The Research of SVPWM Control Technique of Double Three-Phase Induction

Machine

Shan Li" 2, Huihui Xiao2, Hongyan Chen2

'School of Electric Engineering, Chongqing University, Chongqing 400030, China
2Chongqing Institute of Technology, Chongqing 400050, China

Abstract In this paper, we introduced a Space vector structure of inverter [5], adopting special PWM control
PWM (SVPWM) method for double three-phase induction strategy to reduce harmonic current of the stator [6-9].
machine, in order to minimizing the harmonic current.
Through the method of space vector decomposition, based
on the analysis of space vector function of machine, and util-
ize the method of quadratic vector synthesis, a new voltage
-1 -1 -1 -] -1 -]
vector which has restraint of harmonic is obtained, so that VDC a b b c
the mature SVPWM technology of three-phase is applied to
the control of double three-phase induction machine, mean-
while the effect of zero vector to the control performance has
been analyzed emphatically. And the control strategy is veri- ~~~-1 -1 -1 -] -1 -]~~~~~~~~~~~~~~~
fied through simulation.
Keywords double three-phase induction machine,
SVPWM, vector synthesis

I. INTRODUCTION
Because of the obvious superiority in high-power ap-
plication field, multiphase induction machine has caused
extensive attention through the last ten years. In multi-
phase machine system that adopts multiphase inverter for
the power supply, with the increase of phase number for
machine stator, the power endured by each phase of in-
verter will drop, so the power grade of the switch appara-
tus can be lowered. Besides, compared with the three-
phase system, multiphase system has many advantages
such as torque ripple is decreased, rotor harmonic loss is
reduced and the reliability of system is increased etc.
Double three-phase induction machine is the most rep-
resentative one of multiphase machine. It has two sets of
symmetry three-phase stator windings, which have 300
electrical angle in the space and the isolation in midpoint,
as shown in Fig. 1, the rotor adopts the same standard
structure of rat-cage as three-phase induction machine.
This structure can eliminate the torque ripple of six har-
monic existing in electromagnetic torque; it eliminates the
6k ± 1 (k=1,3,5...) harmonic existing in the air-gap flux
linkage simultaneity [1,2].
Because the series number of stator winding in double
three-phase induction machine is less, the resistance and
leakage reactance of the stator is less, and the ability re-
straining harmonic current is worse, therefore, when the
inverter of voltage source is adopted to supple power,
large harmonic current of stator will be generated, and
extra loss of stator will be added. Against the problem,
many solutions has been put forward, including that add-
ing harmonic filter between inverter and machine to re-
strain the harmonic wave assigned [3], infixing flux loop-
ing into winding of the double three-phase stator to add
mutual inductance of stator [4], changing the topology
Fig. 1. Double three-phase induction machine
by voltage source inverter
The technology of space vector PWM (SVPWM) has
advantages of small torque pulsation, low noise and high
utilization ratio etc., so it has already been applied in
three-phase system extensively, but it is difficult to apply
the arithmetic to double three-phase machine directly.
Based on the principle of space vector decoupling, this
study shows a new control method of space vector PWM,
by making use of quadratic vector synthesis, the control
strategy of SVPWM which aims at restraining the har-
monic current has been deduced, and the effect of zero
vector to wave has been analyzed in the thesis. The con-
trol strategy is verified through simulation.
II. MATHEMATIC MODEL
During the course of deducing the mathematic model
of double three-phase machine, the following hypothesis
should be made:
1) The windings are sinusoidally distributed and the
rotor cage is equivalent to a six-phase wound rotor;
2) The magnetic saturation, mutual leak-induction
and the core losses will be ignored. The higher harmonic
of the magnetic field will be ignored.

