Six-Phase Multi-Converter Drive with Specialized

Schemes of Space-Vector PWM

Vladimir Berzan, Valentin Oleschuk, Alexandr Sizov
Institute of Power Engineering
Academy of Sciences of Moldova
Chisinau, MD-2028, Republic of Moldova
AbstractThis paper presents results of dissemination of
specific schemes of synchronized pulsewidth modulation (PWM)
for adjustment of four neutral-point-clamped (NPC) inverters of
dual three-phase system. Specifically, this drive includes openend windings induction motor with two sets of windings spatially
shifted by 30 el. degrees. Schemes and techniques of synchronized
PWM allow continuous phase voltage symmetry for any
operating conditions. Spectra of the phase voltage of multiconverter drive system with synchronized PWM do not contain
even harmonics and sub-harmonics during the whole control
diapason.
Keywords six-phase induction motor drive; cascaded voltage
source converters; schemes and techniques of pulsewidth modulation.

I.

INTRODUCTION

Multilevel and multiphase ac motor drives have good

perspectives of wide-ranging application in different areas
(electric vehicles, locomotive, ship propulsion, more electric
aircrafts, etc.) [1]-[3].
Recently, a novel four-inverter-based topology of sixphase (dual three-phase) system has been proposed, allowing
quadrupling the power capability of a single inverter with
given voltage and current rating [4]-[6]. Fig. 1 shows
generalized structure of this system, consisting of two groups
of two inverters, supplying the open-end windings of asymmetrical dual three-phase motor. Induction machine has in this
case two sets of windings spatially shifted by 30 el. degrees.
For drives with increased power and/or current (or for
high-speed drives) it is necessary to synchronize the output
voltage waveforms of converters for elimination of
undesirable sub-harmonics of voltage and current [7]-[9]. To

provide phase voltage synchronization of drive inverters, a

novel method of synchronized space-vector PWM has been
proposed [10],[11].
So, this paper presents results of research of six-phase
system on the base of four neutral-point-clamped inverters with
synchronized PWM based on specialized control scheme (Figs.
2-3 [11]), supplied or by one DC-source, or by 2-4 insulated
DC-sources.
II.

METHOD OF SYNCHRONIZED SPACE-VECTOR PWM

Method of synchronized space-vector PWM [10]

(disseminated for neutral-point-clamped inverters in [11]) can
be used for control of each inverter of six-phase (dual threephase) drive system. Table I presents generalized properties
and basic control correlations for the proposed method of
synchronized PWM [10]. In particular, this method is based on
two-stage strategy of modulation and includes some additional
control
parameters
providing
continuous
voltage
synchronization during the whole control range including the
zone of overmodulation. Its basic properties have been
compared in Table I with standard asynchronous space-vector
modulation.
III. OPERATION OF DUAL THREE-PHASE SYSTEM ON THE
BASIS OF FOUR NPC INVERTERS WITH SYNCHRONIZED PWM
Control of four three-phase inverters supplying
asymmetrical six-phase induction motor has some peculiarities.
Specifically, four inverters are grouped into two groups with
two cascaded inverters in each group, and each inverter group
is connected with the corresponding open-end windings

Vdc1

Vdc3

Vdc2

Vdc4

Fig. 1. General topology of dual three-phase drive system on the base of four inverters (the first inverter
group INV1+INV2, and the second inverter group INV3+ INV4) supplying open-end windings of
asymmetrical six-phase induction motor with two sets of winding spatially shifted by 30 el. degrees.

978-1-4799-2442-4/13/$31.00 2013 IEEE

Fig. 2. Basic structure of three-phase neutral-pointclamped inverter.

the big arrows in Fig. 3 [11], providing elimination of the

common-mode voltages, are calculated in accordance with (1)(2) [5],[13],[14]. Specifically, it corresponds to a two-level
operation of neutral-point-clamped inverters.

Fig. 3. Switching state vectors providing elimination of zero sequence voltage.

TABLE I.

BASIC PARAMETERS OF PWM METHODS

Control
(modulation)
parameter

Conventional
schemes of space-vector PWM

Operating and
max parameter

Operating & max

voltage V and Vm

Modulation
index m
Duration of subcycles
Center
of the k-signal

Proposed
method
of modulation
Operating & maximum
fundamental frequency F and
Fm

V / Vm

F / Fm

k (angles/degr.)

