IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO.
5, MAY 2008
Multiphase Electric Machines for
Variable-Speed Applications
Emil Levi, Senior Member, IEEE
Abstract—Although the concept of variable-speed drives, based
on utilization of multiphase (n > 3) machines, dates back to the
late 1960s, it was not until the mid- to late 1990s that multiphase
drives became serious contenders for various applications. These
include electric ship propulsion, locomotive traction, electric and
hybrid electric vehicles, “more-electric” aircraft, and high-power
industrial applications. As a consequence, there has been a sub-
stantial increase in the interest for such drive systems worldwide,
resulting in a huge volume of work published during the last ten
years. An attempt is made in this paper to provide a brief review of
the current state of the art in the area. After addressing the reasons
for potential use of multiphase rather than three-phase drives and
the available approaches to multiphase machine designs, various
control schemes are surveyed. This is followed by a discussion
of the multiphase voltage source inverter control. Various possi-
bilities for the use of additional degrees of freedom that exist in
multiphase machines are further elaborated. Finally, multiphase
machine applications in electric energy generation are addressed.
Index Terms—Multiphase electric machines, multiphase
variable-speed drives, multiphase voltage-source inverters (VSIs).
I. I NTRODUCTION
V ARIABLE-SPEED ac drives are nowadays invariably
supplied from power electronic converters. Since the con-
verter can be viewed as an interface that decouples three-phase
mains from the machine, the number of machine’s phases is not
limited to three any more. Nevertheless, three-phase machines
are customarily adopted for variable speed applications due
to the wide off-the-shelf availability of both machines and
converters. Such a situation is expected to persist in the future
and multiphase variable speed drive utilization is always likely
to remain restricted to specialized niche applications where for
one reason or the other, a three-phase drive does not satisfy the
specification or is not available off-the-shelf either.
The roots of multiphase variable speed drives can be traced
back to the late 1960s, the time when inverter-fed ac drives
were in the initial development stage [1]. Due to the six-
step mode of three-phase inverter operation, one particular
problem at the time was the low frequency torque ripple. Since
the lowest frequency torque ripple harmonic in an n-phase
machine is caused by the time harmonics of the supply of
the order 2n ± 1 (its frequency is 2n times higher than the
supply frequency), an increase in the number of phases of the
Manuscript received February 28, 2007; revised January 16, 2008. This work
was supported in part by the Engineering and Physical Sciences Research
Council (EPSRC) under Research Grant EP/C007395/1, in part by Semikron,
U.K., in part by Moog, Italy, and in part by Verteco, Finland.
The author is with the School of Engineering, Liverpool John Moores
University, Liverpool, L3 3AF, U.K. (e-mail: e.levi@ljmu.ac.uk).
Digital Object Identifier 10.1109/TIE.2008.918488
0278-0046/$25.00 © 2008 IEEE
1893
machine appeared as the best solution to the problem. Hence,
significant efforts have been put into the development of five-
phase and six-phase variable-speed drives supplied from both
voltage source and current source inverters [2]–[6]. This is an
advantage of multiphase machines that is nowadays somewhat
less important since pulsewidth modulation (PWM) of voltage-
source inverters (VSIs) enables control of the inverter output
voltage harmonic content. The other main historical reasons for
early developments of multiphase drives, better fault tolerance
and the possibility of splitting the motor power (current) across
a higher number of phases and thus reducing the per-phase (per
switch) converter rating, are nowadays still as relevant as they
were in the early days.
Over the years, many other beneficial features of multiphase
machines and drives have become recognized. The pace of
research started accelerating in the second half of the 1990s,
predominantly due to the developments in the area of electric
ship propulsion, which remains nowadays one of the main
application areas for multiphase variable-speed drives [7]–[12].
A huge body of published work has appeared during the last
decade and an attempt is made in this paper to provide a brief
but up-to-date survey of the current situation, together with
an extensive bibliography. In writing this paper, every effort
has been put into making this review complementary to the
already existing surveys [13]–[16]. Reference [13] discusses
multiphase induction machines. It provides a treatment of the
stator winding layouts for various phase numbers, as well as
a discussion of space harmonics of the magnetomotive force
(MMF). Multiphase drive control schemes were reviewed in
[14] and a table, with reference classification according to the
machine type and phase number, has been provided. A survey
of control schemes for asymmetrical six-phase induction motor
drives and associated methods of VSI PWM control is given
in [15]. Finally, [16] covers multiphase induction machines and
drives in a considerable detail. It includes basic models, con-
trol schemes in developed form, and experimentally obtained
illustrations of performance for various multiphase induction
motor drives (asymmetrical and symmetrical six-phase, and
five-phase machines). It should be noted that all these survey
papers [13]–[16] contain at least some additional references,
when compared to the bibliography given here.
This paper addresses multiphase machines and drives of all
available types (induction and synchronous), with the exception
of switched reluctance machines. The references are grouped
in various subcategories, in accordance with what is perceived
to be their main contribution. Table I illustrates, for quick
reference, relationship between topics covered in this paper and
the references.
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TABLE I
RELATIONSHIP BETWEEN DISCUSSED TOPICS AND REFERENCES
II. T YPES AND A DVANTAGES OF M ULTIPHASE M ACHINES
FOR V ARIABLE -S PEED D RIVES
The types of multiphase machines for variable-speed applica-
tions are in principle the same as their three-phase counterparts.
There are induction and synchronous multiphase machines,
where a synchronous machine may be with permanent magnet
excitation, with field winding, or of reluctance type. Three-
phase machines are normally designed with a distributed stator
winding that gives near-sinusoidal MMF distribution and is
supplied with sinusoidal currents (the exception is the per-
manent magnet synchronous machine with trapezoidal flux
distribution and rectangular stator current supply, known as
brushless dc machine, or simply BDCM). Nevertheless, spatial
MMF distribution is never perfectly sinusoidal and some spatial
harmonics are inevitably present.
