Received September 11, 2018, accepted September 27, 2018, date of publication October 5, 2018, date of current version

October 31, 2018.

Digital Object Identifier 10.1109/ACCESS.2018.2873603

Fault-Tolerant Control Strategy for Five-Phase

PMSM With Third-Harmonic Current Injection
HUANG QIU-LIANG1,2 , CHEN YONG 1,2 , (Senior Member, IEEE), AND LI XU3
1 School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
2 Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu 611731, China
3 Chongqing Chang’an Automobile Co., Ltd., Chongqing 400023, China

Corresponding author: Chen Yong (ychencd@uestc.edu.cn)

This work was supported in part by the National Key Research and Development Plan Programs of China under Grant 2018YFB0106100,
in part by the National Natural Science Foundation of China under Grant 51607027, in part by the Scientific and Technical Supporting
Programs of Sichuan Province of China under Grant 2016GZ0395, Grant 2017GZ0394, and Grant 2017GZ0395, and in part by the
Fundamental Research Funds for the Central Universities under Grant ZYGX2016J140 and Grant ZYGX2016J146.

ABSTRACT As the third-harmonic air-gap magnetic motive forces (MMFs) can be well utilized to
improve the torque density, more and more research has been studying the postfault control for a five-
phase permanent-magnet synchronous motor with trapezoidal back electromotive force (EMF). This paper
presents a new reduced-order fault-tolerant control (FTC) scheme for the FPMSM with trapezoidal back
EMF under single-phase open-circuit fault. Firstly, third reduced-order transformation matrices with third-
harmonic current injection, the postfualt five-phase machines can not only realize an undisturbed MMF
but also maintain high electromagnetic torque. Finally, the results verify that the proposed FTC strategy on
reduced-order model can realize the single-phase open-circuit fault-tolerant and show fast dynamic response
capability even under FTC condition.

INDEX TERMS Fault tolerant control, five-phase permanent-magnet synchronous motor (FPPMSM),
magnetic motive force (MMF), back electromotive force (EMF), transformation matrices, dynamic response.

I. INTRODUCTION realize a fast and accurate fault diagnosis, novel algorithms

Multiphase machine and drives technology have been
intensely developed both in healthy and fault-tolerant sit-
uations. One of the most remarkable merits for it is the
exploitation of additional degrees of freedom in multiphase
drives [1]. By adopting proper fault-tolerant control (FTC)
method, the remaining healthy phases can minimize the neg-
ative impact caused by the fault phase and maintain a smooth
torque output without extra hardware equipment [2], which
is highly appreciated in safety-critical applications, such as
military aerospace and navigation [3].
Generally, there are mainly three kinds of electrical faults
for machines. That is open phase fault, short-circuit fault and
resistive unbalance fault [4]. Among these, open-circuit faults
in motor phases and inverter semiconductor switches are the
most common [5]. The open phase fault usually appears as a
result of the phase winding is disconnected from the power
source or internal stator winding failure [6], which can cause
unbalanced power supply, large electromagnetic torque rip-
ples, distinct mechanical vibration and eventual breakdown
of the drive. When the open-phase fault happens, in order to
should be adopted, such as fault reconstruction approach
based on sliding mode observer [7] and signal-based detec-
tion method [8]. After the fault has been detected, the current
references need to be recalculated in order to preserve a
smooth ripple-free operation. The key technique for FTC
is to compensate the asymmetrical air-gap magnetic motive
force (MMF) to restrain the torque ripples. Therefore there
are usually two categories of fault-tolerant strategies, that is
optimal current reconfiguration control [9]–[12] and reduced-
order decoupled model field-orient control (FOC) [13]–[17].
In [9], based on the instantaneous power balance,
the authors utilized the mirror symmetry property of reaming
phases to reconfigure the current of FPMSM so as to increase
the average output torque while reducing the torque ripples.
The weakness of this approach is the complicated solving
process which cannot realize an online calculation. [10]–[12]
proposed the fault-tolerant strategy based on preserving an
undisturbed postfault rotating MMF to reconfigure the phase
angle and amplitude of remaining phases. For single phase
open-circuit fault, the fault-tolerant current reconfiguration

