energies

Article
Torque Ripple Mitigation of T-3L Inverter Fed
Open-End Doubly-Salient Permanent-Magnet Motor
Drives Using Current Hysteresis Control
Hongliang Liu 1, *, Shaoning Pu 2 , Jiawei Cao 3 , Xiaojie Yang 3 and Zheng Wang 3
1 School of Mechanical Engineering, Yangtze University, Jingzhou 434023, China
2 College of Mechanical and Electronic Engineering, Shandong University of Science and Technology,
Qingdao 266590, China
3 School of Electrical Engineering, Southeast University, Nanjing 210096, China
* Correspondence: Liu_academic@126.com




Received: 24 July 2019; Accepted: 11 August 2019; Published: 13 August 2019


Abstract: A torque ripple mitigation and current hysteresis control for T-type three level (T-3L) inverter
fed open-end doubly-salient permanent-magnet motor (DSPM) drives is proposed in this paper.
The structure, principle, and characteristics of the DSPM are studied and analyzed and a T-3L inverter
fed open-end three-phase DSPM drive configuration is proposed in this paper. Then, this paper
introduces a novel commutation strategy to reduce the torque ripple during phase commutation.
Furthermore, the multi-loop hysteresis current controller and DC-link voltage balancing algorithm
are presented. The effectiveness of the proposed control schemes is verified by both simulation and
experimental results.

Keywords: open-end; T-type three level inverter; doubly-salient permanent-magnet motor; hysteresis
current control; neutral voltage balance

1. Introduction
Recently, the requirements of reliability and efficiency are increasing for AC drives in many
industrial applications. The doubly-salient permanent-magnet (PM) motor drives have exhibited some
promising advantages in robust rotor structure, convenient cooling of permanent magnets in stators,
high fault-tolerant operation capability, and high efficiency with PM field excitation [1–3]. However,
there are still a few practical issues for DSPM motor drives to be solved before they are applied in
practice. The distinct torque ripple is a challenging issue of DSPM motor drives [4], which is caused by
phase current commutation, current ripples, and irregular back electromagnetic force (EMF) waveforms.
Generally speaking, control schemes of DSPM can be classified into two categories depending
on operation speeds: current chopping control (CCC) [5] and angle position control mode (APC) [6].
The CCC is usually utilized for constant torque operation below the rated speed while the APC is
used for constant power above the rated speed. It is found that the currents are only commutated
between two phase legs while another phase is kept conducting during the phase commutation process.
Since increasing and decreasing speeds are different for phase currents during commutation, large
torque ripples will be induced inevitably. This phenomenon can be attributed to two factors: the first
one is that the inductance values of DSPM machines are dependent on rotor position, and they are
different for the phases participating in commutation. Different inductance values result in differences
in acceleration and deceleration speeds of phase currents. The second reason lies in that high back
EMF in DSPM slows down the increasing speed of current in the coming phase. The slowing effect
becomes more severe when the operation speed becomes high [7–9].

Energies 2019, 12, 3109; doi:10.3390/en12163109 www.mdpi.com/journal/energies

Energies 2019, 12, 3109 2 of 18

The current ripples caused by current tracking ability are another reason for torque ripple in
DSPM. In previous research, the topologies were limited to a two-level voltage source inverters (VSIs)
configuration [10]. The small number of switching vector candidates and limited switching frequency
of two-level VSIs will restrict the current tracking ability, especially under high-speed operation.
To increase the control bandwidth and reduce the delaying effect, two solutions are proposed for the
drive configuration of DSPM.
The first solution is to adopt open-end drive configuration for the DSPM drives. The open-end drive
configuration provides a dual-channel power conversion for the three-phase electric machine [11,12],
where two three-phase power inverters are used to feed the two ends of the electric machine. By this
way, not only is high fault-tolerant ability offered by more redundant switching vectors, but also
smaller torque and current ripples are possible with collaborative operation of inverters on two
ends of the electrical machine. Besides, the open-end configuration of electric drives can increase
the output line-to-line voltage of inverter, which facilitates increasing operating speeds of electric
drives. However, previous research of open-end drives is mainly focused on switching strategies
and control schemes for permanent-magnet synchronous AC drives, where the back EMF waveforms
are sinusoidal. Different from them, the back EMF of DSPM drives are usually with trapezoidal
shapes [13–15]. Thus, some techniques of open-end drive systems such as space vector modulation
cannot be suitable for DSPM drives.
Secondly, previous research on DSPM motor drives is limited to two-level VSIs fed three-phase
DSPM motor drives. The small number of switching vector candidates of two-level VSI will restrict
the performance in current ripple suppression [16]. On the other hand, multilevel inverters not only
offer lower voltage stress, lower voltage harmonics, and higher fault-tolerant ability [17–20], but
also present higher equivalent switching frequency and a smaller delaying effect in inverters [21–23].
By combining the techniques of open-end winding and multilevel inverter [24], the control performance
of currents will be improved for the DSPM drives. Thus, the torque ripple caused by current ripples
can be mitigated.
The purpose of this paper is to investigate the control methods to mitigate torque ripple in DSPM
drives. Two contributions will be presented in this paper: firstly, a novel commutation strategy is
proposed to reduce the torque ripple during phase commutation, where all of the three phases carry
current during the commutation process. The commutation duration will be changed adaptively with
the operation speed. During the commutation process, the phase currents in the going phase and
the coming phase will be forced to track a current slop purposely, in such a way that the smoother
phase commutation will be achieved. Secondly, a T-3L inverter fed open-end three-phase DSPM
drive configuration and a high-performance hysteresis current controller are proposed in this paper.
Different from previous hysteresis controllers in two-level inverters fed three-phase drive systems,
two important points are considered in the proposed hysteresis controllers for the T-3L inverter fed
open-end DSPM drive: first, a multi-loop hysteresis controller is proposed to fully utilize the multilevel
output voltages offered by this specific configuration. Thus, the improved harmonic performance can
be provided by using different voltage levels with different current errors. Secondly, the mid-point
voltage in DC link should be stabilized effectively for operation of T-3L inverters. The arrangement
of redundant voltage vectors should be designed properly. The output voltage ability of the drive
system is improved by using the open-end configuration, which can facilitate mitigation of torque
ripple during phase commutation. Besides, the T-3L inverter fed open-end drive configuration enables
the higher equivalent switching frequency and thus the higher control bandwidth, which can facilitate
mitigation of current ripples. The multi-step hysteresis logic is designed to mitigate the current ripple
of DSPM. The balance in mid-point voltage of DC link of the T-3L inverters is considered in designing
the hysteresis current control.
 Energies 2019, 11, x FOR PEER REVIEW 3 of 18
Energies 2019, 12, 3109 3 of 18

2. 2. Configurationand
Configuration andModeling
Modeling
Figure1 1shows
Figure showsthe
theconfiguration
configurationof
ofthe
theT-type
T-type three-level
three-level inverter
inverter fed
fed open-end
open-end DSPM
DSPMdrive
drive
system. Figure 1a shows the structure of DSPM machine, where both armature windings and
system. Figure 1a shows the structure of DSPM machine, where both armature windings and permanent
permanent magnets (PMs) are mounted on the stator and the rotor configuration has a robust
magnets (PMs) are mounted on the stator and the rotor configuration has a robust structure. The cooling
structure. The cooling system is conveniently designed for the stator-PM configuration. Furthermore,
system is conveniently designed for the stator-PM configuration. Furthermore, the stator-PM structure
the stator-PM structure avoids the high-speed rotation of PMs on the rotor, and enables high
avoids the high-speed rotation of PMs on the rotor, and enables high reliability for the drive system.
reliability for the drive system. Figure 1b shows the configuration of the proposed T-type 3-level
Figure 1b shows the configuration of the proposed T-type 3-level open-end DSPM drive system.
open-end DSPM drive system. The two three-phase T-type 3-level inverters share the same DC link,
The two three-phase T-type 3-level inverters share the same DC link, and they supply the two ends of
and they supply the two ends of the DSPM machine. Thus, not only higher output voltage is offered
the DSPM machine. Thus, not only higher output voltage is offered by the open-end configuration,
by the open-end configuration, but also more switching states can be provided by the T-type 3-level
but also more switching states can be provided by the T-type 3-level inverter configuration.
inverter configuration.