109
 The double three-phase induction machine is a six- From the subspace model mentioned above we know
dimensional system. The voltage equations in the original that: The fundamental components of the machine vari-
phase coordinates can be described as in the literatures ables and the harmonics of order k = 12n ± 1 (n=1,2,3...),
[2,6]. are mapped in the (u,4) subspace. These variables will
produce air-gap flux and electromechanical energy. The
[V, ] = [R, ]. [is ]+ p[V, ] , (1)
harmonics of order k = 6n ± 1 (n=1,3,5...) are trans-
formed in the ([t1,[t2) subspace. The zero-sequence com-
[Rs His I+ P([Lss ]H[s I+ [Lsr ]- [ir l)'
=
ponents are mapped in the (Z1,Z2) subspace.
Electromagnetic torque is
[°] [Rr ]- [ir ]+ P[V/r ]
=
2
= [Rr ]- [ir ]+ P([Lrr Hir ]+ [Lrs ]H[s l) (2
Te = 3.
p

2- (Vf sa 'i s,6 Vs,6 isa )

'

. (8)
where Lss Lrr are stator and rotor inductance matrix
respectively, Lsr , Lrs are stator and rotor mutual induc- where P is the number of poles.
tance matrix respectively, p = d/dt .
According to the Vector Space Decomposition, the III. CONTROL STRATEGY OF SPACE VECTOR PWM
original six dimensional system of the machine can be Because fundamental component is mapped to the
decomposed into three orthogonal the subspaces (o,4), (o,4) subspace, when it is used to transform [T6]. The (o,4)
(p11,[t2) and (Z1,Z2) introducing a 6X6 transformation ma- axes has a superposition with the coordinate plane of air-
trix [T6] having the following properties [6]: gap flux in machine, the variable of (u,4) subspace will
1 -1
1
0 V3 generate revolving MMF, and then complete the electro-
mechanical energy conversion. While other subspace is
2 2 2 2 orthogonal with the (o,4) subspace, so no revolving MMF
O
2
X32
1
2
1
2
-1 is generated, and no electromechanical energy is supplied,
there is only harmonic current generated in winding of the
1
[T6]I= 1 -12 21 2 2
0 stator, which add to the loss of stator. When the motor has
two sets stator windings with isolated neutral points, it
O -V
2 2
1
2
1
2
1
can be demonstrated that no current components flow in
the subspace (Z1,Z2)- In this plane, voltage vector locates
1 1 1 0 0 0 in the origin of the coordinates. So the control strategy of
PWM is making full use of voltage vector of the (cL,)
o o 0 1 1 1 subspace to satisfy the control demand of the machine,
meanwhile to make the voltage vector of ([t1,[t2) subspace
In the (o,4) subspace, the state equations of double approach zero.
three-phase induction motor are: There are 64 sorts of switch states for inverter of six-
phase voltage source inverter, through the decomposition
JVS = Rs. is PW of the space vector, the 64 space voltage vectors corre-
{V+ 'VrJ )rY>Vf sponding to the switch state is separately mapped into the
l°= Rr Pt.1j0
i J
plane of (o,j) and ([t1,[t2). Where, the 12 voltage vectors
which have the maximal amplitude in the (o,4) plane will
M s mso is thm sr have the minimal amplitude in ([t1,[t2) plane, as shown in
Yr=Lr ir +m is Fig. 2. In the figure, the binary digit which is equal to the
voltage vector number is corresponding to the switch state.
Machine model in the (p1,p12) subspace are: The 12 voltage vectors are the most appropriate ones to
the control demand, so it is selected as the basic voltage
vector.
Fv 11 RFs ±Llsp 0 i
spi
LvS2i L Rs Lls
+ -

p isP2 _,

22 54
Machine model in the (Z1,Z2) subspace is: 18
IS /
52
kS2
26 3
Fvzl FRs +Lls p
26 36

Lv 2 o0 Rs +Ils P IZ2 21 31 225

9 41
where yvi and yv ,are stator and rotor flux respectively, 9 41 2( 3)
Ls and Lr are stator and rotor inductance respectively, (a) (b)
0)r is rotor speed and p = d/dt.
Fig. 2 The chart of space voltage vector