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 H. Qiu-Liang et al.: FTC Strategy for Five-Phase PMSM With Third-Harmonic Current Injection

can be not unique and additional constraints are needed to calculation process of this method is complex and the average
calculate proper currents. References [10] and [11] obtained fault-tolerant output torque will be degraded.
the fault-tolerant currents by keeping balanced phase currents This paper completes new reduced-order transformation
and copper losses. An optimal solution was presented in [12] matrices on both first and third space frame for five-phase
by minimizing overall stator joule losses. While these meth- machine single-phase open-circuit fault-tolerant control.
ods are simply employed in machines with sinusoidal back Therefore, both the undisturbed MMF as well as high electro-
electromagnetic force (EMF) and can only be realized with magnetic torque performance can be realized. The remainder
hysteresis current control technique due to the lack of post- of this paper is as follows. In section II, the new reduced-
fault model, which inevitably results in variable switching order transformation matrices are deduced and exhibited.
frequency and destroy electromagnetic compatibility. Section III introduces the FTC methods applied on the pro-
Comparing with hysteresis current control, the reduced- posed postfault model. The simulation results will be given
order decoupled model FOC with PI-type current control to verify the proposed method in section IV. Finally the
can achieve constant switching frequency. Therefore, it is a conclusions will be presented in section V.
more attractive option for multiphase machine fault-tolerant.
Reference [13] proposed a postfault reduced-order transfor- II. REDUCED-ORDER TRANSFORMATION MATRIX UNDER
mation matrix which satisfies orthogonality of every row vec- SINGLE-PHASE OPEN-CIRCUIT FAULT
tor. However there exists cross coupling between d1-q1 axes, The transformation matrix has been extended from
therefore the voltage equation needs to multiply the inverse three-phase machines (abc→dq0) to five-phase machines
matrix of a nonsingular matrix to both sides to get the decou- (abcde → d1 q1 d3 q3 0) in healthy conditions [14]. When the
pled model. While the coefficients of this model are time open phase fault happens in a five-phase motor, it is necessary
variant, thus performance of current PI controllers will be to establish a new Clark and Park transformation matrices
degraded and its application is also restrained. On the basis of because of the disappearance of symmetry property.
that, Tian et al. [15], Liu et al. [16], and Bermudez et al. [17] The system under study is based on a five-phase PMSM
present a new reduced-order Clark transformation matrix and with star-connected stator windings and trapezoidal back
get the decoupled model with no time variant coefficients. EMF fed by a five-phase half-bridge power inverter. The open
The fundamental decoupled models can keep the fundamental phase can be arbitrary and in the following discussion, it is
torque at d-q frame as the same as the healthy case, however, assumed that an open-circuit fault has occurred in phase A,
the third harmonic of winding density distribution results where the PM flux density keeps invariant no matter of the
in torque ripple. Hence, [16] proposed a harmonic current temperature, cogging and magnetic saturation effects.
injection method for reduce the torque pulsations caused by
the high order harmonic of MMF. Zhou et al. [18] put for- A. PRINCIPLE FOR SINGLE-PHASE OPEN-CIRCUIT FAULT
ward a new remedial field-oriented control (RFOC) method Considering that the currents fed by the drivers are five-phase
which was derived from the fault-tolerant current references. trapezoidal which contains fundamental and third-harmonic
However, all of above studies didn’t consider the fault- components. So, the currents can be depicted as:
tolerant FOC strategies for machines with third harmonic
back EMF. As is known to all, five-phase PMSM can not only ia = Im1 cos(θ ) + Im3 cos(3θ )
utilize its additional third-harmonic space frame to increase 2π 6π
its electromagnetic torque in healthy operation but also in ib = Im1 cos(θ − ) + Im3 cos(3θ − )
5 5
fault condition to reduce the fourth-order and second-order 4π 12π
harmonics so as to minimize torque ripples [19]. Therefore, ic = Im1 cos(θ − ) + Im3 cos(3θ − )
5 5
the FTC approach for PMSM with third-harmonic current 6π 18π
injection should be paid more attention. id = Im1 cos(θ − ) + Im3 cos(3θ − )
5 5
Recently, some achievements for fault-tolerant control of 8π 24π
five-phase motor with third-harmonic current injection have ie = Im1 cos(θ − ) + Im3 cos(3θ − ) (1)
5 5
emerged. Bianchi et al. [19] utilized air-gap flux density
to build the motor model and studied both open-circuit Where Im1 is the fundamental phase current amplitude,
fault of single phase and two nonadjacent phases. The sym- Im3 is the third-harmonic phase current amplitude and θ
metrical postfault current constraint was imposed to get denotes the rotor electrical position. Then the stator phase
the fault-tolerant current with third harmonics injection. MMFs are given as:
However, the current results are not optimized to produce Ns
maximum torque. In [20], the instantaneous power was MMFa (φ, θ) = (Im1 cos(φ) cos(θ )+Im3 cos(3φ) cos(3θ ))
grouped into average power components (P’s) and pulsat- 2 
Ns 2π 2π
ing power components (Q’s) who generate average electro- MMFb (φ, θ) = Im1 cos(φ − ) cos(θ − )
magnetic torque and torque ripples respectively. To obtain a 2 5 5

