Electric Machines and Power Systems , 27:12591268, 1999 Copyright c 1999 Taylor & Francis, Inc. 0731-356X / 99 $12.

.00 + .00

Harmonics Reduction in DSC Induction M otors with Two Three-Phase Stator W inding Sets
OTTORINO BRUNO ALBERTO LANDI LUCA SANI
Dipartimento di Sistemi Elettrici e Automazione Universita ` di Pisa Via Diotisalvi, 2. I-56126 Pisa, Italy
A direct self control (DSC) strategy is applied to an induction motor with two three-phase stator winding sets. A remarkable reduction in the electromagnetic torque harmonics, as well as a meaningful minimization of the machine current distortion, are evidenced with respect to a conventional induction motor. In traction applications, electromagnetic torque harmonics induce mechanical stress on the transmission apparatus and cause resonance phenomena. On the other hand, current harmonics interact with signaling transmission, deteriorating their quality. Both drawbacks are greatly reduced in the case of the DSC strategy applied to the proposed unconventional motor. Therefore, the presented results are relevant in electrical traction, showing that the introduction of induction motors with two three-phase stator winding sets o ers new interesting solutions.

Introduction

In this paper an inverter-fed induction machine with two three-phase stator winding sets (Nelson and Krause, 1974; Morando, 1987) is considered. The two stator winding sets have magnetic axes spatially shifted of an angle , as shown in Figure 1, while a wound or squirrel-caged rotor structure can be indi erently chosen. In traction applications, a fast torque control is required and can be obtained by using two vector control strategies; i.e., eld orientation schemes (FO) (Blasckhe, 1972) and DSC (Depenbrock, 1988). The implementation of the proposed control schemes is no longer a problem because low-cost microcontrollers are available along with voltage source inverters. DSC is more suitable in traction where high power ratings require a minimization of the inverter switching frequency and the reduction of the harmonic motor currents and of the torque pulsation (Ho mann and Springmeier, 1994). Electromagnetic torque harmonics induce mechanical stress on the transmission apparatus and resonance phenomena. On the other hand, current harmonics interact with transmissions, deteriorating their quality. Such drawbacks can be counteracted by using unconventional motors and/ or suitable control strategies.

Manuscript received in nal form March 3, 1999. Address correspondence to Ottorino Bruno.

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Figure 1. Inverter-fed induction machine with two stator winding sets.

This paper is organized as follows. In Section 2 a Park model of the induction machine with two three-phase stator winding sets is introduced. In Section 3 a DSC strategy is applied to the proposed motor. An accurate analysis of the torque and current harmonics obtained from extensive simulations are nally shown in Section 4.

Induction M achine M odel

In the hypothesis (Nelson and Krause, 1974) of uniform air gap, magnetic linearity, negligible eddy currents and friction, identical windings within each three-phase set, sinusoidal distribution of the windings around the air gap, the electromagnetic dynamics of an induction machine with two three-phase winding sets on stator, and a three-phase wound rotor are described by 8 V s 11 = R s 11 I s 11 + pY s 11 > > > > > V s 12 = R s 12 I s 12 + pY s 12 > > > > > V s 13 = R s 13 I s 13 + pY s 13 > > > > > > V s 21 = R s 21 I s 21 + pY s 21 < V s 22 = R s 22 I s 22 + pY s 22 . (1) > > > V s 23 = R s 23 I s 23 + pY s 23 > > > > > V r 1 = R r 1 I r 1 + pY r 1 > > > > > V r 2 = R r 2 I r 2 + pY r 2 > > > : V r 3 = R r 3 I r 3 + pY r 3 The ux linkages may be expressed in the compact matrix form: 2 3 2 32 3 Ls1 Ls1s2 Ls1r Y s1 Is1 6 7 6 76 7 T Ls2 Ls2r 5 4 Is2 5 , 4 Y s2 5 = 4 Ls1s2 Y r Ir Ls1r T Ls2r T Lr

(2)

Harmonics Reduction in DSC Induction Motors where 2 2 2 2 2 2

L s s1 M M M M M
s s1

1261

6 Ls1 = 4 M s s 1
s s1

M M

s s1 s s1

L s s1
s s1 s s2

3 3

L s s1 M M
s s2 s s2

7 5, 7 5,

(3)

6 Ls2 = 4 M s s 2
M
s s2

L s s2

L s s2
s s2

(4)

