Torque Capability Enhancement of Dual Three-
Phase PMSM Drive with Fifth and Seventh
Current Harmonics Injection
Yashan Hu, Z. Q. Zhu, and Milijana Odavic
Φ
Abstract -- This paper proposes a method for enhancing
torque capability of a dual 3-phase permanent magnet
synchronous machine (PMSM) drive system by injecting the
fifth and seventh current harmonics without any hardware re-
configuration. In this approach, compared with the third
current harmonic injection which is commonly used to enhance
torque capability, the two isolated neutral points of the dual 3-
phase machine do not need to be connected to the middle point
of dc-link capacitors or an additional power switching bridge.
Further, no additional current sensors to regulate the current
harmonics are needed. For a prototype dual 3-phase PMSM the
average torque was increased approximately by 9% at the cost
of 0.56% increase in the 12th harmonic torque ripple. The
effectiveness of the torque capability enhancement is confirmed
by experiments.
Index Terms-- Current harmonics injection, double star
machine, dual three-phase, six-phase machine, torque
capability.
I. INTRODUCTION
I N some high power industrial applications such as
electric ship propulsion, aircraft drives, locomotive
traction, etc., high power ratings for both machine and
converter are required [1]. However, due to the current rating
limitation of power devices [2, 3], the converter rating is
limited to a certain range. To solve this problem, a widely
acceptable alternative is the dual 3-phase drive system,
which has been a viable approach to obtain high power rating
[4, 5] due to its outstanding advantage of the double power
capability of single 3-phase drive system. The typical
topology of the dual 3-phase system is shown in Fig. 1,
where the dual 3-phase machine is fed by two sets of single
3-phase VSIs [6], one set is designated as ABC, the other set
is designated as XYZ, which is shifted by 30° elec.
In literature, various methods have been proposed to
increase the torque density of the machine. One typical
approach to torque enhancement in PMSMs is to employ the
optimal third-harmonic magnet shaping as proposed in [7-9].
B X
Y
π
A strategy, the prominent advantage of the method proposed in
θs =
C
6 this paper is that it can increase the torque capability without
Z
Fig. 1 Dual 3-phase PMSM drive system [6].
Yashan. Hu, Z. Q. Zhu, and Milijana. Odavic are with the Department of
Electronic and Electrical Engineering, The University of Sheffield, Sheffield,
S1 3JD, U.K. (e-mail: yashan.hu@sina.com; Z.Q.Zhu@sheffield.ac.uk;
m.odavic@sheffield.ac.uk).
l-)))
Due to the advantage of additional freedom of current
harmonics injection compared to the 3-phase counterparts [3,
10], the power capability of the dual 3-phase system could be
further increased by the current harmonics injection. For
example, the third current harmonics were injected into the
stator currents to enhance the total torque of a 5-phase
induction machine (IM) [10-12] and PMSM [13]. The third,
fifth, and seventh current harmonics were injected into the
stator currents to enhance the torque of a 9-phase
synchronous reluctance machine [14]. In [15], the third, fifth,
seventh, and ninth harmonics injection to the stator currents
of an 11-phase IM was proposed to increase the torque
capability.
The torque improvement in the dual 3-phase IM with zero-
sequence current components (the third current harmonic)
injection was introduced in [16]. However, in order to
provide the flowing path for the third current harmonic, the
two neutral points of dual 3-phase machine, Fig. 1, have to
be connected to the middle point of the dc link capacitor or to
an additional inverter leg [16, 17]. This additional leg is
particularly essential when the injection of third current
harmonic in the midpoint of the dc link capacitor causes
undesirable ripple voltages when operating at low
frequencies [16]. Meanwhile, to regulate the third harmonic
current effectively, two additional current sensors and two
additional third current harmonic regulators are required.
Although the torque capability of dual 3-phase machine can
be increased, this strategy is not suitable for the dual 3-phase
machine without the access to the two isolated neutral points,
Fig. 1.
Generally, the fifth and seventh current harmonics in the
dual 3-phase system are suppressed for low total harmonics
distortion and high efficiency. For example, the fifth and
seventh current harmonics in the dual 3-phase IM caused by
the inverter non-linearity were eliminated in [18]. The fifth
and seventh harmonics in the dual 3-phase PMSM caused by
the inverter non-linearity and non-sinusoidal back
electromotive force (EMF) were eliminated in [19].
In this paper, the fifth and seventh harmonics in the stator
current will be regulated to extend the torque capability of
the PMSM. Compared to the third current harmonic injection
any hardware modification and extra current sensors.
This paper is organized as follows. Firstly, the coefficients
of the fifth and seventh current harmonics will be determined
to obtain the maximum fundamental component for the
allowed current peak. In Section II, the average torque and
torque ripple due to the fifth and seventh current harmonics
and back EMF harmonics are analyzed in detail. The
proposed current control scheme with the fifth and seventh