ripple-free output torque, the summation of all the pulsating 6π 6π
+ Im3 cos(3φ − ) cos(3θ − )
power components was constrained to zero. Whereas, the 5 5

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H. Qiu-Liang et al.: FTC Strategy for Five-Phase PMSM With Third-Harmonic Current Injection


Ns 4π 4π
MMFc (φ, θ) = Im1 cos(φ − ) cos(θ − ) According to the features of the postfault current reference
2 5 5 calculation, the healthy currents present mirror symmetry

12π 12π principle with respect to the location of the faulty phases [1].
+ Im3 cos(3φ − ) cos(3θ − ) And in order to preserve the average torque output, it is
5 5
 assumed that the amplitudes of remaining healthy currents
Ns 6π 6π
MMFd (φ, θ) = Im1 cos(φ − ) cos(θ − ) are constrained to be same and satisfy that:
2 5 5
18π 18π
 i0b = −i0d , i0c = −i0e (7)
+ Im3 cos(3φ − ) cos(3θ − )
5 5 Calculate (6) and (7), it can be obtained that:

Ns 8π 8π
MMFe (φ, θ) = δ

Im1 cos(φ − ) cos(θ − ) 5 Im1
2 5 5 i0b = −i0d = cos(θ − )
 4 (sin δ) 2 2
24π 24π !
+ Im3 cos(3φ − ) cos(3θ − ) (2) Im3 3δ
5 5 +
cos(3θ − )
δ
Ns is the total number of turns for each phase, φ is the (sin 2δ) sin 2 2
spatial angle. And the total MMF is the sum of all five-phase

5 Im1
MMFs, that is: i0c = −i0e = cos(θ − 2δ)
4 (sin δ)2
MMFtotal (φ, θ)
!
Im3
+
cos(3θ − δ) (8)
= MMFa (φ, θ) + MMFb (φ, θ) (sin 2δ) sin 2δ
+ MMFc (φ, θ) + MMFd (φ, θ) + MMFe (φ, θ)
Where, δ = 2π
5 .
5
= (Ns Im1 cos(θ − φ) + Ns Im3 cos(3θ − 3φ))
4 B. FUNDAMENTAL REDUCED-ORDER
5 TRANSFORMATION MATRIX
= Ns Im1 (ejθ e−jφ + e−jθ ejφ )
8 As can be seen from expression (8), the healthy phase currents