Multiphase machines show more versatility in this respect. A
stator winding can be designed to yield either near-sinusoidal
or quasi-rectangular MMF distribution, by using distributed
or concentrated windings, for all ac machine types. Near-
sinusoidal MMF distribution requires use of more than one
slot per pole per phase. As the number of phases increases
it becomes progressively difficult to realize a near-sinusoidal
MMF distribution. For example, a five-phase four-pole machine
requires a minimum of 40 slots for this purpose, while in a
seven-phase four-pole machine at least 56 slots are needed (for
a three-phase four-pole machine the minimum number of slots
is only 24). Multiphase machines where an attempt is made to
realize near-sinusoidal MMF distribution by using an appropri-
ate number of slots are termed henceforth, for simplicity and
brevity, machines with sinusoidal MMF.
In both stator winding designs, there is a strong magnetic
coupling between the stator phases. If the machine is a perma-
nent magnet synchronous machine, then concentrated winding
design yields a behavior similar to a BDCM [159]–[169]. A
permanent magnet multiphase synchronous machine can also
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
be of so-called modular design where an attempt is made to
minimize the coupling between stator phases, for the reasons
detailed later on (a three-phase permanent magnet machine may
be designed in the same manner, but the most important benefit
of modular design, fault tolerance, is then not exploited to the
full extent). It should be noted that the spatial flux distribution in
permanent magnet synchronous machines (including BDCM)
is determined by the shaping of the magnets. Stator current
supply should match the spatial flux distribution in terms of
torque-producing stator current components (harmonics), as ap-
propriate for a given phase number, for optimum performance.
An illustration of the possible stator winding arrangements in
multiphase machines is shown in Fig. 1.
Stator winding of an n-phase machine can be designed in
such a way that the spatial displacement between any two
consecutive stator phases equals α = 2π/n, in which case a
symmetrical multiphase machine results. This will always be
the case if the number of phases is an odd prime number.
However, if the number of phases is an even number or an
odd number that is not a prime number, stator winding may
be realized in a different manner, as k windings having a
subphases each (where n = a · k). Typically, a = 3 (although
a = 5 exists as well) and k = 2, 3, 4, 5, . . .. In such a case,
the spatial displacement between the first phases of the two
consecutive a subphase windings is α = π/n, leading to an
asymmetrical distribution of magnetic winding axes in the cross
section of the machine (asymmetrical multiphase machines).
In this multiphase machine type there are k neutral points
and these are typically kept isolated, for the reasons discussed
later on.
Some of the advantages of multiphase machines, when
compared to their three-phase counterparts, are valid for all
stator winding designs while the others are dependent on the
type of the stator winding. Machines with sinusoidal winding
distribution are characterized with [17]–[21] the following.
• Fundamental stator currents produce a field with a lower
space-harmonic content.
• The frequency of the lowest torque ripple component,
being proportional to 2n, increases with the number of
phases.
• Since only two currents are required for the flux/torque
control of an ac machine, regardless of the number of
phases, the remaining degrees of freedom can be utilized
for other purposes. One such purpose, available only if the
machine is with sinusoidal MMF distribution, is the inde-
pendent control of multimotor multiphase drive systems
with a single power electronic converter supply.
As a consequence of the improvement in the harmonic content
of the MMF, the noise emanated from a machine reduces and
the efficiency can be higher than in a three-phase machine.
In a concentrated winding machine, a possibility of enhanc-
ing the torque production by stator current harmonic injection
exists. Given the phase number n, all odd harmonics in between
one and n can be used to couple with the corresponding
spatial MMF harmonics to yield additional average torque
components. This possibility exists if the phase number is odd,
while the only known case where the same is possible for an
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS
Fig. 1. Illustration of stator windings in multiphase machines:
(a) sinusoidally distributed winding (two-pole, five-phase), (b) concentrated
winding (two-pole, five-phase), and (c) modular design (four-phase; cross
section and an actual stator [170] are shown; photograph provided courtesy of
B. C. Mecrow of University of Newcastle upon Tyne, U.K.).
even phase number is the asymmetrical six-phase machine with
a single neutral point. Torque enhancement by stator current
harmonic injection is one possible use of the additional degrees
of freedom, offered by the fact that only two currents are
required for flux and torque control due to the fundamental
stator current component.
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TABLE II
POTENTIAL UTILIZATION OF ADDITIONAL DEGREES OF
FREEDOM IN MULTIPHASE MACHINES
All multiphase variable-speed drives share a couple of com-
mon features.
• For the given machine’s output power, utilization of more
than three phases enables splitting of the power across
a larger number of inverter legs, thus enabling use of
semiconductor switches of lower rating.
• Due to a larger number of phases, multiphase machines
are characterized with much better fault tolerance than the
three-phase machines. Independent flux and torque control
requires means for independent control of two currents.
This becomes impossible in a three-phase machine if one
phase becomes open-circuited, but is not a problem in
a multiphase machine as long as no more than (n − 3)
phases are faulted.
In summary, taking n as an odd prime number and as-
suming a single neutral point of the star connected stator
winding, there are (n − 3) additional degrees of freedom in
a multiphase machine that can be used for different purposes:
torque enhancement in concentrated winding machines, real-
ization of multimotor drive systems with independent control
and single inverter supply with machines having sinusoidal
MMF distribution, and design of fault-tolerant strategies for
all multiphase machine types. However, the available degrees
of freedom can be used for only one purpose. Hence, if for
example a five-phase concentrated winding induction machine
operates with the third stator current harmonic injection and a
fault takes place, implementation of a fault-tolerant operating
strategy requires that the stator current harmonic injection is
dispensed with. Possible uses of additional degrees of freedom
in different types of multiphase machines (according to the
stator winding design of Fig. 1) are summarized in Table II.
The main advantages of multiphase machines when compared
to their three-phase counterpart, discussed previously in this
section, are summarized in Table III.