current harmonics injection will be introduced in Section III. 1.0 Combination 5th
III Experiments will be conducted on a prototype dual 3- fundamental 7th
0.5
phase PMSM to validate the torque capability improvement
in Section IV. 0.0
-0.5
II. FIFTH AND SEVENTH CURRENT HARMONICS INJECTION -1.0
AND TORQUE CAPABILITY ENHANCEMENT ANALYSIS 0 60 120 180 240 300 360
θx (°)
A. Fifth and Seventh Current Harmonics Injection
Fig. 2 Optimized current with the fifth and seventh harmonics injection.
The optimal magnitude of the third harmonic is 1/6 of the
Accounting the fifth and seventh current harmonics in
fundamental component to maximize the fundamental
back EMF, the back EMF of phase A can be expressed as:
magnitude for a given current peak value [7-9]. In the same
way, when the fifth and seventh harmonics injection strategy § § π· ·
¨ cos ¨ θ + ¸ ¸
is employed, the coefficients of the fifth and seventh ¨ © 2¹ ¸
harmonics should be optimized to provide the maximum ¨ § § π· ·¸
fundamental component for the defined stator current peak ea (θ ) = ke1 2 Ebase ¨ +5ke 5 cos ¨ 5 ¨ θ + ¸ + θ e 5 ¸ ¸ (3)
value. ¨ © © 2¹ ¹¸
The stator current with the fifth and seventh harmonics can ¨ ¸
¨ +7 k cos § 7 § θ + π · + θ · ¸
be generally expressed as ¨ e7 ¨ ¨ ¸ e7 ¸ ¸
© © © 2¹ ¹¹
y (θ x ) = k1 ⋅ ( cos(θ x ) + k5 cos(5θ x + θ 5 ) + k7 cos(7θ x + θ 7 ) ) (1)
where șe5 and șe7 are the offset angle of the fifth and seventh
where șx is the phase angle of the fundamental, ș5 and ș7 are harmonics in back EMF, ke1 is the gain of the fundamental,
the offset angles of the fifth and seventh current harmonics 5ke5 and 7ke7 are the relative gains of the fifth and seventh
respectively, k1 is the gain of the fundamental, k5 and k7 are harmonics with respect to the fundamental component in
relative gains of the fifth and seventh current harmonics to back EMF.
fundamental current respectively. The coefficients of Based on (2) and (3), the other phase currents and back
optimization results are listed in TABLE I, which can be EMFs can be expressed as:
obtained by Matlab Optimization Toolbox or by genetic Fb (θ ) = Fa (θ − 4θ s ) (4)
algorithm [1].
TABLE I Fc (θ ) = Fa (θ − 8θ s ) (5)
COEFFICIENTS OF OPTIMIZATION RESULTS
Coefficient Value Fx (θ ) = Fa (θ − θ s ) (6)
k1
k5
1.077
-0.126
Fy (θ ) = Fa (θ − 5θ s ) (7)
ș5 0 Fz (θ ) = Fa (θ − 9θ s ) (8)
k7 0.053
ș7 0 where șs=ʌ/6 and F can be current or back EMF. Neglecting
the reluctance torque, the power generated by the first set
The optimized current profile is shown in Fig. 2. It is (i.e. phases ABC) can be expressed as
evident that current profile with the fifth and seventh current P1 (θ ) = ¦ e phs (θ ) i phs (θ ) (9)
harmonics injection is within the limit of 1pu, while the phs = a ,b , c
fundamental current peak value is 1.077pu, TABLE I, which Substituting (2)-(5) into (9), the torque generated by the
means that the fundamental current can be increased by 7.7% phases ABC can be expressed as:
with respect to the stator current without harmonics. P (θ ) 3Ebase I base
T1 (θ ) = 1 = ke1ki1
B. Analysis of Average Torque and Torque Ripple Ω rate Ωrate
The current of phase A can be expressed as: ­1 ½
§ § π· · ° °
¨ cos ¨ θ + ¸ ¸ °−5ke5 cos(6θ + θ e5 ) − 7ke 7 cos(6θ + θ e 7 ) °
© 2¹ ° °
¨ ¸ ®−ki 5 cos(6θ + θ i 5 ) − ki 7 cos(6θ + θi 7 ) ¾
¨ § § π· ·¸ °+5k k cos(θ − θ ) + 7k k cos(θ − θ ) °
ia (θ ) = ki1 2 I base ¨ + ki 5 cos ¨ 5 ¨ θ + ¸ + θ i 5 ¸ ¸ (2) ° e5 i 5 e5 i5 e7 i 7 e7 i7 °
¨ © © 2¹ ¹¸
¨ ¸ ¯°+5ke5 ki 7 cos(12θ + θ e5 + θi 7 ) + 7ke 7 ki 5 cos(12θ + θ e 7 + θi 5 ) °¿
¨ + k cos § 7 § θ + π · + θ · ¸ (10)
¨ i7 ¨ ¨ ¸ i7 ¸ ¸ where ȍrate is the rated mechanical speed. The first line in
© © © 2¹ ¹¹
(10) presents the torque generated by the fundamental back
where ș is the permanent magnet (PM) rotor position, și5 and
EMF and the fundamental current. The second line in (10)
și7 are the offset angle of the fifth and seventh current
defines the torque generated by the fifth and seventh back
harmonics respectively, ki1 is the gain of the fundamental, ki5
EMF harmonics and fundamental current. The third line in
and ki7 are the relative gains of fifth and seventh current
(10) is related to the torque generated by the fundamental
harmonics with respect to the fundamental current
back EMF and the fifth and seventh current harmonics. The
respectively.
remaining lines present the torque generated by the