110
 In Fig. 2(a), any three adjacent voltage vectors in the
plane of (u,4) can be selected to compose a new vector,
which is called the mid-vector. When the function time of
the three voltage vectors is according to a special scale,
the average voltage of the mid-vector in plane (11,p12) can
reach zero. For example, select three adjacent vectors 37,
36 and 52, suppose the total function time is T', in order
to make sure that the average voltage in ([t1,t2) plane is
zero, there should be
T36V T Vcos +T3V
T T
6 6
T' = T52 + T37 + T36
(9)
fore, SVPWM the mature method in three-phase system
can be directly applied. For example, when the reference
voltage vector v* locate in the area shown in Fig. 3, v*
can be composed by the adjacent vector V1', V2' and vec-
tor zero, where, V1' is composed by the basic vector 36,
52 and 54, in this way, the reference vector v* is com-
posed by 4 basic vectors, suppose the sampling period is
TI, according to the principle of volt-second, there is
equation as follows:
T2 VT, sinO0
-TV' =

T52 T37
T T2'+TV'= VT cos . (12)
Solving the equation it can get
|Tl' + T2' + To = Ts
{T52 = T37
(10) The function time of the mid vector is
2+
T36
x~ sin(- 0)
In the (u,4) plane, the amplitude of mid vector is V' 6
2 VxTsi
2V'~ sin0 (13)
V' =VXUDC (JR' + 1)(T36 + T37 COS -+ T52 cos
3 6 6 (11) TTS VxTs (sin 0 + sin( /T 0))
2,2E(,F3+ 1)UD V' 6
32T+
21 where 0 is the angle between v* and v1'.
Synthesize the equation (10), (11) and (13), finally
The direction of mid-vector is the same with the direc- function time of four basic voltage vectors and zero vec-
tion of vector 36. According to this method, 12 mid- tor in any area can be obtained as:
vectors can be obtained, which can be denoted by
Vk=1 ...212, as shown in Fig. 3. Because the voltage of the
mid-vector in ([t1,[t2) plane is zero, the harmonic current T1 = 2i( ) VVTS sin(- 0), (14)
2VXUDC 6
of the stator can be restrained effectively.
9 T2 =~(-r -) (VxT, sin S+ XVXT, sin(-'- )), (15)
2NThUDC 6

T3
2V12UDC
sNF3
VXTsinO+V,T, sinj-
6
0)), (16)

T4 = =3- V T sin 0, (17)

+ (sinO + sin( 0)) (18)

2V12UDC V,Ts
To = TS -
6

According to the area v located in, T1, T2, T3 and T4

Fig. 3 The chart of mid voltage vector
The reference voltage vector of the system is output
after composed by mid voltage vector through SVPWM.
During the course of composing, there is no need consid-
ering the problem of harmonic current of the stator, there-
are corresponding to different basic voltage vector. The
corresponding time of voltage vector in different sector is
shown in Table 1, where zero vector choose 0, 7, 56 and
63 according to the principle that the on-off number of
inverter is minimum.

111
 TABLE I TABLE II
FUNCTION TIME OF VOLTAGE VECTOR THE SELECTION OF ZERO-VECTOR
I II III IV V VI VII vIII IX X XI XII I II III IV V VI VII vIII IX X XI XII
T1 45 37 36 52 54 22 18 26 27 11 9 41 T01 63 7 0 56 63 7 0 56 63 7 0 56
T2 | 37 36 |52 54 |22 18 26 27 11 9 41 45 T02 | 0 56 | 63 |7 | 0 56 | 63 | 7 |0 |56 | 63 7
T3 36 52 54 22 |18 26 27 11 9 41 45| 37 1
T4 52 54 22 18 26 27 11 9 41 45 37 36 I) TS 0 Ts
7:37 36: 56 52 54:7 O 37 36 63 52 54
K1
IV. THE FUNCTION SEQUENCE OF THE VECTOR Lbl
Ka,.
The selected four basic voltage vectors and the zero Kbl
......

vector should be applied in one sampling period. The Kl

function sequence of each voltage vector should send the LrL-
switch action that is according to the change of voltage
vector to minimum, meanwhile to the greatest extent to 061 Ti T2 T2 T 4T TO1 1 T1 -2 T- 2 T4 T 01

reduce the instant harmonic current of (p11,p12) plane.