+Ns Im3 (ej3θ e−j3φ + e−j3θ ej3φ ) (3) contain both fundamental and third-harmonic components.
Therefore, the currents will be studied separately and the
Besides, the total MMF can also be written as: fundamental currents can be manifested as:
cos 2δ sin 2δ
 0   
MMFtotal ib1
 i0 
Ns h  0c1  = 1.382  cos 2δ sin 2δ 
2π 4π 4π 2π
 
= ia + e−j 5 ib + e−j 5 ic + ej 5 id + ej 5 ie ejφ i   cos 2δ − sin 2δ 

4 d1
 2π 4π 4π 2π
 i0e1 cos 2δ − sin 2δ
+ ia + ej 5 ib + ej 5 ic + e−j 5 id + e−j 5 ie e−jφ
cos θ − sin θ
  
id1
× (9)
sin θ cos θ
 4π 2π 2π 4π

+ ia + ej 5 ib + e−j 5 ic + ej 5 id + e−j 5 ie ej3φ iq1
 4π 2π 2π 4π
 i Where, cos(2δ) = −cos(δ/2) and sin(2δ) = sin(δ/2). It can
+ ia + e−j 5 ib + ej 5 ic + e−j 5 id + ej 5 ie e−j3φ
be noted that the current amplitudes of healthy phases become
(4) 1.382 times as original one. The phase angles of phase-B
and phase-E shift π5 while the phase angles of phase-C
According to (3) and (4), the following can be gain: and phase-D remain unchanged. When a single-phase open-
5 2π 4π 4π 2π circuit occurs, the five-phase PMSM lose one degree of
Im1 ejθ = ia + ej 5 ib + ej 5 ic + e−j 5 id + e−j 5 ie
2 freedom, therefore the transformation matrix needs to be
5 4π 2π 2π 4π reconfigured. Choose two orthogonal vectors T11 and T12 as
Im3 ej3θ = ia + e−j 5 ib + ej 5 ic + e−j 5 id + ej 5 ie (5) the bases of α1 − β1 subspace:
2
When a single-phase open-circuit fault happens in cos 2δ cos 2δ
 
T11 = cos 2δ cos 2δ
phase-A, the current of it will be null. In order to provide
the desired torque, the remaining four healthy phase currents  3.618 3.618 3.618 3.618 
sin 2δ sin 2δ − sin 2δ − sin 2δ
should be controlled to produce spatial circular rotation of T12 = (10)
fundamental PM flux linkage vector and undisturbed rotating 1.91 1.91 1.91 1.91
MMFs. Therefore: And the generalized zero-order subspace vector Z1 should
5 2π 4π 4π 2π satisfy:
Im1 ejθ = ej 5 i0b + ej 5 i0c + e−j 5 i0d + e−j 5 i0e
2
T11 Z1T = T12 Z1T = 0
5 4π 2π 2π 4π
Im3 ej3θ = e−j 5 i0b + ej 5 i0c + e−j 5 i0d + ej 5 i0e (6) T
Z1 i0b1 i0c1 i0d1 i0e1 = 0

(11)
2
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The postfault Clark transformation is consisted of α1 − β1 angles of phase-C and phase-D shift 2π 5 . Choose two orthog-
subspace, generalized zero-order subspace and zero-order onal vectors T31 and T32 as the bases of α3 − β3 subspace:
subspace. Besides, the sum of the remaining healthy phase
cos 3δ 3δ
 
currents is equal to zero. Therefore, the fundamental orthog-
T31 = 2 cos δ cos δ cos 2
onal reduced-order transformation matrix can be depicted as:
 1.382 1.382 1.382 1.382 

cos 2δ cos 2δ cos 2δ cos 2δ
 sin 3δ
2 sin δ − sin δ − sin 3δ
2
T32 = (17)
 3.618 3.618 3.618 3.618  13.09 13.09 13.09 13.09
 sin δ − sin 2δ 
 