Permanent
Field
magnets
winding

Rotor
Stator

Armature
winding

(a)

(b)

Figure
Figure 1. Structure
1. Structure of DSPM
of DSPM and proposed
and proposed drive system.
drive system. (a) 3D
(a) 3D Views Views(b)
of DSPM. of System
DSPM.configuration.
(b) System
configuration.
By using FEA, the PM flux waveforms are generated as shown in Figure 2. The unidirectional
magnetic flux is generated in the inside of stator of DSPM machine. When the stator tooth is aligned
Energies 2019, 11, x FOR PEER REVIEW 4 of 18
Energies 2019, 12, 3109 4 of 18
By using FEA, the PM flux waveforms are generated as shown in Figure 2. The unidirectional
magnetic flux is generated in the inside of stator of DSPM machine. When the stator tooth is aligned
with
with the
the rotor
rotor tooth
tooth (θ(θ22–θ ), the
–θ33), the maximum
maximum magnetic
magnetic fluxflux appears
appears inin the
the armature
armature winding
winding onon the
the
corresponding
corresponding stator. On the other hand, the minimum magnetic flux appears in the winding when
stator. On the other hand, the minimum magnetic flux appears in the winding when
the
the stator
stator tooth
tooth is
is not
not aligned
aligned with
with the
the rotor
rotor tooth
tooth (θ
(θ44–θ
–θ55). When the
). When the rotor
rotor moves
moves into
into the
the alignment
alignment
place, the magnetic flux inside the winding is increasing (θ –θ ). When the
place, the magnetic flux inside the winding is increasing (θ11–θ22). When the rotor moves outrotor moves out of
of the
the
alignment place, the magnetic flux inside the winding is decreasing
alignment place, the magnetic flux inside the winding is decreasing (θ33–θ44). (θ –θ ).

Figure 2. PM flux.
Figure 2. PM flux.
The input power of the DSPM machine can be expressed as:
The input power of the DSPM machine can be expressed as:
d[ψpm ]
 
d[I ] d[L]
PinT= [I ]T [U ]T = T
 [I ] [R][I ]d+[ I[]L] dt
d [ L+] dt [Id][+ ψ pm ]dt
Pin = [ I ] [U ] = [ I ] [ R][ I ] + [ L]  + [I ] +   (1)
dt 1 [I ]Tdtd[L] [I ] + [Idt T d[ψpm ]
= [I ]T [R][I ] + dtd  12 [I ]T [L][I ] + 2 dθ ]  ω
dθ (1)
d 1   1 d [ L] d [ψ pm ] 
= [ I ]T [ R][ I ] +   [ I ]T [ L][ I ]  +  [ I ]T [ I ] + [ I ]T ω
dt
 R  a2 0 0   2 dθ dθ 
 
The resistor matrix is: [R] =  0 Rb 0 .
 R0a 00 R0c  
 
 
The input power
resistor can
matrix [R]be= given
is:also  0 to Rbbe:0  .
0 0 Rc  
 d 
The input power can also be given Pcu Ws f + Te ω,
Pinto=be: (2)
dt
d
P1 = P d[+L] W + Td[ωψpm
Te = in [I ]T cu dt[I ] +sf[I ]T e
( ), ]
,
(2)
(3)
2 dθ dθ
where Pcu = [I ]T [R][I ] is the copper 1 d[L] machine,T W d[ψ pm] T
Te loss
= of[ Ielectrical
]T [ I ] + [ I ] s f = [I, ] [L][I ]/2 is the magnetic energy
(3)
2
storage in electrical machine, Te is electromagnetic dθ torque, and ω disθthe mechanical rotor speed. The first
d[L] d[ψpm ]
part of Te , 12 [I ]T dθT [I ], is the reluctance torque, and the second part of Te , [I ]T dθ ,T is the PM torque.
where Pcu = [I ] [R][I ] is the copper loss of electrical machine, Wsf = [I ] [L][I ] / 2 is the
magnetic
3. Current energy
Referencestorage
Designin for
electrical machine,
Torque Ripple Te is electromagnetic torque, and ω is the
Mitigation
1 T d[ L]
mechanical rotor speed.
By differential Theoffirst
operation PM fluxpartwith Te , [I ](4),
of Equation I ] , EMF
the [back is theinside
reluctance torque,
the winding and the
is obtained
2 dθ
in Figure 3.
d[ψ pm ] dψpm dψpm
second part of Te , [ I ]T , is the PM
e =torque.= ω (4)
dθ dt dθ
Figure 3 shows the principle of 120◦ conduction mode: one phase commutation occurs every 60◦
3. Current Reference Design for Torque Ripple Mitigation
in electrical degrees, and each power switch will conduct for 120◦ continuously. The total 360◦ cycle is
divided into six parts,
By differential and eachofone
operation PMoccupies 60◦Equation
flux with . The DSPM
(4), drives usually
the back EMFadopt the◦ conduction
inside120 winding is
mode, where two
obtained in Figure 3.phases conduct simultaneously. By using this operation method, the maximum
 Energies 2019, 12, 3109 5 of 18

torque can be generated in the electrical machine. Besides, there exists dead-time between power
switches in the same phase leg, and thus the shoot-through operation can be avoided.
Energies 2019,However, considering
11, x FOR PEER REVIEW the specificity in configuration of the electrical machine and deviation in 5 of 18
manufacturing, the differential of back EMF is not an ideal trapezoidal waveform in Figure 3. It can be
observed that the increasing rate and the decreasing rate of back EMF waveforms are not the same.
dψ pm aredψ
In addition, the top and bottom of the waveforms not
pmflat. Thus, obvious torque ripple will be
e = = ω (4)
caused by the non-ideal back EMF waveform dt dθ
with the aforementioned 120◦ conduction mode.

-3
x10
2.5

2
A C B
1.5

0.5
dψ / dθ

00 5 10 15 20 25 30 35 40 45
-0.5
iA +, i A +,
-1 i − iA +, iB − iB −, iC + iA −, iC + iA −, iB + iB +, iC −
C iC −
-1.5

-2

-2.5

S1
0 5 10 15 20 25 30 35 40 45

S2
0 5 10 15 20 25 30 35 40 45

S3
0 5 10 15 20 25 30 35 40 45

S4
0 5 10 15 20 25 30 35 40 45

S5
0 5 10 15 20 25 30 35 40 45

S6
0 5 10 15 20 25 30 35 40 45
Rotor position
Figure
Figure 3. Back
3. Back electromagnetic force
electromagnetic force(EMF)
(EMF)waveform.
waveform.