The main driving forces behind the rapid development
of multiphase variable speed drives in recent times have
been some very specific application areas, in addition to the
aforementioned electric ship propulsion. These are primar-
ily locomotive traction, industrial high-power applications,
electric and hybrid-electric vehicles (propulsion, integrated
starter/alternator concept, and others), and the concept of the
“more-electric” aircraft. Table IV lists some of the applications
for which use of multiphase motor drives has been considered,
together with associated references. The common features of
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TABLE III
OVERVIEW OF MAIN ADVANTAGES OF
MULTIPHASE-MACHINE-BASED DRIVES
TABLE IV
MULTIPHASE-MOTOR-DRIVE APPLICATIONS
most of the recent works related to these applications are that
typically high-performance motor control is utilized [vector
control or direct torque control (DTC)] and that the machine’s
supply is VSI based. Hence, this paper predominantly deals
with the review of topics pertinent to such solutions. The
exception is the material covered in Sections VIII (high power
compressors, where synchronous motors supplied from load-
commutated inverters (LCIs) are used) and IX, where other
possibilities are briefly addressed.
Drive systems, aimed at safety-critical applications such as
“more-electric” aircraft, are very specific and utilize the mod-
ular design of both the machine (which is always a permanent
magnet synchronous machine) and the supply system, so that
the stator phases are isolated and independent magnetically,
electrically, thermally and mechanically [170]–[179]. Individ-
ual H-bridge (single-phase) inverters are used for such drives.
In these multiphase drive systems, the available additional de-
grees of freedom are normally used for achieving fault-tolerant
operation of the drive.
III. M ODELING OF M ULTIPHASE M ACHINES
General tools for multiphase machine modeling have been
developed in the first half of the 20th century [22]. The well-
known space vector and d−q models of three-phase machines
are only particular cases of the universal n-phase machine
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
models. Since the phase-variable model of a physical multi-
phase machine gets transformed using a mathematical transfor-
mation, the number of variables before and after transformation
must remain the same. This means that an n-phase machine
will have n new stator current (stator voltage, stator flux)
components after the transformation.
If a machine is with sinusoidal-field distribution, standard
modeling assumptions apply and only the first harmonic of
inductance terms exists in the phase-variable model. Appli-
cation of the decoupling (Clarke’s) transformation produces
a set of n equations. The first, α−β, pair is identical to the
corresponding pair of equations for a three-phase machine.
The last equation (or the last two, for even phase numbers) is
the zero-sequence equation, again the same as for a three-phase
machine. In between, there are (n − 3)/2 (or (n − 4)/2 for
n = even) pairs of rows which define (n − 3)/2 (or (n − 4)/2
for n = even) pairs of equations, featuring the same number of
new variables that are termed further on as x−y components.
In principle, the form of x−y equations is the same as for
the zero-sequence component, meaning that the impedance for
x−y stator current components is in essence the stator winding
leakage impedance. Provided that the machine is supplied
with purely sinusoidal voltages and the field is sinusoidal,
the x−y voltage components are zero and there are no stator
current x−y components.
Corresponding decoupling transformation matrices are avail-
able also for asymmetrical multiphase machines and the result
of the application of the decoupling transformation matrix is the
same as for symmetrical machines (for example, the models
obtained by applying appropriate decoupling transformation
matrices in conjunction with an asymmetrical and a symmet-
rical six-phase induction machine are identical, as long as there
is a single neutral point). In the special case when an n-phase
winding is created using k individual a subphase windings with
k isolated neutral points, the total number of equations and
variables reduces to (n − k) after transformation, since zero-
sequence components cannot flow in any of the star-connected
k windings.
Since coupling between stator and rotor appears after de-
coupling transformation only in α−β equations of the mul-
tiphase machine, it is only these equations that have to be
transformed further, using rotational transformation. The form
of this transformation is the same as for the corresponding
three-phase machine. The resulting final d−q model in the
common reference frame contains d−q and torque equations
identical to those of a corresponding three-phase machine, zero-
sequence equations that are also the same, and, additionally,
the x−y pair(s) of equations that, in form, correspond to zero-
sequence equations.
Modeling of multiphase machines has been and still is a
subject of considerable interest [23]–[36]. A great deal of effort
has been put into modeling of concentrated winding machines,
where both the starting physical-variable model and the final
d−q model are different. In principle, the inductance terms
in the initial model have to include not only the fundamental
harmonic but also one (or more, as appropriate for the given
phase number) higher harmonics. Decoupling transformation
results now in (n − 1)/2 (or (n − 2)/2 for n = even) pairs
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS
of equations (variables) that are again mutually decoupled but
correspond, in form, to the α−β equations, since stator to rotor
coupling appears in all of them. Consequently, an appropriate
rotational transformation has now to be applied to all equations
(except for the zero-sequence components) and the final d−q
model contains (n − 1)/2 pairs of equations of the form valid
for d−q equations of a three-phase machine. Torque equation
has now, in addition to the component due to the fundamental
stator current, (n − 3)/2 new components, each of which is due
to the interaction of a certain stator current harmonic and the
corresponding spatial harmonic of the field.
If an n-phase machine with sinusoidal winding distribution
is formed by using k three-phase (a = 3) stator windings,
then a rather different modeling approach can be used. It is
based on the observation that each three-phase winding can be
replaced with an equivalent d−q winding, so that the complete
n-phase machine model then contains k pairs of d−q equations.
As a consequence, the torque equation is a sum of individual
contributions of each of the three-phase windings. Such a
modeling approach [31], [32] is widely used in conjunction
with asymmetrical six-phase machines in the development of
vector control schemes [15].
Basic transformation equations, as well as the resulting
mathematical models of multiphase induction machines with
sinusoidal winding distribution and with concentrated stator
winding are available in [16].