interactions of the fifth and seventh harmonics in the current 15
Phase X
0.10
and in the back EMF. 10
Phase A 0.05
The power generated by the second set (i.e. phases XYZ)

Phase BEMF (v)

5
can be expressed as

ΨA (Wb)
0 0.00
P2 (θ ) = ¦ e phs (θ ) i phs (θ )
phs = x , y , z -5
(11) ΨA -0.05
= ¦
phs = a , b , c
e phs (θ − θ s ) i phs (θ − θ s ) = P1 (θ − θ s ) -10
-15 -0.10
Similarly, the torque generated by the second set (i.e. 0 60 120 180 240 300 360
θ (°)
phases XYZ) can be expressed as
P (θ ) P1 (θ − θ s ) 3Ebase I base (a) Measured back EMF and reconstructed flux linkage
T2 (θ ) = 2 = = ke1ki1 102
Ω rate Ω rate Ωrate 100
98
§1 ·

Percent (%)
6
¨ ¸
¨ +5 k e5 cos(6θ + θ e5 ) + 7 k e7 cos(6 θ + θ e7 ) ¸ 4
¨ + ki 5 cos(6θ + θi 5 ) + ki 7 cos(6θ + θi 7 ) ¸ 2
¨ ¸
¨ +5ke5 ki 5 cos(θ e5 − θ i 5 ) + 7 ke 7 ki 7 cos(θ e 7 − θi 7 ) ¸ 0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31
¨ +5k k cos(12θ + θ + θ ) + 7k k cos(12θ + θ + θ ) ¸
© e5 i 7 e5 i7 e7 i 5 e7 i5 ¹ Harmonic order
(12) (b) Harmonics analysis of phase back EMF
Combining (10) and (12), the total power and torque Fig. 3 Measured back EMF and harmonic analysis.
generated by both sets will be (13) and (14) respectively.
P (θ ) = ¦ ephs (θ ) iphs (θ ) = P1 (θ ) + P2 (θ ) (13)
phs = a , b , c , x , y , z
TABLE II
FOURIER ANALYSIS OF BACK EMF
P (θ ) 6 Ebase I base Harmonic order (n) An (V) An(pu) șen(rad)
T (θ ) = = ke1ki1 0 0.009838 0.000765 3.141985
Ω rate Ω rate 1 12.864000 1.000000 0
2 0.137000 0.011000 5.708
§1 · 3 0.636000 0.049000 3.118
¨ ¸
¨ +5k k
e5 i 5 cos(θ e5 − θ i5 ) + 7 k k
e7 i 7 cos(θ e7 − θ i7 ) ¸
4 0.039000 0.003060 2.913815
5 0.816000 0.063000 3.217815
¨ +5k k cos(12θ + θ + θ ) + 7k k cos(12θ + θ + θ ) ¸
© e5 i 7 e5 i7 e7 i 5 e7 i5 ¹ 6 0.020000 0.001578 2.924815
7 0.189000 0.015000 6.261815
(14) 8 0.007011 0.000545 5.949815
From (10) and (12), it can be concluded that the sixth 9 0.132000 0.010000 2.774629
harmonic in the torque generated by each set has the same 10 0.013000 0.000997 2.395629
amplitude, but they are anti-phase. Therefore, there is no 11 0.093000 0.007244 3.332629
sixth harmonic ripple in the total torque, as shown in (14),
even when there are fifth and seventh harmonics in the According to (14), the torque of the prototype dual-three
current or back EMF. If there are no fifth and seventh phase PMSM can be rewritten as in (16) when the fifth and
harmonics in the back EMF, it can be deduced from (14) seventh current harmonics with the coefficients listed in
that the average torque will be increased by 7.7% without TABLE I are injected into the stator currents.
any 12th harmonic torque ripple. P (θ ) 6 Ebase I base
T (θ ) = = {1.086 + 0.00563 ⋅ cos(12θ + 3.18)}
For the prototype dual 3-phase PMSM defined in TABLE Ω rate Ω rate
IV, the measured back EMF and the reconstructed flux (16)
linkage are shown in Fig. 3(a) with respect to the rotor TABLE III
position. From the harmonic analysis shown in Fig. 3(b), it is COEFFICIENTS OF PHASE BACK EMF
obvious that the third, fifth and seventh harmonics are Coefficient Value
dominant. Assuming the measured back EMF of phase A ke1 1
with respect to ș can be expressed in a Fourier series as ke5 0.063/5
șe5 3.218
∞
§ § π· ·
ea = A0 + ¦ An cos ¨ n ¨ θ + ¸ + θ en ¸
ke7 0.015/7
(15) șe7 6.262
n =1 © © 2¹ ¹
where A0 is the dc value, An and șen is the amplitude and
From (16), it can be concluded that the torque capability
offset angle of the nth harmonic respectively. The harmonic
can be improved by 8.6% for the prototype dual 3-phase
analysis of the measured back EMF is listed in TABLE II.
PMSM with the fifth and seventh current harmonics
Since there are no zero sequence currents in the 3-phase
injection, while the 12th harmonic torque ripple is only
system [20], the third harmonics in the back EMFs have no
0.56% and can be neglected.
contributions to the torque. If only the fundamental, fifth and
It is worth noting that although the average torque is
seventh harmonics in the back EMF are considered, the
improved by the fifth and seventh current harmonics
coefficients in (3) can be obtained from TABLE II and are
injection, the root mean square (RMS) current is also
listed in TABLE III.