As aforementioned, the back EMF of the DSPM machine is not an ideal trapezoidal waveform,
Figure 3 shows the principle of 120° conduction mode: one phase commutation occurs every 60°
which results in the torque ripple with rectangular currents. To mitigate this torque ripple, the back
in electrical degrees, and
EMF waveforms each
of the DSPM power switch
machine will conduct
are obtained and thefor 120°currents
phase continuously. The totalmode
under conduction 360° cycle
is divided into six purposely
are designed parts, andto each
matchone occupies
variation of the60°.
backTheEMF DSPM drives
waveform. By usually
assumingadopt 120°
the rotor conduction
speed as
mode, constant
where two phases
during conduct
steady-state simultaneously.
operation, the back EMF Bywaveform
using this canoperation
be measuredmethod, the maximum
and normalized
torquewith
can operation speed as:
be generated ga (θ)electrical
in the = ea (θ)/ω, gb (θ) = eBesides,
machine. b (θ) /ω and gc (θ)exists
there = ec (θdead-time
)/ω. between power
For example, the current reference under conduction in phase a
switches in the same phase leg, and thus the shoot-through operation can be avoided. and b are designed in Equation (5)
to mitigate the torque ripple caused by non-ideal back EMF. Similarly, the three-phase current
However, considering the specificity in configuration of the electrical machine and deviation in
references of other operation regions can be obtained. The torque reference Te is given by closed-loop
manufacturing, the differential of back EMF is not an ideal trapezoidal waveform in Figure 3. It can
speed controller.
be observed that the increasing rate and the decreasing Te rate of back EMF waveforms are not the
iare f = −ibre f = (5)
same. In addition, the top and bottom of the waveforms ga (θ) are (θ) flat. Thus, obvious torque ripple will
− gb not
be caused by the non-ideal back EMF waveform with the aforementioned 120° conduction mode.
As aforementioned, the back EMF of the DSPM machine is not an ideal trapezoidal waveform,
which results in the torque ripple with rectangular currents. To mitigate this torque ripple, the back
EMF waveforms of the DSPM machine are obtained and the phase currents under conduction mode
are designed purposely to match variation of the back EMF waveform. By assuming the rotor speed
as constant during steady-state operation, the back EMF waveform can be measured and normalized
Energies 2019, 11, x FOR PEER REVIEW 6 of 18

Energies 2019, 11, x FOR PEER REVIEW 6 of 18

Te
iaref = −ibref = (5)
g a(θ ) −T g b(θ )
e
iaref = −ibref = 6 of(5)
Energies 2019, 12, 3109 g a(θ ) − g b(θ ) 18

4. Phase Commutation Strategy for Torque Ripple Mitigation

4.4. Phase
Phase Commutation
Commutation
As mentioned in theStrategy
Strategy for
forTorque
last section, Torque Ripple
Ripple
one power Mitigation
Mitigation
switch of the drive implements one commutation
actionAs every 60°
Asmentioned
mentionedin in electrical
inthe
thelast angles.
lastsection,
section,oneFor simplicity,
onepower
powerswitch the
switchof principle
ofthe
thedrive of phase one
driveimplements
implements commutation
onecommutation
commutationis
exemplified
action
actionevery with
every
◦
60 60°theelectrical
in commutation
in angles.
electrical from
For phase
angles. For A to the
simplicity, phase Cthe
in the
principle
simplicity, ofthree-phase two-level
phase commutation
principle of phase isinverter fedis
exemplified
commutation
DSPM
with drive,
exemplified as shown
the commutation in Figure
with the commutation 4.
from phase Afrom to phase C in
phase thephase
A to three-phase
C in thetwo-level inverter
three-phase fed DSPM
two-level drive,
inverter fed
as shown
DSPM in Figure
drive, 4. in Figure 4.
as shown
+
+ S1 S3 S5
R L ea
ia 
S1 S3 S5
R LL ebea
ib ia  R
VDC
R L eb
ib R L ec
VDC ic 
ec
ic  R L
DSPM
− S2 S4 S6 DSPM
− S4.2 TheScommutation
Figure
4 S6
from phase A to phase C.
Figure 4. The commutation from phase A to phase C.
Figure 4. The commutation from phase A to phase C.
In conventional commutation strategy, the active switches of the outgoing phase are turned off.
In conventional commutation strategy, the active switches of the outgoing phase are turned off.
For example, S1 and S4commutation
In conventional are turned on originally.
strategy, Then, S1
the active is turned off outgoing
and S5 is turnedare on with the
For example, S1 and S4 are turned on originally. Then,switches
S1 is turned of theoff and S5 isphase
turned onturned off.
with the
conventional
For example,120120° conduction
S1◦and mode.
S4 are turned S4 is kept on during the process of commutation from phase A
conventional conduction mode. on S4 isoriginally.
kept on duringThen,the
S1 process
is turned of off and S5 is turned
commutation on with
from phase A tothe
C.
toconventional
C. Considering 120°freewheeling,
conduction the phase
mode. A current goes thethrough theofanti-diode of S2. Thus, theA
Considering freewheeling, the phase AS4current
is kept on during
goes through theprocess
anti-diode commutation
of S2. Thus,from phase
the terminal
terminal phase-to-phase
to C. Considering voltages become
freewheeling, U AB = 0 andgoes = VDC .the
U CBthrough By ignoring
anti-diodetheofvoltage drop
phase-to-phase voltages become Uthe phase A current
AB = 0 and UCB = VDC . By ignoring the voltage drop on resistors,
S2. Thus, the
on resistors, the change of currents in phase A and C are:
terminal
the changephase-to-phase voltages
of currents in phase A andbecome C are:U AB = 0 and U CB = VDC . By ignoring the voltage drop
on resistors, the change of currentsdiin phase 1 A  and C are: diB! 
1 eB − e A − LB diB 
A
diA= (6)
dtdi =L A1  eB − eA − LB dtdi   (6)
A
dt = LA  eB − e A − LBdt B  (6)
dt L dt 
diC 1  A  di ! 
diC= 1VDC + eB − eC − LBdiBB  (7)
dtdi =LC1  VDC + eB − eC − LB dtdi   (7)
dt
C L
= C VDC + eB − eC − LB dt B  (7)
dt LC  L and the difference dt 
Due
Duetotothethedifference betweenLLAA and
differencebetween and LC and the difference between voltages
voltages on on equivalent
equivalent
inductances
inductances in
in phases A
A and
and C,
C,the thechanging
changing speeds of
speeds
Due to the difference between L A and LC and theAdifference aofi a i
and A C
i are
and idifferent,
are
between
C
as shown
different, in
voltages on shown
as Figurein5.
equivalent
Thus, the
Figure torque
5. Thus, ripple is induced is during phase commutation.
inductances inthe torque
phases Aripple
and C, induced
the changing during phase of
speeds commutation.
a i A and iC are different, as shown in
Figure 5. Thus, the torque ripple is induced during phase commutation.
I ref Ia I ref Ia