As far as modeling of modular permanent magnet synchro-
nous machines is concerned, it corresponds closely to the
procedure described in conjunction with machines with sinu-
soidal field distribution. The difference is in the absence of the
mutual inductance terms within the stator winding, since these
are deliberately eliminated by virtue of the machine’s design
(basically, winding of one phase occupies two consecutive slots
[Fig. 1(c)] so that the phases are isolated).
IV. C ONTROL OF M ULTIPHASE V ARIABLE -S PEED D RIVES
The methods of speed control of multiphase machines are
in principle the same as for three-phase machines. Constant
V/f control is nowadays of relatively little interest, since the
cost of implementing more sophisticated control algorithms is
negligible compared to the cost of multiphase power electronics
and the multiphase machine itself (neither are available on the
market). The emphasis is therefore placed further on vector
control and DTC.
As long as a symmetrical multiphase machine with sinu-
soidally distributed stator winding is under consideration, the
same vector control schemes as for a three-phase machine are
directly applicable regardless of the number of phases [37]–
[51]. The only difference is that the coordinate transformation
has to produce an n-phase set of stator current (or stator
voltage) references, depending on whether current control is in
the stationary or in the synchronous rotating reference frame.
If current control is in the stationary reference frame, (n − 1)
stationary current controllers (assuming stator winding with
a single neutral point) are required. Either phase currents or
phase current components in the stationary reference frame can
be controlled and here the standard ramp-comparison current
1897
Fig. 2. Basic rotor flux oriented control scheme for a multiphase machine with
current control in the stationary reference frame.
Fig. 3. Basic rotor-flux-oriented control of a five-phase machine with con-
centrated winding and with current control in the stationary reference frame
(indexes 1 and 3 stand for the first and the third stator current harmonic
references).
control method offers the same quality of performance as with
three-phase drives. Assuming that indirect vector control is
used, basic rotor-flux-oriented control scheme of an n-phase
induction or synchronous machine (permanent magnet or syn-
chronous reluctance) with sinusoidal MMF distribution is of the
form shown in Fig. 2. The block “vector controller” is identical
to the one for the three-phase machine of the same type and
the value of the stator d-axis current reference depends on the
machine type (as does the transformation angle as well). For
example, “vector controller” for a surface-mounted permanent
magnet synchronous machine is just a speed controller, stator
d-axis current reference is zero and transformation angle is the
rotor position angle. In the case of an induction machine, stator
d-axis current reference is the rated magnetizing current, while
“vector controller” includes a speed controller, calculation of
the angular slip speed and calculation of the transformation
angle by summation of the slip angle and rotor position angle.
If current control is in the rotating reference frame, then it
would appear that only two current controllers are sufficient
since torque production is governed only by d−q stator current
components. However, since an n-phase machine essentially
has (n − 1) independent currents (or (n − k) in the case of
the n-phase winding being formed of k identical a subphase
windings with isolated neutral points), utilization of only two
current controllers is in practice not sufficient, since winding
and/or supply asymmetries lead to the unbalanced load shar-
ing and effective flow of undesired x−y current components.
Application of the current control in synchronous reference
frame also requires an adequate method of inverter PWM
control in order to avoid creation of unwanted low-order stator
voltage harmonics that map into voltage x−y components (as
discussed in the next section) and therefore lead to the flow of
large stator current x−y current components. The problem of
winding/supply asymmetry is well documented for the asym-
metrical six-phase induction machine (with two isolated neutral
1898
Fig. 4. Illustration of DTC schemes for multiphase machines: (a) Switching-table-based DTC and (b) constant switching frequency DTC.
points) and it is in principle necessary to employ four current
controllers rather than a single pair of d−q current controllers.
If a concentrated winding machine is used, torque can be
enhanced using low-order stator current harmonic injection
[52]–[54]. Hence, the vector control scheme has to be modified
accordingly [55]–[69]. The injected low-order stator current
harmonics are firmly tied to the fundamental in terms of
magnitude, frequency and phase and the major modification
of the vector control scheme consists in calculating the refer-
ences for these harmonics (on the basis of the fundamental)
and on utilization of the modified rotational transformation.
Vector control schemes have to utilize again (n − 1) current
controllers. Vector control of concentrated winding machines
is well-documented in literature for five-phase induction, per-
manent magnet synchronous, and synchronous reluctance ma-
chines, where torque enhancement is provided by the third
harmonic injection. Similarly, third harmonic injection can be
used in asymmetrical six-phase machines [58]–[61]. In a seven-
phase machine both the third and the fifth harmonic can be
used to improve torque per ampere characteristic [64], while
with a nine-phase machine injection of the third, the fifth,
and the seventh harmonic is possible [56]. A conceptual block
diagram of a rotor flux oriented control scheme for a five-
phase machine, assuming again current control in the stationary
reference frame, is shown in Fig. 3. The block “vector con-
troller” now additionally includes partitioning of the overall
torque reference (obtained at the output of the speed controller)
into the stator q-axis current references for the first and the
third stator current harmonic, as well as the calculation of
the transformation angles for the first and the third harmonic.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
Notice that the “rotational transformation” block in Fig. 3 is
different from the corresponding one in Fig. 2 (see [16]). The
outputs of this block are now four stator current components
(rather than just two as shown in Fig. 2), which reflect the
desired first and the third stator current harmonic.
There are two basic approaches to DTC of three-phase
machines. Hysteresis stator flux and torque controllers can be
used in conjunction with an optimum stator voltage vector
selection table, leading to a variable switching frequency. Alter-
natively, the inverter switching frequency can be kept constant
by applying an appropriate method of inverter PWM control
(usually space vector PWM). In principle, both approaches
are also applicable to multiphase machines [70]–[77] and are
shown in Fig. 4. However, there are some important differences,
predominantly caused by the existence of additional degrees
of freedom in multiphase machines (x−y components). If a
multiphase machine is with sinusoidal MMF distribution, the
DTC scheme needs to apply sinusoidal voltages to the ma-
chine’s stator winding (neglecting PWM ripple), without any
unwanted low-order frequency components (since these excite
x−y circuits, as explained in the next section). With constant
switching frequency DTC, this problem can be solved relatively
easily. It is only necessary to apply one of the PWM methods
that will provide inverter operation with sinusoidal (or at least
near-sinusoidal) output voltages.