increased leading to the increased copper losses of the id* U d* U α*
machine. α
iq* U q* U β*
β ∗
vabc
III. CURRENT HARMONICS INJECTION CONTROL SCHEME K i′ ⋅ s
s 2 + ( 6ω )
2
Based on the vector space decomposition (VSD) control [T6 ]−1
U z*1 ∗
for the dual 3-phase machine [20], which is briefly + −1 Z1 vxyz
ª¬Tdqz º¼ U z*2
introduced in APPENDIX A, the fifth and seventh current + Z2
harmonics injection into the stator currents can be K i′ ⋅ s U o*1 = 0
implemented by injecting the fifth and seventh current s + ( 6ω )
2 2
U o*2 = 0
harmonics in the z1z2 sub-plane.
iα
The fifth and seventh current harmonics in the phase id iα ia , ib , ic
currents can be expressed as: iq iβ iβ
i z1 [T6 ] i , i , i
ª Fa _ 5th (θ ) º ª Fa _ 7 th (θ ) º idz
ª¬Tdqz º¼ iz1
x y z
« » « » iqz iz 2
« Fa _ 5th (θ − θ s ) » « Fa _ 7 th (θ − θ s ) » i z2

« Fa _ 5th (θ − 4θ s ) » « Fa _ 7 th (θ − 4θ s ) »
F5th + F7 th = « »+« » (17)
« Fa _ 5th (θ − 5θ s ) » « Fa _ 7 th (θ − 5θ s ) »
«F
« a _ 5th
(θ − 8θ s ) »» «« Fa _ 7th (θ − 8θ s ) »»
«¬ Fa _ 5th (θ − 9θ s ) »¼ «¬ Fa _ 7 th (θ − 9θ s ) »¼
where
Fa _ 5th (θ ) = ki 5 cos ( ( 5(θ + π / 2 ) + θi 5 ) (18)
Fa _ 7 th (θ ) = ki 7 cos ( ( 7(θ + π / 2 ) + θ i 7 ) (19)
By applying the Clark and Park transformations to (17),
the fifth and seventh current harmonics will be converted to
sixth harmonics in d-axis and q-axis for each set
°­ Fd 2 _ 6 th = − Fd 1_ 6 th = ki 5 ⋅ sin(6θ + θ i 5 ) − ki 7 ⋅ sin(6θ + θ i 7 )
® filter transfer function [22]. The gains and cut-off frequency
°̄ Fq 2 _ 6 th = − Fq1_ 6 th = ki 5 ⋅ cos(6θ + θ i 5 ) + ki 7 ⋅ cos(6θ + θ i 7 )
(20)
where Fd1_6th and Fq1_6th denote d-axis and q-axis components
for phases ABC and Fd2_6th and Fq2_6th denote d-axis and q-
axis components for phases XYZ. From (20) it can be
observed that the fifth and seventh current harmonics in the
real frame are represented in the d-q frame by the sixth-
harmonic components that have the same amplitude but are
out of phase for phases ABC and XYZ, respectively.
By applying matrix ( 25) to (17), the fifth and seventh
harmonics are projected to the z1z2 sub-plane [20], and then
by applying ( 27) to the variables in z1z2 sub-plane, the fifth
and seventh harmonics are converted to the sixth harmonics
in dqz-frame, which have the following relationship.
ª Fdz _ 6 th º ª Fd 2 _ 6 th º ª Fd 1_ 6 th º
«F » = «F » = − «F » (21)
¬ qz _ 6 th ¼ ¬ q 2 _ 6 th ¼ ¬ q1 _ 6 th ¼
(21) indicates that by regulating the sixth current