I ref Ia I ref Ia

Ic Ic
0 0
ta ta
Ic tc Ic tc
0 0
T ta ta
Tref tc Tref T tc

Tref T T
Tref
0 0
(a) (b)
0 0
Figure 5. Phase
Figure currents
5. Phase(a) during
currents commutation.
during (a) |(a)
commutation. dia/dt |>| >dic/dt
|dia/dt| |. (b)
|dic/dt|. (b)||dia/dt|
dia/dt
(b) |<| dic/dt |.
< |dic/dt|.
Figure 5. Phase currents during commutation. (a) | dia/dt |>| dic/dt |. (b) | dia/dt |<| dic/dt |.
To suppress the torque ripple during phase commutation, a three-phase current commutation
strategy is proposed. Instead of turning off all power switches of phase A in Figure 4, the phase
A current is still under control during phase commutation. As shown Figure 6, phase A current is
controlled to follow a decreasing slope while phase C current is controlled to follow an increasing slope
during phase commutation (Ts − α/2, Ts + α/2). The increasing slope rate is same as the decreasing
 Energies 2019, 12, 3109 7 of 18

slope rate. If the two phase currents are controlled effectively during the phase commutation process,
the torque ripple due to different changing rates in Figure 5 during phase commutation can be
mitigated. It should be noted that the performance of current tracking during a certain switching
period is determined by the terminal voltage of phase winding, the back EMF, and the inductance of
phase winding. With increasing of motor speed, the back EMF becomes higher and accurate tracking
of currents during phase commutation becomes more challenging. The open-end configuration for
DSPM drives will increase the output voltage capability, which will facilitate current tracking during
phase2019,
Energies commutation
11, x FOR PEER REVIEW 7 of 18

α
α /2 α/2

Figure
Figure6.6.Phase
Phasecommutation
commutationprocess
processwith
withsimultaneous
simultaneousthree-phase
three-phaseconduction.
conduction.

5. Current Tracking
To suppress the for Torque
torque rippleRipple
duringMitigation
phase commutation, a three-phase current commutation
strategy is proposed. Instead of turning off
Besides the torque ripples caused by non-ideal all power back
switches
EMFofwaveform
phase A inand Figure 4, the phase
uncontrolled A
phase
current
currentisduring
still under control during
commutation, phaseharmonics
the current commutation. mayAs shown
induce theFigure
torque6,ripple.
phase To A reduce
current the
is
controlled to follow a decreasing slope while phase C current is controlled to follow
torque ripple caused by current harmonics and improve current tracking ability, the T-3L inverter fed an increasing
slope during
open-end phase commutation
configuration is proposed α DSPM
s −the
（Tfor + α /Thus,
/ 2，Tsdrive. 2）. The
theincreasing
maximum slope
phaserate is same
voltage as the
is increased
√ √
decreasing
to [−VDC , Vslope rate. If to
DC ] compared the
[−Vtwo
DC / phase
3, VDCcurrents
/ 3] with areone-end
controlled effectivelyByduring
configuration. using the the phase
open-end
commutation
configuration,process, the torque
the currents ripple duewindings
in three-phase to different
can changing ratesseparately,
be controlled in Figure which
5 during phase
facilitates
commutation can be mitigated. It should be noted that the performance of current tracking
improving fault tolerant capability of the drive system. By using the T-3L inverter, five voltage levels, during a
certain
namelyswitching
±VDC , ±Vperiod is determined
DC /2 and 0 are offered byfor
theeach
terminal
phasevoltage
winding,ofwhich
phaseare
winding,
relativethe backmid-point
to the EMF, andin
the
DCinductance of phase winding.
link. The multilevel With increasing
output voltage can reduceof motor
the currentspeed, the backwhich
harmonics, EMF inbecomes
turn helpshigher and
mitigate
accurate tracking
torque ripple. of currents during phase commutation becomes more challenging. The open-end
configuration for DSPM drives will increase the output voltage capability, which will facilitate
5.1. Hysteresis
current trackingCurrent
duringControl
phase commutation
In this paper, a hysteresis current controller is proposed for the T-3L inverter fed open-end DSPM
5.drive
Current Tracking
system. for Torque
The hysteresis Ripplecontroller
current Mitigationoffers robust control structure and is convenient to
be used for the
Besides tracking
torque separate
ripplesphase
causedcurrent with arbitrary
by non-ideal back EMFshape. However,
waveform andthe hysteresis current
uncontrolled phase
controller in T-3L inverter must stabilize the mid-point voltage in DC link in addition
current during commutation, the current harmonics may induce the torque ripple. To reduce the to achieving
effective
torque current
ripple tracking.
caused For describing
by current harmonics theand
operation
improve principle
currentof the proposed
tracking ability,control scheme,
the T-3L the
inverter
switching states of phase leg of T-3L inverter are summarized in Table 1. The
fed open-end configuration is proposed for the DSPM drive. Thus, the maximum phase voltage isphase of A is used
for exemplification.
increased to [−V ,V ] compared to [−V / 3 ,V / 3 ] with one-end configuration. By
DC DC DC DC
using the open-end configuration, the currents in three-phase windings can be controlled separately,
which facilitates improving fault tolerant capability of the drive system. By using the T-3L inverter,
five voltage levels, namely ± VDC , ± VDC / 2 and 0 are offered for each phase winding, which are
relative to the mid-point in DC link. The multilevel output voltage can reduce the current harmonics,
which in turn helps mitigate torque ripple.

5.1. Hysteresis Current Control

Energies 2019, 12, 3109 8 of 18

Table 1. T-npc Converter switching status.

Switching Status SA1 SA2 SA3 SA4 Status Number

P ON ON OFF OFF 4
O OFF ON ON OFF 3
N OFF OFF ON ON 2
X OFF OFF OFF OFF 1

To reduce the current harmonics, a multi-loop hysteresis current controller is proposed.

The proposed controller has two hysteresis loops with different loop bandwidths: ±BW1 and ±BW2
(BW1 > BW2). The switching states are designed in Table 2, which are dependent on the value of
current error e = ire f A − iA .

Table 2. Switching Status for Hysteresis Controller (Phase A).

e(i) (SA, Sa)

e(i) > BW1 (4, 2)
BW2 < e(i) ≤ BW1 (4, 3), (3, 2)
−BW2 ≤ e(i) ≤ BW2 Maintain the last sample cycle’s switching state
−BW1 ≤ e(i) < −BW2 (3, 4), (2, 3)
e(i) < −BW1 (2, 4)

(1) e(i) > BW1

When the error of phase A current is larger than BW1, the selected switching states are (4, 2).
The current path is shown in Figure 7a, and terminal voltage of two ends of phase A winding is
given as:
dia
VAa = Vdc = Ra ia + e0a + La (8)
dt
The total DC-link voltage Vdc is added to phase A winding. Compared to the single-end drive system,
not only the back EMF value is reduced from the phase-to-phase E0ab but also the inductance in loop is
decreased from La + Lb to La with the open-end configuration. Thus, higher controllability is offered
for phase currents under high-speed operation.
(2) BW2 < e(i) ≤ BW1
When the error of phase A current is smaller, which is between BW1 and BW2, two switching
states (4, 3) and (3, 2) can be selected, which are shown in Figure 7b,c. Under this condition, the
terminal voltage on phase A winding is Vdc /2. The dynamic voltage equation is given as:

Vdc dia
VAa = = Ra ia + e0a + La (9)
2 dt
Although the switching states (4, 3) and (3, 2) present the same output voltage, they have different
impacts on mid-point voltage in the DC link. Their impacts will be analyzed in the next sub-section.
(3) −BW2 ≤ e(i) ≤ BW2
When the amplitude of error in phase A current is smaller than the small band BW2, the actual
current is closed to its reference value. Therefore, the switching state will be maintained same as that
in last switching interval.
(4) −BW1 ≤ e(i) < −BW2
When the current error is between −BW1 and −BW2, two switching states (3, 4) and (2, 3) are
selected, which are shown in Figure 7d,e. Under this condition, the terminal voltage on phase A
winding is −Vdc /2. The dynamic voltage equation is given as:
 Energies 2019, 12, 3109 9 of 18

−Vdc dia
VAa =
= Ra ia + ea + La . (10)
2 dt
Under this condition, the current will be decreased with the negative input voltage. The switching
states (3, 4) and (2, 3) offer the same input voltage on the phase winding, but they have different
impacts on mid-point voltage in DC link.
(5) e(i) < −BW1
When the current error is less than −BW1, the switching state (2, 4) is selected, which are shown in
Figure 7f. Under this condition, the terminal voltage on phase A winding is −Vdc . The largest voltage
with negative polarity is put on the phase winding, and the phase current can be reduced rapidly.
As aforementioned, there are five voltage levels, namely ±Vdc , ±Vdc /2, and 0 for each phase
winding. However, only two voltage levels (Vdc and −Vdc ) can be used to increase and decrease the
phase current if one loop hysteresis is used. With small current errors between the reference currents
and the real currents, the large voltage levels (Vdc and −Vdc ) may cause the large current ripple within
a fixed switching period. On the other hand, the smaller voltage levels (Vdc /2 and −Vdc /2) can be
fully used with the proposed multi-loop hysteresis controller. When the current errors are small
(BW2 < |e(i)| < BW1), the smaller voltage levels (Vdc /2 and −Vdc /2) can be used and the current ripple
will be smaller. Thus, the harmonics in current is reduced. When the current errors are large (|e(i)| >
BW1), the larger voltage levels (Vdc and −Vdc ) are used and the current errors can be reduced effectively
within one switching period.

5.2. Control of Mid-Point Voltage in DC Link

As shown in Figure 7a,f, the large voltage vectors (4, 2) and (2, 4) only use the P and N voltage
states. Since the current into the mid-point of DC link is zero, these two voltage states have no impact
on mid-point voltage. As shown in Figure 7b, the switching state (4, 3) will inject phase current into the
mid-point of DC link when the current passes from point A to point a. Thus, the upper DC capacitor
Cup will provide the energy for phase A winding, and the upper DC capacitor voltage uCup is reduced.
The mid-point voltage in DC link will increase. On the other hand, the switching state (3, 2) outputs
the same voltage of Vdc /2 as the state (4, 3). However, the state (3, 2) connects the lower DC capacitor
Clo to phase A winding as shown in Figure 7c. The voltage on the lower DC capacitor voltage uClo will
be decreased, and the mid-point voltage in DC link is reduced accordingly.
Similarly, the switching state (3, 4) in Figure 7d will inject power in the upper capacitor in DC link,
and the upper DC capacitor voltage uCup is increased. On the other hand, the state (2, 3) in Figure 7e
will inject power in the lower capacitor in DC link, and the lower DC capacitor voltage uClo is increased.
When the direction of phase current is from point a to point A, the impacts of switching states
Energies
Energies 2019,
2019, 11, 11, xPEER
x FOR FORREVIEW
PEER REVIEW
Energies
Energies 2019,
2019, 11, 11, xPEER
x FOR FORREVIEW
PEER REVIEW 10 of 1810 of 18 10
10 of 18
(4, 3), (3, 4), (3, 2), and (2, 3) on mid-point of DC link are opposite to the aforementioned conditions
wherewhere where
current current
current
direction direction
direction
where
is fromisiscurrent
where from
from
A to AA toto
current
a. a. a.
Therefore,
direction
direction Therefore,
Therefore, is fromisthechoices
the from
A choices
the of
tochoices
A to
a.of switching states
a.ofTherefore,
switching
Therefore,
switching the totostabilize
the
statesstates
choiceschoices mid-point
ofto switching
stabilize
stabilize of switching
statesstates to stab
to stabilize
mid-point voltage
mid-point
voltage in DC
voltage link
in DCin are listed
DC are
mid-point
link in
mid-point
linklisted
are Table
listed
voltagein 3,
voltage
Tablewhich
ininDC Table
in is
3,link dependent
DC3,are
whichlink
which are
islisted on deviation
islisted
independent
dependent inon
Table Tableof mid-point
on3,deviation
which
3,deviation
which is of voltage,
is of
dependent
dependent currents
mid-point
mid-point on deviation
on deviation of mid-p
of mid-point
voltage, tracking
voltage,
currents requirement,
currents tracking
tracking and
voltage,
requirement, direction
voltage,
requirement,
currents of
currents
andtrackingphase
and
direction currents.
tracking
directionrequirement,
of phase
requirement,
of phase andcurrents.
currents. and direction
direction of phase
of phase currents.
currents.

Table 3. Switching Status for Mid-point Voltage Balance Control (Sa, Sa).
Table Table 3. Switching
3. Switching StatusStatus forTable
forTable 3.Mid-point
Mid-point 3. Switching
SwitchingVoltage
VoltageStatusStatus
BalanceBalance
for forControl
Mid-point
Control
Mid-point (Sa,Voltage
(Sa,Voltage
Sa). Sa). Balance
Balance Control
Control (Sa, Sa).
(Sa, Sa).
uCup
uCup <uV<dcV
Cup <dcV/2dcu
/2 /2Cup <uV <uV
dc/2
Cup
udcCup
Cup <uV
/2 <dcV
Cup <dcV/2dcu
/2 /2Cup <uV < Vdc/2
dc/2
Cup
Current
CurrentDirection
Current Direction Current
Direction Current Direction
Direction
I↗
I I↗I↘ I↘ I I↗ I↗ I↘I↗ I I↘I↗ I↘ I↘ I I↗ I↗ I↘ I↘
FromFrom
A to aA to a (3, 2) (3,(3,
From A to a (3, 2)
2)4) (3,
From From4)
to3)aA(4,to
A(4,
(3, 4)
3)a3)
(2, (3,(2,
2) 3)
(4, 3)
(3,(3,
2)4) (3,(4,
4)3) (4,(2,
(2, 3)
3)3) (2, 3)
From
From From
aA
a to to Aa to A (2, 3) (2,(4,
(2, 3) 3)3) (4,
From From
a(3,
(4, 3)4)
to
3) Aa(3,
to(3,
4)
A2)(3,(3,
(2, 4) 2)
3) (2,(4,
3)3) (4, 3)4) (3,(3,
(3,(3,
2) 4)2) (3, 2)

It should be noted that two phase currents are injected into the mid-point of DC link using the
proposed open-end DSPM
1 1
drives
SA1 during
SA1 the
Sa1two-phase
1
Sa1
1
conduction
SA1 1 SA1 1 period.
Sa1 Sa1 The two 1phase1 currents
VDC VDC VDC VDC VDC VDC VDC VDC
2 2 2 2 2 2 2 2
SA2 SA23 SA3 R ea L eaSa3
SA 2 Sa23
Sa SA 2
3Sa 2 R SA3 R ea L eaSa3 Sa23
Sa Sa 2
R L L