The function sequence and mode of zero-vector is Fig. 4 The SVPWM wave in the sector II
very critical, different function sequence can cause con-
i's
tinuous and discontinuous modulation, and generate dif- 0 36 52 63 54 22 0
-S
56 36 2 7 54 22 56
ferent harmonic distortion characteristics. As to double
three-phase induction machine of isolation in mid point, Kbl
Kal
the inverter can generate 4 zero vectors, the correspond- K
Kbl ...

ing number are 0, 7, 56 and 63. According to the continu- ...n.....

ous modulation of the switch sequence and select differ- K1

ent zero vectors, the influence to the instant switch fre- ....;i...... .... .... .... .... ......

quency will be analyzed. TO1 T1 .2 T02 I3 T OI

To T- 2 T02 -3 T4 T61
A. Constant Sequence Mode
Fig. 5 The SVPWM wave in the sector III
From Fig. 2, we know that any two voltage vector ad-
jacent in (o,4) plane are almost contrary in (G1,12) plane, B. Varying Sequence Mode
so if the voltage vector react in turn according to the se-
quence in (o,4) plane, the harmonic current can reduced to According to the constant sequence, it can assure that
minimum [10]. every switch state only changes twice during one period,
As the reference voltage vector v* locates in sector II, but it does not avoid that the three-phase arm paths in
the switch sequence of the continuous modulation is [O1- same group act simultaneously when the sectors switch.
37-36-02-52-54-01], where 01, 02 are corresponding to The result is that inverted voltage pulse will emerge dur-
different zero vectors. The corresponding SVPWM wave ing half period, anti-torque will be produced, the torque
is shown in Fig. 4. It is shown that 01, 02 select zero vec- ripple and electromagnetic noise will be aroused.
tor 7 and 56, each switch state only change twice to make If changing the function sequence of the vector to [0-
sure the change of voltage vector has the least switch 36-37-63-54-52-0], it also ensures that the switch fre-
times in a periodic time. If 0 and 63 are selected routinely, quency is the least during one period, the waveform of
then the voltage wave of phase b2 and c2 can occur to two SVPWM is shown in the Fig. 6. Where, the zero-vector of
pulses, and cause aberrance of voltage wave. Not only II and sector III is 0 and 63, so it can avoid the case that
add to the switch loss, but can cause harmonic current and the three-phase arm paths in same group act simultane-
torque ripple. ously when the sectors switch. The function sequence of
the vector in other sector also can change accordingly,
As the reference voltage vector v* locates in sector III, when zero-vector choose 0 and 63, the function sequence
the switch sequence of the continuous modulation is [O1- of the vector in other sector is presented in Table 3
36-52-02-54-22-01], the corresponding SVPWM wave of
different zero vector is shown in Fig. 5. It is shown that 0 T 0 Ts
zero vectors 0 and 63 are selected to ensure there is least 0 36 37 63 54 3 52 0 0 236 52 62 5 . 0
of switch times and frequency when the voltage vector Kc1
change. If 56 and 7 are selected, then the voltage wave of K1 I ,Li ... ...

phase a1 and b1 can occur to two pulses, and cause aber- Kbl
Ka,
..................... ....''Y''' ''' .'''
'' ..................

rance of voltage wave.

From the analysis above, it will be known that if the
reference voltage vector v locates in different sector, > # jt p ;.1
.,).{.1 f
;SQjL,,_
>*

different zero vector should be selected to avoid wave 201 T TO2 T4 T3 OF T |i

T01O T!2 7 T4 TOi01
aberrance of the output voltage. The selection of zero-
vector in different sector is shown in Table 2. Fig. 6 The SVPWM wave when the sectors switch.

