0 0.3
Ix (A)
Time
(s)
0.41
240
(c)
Fig. 5. Stator phase currents, - currents (blue trace=i*; green trace= i), x-y currents (blue trace= ixy*, green trace= ixy) and speed (blue trace=m*, green
trace= m) for (a) healthy machine and faulted machine (b) without modifications of current references (ix* = iy* = 0), (c) with single VSC operation (windinga2b2c2 disconnected). The machine is configured with two isolated neutrals and operates at 250 rpm without load..
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
0.5
1
0.5
0
-0.5
-1.5
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
0.5
-1
-0.5
0
-1
0
-1
0
0.5
-0.5
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
0.5
-1
-1
0.1
0.2 0 0.3
Iy (A)
Time
(s)
240
0.41
0.5
Time0(s)
I (A)
1
1
0.1
0.2 0.3
Time (s)
0.4
0.1
0.2 0.3
Time (s)
0.4
260
2551
1
0.5
250
0.5 0
-0.5
245
0
-1
240
-1.50
-0.5
0
250
245
260
1.5
1.5
1
1
0.5
-1
0
-1.50
0
-1.5
-0.5
0
(A)
d-q currents
Iy (A) (rpm)
Speed
(A)
(A)
d-qIcurrents
0
I (A)
(a)
1.5
1.5
-2
0.5 0
-1
0
255
255
Speed (rpm)
-1
260
Speed (rpm)
1.5
1.5
d-q currents
I (A) (A)
-2
1.5
I (A)
250
245
0.4
0.41
240
(b)
Fig. 6. Stator phase currents, - currents (blue trace=i*; green trace= i), x-y currents (blue trace= ixy*, green trace= ixy) and speed (blue trace=m*, green
trace= m) for faulted machine configured with two isolated neutrals, and controlled using (a) Min Loss and (b) Max Torque mode. The machine operates at
250 rpm without load
1.5
1.5
260
1
1
0.5
255
Iy (A) (A)
d-q currents
0.5
0
0
-0.5
-1
-2
0.50
-0.5
0
-1
-1
-1.5
0
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
0.5
-1
0
I (A)
-1.5
-0.5
0
Speed (rpm)
1.5
I (A)
250
245
-1
0.1
0.2 0 0.3
Ix (A)
Time
(s)
240
0.41
0.1
0.2 0.3
Time (s)
0.4
0.1
0.2 0.3
Time (s)
0.4
(a)
1.5
1.5
0.5
1
0.5
d-q currents
I (A) (A)
0
-0.5
-1
-2
-1
-1.5
0.05
0.1
0.15
0.2
0.25
0.3
Time (s)
0.35
0.4
0.45
0.5
-1
0
I (A)
260
255
Speed (rpm)
1.5
1
I (A)
0.5 0
-0.5
0
-1
-1.5
-0.5
0
250
245
-1
0.1
0.2 00.3
Ix (A)
Time
(s)
0.41
240
(b)
Fig. 7. Stator phase currents, - currents (blue trace=i*; green trace= i), x-y currents (blue trace= ixy*, green trace= ixy) and speed (blue trace=m*, green
trace= m) for faulted machine configured with single isolated neutral, and controlled using (a) Min Loss and (b) Max Torque mode. The machine operates at
250 rpm without load.
CONCLUSION
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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
[5]
2
Healthy
Single VSC
Min Loss (two neutrals)
Max Torque (two neutrals)
Min Loss (single neutral)
Max Torque (single neutral)
1.8
1.6
1.4
[6]
[7]
1.2
1
[8]
0.8
0.6
[9]
0.4
0.2
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Normalised torque (p.u.)
0.8
0.9
Fig. 8. Experimental (*) and theoretical (solid line) plot of the normalized
maximum phase current against normalized torque for the asymmetrical sixphase induction machine operating under different post-fault operation
modes (idsn/iqsn = 0.294).
Healthy
Single VSC
Min Loss (two neutrals)
Max Torque (two neutrals)
Min Loss (single neutral)
Max Torque (single neutral)
2.5
[10]
[11]
[12]
[13]
2
[14]
1.5
[15]
1
0
0.05
0.1
0.15
0.2
0.25
Time (s)
Fig. 9. Instantaneous (dotted lines) and theoretical mean (solid lines) of the
normalised stator winding losses, for healthy and faulted asymmetrical sixphase induction machine under different modes of post-fault operation (the
theoretical means for single VSC and Max Torque (two neutrals) overlap).
[16]
[17]
[2]
[3]
[4]
[18]
[19]
[20]
[21]
[22]
[23]
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TPEL.2013.2293195, IEEE Transactions on Power Electronics
Copyright (c) 2013 IEEE. Personal use is permitted. For any other purposes, permission must be obtained from the IEEE by emailing pubs-permissions@ieee.org.