L s s2 M rr L rr

6 Lr = 4 M r r
M rr

L rr

M rr Lrr M rr

6 Ls1s2 = 4 L s 1 s 2 cos( 3 ) L s 1 s 2 cos( 2 ) 6 Ls1r = 4 L s 1r cos(3 ) L s 1r cos(2 ) 6 Ls2r = 4 L s 2r cos(3 L s 2r cos(2

L s 2r cos(1 L s 1r cos(1 )

L s 1 s 2 cos( 1 )

M rr 5 ,

3 7

(5) 3 7

L s 1 s 2 cos( 2 ) L s 1 s 2 cos( 1 ) L s 1 s 2 cos( 3 )

L s 1 s 2 cos( 3 ) L s 1 s 2 cos( 1 ) L s 1r cos(3 ) L s 1r cos(1 ) ) ) )

L s 1r cos(2 ) L s 1r cos(1 ) L s 1r cos(3 ) ) ) )

L s 1 s 2 cos( 2 ) 5 ,

(6)

L s 2r cos(2 L s 2r cos(1 L s 2r cos(3

L s 1r cos(2 ) 5 ,

3 7

(7) 3 7

L s 2r cos(3 L s 2r cos(2 L s 2r cos(1

) )

) 5 .

(8)

The superscript T denotes the transposition operator, is the angular displacement between the magnetic axis of the phase 1 of the rst stator winding set and the rotor winding set, and > h = < 8
+ (h

A Park transformation (Morando, 1987; Jones, 1967) of the machine variables in axis d-q (disregarding the omopolar component) leads to 8 V d s 1 = R s 1 I d s 1 + pY d s 1 f k Y q s1 > > > > > V q s 1 = R s 1 I q s 1 + pY q s 1 + f k Y d s 1 > > > < V d s 2 = R s 2 I d s 2 + pY d s 2 f k Y q s2 , > V q s 2 = R s 2 I q s 2 + pY q s 2 + f k Y d s 2 > > > > > V d r = R r I d r + pY d r ( f k n ) Y q r > > : V q r = R r I q r + pY q r + ( f k n ) Y dr

> : = + (h h

2 1) 3 2 1) 3

( h = 1, 2, 3) .

(9)

(10)

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where the ux linkage equations are 8 > > Y d s 1 = ( L s s1 M s s1 ) I d s1 + > > > > > > > > > Y q s 1 = ( L s s1 M s s1 ) I q s1 + > > > > > > > > Y d s 2 = ( L s s2 M s s2 ) I d s2 + < > > > Y > > > > > > > > > Y > > > > > > > : Y
q s2

= ( L s s2 = (L r r = (L r r

dr

qr

3 3 L s 1 s 2 I d s 2 + L s 1r I d r 2 2 3 3 L s 1 s 2 I q s 2 + L s 1r I q r 2 2 3 3 L s 1 s 2 I d s 1 + L s 2r I d r 2 2 . 3 3 M s s 2 ) I q s 2 + L s 1 s 2 I q s 1 + L s 2r I q r 2 2 3 3 M r r ) I d r + L s 1r I d s 1 + L s 2r I d s 2 2 2 3 3 M r r ) I q r + L s 1r I q s 1 + L s 2r I q s 2 2 2

(11)

Remark: In equation (10) the Park model is referred to a generic angular speed ( f k ) of the d-q reference frame, while n represents the rotor speed. For a DSC application a stationary reference frame ( f k = 0) is chosen. The electromagnetic torque may be expressed as
Te =

3p p [L s 1r ( Y 2L r

dr I q s1

q r I d s 1)

+ L s 2r ( Y

dr I q s2

q r I d s 2 )],

(12)

and the mechanical di erential equation is

Te T L = J pn .

(13)

In the following simulations the above di erential equations transformed in per unit will be considered.

DSC Strategy

In traction applications a DSC with a stator ux eld orientation control scheme makes possible both fast torque response and the reduction of noise due to a lower inverter frequency (Takahashi and Noguchi, 1986; Takahashi and Ohmori, 1989). With respect to di erent vector control techniques, the main advantages of DSC can be summarized as simplicity in the control of the stator ux and torque by means of a voltage source inverter; robustness to parametric variations and uncertainties: the stator ux is sensitive only to the stator resistance; a reduced inverter switching frequency.