harmonics in the dqz-frame, the sixth current harmonics in
each set can be regulated simultaneously. Consequently, the
fifth and seventh current harmonics in each phase can be
regulated.
The current control is shown in Fig. 4. The currents ia, ib,
ic, ix, iy, and iz in the real frame are mapped to Įȕ sub-plane
and z1z2 sub-plane by applying conversion matrix [T6] in
Appendix A. Through the Park conversion, the components
in Įȕ sub-plane are converted to dq-frame. The components
in z1z2 sub-plane are converted to dqz-frame by applying
[Tdqz]. The currents are controlled in dq-frame and in dqz-
frame separately.
Fdz∗
idz∗ θ ,θi 5 ,θ i 7
Fqz∗ ki 5
iqz∗
ki 7
iq*
Fig. 4 VSD current control with fifth and seventh harmonics injection.
Two conventional proportional and integral (PI)
controllers and two resonant controllers [21-23] are
employed to regulate the sixth harmonic current components
in dqz-frame. The reference commands for dqz-frame can be
obtained by (20) and (21). It is worth noting that the
practical resonance control is usually implemented by
replacing the ideal integrator with an approximated low-pass
of the low-pass filter are very important considering the
stability [22], which is beyond the scope of this paper. For
simplicity, the cut-off frequency is chosen as 1/200 times of
the resonance frequency, the integral gain of the resonant
controller is chosen to be the same as the integral gain in the
PI controller in dqz-frame.
IV. EXPERIMENTS
The hardware platform to evaluate the effectiveness of the
proposed method is constructed based on DSPACE DS1005.
The experimental setup is shown as Fig. 5. The power
inverter topology is the same as Fig. 1. The calculation rate
of the current loop is configured to be 10 kHz, which is the
same as the PWM frequency. Two independent SVPWM
modulators are employed for PWM generation. The design
parameters of the prototype dual 3-phase PMSM are shown
in TABLE IV.
In the experiment, the machine is coupled to a PM DC
motor, which is connected with an adjustable power resistor
used as load. Neglecting the fiction, the power generated by
the prototype machine and the power consumed by the load
motor has the following relationship
ω E 2 ω2
Te ⋅ = L ∝ (22)
p RL RL
where Te is the torque generated by the prototype machine, Ȧ
is the electrical speed, p is the pole pair number of prototype
machine, RL is the sum of the adjustable power resistor and
the stator resistor of the load motor, EL is the back EMF
generated by the load motor.