1
VDC
1
VDC SA4 SA4 Sa 41
VDC
Sa 41
VDC SA4 1 V SA4 1 VDC Sa 4 Sa 4 1
VDC
1
VDC
DC
2 2 2 2 2 2 2 2
where current direction is from A to a. Therefore, the choices of switching states to stabilize
mid-point voltage in DC link are listed in Table 3, which is dependent on deviation of mid-point
voltage, currents tracking requirement, and direction of phase currents.
Energies 2019, 12, 3109 10 of 18
Table 3. Switching Status for Mid-point Voltage Balance Control (Sa, Sa).

uCuplegs
can be injected into the mid-point with their inverter < Vdc /2 uCup On
separately. < Vother
dc/2 hand, in the traditional
Current Direction
single-end DSPM drives, the two conducting phases I↗are connected
I↘ I↗ I↘
in series and carry the same current,
which is used to control the From
mid-point
A to voltage.
a (3,Therefore,
2) (3, 4) the(4,open-end
3) (2, 3)configuration has higher
controllability in stabilizing the mid-point
From a to A voltage
(2, in
3) DC(4,link.
3) (3, 4) (3, 2)

SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 R L ea Sa3 Sa 2

1 SA4 Sa 4 1
VDC VDC
2 2

(a)

SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 R L ea Sa3 Sa 2

1 SA4 Sa 4 1
VDC VDC
2 2

(b)

SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 Sa3 Sa 2
R L ea

1 SA4 Sa 4 1
VDC VDC
2 2

(c)

SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 R L ea Sa3 Sa 2

1 SA4 Sa 4 1
VDC VDC
2 2

(d)

SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 Sa3 Sa 2
R L ea

1 SA4 Sa 4 1
VDC VDC
2 2

(e)

Figure 7. Cont.
 SA1 Sa1 1
1 VDC
VDC 2
2
SA2 SA3 Sa3 Sa 2
R L ea

Energies 2019, 12, 3109 11 of 18

1 SA4 Sa 4 1
VDC VDC
Energies 2019, 11, x FOR PEER REVIEW
2 2 11 of 18

(f)
SA1 Sa1 1
1 VDC
VDC
Figure 7. Current loop in 2different current loop. (a) (SA, Sa) = (4,2); (b) (SA,
2 Sa) = (4,3); (c) (SA, Sa) =
SA 2 SA3
(3,2); (d) (SA, Sa) = (3,4); (e) (SA, Sa) = (2,3); (f) (SA,
L Sa) = (2,4).
Sa3 Sa 2
R ea

It should be noted that 1two phase currents are injected into the mid-point 1
of DC link using the
SA4 Sa 4 V
V
proposed open-end DSPM drives 2
DC
during the two-phase conduction period. 2 The two phase currents
DC

can be injected into the mid-point with their inverter legs separately. On other hand, in the
traditional single-end DSPM drives, the two conducting (f) phases are connected in series and carry the
same current, which is used to control the mid-point voltage. Therefore, the open-end configuration
Sa) =Sa) = (4,3); = (3,2);
hasFigure
Figure7.7.Current
higher Current loop in
controllability indifferent
in different current
current
stabilizing loop.
theloop. (a) (SA,
(a) (SA,
mid-point = (b)
in(4,2);
(4,2);
voltage DC (b)
(SA, Sa)
link.(SA, Sa) (c)
= (4,3);
(SA, (c)
Sa) (SA, Sa) =
(d) (SA,
(3,2); Sa) =Sa)
(d) (SA, (3,4); (e) (SA,
= (3,4); Sa) =Sa)
(e) (SA, (2,3); (f) (SA,
= (2,3); (f) Sa)
(SA,= Sa)
(2,4).
= (2,4).
6.
6. Simulation
Simulation and
and Experimental
Experimental Verification
Verification
It should be noted that two phase currents are injected into the mid-point of DC link using the
proposed Both simulation
Bothopen-end
simulation DSPMand
and experimental
experimental
drives results
results
during theare are presented
presented
two-phase to the
to verify
conduction verify the The
validity
period. validity
of two of
open-end open-end
T-inverter
phase currents
T-inverter
fedbeDSPM fed DSPM
driveinto drive
system. system. The
The simulation simulation model was built by MATLAB/Simulink, and the
can injected the mid-point withmodel their was built legs
inverter by MATLAB/Simulink,
separately. On other and the
hand,system
in the
system parameters
parameters are are
given ingiven
Tablein
4.Table
In 4.
the In the simulation,
simulation, the the
bands bands
of of
current current
error error
were were
set as set
BW1 as
= BW1
0.1 V
traditional single-end DSPM drives, the two conducting phases are connected in series and carry the
=and
0.1 BW2
V and= BW2
0.03 = 0.03
V. The V. The no-load
no-load PM fluxPM flux distribution
distribution givenisingiven in 2.
Figure 2.
same current, which is used to control the mid-pointisvoltage. Figure
Therefore, the open-end configuration
has higher controllability in stabilizing the mid-point voltage in DC link.
Table 4. System Parameters.
Table 4. System Parameters.
Items
6. Simulation and Experimental Verification
Items Value
Value
Pole pair number 8
Pole pairresults
Both simulation and experimental number are presented 8 to verify the validity of open-end
Rated
Rated speed
speed 1000
1000 rpm
rpm
T-inverter fed DSPM drive system. The simulation
Rated power model750 was built by MATLAB/Simulink, and the
Rated power 750 WW
system parameters are given in Table 4. Involtage
DC-link
DC-link the simulation, 100
voltage the
100 V bands of current error were set as BW1
= 0.1 V and BW2 = 0.03 V. The no-load
DC PM flux
capacitors
DC capacitorsdistribution400is
400 uF given in Figure 2.
uF
Resistor value 0.21 Ω
Resistor value 0.21 Ω
Sampling
Tablefrequency
4. System 20 kHz
Parameters.
Sampling frequency 20 kHz
Items Value
Figure 88 shows
Figure showsphotograph
photographofof experimental
experimental test-bed.
test-bed. Figure
Figure 8a shows
8a shows the control
the control circuit.
circuit. The
The six-phase T-type three-level
Pole pair
inverter is
number by using
elaborated
8 Infineon T-3L leg F3L75R12W1H3.
six-phase T-type three-level inverter is elaborated by using Infineon T-3L leg F3L75R12W1H3. DSP
DSP TMS-F28335 is used to implement Rated speed
control algorithm 1000
and rpm
TMS-F28335 is used to implement control algorithm and thetheFPGA
FPGA(Xinlix-Spartan6)
(Xinlix-Spartan6)isisused
used to
to
implement the
the switching
switching strategies. Rated
strategies. Figure
Figure 8bpower
8b displays
displays the 750
the DSPM W
DSPM andand the
the load
load motor.
motor.
implement
DC-link voltage 100 V
DC capacitors 400 uF
Resistor value 0.21 Ω
Sampling frequency 20 kHz

Figure 8 shows photograph of experimental test-bed. Figure 8a shows the control circuit. The
six-phase T-type three-level inverter is elaborated by using Infineon T-3L leg F3L75R12W1H3. DSP
TMS-F28335 is used to implement control algorithm and the FPGA (Xinlix-Spartan6) is used to
implement the switching strategies. Figure 8b displays the DSPM and the load motor.

(a)
Figure 8. Cont.