2 sin 2δ − sin 2δ The calculation of generalized zero-order vector Z3 is as
f
 
TClark1 =  (12)
 1.91 1.91 1.91 1.91  same as Z1 . Therefore, the third orthogonal reduced-order
 sin δ − sin δ sin δ − sin δ 
 
transformation matrix can be depicted as:
 
5 5 5 5
1 1 1 1 cos 3δ cos δ cos δ cos 3δ
 
2 2
And its inverse matrix is:  1.382 1.382 1.382 1.382
 

δ δ  sin 3δ sin δ − sin δ − sin 3δ
   
2 2
sin δ

 cos 2 sin 0.181  f
TClark3 =  13.09 (18)
 
2 13.09 13.09 13.09 
− sin δ  sin δ − sin δ sin δ − sin δ
 
 cos 2δ sin 2δ 0.181 
 
f −1 
TClark1 = 1.382 
sin δ
 
 cos 2δ − sin 2δ 0.181 

 13.09 13.09 13.09 13.09 
 δ δ 
cos − sin − sin δ 0.181 1 1 1 1
2 2
(13) And its inverse matrix is:
Meanwhile, the fundamental reduced-order Park transfor- 
3δ 3δ

mation matrix under single-phase open-circuit fault can be  cos 2 sin sin δ 0.069 
2
defined as:  cos δ sin δ − sin δ 0.069 
 
f −1
TClark3 = 3.618 
cos θ sin θ  cos δ − sin δ sin δ 0.069 
  
0 0
 − sin θ cos θ 0 0 
 3δ 3δ 
f
TPark1 =  (14) cos − sin − sin δ 0.069
 0 0 1 0 2 2
0 0 0 1 (19)

Then with the fundamental reduced-order Clarke and Park Meanwhile, the third reduced-order Park transformation
transformation, the faulty motor model can be transformed matrix under single-phase open-circuit fault can be defined
into fundamental synchronous frame (d1 -q1 -z1 -0) as: as:
 T
fd1 fq1 fz1 f01 
cos 3θ sin 3θ 0 0

f f 0 T
 0 0 0 − sin 3θ cos 3θ 0 0

= TPark1 TClark1 fb1 fc1 fd1 fe1 (15) f
TPark3 =

 (20)
 0 0 1 0
Where, f presents electrical variable such as current and 0 0 0 1
voltage.
Then with the third reduced-order Clarke and Park trans-
C. THIRD-HARMONIC REDUCED-ORDER formation, the faulty motor model can be transformed into
TRANSFORMATION MATRIX fundamental synchronous frame (d3 -q3 -z3 -0) as:
The analysis of third-harmonic frame is as same as fundamen-
 T
tal frame and the third-harmonic currents can be manifested fd3 fq3 fz3 f03
as: f f
 0 0 0 0
T
  = TPark3 TClark3 fb3 fc3 fd3 fe3 (21)
3δ 3δ
 0 
ib3 cos sin
 2 2  So far, the new reduced-order transformation matrices
 i0  cos δ sin δ 
 
 0c3  = 3.618  
satisfying undisturbed fundamental and third spatial MMFs
i   cos δ − sin δ 

d3 principle are derived. As the method proposed in this paper
i0e3  3δ 3δ 
cos − sin is based on undisturbed rotating MMF, the currents can be
2 2
maintained as normal ones, which guarantee the unchanged
cos θ − sin θ
 
id3
× (16) fault-tolerant electromagnetic torque. Besides, compared
sin θ cos θ iq3
with motors driven by only sinusoidal current, auxiliary third
It can be noted that the third-harmonic current amplitudes harmonic current improves the torque density. Therefore with
of healthy phases become 3.618 times as original one. The these transformations, the postfault machines can achieve
phase angles of phase-B and phase-E shift π5 and the phase maximum torque output.

