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Abstract—This paper introduces a methodology by which the is another issue with the generalization. As the number of
dq electromagnetic model of an AC machine or network can be phases increases, so too does the possible phase permutations.
extended to a system of any number of phases. The methodology For example, a fifteen phase machine could be connected as
proposed here is based on pole-symmetry (symmetry with respect
to π rather than 2π) and separates the electrical configuration five three-phase sets, three five-phase sets or a 15-phase set
from the magnetic configuration of the machine, leading to the with a single neutral. This problem may arise whenever the
concept of the fundamental winding configuration. It is shown phase order is not prime.
that any possible winding configuration can be accounted for In this paper, the authors present a methodology by which
using the generic fundamental winding configuration together the model of an AC salient machine or network can be gener-
with a winding configuration matrix. Symmetry with respect to
π rather than 2π suggests a change to the complex operator alized to any number of phases. The method addresses both the
that has served as the basis of Fortescue’s method of symmet- issues of even-ordered machines and winding permutations. It
rical components for nearly 100 years. Using the new complex involves separating, from the modeling process, the manner in
operator, the authors derive a modified symmetrical component which the polyphase winding sets are configured. The model
transformation for the fundamental winding configuration. It is is developed based on a fundamental winding configuration
shown that when the configuration matrix is applied, the modified
transformation yields the same results as the original, but lends which exhibits pole symmetry rather than symmetry about
itself to a more systematic generalization methodology. Then, the stator periphery (symmetric with respect to π rather
following the historical progression, the generalized Clarke and than 2π). The use of this fundamental winding configuration
Park transformations are derived from the modified symmetrical makes it easy to generalize the AC salient machine model
component transformation. These transformations presented here to any number of phases–odd or even–and can accommodate
enable the systematic generalization of the dq electromagnetic
machine model, including the effects of saliency. The generalized any possible winding configuration with the application of a
dq model, along with laboratory results of a nine-phase perma- simple configuration matrix. But since it is based on pole
nent magnet synchronous machine, will be presented in a series symmetry, it calls for a new set of symmetric, orthogonal and
of follow-up papers. rotational transformations. This concept of the fundamental
winding configuration and the derivation of the necessary
I. I NTRODUCTION transformations are reported here as a prerequisite to the
Higher-phase order transformations, machine models and derivation of the generalized electromagnetic model of an n-
results have been reported in the literature before [1]–[15], but phase salient synchronous machine to be reported in a forth-
they are usually presented for a particular phase-order and/or coming paper. The authors believe the proposed methodology
winding configuration with the perfunctory statement that such and the resulting transformations provide valuable insight to
transformations and models can be generalized to any number the nature of high-phase-order (HPO) machines. Then, to
of phases. However there are a number of configuration issues validate the approach, the balance of the work including
that need to be addressed before one can approach the gen- generalized control and modulation techniques along with
eralization of modeling, control and modulation techniques. laboratory results of a specially constructed nine-phase salient
For example, one of the most complete works with regard PM machine will appear in a following paper.
to generalization was an n − m phase induction machine This paper will be organized as follows: In section II of
model put forth by White and Woodson in their 1959 text the paper, the authors will introduce the concept of the pole-
on electromechanical energy conversion [16]. In their text, symmetric fundamental winding configuration. It is shown
they developed a generalized orthogonal transformation and that any possible winding configuration can be accommodated
subsequent machine model, but acknowledged that the model by the application of a configuration matrix to the base-line
did not work for an even number of phases. In that case, (or fundamental) winding configuration. The pole-symmetric
they proposed to develop the transformation and model for a configuration suggests that the symmetrical component trans-
machine of 2n phases and constrain the extra terminal values formation be based on a different complex operator than the
to be the negative of the first n phases. The methodology one originally used in Fortescue’s method. It is important to
proposed here seeks to circumvent this trick. Furthermore there note that the Method of Symmetrical Components, with all its
1'
4 will produce a flux in the direction of −uk .
u2 u3 u2 ¯
1'
The vector sum of the simultaneous phase flux vectors
3 2
2' 6'
interacts with the rotor field field flux, often with the goal
2π 5 3
3 2π
6 of producing a constant magnitude rotating stator flux vector
u1 u4 u1 at a particular rotational frequency. This is accomplished by
3' 5' exciting the set of symmetrically dispersed phase coils with a
2' 3'
6 2
1
set of balanced, periodic phase currents symmetrically phase
u3 1
u5 u6 shifted in time. Hence, the notion of two-pole symmetry is
4'
deeply embedded in ac machine and network theory. The
(a) 3ϕ (b) 6ϕ complex operator
2π
2 a = ej 3 (1)
¯
1'
is often used to represent the phase shift between the adjacent
2π
magnetic axes of the ac machine as well as the phasors of the
2
u2 u1 voltage, current or flux vectors. The vectors of Fig. 1(a) are
depicted as
uk = a(k−1) (2)
1 ¯ ¯ k∈{1,2,3}.