A problem that is encountered in hysteresis-based DTC
schemes for sinusoidal multiphase machines is that optimum
stator voltage vector selection table, designed in the same man-
ner as for a three-phase induction machine, dictates application
of a single space vector in one (variable) switching period.
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1899

However, each individual inverter output voltage space vector

inevitably leads to generation of unwanted low-order harmon-
ics, which excite x−y stator circuits and lead to large unwanted
stator current low-order harmonics. This problem has so far
not been solved completely although a significant improvement
has been reported for an asymmetrical six-phase induction
machine in [74]. The solution is based on modifications of
the basic hysteresis-based DTC and it requires introduction of
additional hysteresis controllers, thus increasing substantially
the complexity of the control scheme (and therefore negating
the main advantage of DTC when compared to vector control,
relative simplicity).
If the multiphase machine is with a concentrated stator
winding, hysteresis-based DTC can be utilized without any
modifications, using optimum stator voltage vector selection
table with large vectors only. This is so since in this case at
least some of the low-order harmonics actually lead to torque
enhancement by higher stator current harmonic injection. For
example, in a five-phase machine, utilization of only large
inverter vectors generates the third harmonic, causing flow of
the third stator current harmonic. However, since the winding is
concentrated, the third current harmonic couples with the third
field harmonic and produces an average torque, thus yielding an
automatic enhancement of the overall torque.
A more detailed description of the control schemes shown
in Figs. 2–4 and their detailed outlay for multiphase induction
motor drives is available in [15] and [16] for asymmetrical six-
phase and five-phase induction machines, respectively.

V. M ULTIPHASE VSI C ONTROL

By and large, the existing research related to PWM control
of multiphase inverters applies to two-level inverters [78]–
[117] [Fig. 5(a) and (c)]. The most straightforward approach
is undoubtedly utilization of the carrier-based PWM methods.
Similar to the carrier-based PWM with third harmonic injection
for a three-phase VSI, it is possible to improve the dc bus Fig. 5. Basic building blocks for VSI supplied multiphase machines: (a) Leg
utilization in multiphase VSIs by injecting the appropriate zero- of a two-level inverter; (b) leg of a three-level NPC inverter; and (c) H-bridge
sequence harmonic (or adding the offset) into leg voltage ref- supply. For an n-phase machine, legs of the type shown in (a) or (b) are
combined into an n-phase bridge inverter or n individual H-bridge inverters
erences. As the number of phases increases, the improvement of (c) are used.
in the dc bus utilization by zero-sequence harmonic injection
rapidly reduces. The gain in the maximum fundamental in the TABLE V
PERCENTAGE INCREASE IN THE FUNDAMENTAL OUTPUT VOLTAGE
linear modulation region is only 5.15% for the five-phase VSI, OBTAINABLE WITH ZERO-SEQUENCE INJECTION
while it is 15.47% in a three-phase VSI. Table V illustrates the
improvement in the dc bus utilization as a result of the zero-
sequence injection, for various odd phase numbers. Carrier-
based PWM is also suitable for control of concentrated winding
machines, where in addition to the fundamental and zero-
sequence voltage, references also need to contain a certain
amount of specified low-order harmonic(s) aimed at providing
torque enhancement. In principle, carrier-based PWM can be ing configurations. This means that, as the number of phases
used without any problems for generation of multifrequency increases, the problem of devising an adequate space vector
output voltages with any number of components. PWM scheme becomes more and more involved. On the other
Space-vector PWM is undoubtedly the most popular method hand, space-vector PWM offers a good insight into VSI op-
as far as the three-phase inverters are concerned. However, eration. The available 2n switching configurations define 2n
as the number of phases of the inverter increases, the avail- space vectors that map into (n − 1)/2 planes (n is taken as
able number of inverter output voltage space vectors changes an odd number in this section). These planes correspond to
according to the law 2n , since there are 2n different switch- α−β and x−y pairs of components. Harmonics of the order
1900
TABLE VI
HARMONIC MAPPING INTO DIFFERENT PLANES FOR FIVE-PHASE AND
SEVEN-PHASE SYSTEMS (j = 0, 1, 2, 3, . . .)
2jn ± 1(j = 0, 1, 2, . . .) map into the first, α−β plane, while
all the other harmonics map into the other (n − 3)/2 planes.
For example, for a five-phase VSI, harmonics of the order
10j ± 3(j = 0, 1, 2, . . .) map into the (single) x−y plane. An
illustration of the harmonic mapping in five-phase and seven-
phase systems is given in Table VI (harmonics in bold denote
those that are available for average torque production in con-
centrated winding machines). Since machines with sinusoidal
MMF distribution have very small impedance for x−y voltage
components, it is imperative that space vector PWM does
not generate such harmonics, since only the first harmonic is
available for the torque production.
If the goal is to generate purely sinusoidal voltages, then the
reference voltage space vector appears only in the α−β plane,
while references in all x−y planes are zero. To get at the output
desired sinusoidal voltages using space vector PWM, it is
necessary to use in one switching period (n − 1) active vectors
neighboring the reference. Duty cycles can be calculated using
either analytical expressions (similar to the well-known ones
for a three-phase VSI) or online solution of an appropriate
system of equations. Sinusoidal output voltage generation using
space vector PWM has been reported for five-phase, seven-
phase, nine-phase, and six-phase VSIs. If the multiphase VSI
is used to supply a concentrated winding machine, then in
addition to the reference voltage space vector in the α−β plane
there will be nonzero reference voltage space vector(s) in other,
x−y plane(s). These references are firmly tied to the reference
in the α−β plane with regard to amplitude, frequency, and
phase. Since the amplitude of the reference(s) in x−y plane(s)
is considerably smaller than the amplitude of the reference
in the α−β plane, the desired reference voltages can still be
synthesized by selecting the same set of active space vectors
as for the case of purely sinusoidal output voltage generation.