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H. Qiu-Liang et al.: FTC Strategy for Five-Phase PMSM With Third-Harmonic Current Injection

Where, ψm1 and ψm3 denote the PM flux-linkage ampli-

tudes of first and third harmonics respectively. By multiplying
the modified transformations (12), (14), (18) and (20) to
both sides of equation (22), then the voltage equation under
d-q axes is derived:
  h f ih f i
Udi qi zi 0 = TParki TClarki [Us ]
i d L 0 [IS ]
 
 0   h f ih f S
= RS Idi qi zi 0 + TParki TClarki
dt
h ih i d ψ bcde
 
f f m
+ TParki TClarki (24)
dt
FIGURE 1. Joint simulation system. Where i = 1, 3, representing the fundamental and third-
harmonic d-q frames. The second part of right side of (24)
denotes the induced EMF and the third part of that denotes
III. FTC PRINCIPLES FOR THE PROPOSED the back EMF. Furtherly, the voltage equations in d-q frame
POSTFAULT MODEL are:
Under the loss of phase-A, stator voltage equation for a five- 
d
phase PMSM in natural coordinates is given by:

 ud1 = rs id1 + Ld1 id1 − wLq1 id1



 dt
h i  h i d h i 
 d
USbcde = R0S Isbcde + ( ψsbcde )

 uq1 = rs iq1 + Lq1 iq1 + wLd1 iq1 + wψm1
dt


dt 

 0  h bcde i d  0  h bcde i h bcde i

 d
+ ψm ) (22) uz1 = rs iz1 + Lls iz1 + 3wψm3 cos 3θ

= R S Is + ( Ls Is

dt dt (25)
 d
 ud3 = rs id3 + Ld3 id3 − 3wL q3 i d3
Where, R0S = rs · I4×4 is the stator resistor, Ls0 is the
    


 dt
stator inductance after open phase fault. They can be obtained


 d
from the healthy five-phase PMSM by removing the
 uq3 = rs iq3 + Lq3 iq3 + 3wLd3 iq3 + 3wψm3
 row and

dt


the column corresponding to phase-A. And ψmbcde is the per-
 

 d
uz3 = rs iz3 + Lls iz3 + wψm1 cos θ


manent magnet flux-linkage vector under fault deriving from dt
healthy one, which considers only first and third harmonics.
As for the electromagnetic torque, it can be deduced by

cos(θ − δ)
 
cos(3θ − 3δ)
 taking a derivative of magnetic co-energy with respect to
h i  cos(θ − 2δ)   cos(3θ − 6δ)  rotor electrical position, and then the torque equation can be
ψmbcde = ψm1   cos(θ + 2δ)  + ψm3  cos(3θ + 6δ) 
  
obtained:
cos(θ + δ) cos(3θ + 3δ) ∂Wco T ∂ [Ls ] T ∂ [ψms ]
 
1
Te = =P [Is ] [Is ] + [Is ] (26)
(23) ∂θ 2 ∂θ ∂θ

FIGURE 2. Control scheme under single-phase open-circuit fault.

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TABLE 1. Simulation parameters of five-phase PMSM.

TABLE 2. Pi controller parameters for five-phase PMSM.

Where P is the number of pole pairs. Usually the induc-

tance has no relevance with position, therefore the first part
of (26) equals to null.
For non-salient pole machines, id has no influence to the
torque, instead it will induce more copper loss. Therefore, the
id = 0 control strategy is a feasible way of determination of
output torque simply by iq . With this control torque math-
ematical expression are calculated. After substituting (12),
(14), (18), (20) and (23) into (26), the electromagnetic torque
can be manifested as:

Te = Te1st + Te3rd
5
= P iq1 ψm1


2  
5 3
+ Pψm3 3iz1 cos(3θ ) + iq1 (− cos 2θ + cos 4θ )
2 2
5
+ P 3iq3 ψm3


2  
5 1
+ Pψm1 iz3 cos(θ ) + iq3 (cos 4θ −cos 2θ ) (27)
2 2
FIGURE 3. Five-phase PMSM under healthy condition.
(a) α-β fundamental flux linkage. (b) α-β current (blue line: third
As can be observed from (27), iz1 and iz3 will cause harmonic, red line: fundamental). (c) Five-phase currents.
torque ripples relevant to first-order and third-order torque (d) Electromagnetic torque.
pulsations, therefore they should be controlled to zero to
descend the pulsations. Meanwhile, when iq1 and iq3 satisfy
the following relationship, the second-order and forth-order designed by RT-LAB, fault-tolerant control is realized by
torque pulsations can be eliminated: dSAPCE.
The control scheme under single-phase open-circuit fault
iq3 = −k · iq1 (k = 3ψm3 /ψm1 ) (28) is shown in Figure.2. And parameters of simulated five-phase
PMSM are listed in table 1. For the FOC control scheme, it is
IV. RESULTS ANALYSIS composed of current loop and speed loop, in which the output
Joint simulation system is constructed by dSAPCE and of the speed regulator is used as the input of the reference
RT-LAB, as shown in Figure.1. Five-phase PMSM is current. The proportional-integral (PI) controller is adopted in

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FIGURE 4. Five-phase PMSM under single-phase open-circuit fault.

(a) α-β fundamental flux linkage. (b) α-β current (blue line: third
harmonic, red line: fundamental). (c) Electromagnetic torque.

TABLE 3. Results comparison of different fault-tolerant strategies.

the simulation and its values are listed in table 2. The machine
phase currents are transformed through modified Clark and
Park matrices and fed back to compare with the reference cur-
rent. The speed is fed back to follow the reference speed set
to be 100 rpm. The SPWM modulation technique is adopted
to drive the inverter based on input modulating signals.
When the five-phase machine is working under healthy
condition (load torque is 4.555Nm), in order to increase the
torque density, third-harmonic current is injected as pictured FIGURE 5. Five-phase PMSM under FTC. (a) α-β current (blue line: third
harmonic, red line: fundamental). (b) Remaining four-phase currents.
in Figure.3 (c) where the phase currents show flattop curve. (c) Electromagnetic torque. (d) Measured currents under fundamental and
As can be seen from Figure.3 (a) and (b), the trajectories third frame.

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 H. Qiu-Liang et al.: FTC Strategy for Five-Phase PMSM With Third-Harmonic Current Injection

FIGURE 6. FTC torque comparison of five-phase machines. (a) FTC torque

waveform with only fundamental current. (b) FTC torque waveform with
third-harmonic current injection.

FIGURE 7. Electromagnetic torque waveform during entire operation.