is positive or negative. π
3
π
6
u1 u1
Let the complex operator α represent the phase shift be-
¯
tween the magnetic axes of a machine according to pole-
symmetry
π -u2 -u3
α = ej n . (5) -u4
¯
(a) 3ϕ (b) 6ϕ
Fig. 2 shows the pole-symmetric vector diagrams for the
three, six and two phase machines. The magnetic axes are u2
represented by the unit vector
uk = pk · α(k−1)
π
(6) 2
¯ ¯ k∈{1,2,3}, u1
C. Configuration Matrix
u3
The practical winding configuration or “sense” of the wind-
ing is accommodated by the use of a configuration matrix [P], un u2
π
such as in (7) where n
u1
1 0 0
[P] = 0 0 1 (8)
0 −1 0
(c) Fundamental nϕ configura-
and tion
From (5), it is easy to see that αn = −1, therefore αni = where, from (29), the matrix [F] can be written as
i ¯ ¯
(−1) . Hence for all odd (values of)i, (24) will equal zero and 1 1 ··· 1 1
ni
for all even values of i, 1 + α = 2. Hence, (24) can be α−1
¯ ¯ α−3 ··· α3 α1
written as ¯ ¯ ¯
α−2 α−6 ··· α6 α2
1 ¯ ¯ ¯ ¯
1 ∑ (i−1)(k−1) [F] = √
n .. .. .. .. (32)
n
..
yi = 2α xk (25) . . . . .
2n ¯ ¯
¯ i∈{2,4,...,2n},
α−(n−2) α−(n−6)
··· α(n−6) α (n−2)
k=1 ¯ ¯ ¯ ¯ (n−1)
α−(n−1) α−(n−3) ··· α(n−3) α
where one will notice that the index value i is now restricted ¯ ¯ ¯ ¯ .
to even values only. Adjusting the index value, (25) can be Equations (30) and (32) can be parsed into the vector sum-
written in the following form mation given in (33) from which one can more easily discern
the significance of the individual symmetrical components.
1 ∑ (2i−1)(k−1)
n
It is easy to see that y1 and yn represent the fundamental
yi = α xk (26) ¯ former ¯ is applied in a clock-wise
¯ n ¯ ¯ sequence components, the
k=1 i∈{1,2,...,n}. direction while the latter is applied in the counter clock-wise
direction. Hence if the phase vectors represented time vari-
Equation (26) represents the compact generalized form of the
ables, the component y1 would be considered the fundamental
Modified Symmetrical Component transformation. Its inverse ¯
positive sequence component (as each subsequent vector lags
can be shown to be
the preceding vector by nπ radians) and yn would represent
∑n the fundamental negative sequence component.¯ Similarly y2
xk = α−(2i−1)(k−1) yi (27) represents the CW third-harmonic sequence. If n = 3, the ele-¯
¯ i=1
¯ ¯ k∈{1,2,...,n}. rd
ments of 3 harmonic seq are all real, as is always the case for
the zero sequence component. The component y3 represents
Equations (26) and (27) can be said to be the voltage invariant the CW fifth-harmonic sequence. In a three-phase¯machine, the
form of the transformation. The power invariant forms are fifth-harmonic sequence
given by [ is the negative
]T fundamental
[ ]sequence.
T
And indeed for n = 3, 1, α−5 , α−10 = 1, α1 , α2 , which
¯ ¯
is the same as the CCW fundamental sequence.
¯ ¯
1 ∑ (2i−1)(k−1)
n
yi = √ α xk (28) For any value of n, the mathematical description of the
¯ n ¯ ¯ symmetrical components does not change. Only the sequence
k=1 i∈{1,2,...,n}
that the component represents changes. In the three-phase
1 ∑ −(2i−1)(k−1)
n
xk = √ α yi (29) machine y3 , which represents the fifth harmonic sequence,
¯ n i=1 ¯ ¯ k∈{1,2,...,n}. is the negative fundamental sequence, whereas for the five-
phase machine, the fifth harmonic sequence represents the
The reader may note that the inverse of the power invariant zero-sequence component.
form is simply the conjugate transpose of the forward trans-
C. Practical Application of the Pole-symmetric Transforma-
formation. In matrix form
tion
x123 = [F] y 123 (30) Consider now the case of the practical three phase machine.
( ∗ )T The practical winding configuration matrix [P] is given in (8).
y 123 = [F] x123 (31) −1 T −1
It has been stated before that [P] = [P] and [F] =
( ∗ )T
[F] . Then, from (11), (31) and (32) and making use of resulting symmetrical components
(20), the symmetrical components for the practical three-phase
y1
machine are given by x 1 1 ¯
α1 0 ... 0 ... 0 y2
xβ1 −j 0 ... 0 ... 0 j ¯
( ∗ )T ..
y 123 = [F]
T
[P] xabc x 0 0 .