(a)
Energies 2019, 11, x FOR PEER REVIEW 12 of 18

Energies 2019, 12, 3109 12 of 18

Energies 2019, 11, x FOR PEER REVIEW 12 of 18

(b)

Figure 8. Photograph of experimental test-bed.

(b)(a) Control circuit; (b) DSPM and load motor.

Figure8.8.Photograph
Figure Photographof
ofexperimental
experimentaltest-bed.
test-bed. (a)
(a) Control
Controlcircuit;
circuit;(b)
(b)DSPM
DSPMand
andload
loadmotor.
motor.
Figure 9 shows the simulated performance of the current hysteresis control obtained with a
rotor speed of 9750
Figure
Figure rpm,
9shows
shows theasimulated
thetorque command
simulatedperformanceof of
performance 5 Nm,
the and
current
of the ahysteresis
phase-change
current control
hysteresis angle
obtained
control α ofwith
20°.awith
obtained Figure
rotora 9a
shows that
speed
rotor the of
of 750
speed torque
rpm,750a rpm,is asmoothly
torque command
torque controlled
of 5 Nm,
command with
of and
5 Nm, thea control
a phase-change
and angle
phase-change α angle
scheme. ◦
of 20The ofmidpoint
. Figure
α 20°. 9a voltage
shows
Figure 9a
that
deviationthe torque
showsinthat
dc-link is smoothly
is suppressed
the torque controlled with
well as
is smoothly the control
shown in
controlled scheme.
Figure
with the 9b. The
Figure
control midpoint voltage
9c displays
scheme. deviation in
current waveforms
The midpoint voltage
dc-link
A.is suppressed
deviation
in phase in dc-link iswell as shownwell
suppressed in Figure 9b. Figure
as shown in Figure9c displays current
9b. Figure waveforms
9c displays currentinwaveforms
phase A.
in phase A.
Torque（N.m）

20
Torque（N.m）

20

10
10

0
0

-10
0 -10 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time（s）
Time（s）
(a)
(a)
5 5
△U（V）
△U（V）

0 0

-5
-5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4
Time (s)
Time (s)
(b)
(b)
Phase A current（A）
Phase A current（A）

15

15 10

10 5

5 0

0 -5

-10
-5
-15
-10 0.35 0.355 0.36 0.365 0.37 0.375 0.38 0.385 0.39 0.395 0.4

-15 Time (s)

0.35 0.355 0.36 0.365 0.37 0.375 0.38 0.385 0.39 0.395 0.4
(c)
Time (s)
(c)
Figure 9. Simulated performance of current hysteresis control: (a) torque; (b) midpoint voltage
deviation; (c) phase A current.
Figure 9. 9.
Figure Simulated
Simulatedperformance
performance of of current
current hysteresis
hysteresis control:control: (a)
(a) torque; (b)torque;
midpoint(b) midpoint
voltage voltage
deviation;
(c) phase
deviation; (c)Aphase
current.
A current.
Figure 10 plots the simulated torque waveforms under traditional dual-loop control strategy
and Figure
the proposed
10 plots three-phase
the simulatedcurrenttorque commutation
waveforms under strategy. Figuredual-loop
traditional 10a shows phase
control the torque
strategy and
Figure 10 plots
waveforms using the
the simulated dual-loop
traditional torque waveforms
control underwhile
strategy, traditional
Figure dual-loop
10b shows control
the strategy
simulated
the proposed three-phase current commutation strategy. Figure 10a shows phase the torque waveforms
and performance
the proposed three-phase
using the proposed current
controlcommutation
when the strategy. Figure
phase-change 10a shows phase 10cthe torque
using the traditional dual-loop control strategy, while Figure 10b angle
showsαtheis 20° and Figure
simulated performanceshows
the simulated
waveforms using performance
the traditional using the proposed
dual-loop control
control when while
strategy, the phase-change
Figure 10b angle
shows α is 6.5°.
the The
simulated
using the proposed control when the phase-change angle α is 20◦ and Figure 10c shows the simulated
operatingusing
performance speedtheis 500 rpm and the load
whentorque is 3 Nm for these conditions. Comparing 10cthe
performance using theproposed
proposed control
control when the
the phase-change
phase-change angle
angle α is
α is 6.5 ◦ . 20°
The and Figure
operating speed shows
is
simulation
the simulated results, it can be observed that the torque ripple is lower with the proposed three-phase
500 rpm andperformance
the load torque using
is 3 Nmthe for
proposed control when
these conditions. Comparingthe phase-change angle αit is
the simulation results, 6.5°.
can be The
current
operating commutation
speed is torque
500 rpmstrategy.
and Due to the
the load low current rate of change and the low current amplitude
observed that the ripple is lower with torque is 3 Nm
the proposed for these
three-phase conditions.
current commutation Comparing
strategy. the
in open-end drive, the torque ripple suppression effect is similar in Figure 10b,c.
simulation results, it can be observed that the torque ripple is lower with the proposed three-phase
current commutation strategy. Due to the low current rate of change and the low current amplitude
in open-end drive, the torque ripple suppression effect is similar in Figure 10b,c.
 Energies 2019, 12, 3109 13 of 18

Due to the low current rate of change and the low current amplitude in open-end drive, the torque
ripple suppression effect is similar in Figure 10b,c.
Energies 2019, 11, x FOR PEER REVIEW 13 of 18

Torque（N.m） 6

0
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34 0.36 0.38 0.4

Time (s)
(a)
8
Torque（N.m）

0
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34 0.36 0.38 0.4

Time (s)
(b)
8
Torque（N.m）

0
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34 0.36 0.38 0.4

Time (s)
(c)

FigureFigure
10. Simulated torque
10. Simulated waveforms
torque waveformsunderunderdifferent controlstrategy
different control strategy in speed
in speed ofrpm
of 500 500and
rpm and
load torque
load torque of 3 Nm:
of 3 Nm: (a) traditional
(a) traditional controlstrategy;
control strategy; (b)
(b)proposed
proposed three-phase
three-phasecurrent commutation
current commutation
strategy
strategy in phase-change
in phase-change angle
angle α ofα of 20◦(c)
20°; ; (c)proposed
proposed three-phase
three-phase current commutation
current strategy
commutation in
strategy in
phase-change angle α of 6.5◦ .
phase-change angle α of 6.5°.
Figure 11 shows the effect of the control of mid-point voltage in DC link. Starting the dynamo
Figure 11neutral
without showsvoltage
the effect of the
control, the control
voltage ofofthe
mid-point
upper DCvoltage
capacitorinCDC link.toStarting
up turns zero. Whenthethedynamo
without neutral
neutral voltage
voltage control,
control the voltage
is implemented, theofvoltage
the upper
of theDC capacitor
upper Cup turns
DC capacitor to zero.
Cup rises /2,
When
to V dc the
fluctuating within a small range around V /2, which proves that neutral voltage
neutral voltage control is implemented, thedc voltage of the upper DC capacitor Cup rises to Vdc/2, can be effectively
controlled
fluctuating under
within the proposed
a small control strategy.
range around Figure proves
Vdc/2, which 12 showsthat
the comparison resultscan
neutral voltage between the
be effectively
conventional commutation strategy and the proposed commutation strategy under 600 rpm and 2 Nm
controlled under the proposed control strategy. Figure 12 shows the comparison results between the
load. As analyzed in Section 4, the current tracking performance is not effective with the conventional
conventional commutation strategy and the proposed commutation strategy under 600 rpm and 2
commutation strategy in Figure 12a due to different inductance values and voltages in the outgoing
Nm load.
phase andanalyzed
As the coming inphase.
Section The4,torque
the current tracking
ripple around 2 Nmperformance
is produced. On is the
notother
effective with the
hand, the
conventional commutation
current tracking is morestrategy in Figure
effective since currents12aindue
threetophases
different inductance
are under values
control with theand voltages in
proposed
the outgoing phase
commutation and the
strategy. Thecoming phase.
torque ripple The torque
is reduced rippleless
to the value around
than 1.62Nm
Nmin is produced.
Figure 12b. On the
other hand, the current tracking is more effective since currents in three phases are under control
with the proposed commutation strategy. The torque ripple is reduced to the value less than 1.6 Nm
in Figure 12b.
 Energies
Energies 11, x12,
2019,2019, FOR3109
PEER REVIEW 14 of14
18 of 18
Energies 2019, 11, x FOR PEER REVIEW 14 of 18