 Three experiments will be conducted to verify the torque
capability enhancement within the same current limit
with/without the fifth and seventh current harmonics
injection in this section. The first is the same fundamental
current control. The second is the constant speed control. The
third is the same peak current control.
A. Same Fundamental
Fig. 5 Experimental setup for dual 3-phase PMSM drive testing
In this experiment, the drive works in constant current
mode, the id and iq references are 0A and 1.5A respectively.
Since the EL is proportional to Ȧ for the PM dc load The currents of phase A and X and corresponding harmonics
motor, it can be deduced from (22) that Te is proportional to analyses with/without the fifth and seventh current
the speed. harmonics are shown in Fig. 6(a) and Fig. 6(b) respectively.
Te ∝ ω (23) It is evident that there are fifth and seventh current
Consequently, the speed can be used to indicate the torque harmonics in the spectrum with current harmonics injection,
generated by the prototype machine. and the fundamental currents with/without current
harmonics injection are the same, Fig. 6(b). However, the
TABLE IV current peak value with injection is obviously reduced in Fig.
DESIGN PARAMETERS OF PROTOTYPE DUAL THREE-PHASE PMSM 6(a) compared with that without injection.
Parameters Value The average speeds with/without current harmonics
Resistance (ȍ) 1.096 injection are shown in Fig. 6(c). It shows that the average
Leakage inductance (mH) 0.875
d-axis self-inductance (mH) 2.141 speed is slightly different since there is additional torque, the
q-axis self-inductance (mH) 2.141 second part of (14), generated by the fifth and seventh
No load permanent magnet flux linkage (Wb) 0.075 current harmonics and back EMF. According to (14), the
Pole pairs 5
Power (W) 240
additional average torque with the fifth and seventh current
DC link voltage(V) 40 harmonics injection will be approximately 0.87% of the
torque generated by fundamental current and back EMF.
2
2 ia @ w/o injection
ia @ w/o injection
ix @ w/o injection
ix @ w/o injection 1
1 ia @ w/ injection
ia @ w/ injection
Current (A)

ix @ w/ injection
Current (A)

ix @ w/ injection 0
0

-1
-1

-2
-2
0 30 60 90 120 150 180 210 240 270 300 330 360
0 30 60 90 120 150 180 210 240 270 300 330 360
θ (°)
θ (°)
(a) Phase current
(a) Phase current
2.0
2.0 ia @ w/o injection
ia @ w/o injection
ia @ w/ injection
ia @ w/ injection 1.5 0.3
1.5 0.2
Current(A)
Current (A)
Current(A)