The DSC theory is a well-known control strategy (Depenbrock, 1988), and in the following only the di erences with respect to standard implementations will be put in evidence. The main feature of the DSC strategy is that the trajectory of the ux linkage of the stator winding moves with a constant speed approaching the same orientation as the instantaneous vector of the stator voltage (disregarding the voltage drop of the stator resistance). In the d-q plane the stator ux ( Y ) describes a polygonal trajectory: the number of sides is equal to the number of available voltage vectors. Therefore, the stator ux can be directly controlled by

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inverter modulations. At the same time, a torque regulation can be obtained by using a simple bang-bang control with hysteresis: the estimated motor torque ( T # ) is compared with a reference signal ( T * ) set up by the outer velocity loop. Whenever the error exceeds the upper threshold, then zero voltages are applied to the motor. If we consider an inverter-fed induction machine with two stator winding sets (e.g., fed by two inverters), the instantaneous input voltage vectors double with respect to a conventional induction machine (Figure 2). Magnetic axes of the two stator winding sets are spatially shifted of an angle = 30 , in agreement with the conclusions of (Nelson and Krause, 1974). The primary ux linkage vector is expressed as " # " # Y d Y d s 1 + Y d s2 Y = = . (14) Y q Y q s 1 + Y q s2 From equation (10), in a stator xed reference system, the components of Y expressed as Z 8 > > Y d = [( V d s 1 R s 1 I d s 1 ) + ( V d s 2 R s 2 I d s 2 )] dt < > > :Y
q

are

(15)

[( V q s 1

R s 1 I q s 1) + (Vq s 2

R s 2 I q s 2 )] dt

The voltage vector selection algorithm is designed to achieve the following objectives: a) the stator ux must follow a dodecagonal track curve in the d-q plane (Figure 3); b) reduction of the inverter switching frequency. Compared to a DSC conventional induction motor (Depenbrock, 1988), the ux oscillation is limited in such a way that the pulsating torque can be reduced, as well as the machine current distortion. Figure 4 shows the optimum voltage vector table. The transition of Y from one side to the adjacent one is realized by switching the state of only one inverter.

Figure 2. Space voltage vectors in the case of two 2-level inverters.

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Figure 3. Locus of stator ux.

Figure 4. Optimum switching table and controller.

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Harmonic Reduction

A comparison between the proposed machine and a conventional one, both controlled by a DSC strategy, has been carried out. All shown results were obtained with the help of Simulink, a dynamic simulator by the MathWorks. The DSC strategy was implemented by considering the inverters as matrices of ideal switches. Simulations were carried out using an induction motor for electrical traction with a rated power of 1.06 MW with two three-phase stator winding sets. Simulation parameters are
f k = 53 Hz, J = 17 .02 kg m, L r r = 0 .04793 H, L s s 1( 2) = 0 .04839 H, M r r = 0 .04839 H, M
s s 1( 2)

L s 1 s 2 = 0 .04451 H, L s 1( 2) r = 0 .04651 H, R r 1 , R r 2 , R r 3 = 0 .0694 W , R s 1( 2) 1 , R 1( 2) 2 , R s 1( 2) 3 = 0 .0723 W .

= 0 .04839 H,

P n = 1060000 W , p p = 2,

Figure 5. Spectral analysis of the electromagnetic torque: conventional induction machine. (a) without load torque; (b) load torque = 60% Tn.

Figure 6. Spectral analysis of the electromagnetic torque: induction machine with two three-phase winding sets. (a) without load torque; (b) load torque = 60% Tn.

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All presented results (both for the electromagnetic torque and for the current) have been obtained at two di erent steady-state conditions: a) supplied nominal frequency of 53 Hz, without any load torque; b) supplied nominal frequency of 53 Hz, with a load torque equal to 60% of the rated torque ( T N ). In Figure 5, a spectral analysis of the electromagnetic torque is shown in the case of a 1.06 MW conventional induction motor for traction. In Figure 6, a spectral analysis is shown in the case of an induction motor with two three-phase statorwinding sets. By comparing Figures 5 and 6, it must be remarked that in the second one the amplitude of the pulsating component of torque is reduced and that the predominant frequency is shifted toward higher values; this result is important for traction applications. Therefore, the mechanical stress on the transmission appa-

Figure 7. Spectral analysis of the line current: conventional induction machine. (a) without load torque; (b) load torque = 60% Tn.

Figure 8. Spectral analysis of the line current: induction machine with two three-phase winding sets. (a) without load torque; (b) load torque = 60% Tn.