Figure
Figure 11.11.
Figure 11. Measured
Measured performance
performance of
Measuredperformance ofneutral
of neutral
neutral voltage
voltage
voltage control.
control.
control.

Iaref
Phase current

Iaref
(5A/div)
Phase current
(5A/div)

Ia
Ia
(2N.m/div)
Torque
(2N.m/div)
Torque

Time(5ms/div)
(a)
Time(5ms/div)
(a)
Iaref
Phase current
(5A/div)

Iaref
Torque Phase current
(5A/div)

Ia
(2N.m/div)
(2N.m/div)Torque

Ia

Time(5ms/div)
(b)

Figure 12. Experimental results for comparison: (a) conventional commutation strategy; (b)
Time(5ms/div)
proposed commutation strategy.
(b)

Figure 12.12.Experimental
Figure resultsforfor
Experimental results comparison:
comparison: (a) conventional
(a) conventional commutation
commutation strategy; (b)
strategy; (b) proposed
commutation
proposed strategy.strategy.
commutation

Figure 13 displays current waveforms in phase A and switching status using proposed control
in speed of 500 and 750 rpm. In addition, the phase-change angle α is 6.5◦ . Figure 13a,b shows the
working status at a speed of 500 rpm, while Figure 13c,d shows the working status at a speed of
750 rpm. It can be seen that the current in phase A increases from 0 to iref in region α as |e(i)| > BW1,
inverter switching status switches between (4, 2) and (2, 4). When |e(i)| < BW2 and the phase-change is
completed, only two phase is conducted, working at switching status (4, 3), (3, 2), (3, 4), and (2, 3).

(a)
Energies 2019, 12, 3109 15 of 18

I aref

current
Phase current
(1A/div)
(1A/div)
Phase
Ia

Time (1ms/div)
(a)

(b)

Iaref
current
Phase current
(1A/div)
(1A/div)
Phase

Ia

Time (500us/div)
(c)

(d)
Fig. 13. Experimental
Figure results of the
13. Experimental driveof
results in speed of 500inrpm
the drive and 750
speed rpm:and
of 500 (a)phase
750 current in phase-change
rpm: (a) phase currentanglein
◦ ◦
α of
phase-change anglestatus
6.5°; (b) switching α of 6.5 ; (b) switching
in phase-change angle α of 6.5°
status in phase-change angle
; a)phase current α of 6.5 ; (c)angle
in phase-change phaseα of
current
20°; (b)in
phase-change angle α of 20 ◦ ; (d) switching status in phase-change angle α of 20◦ .
switching status in phase-change angle α of 20°
Energies 2019, 12, 3109 16 of 18

Figure 14 shows the dynamic response of speed waveform, torque response, and dc-link midpoint
voltage deviation in the phase-change angle α of 6.5◦ . The speed changes between 500 and 750 rpm,
and the torque limitation is 4 Nm. The given speed n* and the real speed n as well as the given torque
Energies 2019, 11, x FOR PEER REVIEW 16 of 18
T* and the real torque T are shown in Figure 14a. The dc-link midpoint voltage deviation is measured
in Figuretrack
quickly 14b.the It isreference
observedvalue.
in Figure 14a14b
Figure that both speed
illustrates thatand torque
neutral can quickly
voltage can betrack the reference
well controlled in
value. Figure
dynamic 14b illustrates that neutral voltage can be well controlled in dynamic processes.
processes.

(a)

(b)

Figure 14. Dynamic

Dynamic response
response of
of speed
speed waveform,
waveform, torque torque response, and dc-link midpoint voltage
deviation at
atthe
thephase-change
phase-changeangle α ofα6.5of◦ : 6.5°:
angle (a) speed/torque
(a) speed/torque response;
response; (b)and
(b) speed speed andmidpoint
dc-link dc-link
voltage deviation.
midpoint voltage deviation.

7. Conclusions
7. Conclusions
In this
In this paper,
paper, the
the torque
torque ripple
ripple mitigation
mitigation andand current
current hysteresis
hysteresis control
control strategy
strategy for
for aa T-type
T-type
three-level inverter fed open-end DSPM drive system were presented. A
three-level inverter fed open-end DSPM drive system were presented. A phase-change angle αphase-change angle α was
was
added during phase commutation process to suppress the torque ripple. By making
added during phase commutation process to suppress the torque ripple. By making one of the phase one of the phase
currents follow
currents follow aa slope
slope rate
rate to
to decrease
decrease and
and the
the other
other phase
phase current
current follow
follow the
the same
same slope
slope rate
rate to
to
increase, the communication torque ripple can be
increase, the communication torque ripple can be mitigated. mitigated.
To reduce
To reduce the
the current
currentharmonics,
harmonics,a amulti-loop
multi-loop hysteresis
hysteresis current
current controller
controller waswas proposed.
proposed. By
By choosing proper switching states according to the value of current error e(i), the
choosing proper switching states according to the value of current error e(i), the system performed system performed
well in
well in tracking
tracking current
current andand reducing
reducingthe thetorque
torqueripple
ripplecaused
causedby bycurrent
currentharmonics.
harmonics.Meanwhile,
Meanwhile, a
a neutral voltage control strategy was proposed after analyzing different current
neutral voltage control strategy was proposed after analyzing different current loops’ impacts on loops’ impacts on
mid-point voltage.
mid-point voltage.
Both simulation
Both simulation and and experimental
experimental results
results were
were given
given to
to verify
verify validity
validity of
of the
the proposed
proposed control
control
scheme. ItItwas
scheme. wasverified thatthat
verified torque ripple
torque was suppressed
ripple effectively,
was suppressed and phase
effectively, andcurrents
phase were controlled
currents were
well by the proposed multi-loop hysteresis current control strategy.
controlled well by the proposed multi-loop hysteresis current control strategy.

Author Contributions: This paper was a collaborative effort among all authors. All authors conceived the
methodology, conducted the experiments, and wrote the paper.

Funding: This work is supported by the development of ultra-high electric fracturing equipment national
science and technology specific projects of the twelfth five-year plan (2016ZX05038-002).
Energies 2019, 12, 3109 17 of 18

Author Contributions: This paper was a collaborative effort among all authors. All authors conceived the
methodology, conducted the experiments, and wrote the paper.
Funding: This work is supported by the development of ultra-high electric fracturing equipment national science
and technology specific projects of the twelfth five-year plan (2016ZX05038-002).
Conflicts of Interest: The authors declare no conflict of interest.

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