(k 1) (sec)
Algebraic
PWM

Switch-on
durations

Tak = 1.1mT [sin(600

k ) + sin k ]

tak = 1.1mT sin k

tbk = 1.1mT
sin(600 k )

Switch-off
states (zero
voltage)
Special
parameters
providing
synchronization
of the process
of PWM

t0 k = T t ak tbk

k = 1[1 A
(k 1)FK ov1 ]

Trigonometric PWM

k = 1
cos[(k 1)Kov1]

k = i k +1[0.5 k = i k +1[0.5
6(i k )F ]K ov 2 0.9tn(i k ) ]K ov 2

k k

k k

k = k
" = 1[1 A

Vas = Va1 - Va2

(1)

Vxs=Vx1 - Vx2

(2)

where Va1, Vb1, Vc1, Va2, Vb2, Vc2 and Vx1, Vy1, Vz1, Vx2, Vy2, Vz2
are the corresponding pole voltages of each group of threephase NPC inverters (Fig. 1).
Two basic schemes of synchronized space-vector PWM
have been elaborated for control of neutral-point-clamped
inverters with elimination of zero sequence voltage [15],
which can be applied for control of the corresponding
asymmetrical four-inverter fed open-end winding motor drive.
As an illustration of operation of dual three-phase system on
the base of four NPC inverters with synchronized PWM,
supplied by one common DC-source (or by 2, or 3, or 4 DCsources with equal voltages (Vdc1=Vdc2=Vdc3=Vdc4 in these
cases)), Figs. 4-7 present basic voltage waveforms (pole
voltages Va1, Va2, Vx1, Vx2, and the phase voltages Vas and Vxs
(with spectra of the Vas (Vxs) voltages)) of two groups of
inverters, controlled by algorithms of synchronized PWM.
Figs. 4-5 illustrate processes in system with direct-direct
scheme of synchronized PWM (DDPWM, [15]), and Figs. 6-7
illustrate processes in system with discontinuous synchronized
PWM (DPWM, [15]). The fundamental and switching
frequencies of each inverter of the system are equal
correspondingly to F = 38Hz and Fs = 1kHz, modulation
indices of all inverters are equal to m1=m2=m3=m4=0.76 in
this case. Therefore, the spectra of the presented voltage
waveforms do not contain even harmonics and sub-harmonics.

" = 1 cos

(k 1)FK ov1 ]K s [(k 1)Kov1 ]Ks

' = ( " )
K ov1 K s

' = ( ")
Kov1Ks

of dual three-phase induction motor. Synchronous symmetrical

control of the output voltage of each inverter of each inverter
group in accordance with algorithms of synchronized PWM
provides synchronous symmetrical regulation of voltage in the
corresponding induction machine phase windings. Rational
phase shift between output voltage waveforms of the two
inverters in each inverter group is equal in this case to one half
of the switching interval (sub-cycle) [12].
Phase voltages Vas and Vxs of the system on the basis of
four NPC inverters (Figs. 1-2) with specialized control scheme, based on the use of only seven voltage vectors marked by

Fig. 4. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of dual
three-phase system with direct-direct synchronized PWM (F=38Hz,
Vdc1=Vdc2=Vdc3=Vdc4, m1=m2=m3=m4=0.76, Fs=1kHz).

Fig. 5. Spectrum of the phase voltages Vas and Vxs of the system with directdirect synchronized PWM (F=38Hz, Fs=1kHz).

Fig. 8. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of dual
three-phase system with direct-direct synchronized PWM (F=30Hz,
Vdc3=Vdc4=0.7Vdc1=0.7Vdc2, m1=m2=0.6, m3=m4=0.86, Fs=1kHz).

Fig. 6. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of dual
three-phase system with discontinuous synchronized PWM (F=38Hz,
Vdc1=Vdc2=Vdc3= Vdc4, m1=m2=m3=m4=0.76, Fs=1kHz).

Fig. 9. Spectra of the phase voltages Vas and Vxs of the system with directdirect synchronized PWM (F=30Hz, Fs=1kHz).

Fig. 7. Spectrum of the phase voltages Vas and Vxs of the system with
discontinuous synchronized PWM (F=38Hz, Vdc1=Vdc2=Vdc3= Vdc4,
m1=m2=m3=m4=0.76, Fs=1kHz ).