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ratus is reduced (the low-frequency harmonics are the most dangerous) and the passenger comfort is increased. A similar analysis has been performed in the case of the harmonic spectra of line currents: current harmonics are shifted toward higher frequencies in the case of an induction motor with two three-phase stator winding sets in such a way that the interference with the signal carrier frequencies in railways is avoided. In Figure 7 a spectral analysis of the line current is shown in the case of a 1.06 MW conventional induction motor for traction. In Figure 8 a spectral analysis is shown in the case of an induction motor with two three-phase stator winding sets. The current harmonics are shifted toward higher frequency. A very interesting result is the disappearance of the undesirable harmonic in a neighborhood of 180 Hz. It must be remarked that in Italian railways the introduction in line of such harmonic is strictly forbidden for its interaction with signaling transmission. The amplitude of the current harmonics is increased, but the reduced number of harmonics and their increased separation makes easier the synthesis of a suitable selective ltering.

Conclusions

In this paper the application of a DSC strategy to an induction motor with two three-phase winding sets has been proposed. With respect to a conventional induction motor, a remarkable betterment in the harmonic spectra of line current and of the electromagnetic torque are evidenced. The presented results are relevant in electrical traction and show that the introduction of induction motors with two three-phase stator winding sets is very appealing.

A cknowledgments
The authors wish to acknowledge the help of Prof. Aldo Balestrino for his helpful comments. The nancial support of MURST 40% (Control Engineering Project) is gratefully acknowledged.

List of Symbols
d, q
Ir 1, I r 2, Ir 3 I s 11 , I s 12 , I s 13 I s 21 , I s 22 , I s 23 J Lrr L s 1( 2) r L s 1s 2 L s s 1( 2)

subscripts for d(q) axis quantities angular displacement between the magnetic axes of the two stator winding sets phase currents of the rotor winding set phase currents of the rst stator winding set phase currents of the second stator winding set rotor inertia leakage inductance of rotor winding set mutual inductance between the phases of the two stator winding sets and of the rotor mutual inductance between the phases of the two stator winding sets leakage inductance of stator winding sets

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M rr M s s 1( 2) n p pp R r 1, R r 2 , R r 3 R s 11 , R s 12 , R s 13 R s 21 , R s 22 , R s 23 Te TL Vr 1 , V r 2 , Vr 3 V s 11 , V s 12 , V s 13 V s 21 , V s 22 , V s 23

O. Bruno et al. mutual inductance of rotor winding set mutual inductance between the phases of the same stator winding set mechanical speed derivative operator number of pole pairs phase resistance of the rotor winding set phase resistance of the rst stator winding set phase resistance of the second stator winding set electromagnetic torque load torque phase voltages of the rotor winding set phase voltages of the rst stator winding set phase voltages of the second stator winding set linkage uxes of the rotor winding set linkage uxes of the rst stator winding set linkage uxes of the second stator winding set

Y Y Y

r 1,

s 11 , s 21 ,

Y Y

r 2,

s 12 , s 22 ,

r3

Y Y

s 13 s 23

References
Blasckhe, F., 1972, The Principle of Field Orientation Applied to the New Transvector Closed-Loop Control System for Rotating Field Machines, Siemens Revue, Vol. 39, pp. 217220. Depenbrock, M., 1988, Direct Self-Control (DSC) of Inverter-fed Induction Machine, IEEE Trans. on Power Electronics, Vol. 3, No. 4, pp. 420429. Ho mann, F., and Springmeier, F., 1994, Reduction of Machine Current Distortion Using Direct Self Control (DSC) for High Power, ETEP , Vol. 4, No. 1, pp. 2126. Jones, C. V., 1967, The Uni ed Theory of Electrical Machines, Butterworths, London. Morando, A. P., 1987, Modello Matematico di un Motore Asincrono a Doppia Stella Statorica, Energia Elettrica, No. 6, pp. 259271. Nelson, R. H., and Krause, P. C., 1974, Induction Machine Analysis for Arbitrary Displacement between Multiple Winding Sets, IEEE Trans. on Power Apparatus and Systems, Vol. 93, pp. 841848. Takahashi, I., and Noguchi, T., 1986, A New Quick Response and High E ciency Control Strategy of an Induction Motor, IEEE Trans. on Industry Applications, Vol. 22, No. 5, pp. 820827. Takahashi, I., and Ohmori, Y., 1989, High Performance Direct Torque Control of an Induction Motor, IEEE Trans. on Industry Applications, Vol. 25, No. 2, pp. 257 264.