0.2
Current (A)

0.1 1.0
1.0 0.1

0.5 0.0
0.5 0.0 3 5 7 9 11 13 15 17
3 5 7 9 11 13 15 17
Harmonic order
Harmonic order 0.0
0.0 1 3 5 7 9 11 13 15 17
1 3 5 7 9 11 13 15 17 Harmonic order
Harmonic order
(b) Harmonics analysis of phase current
(b) Harmonics analysis of phase current
350
300 speed @ w/o injection
Average:246 speed @ w/ injection
300
250
Speed (rpm)
Speed (rpm)

Average:242 250
200 speed @ w/o injection
speed @ w/ injection
200
150

150
100
0.0 0.1 0.2 0.3 0.4
0.0 0.1 0.2 0.3 0.4 Time (s)
Time (s)
(c) Speed
(c) Speed
Fig. 7 Same speed control with/without 5th and 7th harmonic injection
Fig. 6 Same fundamental control with/without 5th, 7th harmonic injection


B. Same Speed 2
ia @ w/o injection
In this experiment, the drive works in constant speed mode, 1
ix @ w/o injection
the speed reference is 250 rpm. The phase current profiles ia @ w/ injection

Current (A)
ix @ w/ injection
and harmonic analyses with and without injection are shown 0
in Fig. 7(a), (b) respectively. The speed feedback with and
without injection are shown in Fig. 7(c), which indicates the -1
average torque with and without injection are same.
It is worth noting that the fundamental current with -2
injection is slightly lower than that without injection in Fig. 0 30 60 90 120 150 180 210 240 270 300 330 360
θ (°)
7(b) due to the additional torque generated by the fifth and
(a) Phase current
seventh current harmonics and back EMF. Meanwhile, from
2.0
Fig. 7(a), it is obvious that the peak value without injection is ia @ w/o injection
higher than that with injection. It can be concluded that the 1.5 0.3
ia @ w/ injection
peak current with fifth and seventh current harmonics

Current(A)
Current (A)
0.2
injection is reduced significantly while keeping the same 1.0
0.1
torque capability.
0.5 0.0
C. .Same Current Peak 3 5 7 9 11 13 15 17
Harmonic order
In this experiment, the drive works in constant current 0.0
mode, the iq reference is 1.5A for current control without 1 3 5 7 9 11 13 15 17
Harmonic order
current harmonics injection. To maintain the same current
(b) Harmonics analysis of phase current
peak, the iq reference is 1.5A*1.077=1.615A for the current 300
control with current harmonics injection. Average:264
From the current profiles shown in Fig. 8(a), it can be seen 250
that the peak values without and with current harmonics
Speed (rpm)

injection are the same, while from the harmonic analysis in 200 Average:242
speed @ w/o injection
Fig. 8(b), the fundamental current with current harmonics speed @ w/ injection
injection is obviously higher than that without current 150
harmonics injection. Meanwhile, the average speed is
increased significantly with harmonics injection, as can be 100
0.0 0.1 0.2 0.3 0.4
seen from Fig. 8(c). Time (s)
As indicated in (23), the ratio of the torque with current (c) Speed
harmonic injection divided by the torque without current Fig. 8 Same peak current control with/without 5th and 7th harmonics.
harmonic injection can be reflected by the speed ratio.
Te _ with rpmwith 264
= = = 1.09 (24) VI. APPENDIX A
Te _ without rpmwithout 242
As can be seen from (24) , torque capability is increased According to VSD theory [20], the original six-
by about 9% within the same current limit by the fifth and dimensional machine system can be decomposed into three
seventh current harmonics injection, which is in accordance orthogonal sub-spaces, i.e. Įȕ, z1z2, o1o2 sub-planes. By using
with (16). It is worth noting that the RMS current is also the transformation matrix, which is shown in ( 25), different
increased by 8.6% with current harmonic injection, which harmonics are projected to different sub-planes.
means the ratio of torque to RMS current is almost the same ª1 cos(θ s ) cos(4θ s ) cos(5θ s ) cos(8θ s ) cos(9θ s ) º
to that without current harmonic injection. «0 sin(θ ) sin(4θ ) sin(5θ ) sin(8θ ) sin(9θ ) »
« s s s s s »

1 «1 cos(5θ s ) cos(8θ s ) cos(θ s ) cos(4θ s ) cos(9θ s ) »