In the case of system with two insulated DC-sources with

Vdc1 and Vdc3 voltages (Vdc1=Vdc2 and Vdc3=Vdc4 in Fig. 1), in
order to provide equivalence of the output fundamental
voltages (and also power balancing) of two groups of NPC
inverters during scalar V/F control of the system, it is necessary
to provide linear correlations between modulation indices of
four inverters and magnitudes of DC voltages: m1Vdc1 = m2Vdc1
= m3Vdc3 = m4Vdc3 [6]. Figs. 8-11 illustrate operation of the
system with two DC-sources with non-equal DC-voltages (in
this case Vdc3 = 0.7Vdc1, F = 30Hz, Fs = 1kHz, m1=m2=0.6,
m3=m4=0.86).

Fig. 10. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of
dual three-phase system with discontinuous synchronized PWM (F=30Hz,
Vdc3=Vdc4=0.7Vdc1=0.7Vdc2, m1=m2=0.6, m3=m4=0.86, Fs=1kHz).

Fig. 11. Spectra of the phase voltages Vas and Vxs of the system with
discontinuous synchronized PWM (F=30Hz, Fs=1kHz).

Fig. 13. Spectra of the phase voltages Vas and Vxs of the system with directdirect synchronized PWM (F=35Hz, Fs=1kHz).

In the case of three insulated DC-sources ((Vdc1 = Vdc2),

Vdc3 and Vdc4 in Fig. 1) it is necessary to provide (for scalar
V/F control mode) the following dependences of modulation
indices of four inverters: m1Vdc1 = m2Vdc1 = m3(Vdc3 + Vdc4)/2 =
m4(Vdc3 + Vdc4)/2. Figs. 12-16 illustrate operation of system
with synchronized PWM with three DC-sources with nonequal DC-voltages (in this case Vdc4 = 0.5Vdc3, Vdc1 = Vdc2 =
0.8Vdc3, F = 35Hz, Fs = 1kHz, m1=m2=0.7, m3=m4=0.74).

Fig. 14. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of
dual three-phase system with discontinuous synchronized PWM (F=35Hz,
Vdc4= 0.5Vdc3, Vdc1=Vdc2 =0.8Vdc3, m1=m2=0.7, m3=m4=0.74, Fs=1kHz).

Fig. 12. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of
dual three-phase system with direct-direct synchronized PWM (F=35Hz,
Vdc4= 0.5Vdc3, Vdc1=Vdc2 =0.8Vdc3, m1=m2=0.7, m3=m4=0.74, Fs=1kHz).

As an illustration of operation of dual three-phase system

on the base of four NPC inverters with discontinuous
synchronized PWM in the overmodulation zone, Figs. 17-20
present basic voltage waveforms with its spectra
correspondingly for the system operated in the first (Figs. 1718, F=47Hz), and the second (Figs. 19-20, F=49Hz) stages of
the zone of overmodulation (Vdc1=Vdc2=Vdc3=Vdc4 in this case).

Fig. 15. Spectrum of the phase voltage Vas of the system with discontinuous
synchronized PWM (F=35Hz, Fs=1kHz).

Fig. 16. Spectrum of the phase voltage Vxs of the system with discontinuous
synchronized PWM (F=35Hz, Fs=1kHz).

Fig. 19. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of
dual three-phase system with discontinuous synchronized PWM in the second
stage of the zone pf overmodulation (F=49Hz, Vdc1=Vdc2=Vdc3= Vdc4,
m1=m2=m3=m4=0.98, Fs=1kHz).

Fig. 17. Pole voltages Va1, Va2 and Vx1, Vx2, and phase voltages Vas and Vxs of
dual three-phase system with discontinuous synchronized PWM in the first
stage of the zone pf overmodulation (F=47Hz, Vdc1=Vdc2=Vdc3= Vdc4,
m1=m2=m3=m4=0.94, Fs=1kHz).

Fig. 20. Spectrum of the phase voltages Vas and Vxs of the system with
discontinuous synchronized PWM (F=49Hz, Vdc1=Vdc2=Vdc3= Vdc4,
m1=m2=m3=m4=0.98, Fs=1kHz ).