Typically, an online solution to the set of n algebraic equations
is required to calculate application times of the (n − 1) active
vectors and the zero vector.
Selection of the active vectors according to the described
principle (i.e., by considering only the reference in the α−β
plane) automatically restricts the achievable voltage in the
other, x−y planes. While this is not a problem when only a sin-
gle multiphase machine (with either sinusoidal or concentrated
winding) is supplied, it means that it is not possible to generate
multifrequency output voltages required for normal operation
of multimotor multiphase drives with single inverter supply, of
the type discussed in Section VII.
Carrier-based PWM with zero-sequence injection and space-
vector PWM are exact equivalents in the three-phase case,
which simultaneously enable both full dc bus utilization and
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
Fig. 6. Double-sided supply of an n-phase machine with an open-end sta-
tor winding structure using VSIs of m and l levels at two winding ends,
respectively.
stator current ripple minimization. The same kind of equiva-
lence exists in the PWM of multiphase VSIs. However, full
dc bus utilization is not possible if purely sinusoidal output
voltages are required. In addition, zero-sequence injection,
explicitly present in the carrier-based PWM and implicitly in
the space-vector PWM, although giving the maximum achiev-
able output voltage in the linear modulation region, does not
minimize the current ripple [111], [112]. Stator current ripple
minimization requires a different approach to the selection of
the active space vectors, based on selecting the closest vectors
to the reference with due regard for the reference voltage
amplitude (rather than selection purely based on the reference
belonging to a given sector).
Multilevel inverters [Fig. 5(b)] for multiphase variable speed
drives appear to be a natural solution for high-power induction-
motor drives, such as those aimed at electric ship propulsion
[118]–[120] or locomotive traction [121]. A rather different
application, for microelectromechanical systems, is elaborated
in [122], where a six-phase machine supplied form five-level
inverter is used. Configurations considered in the existing lit-
erature are typically either H-bridge based or of neutral-point
clamped (NPC) inverter type [118]–[125]. Another approach to
realizing multilevel supply for a multiphase machine consists
of the use of an open-end stator winding machine, supplied
at both ends from a two-level VSI. Such an approach has so
far been considered only in conjunction with asymmetrical six-
phase machine [126], [127]. A set of four two-level three-phase
VSIs is used, configured into two six-phase VSIs, connected
at each side of the stator winding. Three-phase motor drives
with the open-end winding structure and double-sided sup-
ply are currently being investigated extensively as a potential
advanced solution for high-power applications. It is therefore
anticipated that more work will be done in conjunction with
the applicability of this supply arrangement for high-power
multiphase motor drives in the near future. In principle, two
inverter systems at the two sides of the open-end winding can be
of the same or different number of levels, which can be two or
more. The concept is shown in Fig. 6 for an n-phase machine.
Two inverters are of bridge structure and can utilize inverter
legs, as shown in Fig. 5(a) and (b), as the basic building blocks.
VI. F AULT -T OLERANT O PERATION
One of the most important properties of multiphase machines
is their ability to continue to operate after the loss of one
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS
(or more) phase(s) without problems, something that cannot
be achieved with three-phase machines. Under the faulted
phase(s) conditions, the available degrees of freedom that exist
in multiphase machines are effectively utilized for an appropri-
ate postfault operating strategy. Behavior of multiphase drives
in faulted operation and development of postfault operating
strategies, in conjunction with sinusoidal and concentrated
winding machines, is covered in [128]–[158], while similar
considerations related to the permanent-magnet machines of
modular design can be found in [170]–[179].
The analysis of the fault impact is most frequently based on
simulations using models of the type described in Section III.
Such relatively simple circuit modeling usually suffices for the
studies related to the design of postfault operating strategies. It
is also possible to use more complex machine representations
in fault studies, such as, the dynamic reluctance mesh model
[137], or generalized harmonic analysis [138].
The basic idea of all fault-tolerant strategies is that a mul-
tiphase machine can continue to operate with a rotating field
as long as no more than (n − 3) phases are faulted. How the
strategies are actually developed and implemented depends to
a large extent on the application of the multiphase drive. The
simplest case arises in multiphase machines with k windings of
a subphases each, with k isolated neutral points. If one phase
fails, the complete a subphase winding, in which the fault has
taken place, is taken out of service. For example, in the case
of a six-phase machine with two isolated neutrals, if one phase
fails the whole three-phase winding is taken out of service. The
machine can however continue to operate without any control
algorithm modification using the remaining healthy three-phase
winding, of course with the available torque reduced to one
half of the rating (assuming no increase in the current in the
healthy phases). This is a perfectly satisfactory solution in,
for example, traction applications [129], [130]. Similarly, the
15-phase induction machine for ship propulsion of [7] and [8],
configured with three five-phase stator windings, can continue
to operate with one or even two five-phase windings discon-
nected from the supply due to faults. Taking out of service the
whole a subphase winding results, in these applications, in a
simple slowing down of a ship, train, or a vehicle.
Such a simple postfault operating strategy does not suffice for
safety-critical applications, such as for example fuel pump for
“more-electric” aircraft. Single neutral point now gives better
characteristics in postfault operation than the configuration with
k isolated neutral points. This is so since the single neutral
point enables utilization of all the remaining healthy phases
for postfault control, while in the case of the isolated neutral
points the complete faulty a subphase winding(s) is(are) taken
out of service. In this case, the control algorithm of the drive has
typically to be reconfigured in the software, so that a new set of
current references is generated for the remaining healthy phases
after disconnection of the faulty phase(s). Since it is desirable
now to continue to operate with a rotating field although one (or
more) phase(s) is not available any more, the new set of currents
becomes inevitably asymmetrical, meaning that the available
degrees of freedom are used for postfault operation (i.e., the
x−y current components become of nonzero values). Hence,
for example in a concentrated winding five-phase machine,
1901
TABLE VII
IMPACT OF THE POSTFAULT STRATEGY ON MULTIPHASE INDUCTION
MOTOR DRIVE POSTFAULT OPERATION
torque enhancement by stator current harmonic injection is not
available any more for postfault operating conditions.