V. CONCLUSION [T6 ] = « »
3 «0 sin(5θ s ) sin(8θ s ) sin(θ s ) sin(4θ s ) sin(9θ s ) »
This paper proposes a method of the fifth and seventh «1 0 1 0 1 0 »
current harmonics injection to enhance torque capability of a « »
dual 3-phase PMSM drive system within the same current ¬«0 1 0 1 0 1 ¼»
limit. This method does not need any hardware modification ( 25)
and additional current sensors. This method could be a useful where șs = ʌ/6. The fundamental and (12k±1)th, k‫(ג‬1, 2,
alternative if additional torque is required and the current 3…) harmonics in real frame are mapped to Įȕ sub-plane;
already reached the limit. The torque capability can be the (6k±1)th, k‫(ג‬1, 3, 5…) harmonics in real frame are
improved by 7.7% without the12th order torque ripple if mapped to z1z2 sub-plane; the (3k)th, k‫(ג‬1, 3, 5…) harmonics
there is no fifth and seventh harmonics in back EMF, while in real frame are mapped to o1o2 sub-plane. The
about 8.6% average torque is increased at the cost of transformation can be described as ( 26)
negligible 0.56% 12th order torque ripple for the prototype ª¬ Fα Fβ Fz1 Fz 2 Fo1 Fo 2 º¼
T

dual 3-phase PMSM. Experiments have been conducted on ( 26)

T
the prototype machine to validate the enhancement of the = [T6 ] ⋅ ª¬ Fa Fx Fb Fy Fc Fz º¼
torque capability.


 Define [Tdqz] as ( 27) and new matrix conversion as ( 28)
[19].
ª -cosθ sin θ º
ª¬Tdqz º¼ = « » ( 27)
¬ sin θ cos θ ¼
ª Fdz º ª Fz1 º
« F » = ª¬Tdqz º¼ « » ( 28)
¬ qz ¼ ¬ Fz 2 ¼
where F is v, i, or ȥ, which are corresponding with voltage,
current, and stator flux respectively. By this matrix
conversion, the variables in z1z2 sub-plane are converted to a
new frame, which can be designated as dqz-frame.
Consequently, all the (6k±1)th, k‫(ג‬1, 3, 5…) harmonics in
z1z2 sub-plane are converted to (6k)th harmonics in dqz-
frame.
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VIII. BIOGRAPHIES
Yashan Hu received the B.Eng. and M.Sc. degrees in Electronic and
Electrical Engineering from the Northwestern Polytechnical University,
Xi’an, China, in 2002 and 2005, respectively. He has been working toward
the Ph.D. degree at the University of Sheffield, Sheffield, U.K., since Jun
2012.
From 2005 to 2012, he was with Delta Green Tech (China) Co., Ltd.,
Shanghai, China, Shanghai Yungtay Elevator Co. Ltd as a Research
Engineer, and Shanghai Welling Motor R&D Centre as Project Manager.
His research interests are control of electric drives.
Z. Q. Zhu (M’90--SM’00--F’09) received the B.Eng. and M.Sc. degrees in
electrical and electronic engineering from Zhejiang University, Hangzhou,
China, in 1982 and 1984, respectively, and the Ph.D. degree in electrical and
electronic engineering from the University of Sheffield, Sheffield, U.K., in
1991.
Since 1988, he has been with the University of Sheffield, where since
2000, he has been a Professor of electrical machines and control systems and
is currently the Head of the Electrical Machines and Drives Research Group
and the Royal Academy of Engineering/Siemens Research Chair. His
current major research interests include the design and control of permanent-
magnet brushless machines and drives for applications ranging from
automotive to renewable energy.
Milijana Odavic (M’13) received the M.Sc. degree in electrical and
electronic engineering from the University of Zagreb, Zagreb, Croatia, in
2004 and the Ph.D. degree from the University of Nottingham, Nottingham,
U.K., in 2008.
In 2013, she became a Lecturer in Power Electronics at the University of
Sheffield, Sheffield, U.K. Prior to joining the University of Sheffield, she
was a Research Fellow in the Power Electronics, Machines and Control
Group at the University of Nottingham. Her current research interests
include modeling and control of power electronics dominated micro-grids,
and design and control of power electronic converters for enhanced power
quality.