In order to compare characteristics of asymmetrical dual

three-phase (six-phase) systems on the base of two NPC
inverters, and on the base of four NPC inverters (four-inverterbased topology of six-phase system, analyzed in the paper),
Fig. 21 presents calculation results of Weighted Total
Harmonic Distortion factor (WTHD) versus modulation index
m for the motor phase voltage Vas (averaged values of
1000

WTHD = (1 / Vas1 )(

(V

as k

/ k ) 2 ) 0.5 ) for systems with both

k =2

Fig. 18. Spectrum of the phase voltages Vas and Vxs of the system with
discontinuous synchronized PWM (F=47Hz, Vdc1=Vdc2=Vdc3= Vdc4,
m1=m2=m3=m4=0.94, Fs=1kHz ).

Motor phase voltages Vas and Vxs of six-phase drives on the

basis of four neutral-point-clamped inverters with synchronized
PWM have symmetry (quarter-wave symmetry or half-wave
symmetry) during the whole control range and for any
operating conditions (see Figs. 4-20), and its spectra do not
contain even harmonics and sub-harmonics, which is especially
important for high power/high current applications.

direct-direct synchronized PWM (DDPWM) and

discontinuous synchronized modulation (DPWM). DC-voltage
magnitudes are equal in this case for all DC-sources, so,
modulation indices of all inverters are equal too. Control mode
of the drive system corresponds here to standard scalar V/F
control, and the average switching frequency of each inverter
is equal to Fs = 1kHz. The presented results show, that integral
spectral characteristics of the phase voltage of six-phase
system on the base of four inverters are much better, than of
the system on the base of two inverters.

Fig. 21. WTHD factor of the phase voltage Vas versus modulation index m for
six-phase system on the base of two NPC inverters (DDPWM-2INV, DPWM2INV), and for system on the base of four NPC inverters with synchronized
PWM (DDPWM-4INV, DPWM-4INV).

IV.

CONCLUSIONS

Space-vector-based algorithms of synchronized PWM,

disseminated for control of four neutral-point-clamped
inverters feeding asymmetrical six-phase induction motor with
open-end windings, allow continuous synchronization of the
phase voltages in the system for any operating conditions.
Specialized scheme of control of NPC inverters provides
elimination of common-mode voltages in system, and in this
case it is possible to use limited number of insulated DCsources (one, or two, or three DC-sources instead of four DCsources of standard topology based on four two-level
inverters).
Spectra of the phase voltage of dual three-phase drives
with algorithms of synchronized PWM do not contain even
harmonics and sub-harmonics during the whole control range,
which is especially important for the medium-power and highpower systems. Therefore:
1. Specialized algorithms of synchronized PWM provide
phase voltage symmetry (quarter-wave symmetry) in fourinverter-based system with one DC-source for any ratio
(integral or fractional) between the switching frequency and
fundamental frequency of each inverter of the system (see
the corresponding Figs. 4-7, illustrated operation of the
system with algorithms of direct-direct (Figs. 4-5) and
discontinuous (Figs. 6-7) synchronized PWM. Frequency
ratio is equal to Fs/F=1000Hz/39Hz=26.3 in this case).
2. Specialized algorithms of synchronized PWM provide
phase voltage symmetry (quarter-wave symmetry, or halfwave symmetry) in four-inverter-based system with two
DC-sources (with non-equal DC-voltages) for any ratio
(integral or fractional) between the switching frequency and
fundamental frequency of each inverter of the system (see
the corresponding Figs. 8-11, illustrated operation of the
system with algorithms of direct-direct (Figs. 8-9) and
discontinuous (Figs. 10-11) synchronized PWM. Frequency
ratio is equal to Fs/F=1000Hz/30Hz=33.3 in this case).

3. Specialized algorithms of synchronized PWM provide

phase voltage symmetry (quarter-wave symmetry, or halfwave symmetry) in four-inverter-based system with three
DC-sources (with non-equal DC-voltages) for any ratio
(integral or fractional) between the switching frequency and
fundamental frequency of each inverter of the system (see
the corresponding Figs. 12-16, illustrated operation of the
system with algorithms of direct-direct (Figs. 12-13) and
discontinuous (Figs. 14-16) synchronized PWM. Frequency
ratio is equal to Fs/F=1000Hz/35Hz=28.6 in this case).
4. Algorithms of synchronized PWM provide phase voltage
symmetry in four-inverter-based system with different
number of DC-sources during the zone of overmodulation
(see the corresponding Figs. 17-20, illustrated operation of
system with algorithms of discontinuous synchronized
PWM at the first (Figs. 17-18) and at the second (Figs. 1920) stages of the zone of overmodulation).
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