The impact of the postfault operating strategy on the drive
behavior depends on both the operating point and on the
characteristics of the load torque (speed-dependent or speed-
independent). Suppose that one phase is open-circuited. One
possible criterion for postfault operation can be that the ma-
chine’s torque remains of the same value as before the fault and
without any pulsations (strategy 1). While this is in principle
possible with multiphase machines, one inevitable consequence
is the increase of the current amplitude in the remaining healthy
phases over the prefault value, by a factor n/(n − 1). This
leads to an increase in the stator winding loss and may cause
overheating if the operation is sustained for a prolonged period
of time. In addition, the semiconductor switches of the power
electronic converter must be able to withstand operation with
an increased current level. Alternatively, one may wish to keep
the stator winding losses at the prefault level (strategy 2). This
allows for an increase in the current

magnitude in the remaining
healthy phases by a factor of n/(n − 1), but simultaneously
reduces the available output torque at any given speed. Finally,
one may wish to continue to operate the machine without
any change of the currents in the remaining healthy phases
(strategy 3). This will lead to both stator winding loss reduction
and torque reduction.
A qualitative impact of these three strategies on postfault
operation is illustrated in Table VII for a multiphase induction
motor drive. It is assumed that one phase is open-circuited
and that the load torque is proportional to the speed squared
(corresponding quantitative data for prefault slip of 0.01,
as a function of the machine’s phase number, are available
in [16]).
While by and large postfault operating strategies require
software reconfiguration only, meaning that the faulty phase(s)
is not supplied any more, control algorithm modification (soft-
ware reconfiguration), can be combined with hardware recon-
figuration if the reason for the loss of supply to a phase is not a
fault within the machine itself [131]. For example, in the case of
a fault of one inverter leg in a six-phase motor drive, the phase
that would be left without supply in postfault operation if only
software reconfiguration were applied gets connected to one of
the remaining healthy inverter legs (so that two motor phases
are now supplied form the same inverter leg) using additional
semiconductors (triacs) for this reconfiguration [131].
1902
VII. M ULTIMOTOR M ULTIPHASE V ARIABLE -S PEED
D RIVES W ITH S INGLE I NVERTER S UPPLY
As already emphasized, flux and torque control of a mul-
tiphase machine requires only two currents regardless of the
number of phases. How the remaining degrees of freedom can
be utilized for torque enhancement in concentrated winding
machines, using stator current harmonic injection, and for de-
velopment of postfault operating strategies, has been addressed
in Sections IV and VI, respectively. An entirely different utiliza-
tion of the remaining degrees of freedom is however possible
with multiphase machines having sinusoidal field distribution
(Table II). A certain number of machines can be connected in
series, using an appropriate transposition in the connection of
the machines’ phases, in such a manner that flux/torque pro-
ducing (d−q) currents of one machine appear as nonflux/torque
producing (x−y) currents for all the other machines and vice
versa. The idea has been floated for the first time in [180] in
conjunction with two-motor five-phase series-connected two-
motor drive and is shown in Fig. 7(a) at a conceptual level for
an n-phase supply. However, the origins can be traced back to
[181], where a symmetrical six-phase machine was considered
and the phases were supplied with two current components.
One of these was generating flux and torque, while the second
one was creating forces required for bearing relief, without
impacting on the machine’s flux and torque production.
The concept of series connection using phase transposition
enables completely independent control of all the machines al-
though a single multiphase inverter is used as the supply. Vector
control is applied in conjunction with every machine in the
group and the inverter is required to generate a multifrequency
output voltage for the supply of the complete drive system. Such
multimotor drive systems are possible for symmetrical multi-
phase machines with both an even and an odd supply phase
numbers and they have been investigated in a considerable
depth in [182]–[198]. The number of machines connectable in
series is at most w = (n − 2)/2 for even supply phase numbers
and w = (n − 1)/2 for odd supply phase numbers. Whether or
not all the series-connected machines are of the same phase
number depends on the supply phase number. The possibility
of series connection exists also in the case of asymmetrical
machines and it has been so far developed for the asymmetrical
six-phase case and asymmetrical nine-phase case. The asym-
metrical six-phase supply enables series connection of either
two asymmetrical six-phase machines or one asymmetrical six-
phase machine and a two-phase machine. The latter possibility
has a drawback in that it requires the neutral of the drive system
to be connected either to the seventh inverter leg or to the
midpoint of the dc link. On the other hand, the properties of the
former are practically the same as for the two-motor five-phase
drive. The concept is independent of the machine type and has
been studied using induction, permanent-magnet synchronous,
and synchronous reluctance machines.
From the application point of view, two potentially viable
solutions appear to be two-motor series-connected five-phase
(or asymmetrical six-phase, comprising two asymmetrical six-
phase machines) and symmetrical six-phase two-motor drives.
In the symmetrical six-phase configuration, the second machine
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
is three-phase and it is not in any way affected by the series
connection. Since flux/torque producing currents of the three-
phase machine flow through the six-phase machine’s stator
winding, impact of the series connection on the efficiency of
the six-phase machine will be negligible provided that the six-
phase machine is of a considerably higher rating than the three-
phase machine.
In contrast to this, in five-phase and asymmetrical six-phase
configurations, both machines are affected by the series con-
nection since flux/torque producing currents of each machine
flow through both machines. Hence, the potential applicability
of this configuration is related to either two-motor drives where
the two machines never operate simultaneously or where the
operating conditions are at all times very different (for example,
two-motor center driven winder drives). However, the efficiency
of such a two-motor drive will always be lower than in a
corresponding two-motor drive with two independent VSIs as
the supply.