112
 I II v VI IX x
To1 0 0 0 0|

T3 36 52 18 269 41 T4
TO00 0 0 0 0 0
TABLE III
FUNCTION SEQUENCE OF THE VECTOR

0 0T To 0
III IV | VII vI

T2137136 22 18 119 T1 36 52 18 26
0

T1145 37 54 22 27 11iT2 52 54 26 27
T02 63 63 63 63 63 63 T02 63
T4 52 54 26 27 41 45 T3
0 0

TO,
54
22
0

V. SIMULATION RESULT
For the sake of validating the control strategy of
SVPWM, it will carry through digital simulation to con-
ventional SVPWM, regular sampling PWM and SVPWM

lower harmonic wave 5, 7 etc. whose amplitude are most

63
22
18
0

presented in the thesis, the result are shown in Fig. 7 to 9.

Fig. 7 is the current wave of (o,4) plane current, (p11,n12)
plane current and stator phase current when it is con-
trolled by routine SVPWM. From the figure it is con-
cluded that (u,j) plane current is higher harmonic wave
near by the sampling frequency mostly, the amplitude of

largest, the stator phase current wave is distorted severity

for the infection of these harmonic waves, these harmonic
waves do not produce torque and only increase current
loss of stator side.

10
1oI
-20
Fig. 8 is the current wave adopting sine-triangle wave
PWM control. It eliminates the infection of lower har-
monic whose amplitude is great distribute round carrier
frequency, so stator have high frequency harmonic current.
Fig. 9 is the current wave adopting the SVPWM con-
trol method that is presented in this thesis. It not only
eliminates lower the harmonic current and restrains higher
harmonic wave near by the sampling frequency, but also
reduces the loss of current and improves utilization ratio
of voltage.

20-l*o

_20

20I

o
0-
...

l1
---

0........
10I1I1
1
.....
... . ...

..--.- .- .-*-.
1.01
..I

1.01

\.......
1 .02
..

.............

1.02

..
.....
63
27
11
0

-20

-, -....
1.03
''

1.03
1.041
20

-1 0
-20

20
Iio

-110U

20

20-

10-F

20'

...
...
1
63
11

1
9
0

10. .......
0

iiiii

1.04
XI |XI
0
9
41
63
45
37
0
0
41
45
63
37
36
0

1.01

1.01

....

1.01

1.01
..
1.02

1.02

1.02
10 -

-1 0
_20
20
1 0 _.

...

1.02
10-

-10

10

-10
.1

2.

0
0-

.4t
..

1.03

1.03

1.03

1.03

.11
1

is high in (G1,12) plane, so, stator phase current contain Fig. 8 Sine-triangle PWM simulation wave. From top to bottom:

| _~ , H
..

......

1
/g,-

..........

1.04

1.04

(c,,B) plane current; (91,92) plane current; stator phase current

1.04
...

....

1.04
1.01

1.01
...

1.02

..

1.02
- -

..

1.03

1.03

Fig. 9 SVPWM simulation wave presented in the thesis.

From top to bottom:(oc,) plane current;
(91,92) plane current; stator phase current.

VI. CONCLUSION
Through the method of twice vector composite, it con-
cludes new voltage vector with function of restraining
harmonic wave, so it will avoid the infection of harmonic
wave in the process of vector composition, and the
-

1.04

....................................

1.04

-20F--zP; t?>% SVPWM mature arithmetic in the double three-phase sys-

tem can apply in the control of double three-phase induc-
- Li
1 1.01 1.02 1.03 1.04 tion motor directly. The method avoids complicated cal-
culate and restrains the harmonic current of stator simul-
Fig. 7 Conventional SVPWM simulation wave. From top to bottom: taneity, it is easy to popularize in the control of multi-
(oc,,) plane current; (pg1,2) plane current; stator phase current. phase induction motor.

113
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