of flux-linkage and current components in α-β axes form

a standard circle in healthy operation. Besides, the output
torque performs well with only little ripples.
When a single-phase open-circuit fault happens on
five-phase machine at 0.16s, due to the loss of control on
phase-A, the MMF is disturbed with the original control
strategy. As can be manifested in Fig.4 (a) and (b) where
the trajectories of flux-linkage and current components in
α-β axes cannot be form a circle anymore, instead they are
distorted to be ellipse. Besides, the output torque will fluctu-
ate as shown in Fig.4 (c). To assess the torque performance
under different operations, a torque ripple factor is defined as
follows:
Tmax − Tmin
Kripple = × 100% (29)
Tload
Therefore, Kripple for machines under healthy and fault
conditions are 4.4% and 18.22% respectively.
After fault happens, the proposed orthogonal reduced-
order transformation matrices are applied on the control loop.
It can be seen from Fig.5 (a) that with the use of FTC scheme,
the trajectory of fundamental current in α-β axis has been
remedied to be nearly a circle which guarantees an undis-
turbed MMF. As shown in Fig,5 (b), due to the injection of
third-harmonic current, phase currents are not sinusoidal but
have the same amplitude, which satisfies with the aforesaid
deduction of reduced-order transformation matrix. Besides,
the torque performance is shown in Fig.5 (c), where Kripple
is 5.05%. Fig.5 (d) exhibits the measured currents under
fundamental and third frame. As the existence of 2nd and
4th harmonic components the d- and q- axes current is not
FIGURE 8. Dynamic response performance of five-phase PMSM under
FTC. (a) Remaining four-phase currents. (b) Electromagnetic torque.
(c) Torque step-up response zoom in Fig8.(b).
a constant value. The comparison with the FTC method only
using fundamental component is exhibited in Fig.6. As can
be seen from it, the proposed method has a better torque per-
formance than previous one that only considers fundamental
components.
The entire operation including normal, one phase open
fault and fault-tolerant control has been exhibited in Fig.7,
from which it can be observed that when fault happens there
will be a large pulsation and with the proposed FTC method
the torque pulsation can be effectively inhibited. In addi-
tion, comparisons with other reduced-order decoupled con-
trol approaches are listed in table 3. Given the load be the
same, the first method is from [14], and the second method
is from [21]. It can be noted that among these three fault–
tolerant schemes, the method proposed in this paper can
achieve minimum torque ripple performance.

58508 VOLUME 6, 2018

H. Qiu-Liang et al.: FTC Strategy for Five-Phase PMSM With Third-Harmonic Current Injection
In order to verify the dynamic response performance of
the proposed reduced-order fault model, the current response
under fault-tolerant condition when torque steps up from
4.555Nm to 7Nm is presented in Fig.8 (a). The torque step-
up response is shown in Fig.8 (b) as well as its magnified
response progress is exhibited in Fig.8 (c), from which the
response time is obtained to be around 5ms. Therefore, with
the proposed reduced-order transformation and FOC scheme,
the dynamic capacity under fault-tolerant can also perform
well.
V. CONCLUSION
In this paper, new reduced-order transformation matrices
including first and third frame are presented for five-phase
PMSM with trapezoidal back EMF under single-phase open-
circuit fault. Both the first and third transformations are
derived on the basis of undisturbed MMFs and preservation of
average torque. Compared with FTC considering only funda-
mental components, the simulated machine holds a little bit
smaller ripples because of the third-harmonic current injec-
tion. Finally, the dynamic response performance under fault-
tolerant is tested and verified to be fast with the proposed
control scheme.
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HUANG QIU-LIANG was born in Zigong,
Sichuan, China, in 1994. She received the B.S.
degree in electrical engineering and its automation
from Three Gorges University, China, in 2016. She
is currently pursuing the M.S. degree in electrical
engineering with the University of Electronic Sci-
ence and Technology of China (UESTC). Since
2016, she has been with UESTC. Her research
interests include multiphase motor design and
fault-tolerant control.
CHEN YONG (M’08–SM’16) was born in
Neijiang, Sichuan, China, in 1977. He was a
Visiting Scholar with The University of Adelaide
in 2013. Since 2015, he has been a Professor
and Ph.D. Supervisor with the School of Automa-
tion Engineering and the Director of the Institute
for Electric Vehicle Driving System and Safety
Technology, University of Electronic Science and
Technology of China. He has published over
100 technical papers in journals and conferences,
and he holds 20 Chinese patents. His current research interests include power
electronics, motor control, fault-tolerant control, and network control.
LI XU was born in Xichang, Sichuan, China. He
received the B.S., master’s, and Ph.D. degrees
from Chongqing University in 2001, 2004, and
2008, respectively. He is a Professor Level
Senior Engineer, P5 Level Technical Expert with
Chongqing Chang’an Automobile Co., Ltd., hun-
dreds of engineering and technical talents of
Chongqing. His main research interests include
electric vehicle, safety technology, and EMC.
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