It is also possible to connect the multiphase machines in
parallel instead of in series [Fig. 7(b)]. Using the same idea of
phase transposition, independent control can again be achieved
[199], [200]. However, parallel connection can only be realized
when the system (VSI) number of phases is an odd prime
number. While parallel connection looks more attractive than
the series connection at first sight, it suffers from some serious
disadvantages that make it far inferior to the series connec-
tion. First of all, the dc-link voltage in the series connection
is split across machines connected in series, while in paral-
lel connection each of the machines is subjected to the full
dc-link voltage (dc-link voltage has to be increased by the same
amount, regardless of whether machines are connected in series
or in parallel). Even more importantly, in series connection all
inverter current components are directly controlled and there-
fore known. In contrast to this, in parallel connection it is the
inverter voltage components that are directly controlled, leading
to essentially uncontrollable stator x−y current components
in the machines of the group. The net result is that, although
fully decoupled dynamic control of all the machines of the
multimotor drive is possible using both series and parallel
connection, it is only the series connection that holds some
prospect for industrial applications.
VIII. M ULTIPHASE M ACHINES IN
E LECTRIC -E NERGY G ENERATION
Potential utilization of multiphase (in essence, six-phase)
synchronous generators was considered extensively in the
1970s and 1980s [201]–[208]. The perceived applications
were related predominantly to uninterruptible-power-supply
systems. A similar but permanent-magnet-based synchronous
generator configuration has also been analyzed more recently
in conjunction with high-power high-speed systems for rectifier
load supply [209].
In recent times, interest in the use of multiphase generators
has reappeared, in conjunction with renewable electric-energy
generating sources [210]–[215]. It needs to be emphasized
though that there is no evidence at present of any indus-
trial uptake of such solutions. Permanent-magnet synchronous
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1903

Fig. 7. Concept of multimotor multiphase drive systems with single inverter supply and independent control: (a) Series and (b) parallel connection.

multiphase generators [210]–[212] may become a viable solu-
tion for the direct-driven applications in wind-powered plants,
while multiphase induction generators with multiple three-
phase windings may have a prospect for applications in stand-
alone self-excited generating systems in rural areas [213] and
low-power hydroelectric plants [214].
A somewhat specific use of machines with more than three-
phases is met in Lundell alternators, aimed at the generation of
two independent dc voltages for automotive applications [216],
[217]. Typically, the machine is designed with two independent
three-phase windings which may [216] or may not [217] have
strong magnetic coupling. However, since the outputs of the
1904
three-phase windings are kept independent and are individually
rectified, these machines are better described as “dual-stator”
machines than as multiphase machines (although the design of
the machine may be such that the stator winding is in essence a
six-phase winding).
IX. O THER M ULTIPHASE M OTOR D RIVE S OLUTIONS
Multiphase variable-speed drives, discussed so far, are pre-
dominantly based on utilization of VSIs (as noted, current
source inverters were also considered in the early days of
the multiphase motor drive development [5], [6]). A different
solution is however used in conjunction with high-power syn-
chronous motors for pumps and compressors. Indeed, one of
the first actual applications of a multiphase electric drive was
aimed at such an application [218] and it was based on utiliza-
tion of an asymmetrical six-phase synchronous motor. High-
power multiphase synchronous motors for such applications
are usually supplied from current-source thyristor-based 12-
pulse LCIs [219], [220]. Typically, two three-phase windings
are displaced by 30◦ and supplied by two independent three-
phase LCIs, which receive dc current from two three-phase rec-
tifiers [219]. The rectifier input comes from a transformer with
star/delta connected dual secondary. Such multiphase drives are
of more than 10-MW rating and utilization of a multiphase
machine enables splitting of the power across more than three
phases, thus reducing the required rating of the semiconductor
components.
In addition to the mainstream trends in the development
of multiphase machines for variable-speed drive applications,
along which this paper has been organized, there are also some
very specific solutions [221]–[229] that do not fit any of the
main categories. In majority of cases, the intended application is
automotive [223]–[228]. Potential multiphase-machine-based
solutions for integrated starter/alternator applications are elab-
orated in [226] and [227], while potential application of a six-
phase induction motor for electric power steering is discussed
in [228].
X. C ONCLUSION
Variable-speed electric drives, based on utilization of multi-
phase machines, have been known for half a century. A sub-
stantial growth in this area has been witnessed during the last
decade, due to the developments in some specific application
areas. An attempt has been made in this paper to provide a brief
review of the state of the art in multiphase variable-speed drives,
as well as an up-to-date and exhaustive bibliography.
The main aspects of the multiphase variable-speed drives
have been surveyed. These have included, to start with, types
of multiphase machines, modeling, and control. Next, PWM
methods for multiphase VSI PWM have been reviewed. Uti-
lization of the additional degrees of freedom, available with
multiphase machines, for the design of postfault operating
strategies and for multimotor multiphase drives with single
inverter supply, has been further covered. Finally, the potential
of multiphase machines for electric-energy generation is briefly
addressed.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008
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Emil Levi (S’89–M’92–SM’99) received the
M.Sc. and Ph.D. degrees from the University of
Belgrade, Belgrade, Yugoslavia, in 1986 and 1990,
respectively.
From 1982 to 1992, he was with the Department of
Electrical Engineering, University of Novi Sad, Novi
Sad, Yugoslavia. In May 1992, he joined Liverpool
John Moores University, Liverpool, U.K., where he
has been a Professor of electric machines and drives
since September 2000.
Dr. Levi is an Associate Editor of the IEEE
TRANSACTIONS ON INDUSTRIAL ELECTRONICS and an Editor of the IEEE
TRANSACTIONS ON ENERGY CONVERSION. He is a member of the Editorial
Board of the IET Electric Power Applications.