α3 1 ... 0 ... 1
1 y
1 α1 α2 1 0 0 xβ3 = 0 −j ... 0 ... j 0 (n+1)/2
¯ ¯6 2 ¯
1 . . ..
−1 .. .. .. ..
=√ 1 α3 α 0 0 xabc . . .. .. .
¯ ¯ . . . . . . . .
3
1 α−1 α−2 0 1 0
¯ ¯ (34) xαn 0 0 ... 2 ... 0 0 y(n−1)
¯
yn
1 α2 α4 ¯ ,
1 ¯ ¯ (37)
=√ 1 1 1 xabc .
3 where the center column and the center element of the
1 α4 α2 symmetrical component vector, y(n+1)/2 , would only exist in
¯ ¯
¯ odd. Applying (37) to (31),
the case that the phase order n is
Then, making use of the fact that α2k = ak , (34) can be making use of (32) and simplifying, the generalized Clarke
¯ ¯ transformation is derived as
written as
1 a a2 x123 = [C] xαβ (38)
1 ¯ ¯
y 123 = √ 1 1 1 (35) where
3
1 a2 a 1
√
¯ ¯ . 1 0 1 ...
2
−1
√
√ cos δ sin δ cos 3δ ...
2
The reader should note that this result using the modified sym- 1
√
metrical component transformation, together with the winding 2
cos 2δ sin 2δ cos 6δ ...
2
−1
[C] =
n
cos 3δ sin 3δ cos 9δ ... √
configuration matrix, yields the same result as that of the 2
.. .. .. .. ..
original method of symmetrical components. The only differ- . . . . .
( the elements
ence is in the order in which
[ ]T )
of the symmetrical cos(n − 1)δ sin(n − 1)δ cos(n − 3)δ ... 1
√
2
component vector appear e.g. y 123 = y+ y0 y− and (39)
¯ ¯ ¯
the fact that (35) is given in the power invariant form. and where
π
δ= (40)
n.
IV. G ENERALIZED C LARKE AND PARK It can be shown that the generalized power invariant form of
T RANSFORMATIONS the Clarke transformation in (39) also has the property that its
inverse is simply the transpose
The generalized Clarke and Park transformations follow [C]
−1
= [C]
T
(41)
directly from the modified symmetrical component transfor-
mation. Equations (38) through (40) define the generalized n-phase
Clarke transformation for the fundamental winding configura-
tion. Similar to (33), the column vectors of (39) make up the
A. Generalized Clarke Transformation basis vectors of an n-dimensional vector space and x123 is
determined by the linear combination of these basis vectors
The method of symmetrical components uses a complex
transformation to act on complex phasors. But Edith Clarke x123 = uα1 xα1 + uβ1 xβ1
was interested in applying the method to dynamic systems; she
+ uα3 xα3 + uβ3 xβ3 + . . . + uαn + xαn . (42)
wondered if it could be used in the case where the elements of
the terminal vector (e.g. xabc or x123 ) were instantaneous–or It is not difficult to prove that these basis vectors are not only
real–values [18]. She noticed that when one restricts the values linearly independent, but orthogonal as well. Then applying
to be real, the symmetrical components are always complex (11) to (39), the Clarke transformation to practical terminal
conjugates of one another coordinates can be computed
∗
yi = y[n−(i−1)] (36) xabc = [P] [C] xαβ . (43)
¯ ¯
The resulting basis vectors can be shown to be identical
except in the case that n is odd. In that case, there is one to those computed by Zhao using the method of vector
component (the zero sequence component), that is always real. space decomposition [9], [10]. The methodology reported here
Given this fact, she devised a transformation that would yield shows how those vector spaces are derived from the basic
the real and imaginary values (α and β, respectively) of the transformations.
sin θ1 cos θ1 sin θ3 cos θ3 ··· √1
2
sin(θ1 − δ) cos(θ1 − δ) sin(θ3 − 3δ) cos(θ3 − 3δ) ··· −1
√
2
√
sin(θ1 − 2δ) cos(θ1 − 2δ) sin(θ3 − 6δ) cos(θ3 − 6δ) ··· √1
2
2
[T(θ k )] = sin(θ1 − 3δ) cos(θ1 − 3δ) sin(θ3 − 9δ) cos(θ3 − 9δ) ··· √1
(52)
n ..
2
.. .. .. .. ..
. . . . . .
sin(θ1 − (n − 2)δ) cos(θ1 − (n − 2)δ) sin(θ3 − 3(n − 2)δ) cos(θ3 − 3(n − 2)δ) ··· − √1
2
sin(θ1 − (n − 1)δ) cos(θ1 − (n − 1)δ) sin(θ3 − 3(n − 1)δ) cos(θ3 − 3(n − 1)δ) ··· √1
2