An Improved Performance of Five-Leg Inverter

in Two Induction Motor Drives

Ryuji Omata* , Kazuo Oka * , Atsushi Furuya*, Shuji Matsumoto* ,Yusuke Nozawa* and Kouki Matsuse*
* Meiji University / Dept. of Electrical and Electronics Engineering, Kawasaki, JAPAN
E-mail: ce66012@isc.meiji.ac.jp
Phone/Fax: +81-44-934-7298
A Number of Scope is 9.

Abstract— This paper presents an improved method of many modulation methods for the five-leg inverter have
voltage utility factor from 50% to 86.6% for a five-leg been proposed, VUF in these methods is 50%. From the
inverter when two induction motors are driven in vector reason a maximum VUF of the three leg inverter is 100%,
control and in a condition that a frequency of two motors VUF of the five-leg inverter is lower than one of the three
isn’t extremely different, and the improved method of leg inverter.
voltage utility factor is theoretically shown. The five-leg
inverter is a single inverter that can drive two motors II. FIVE-LEG INVERTER
independently and consists of five legs. U and v phases of The five-leg inverter is a single inverter that can drive
both motors are connected in each leg respectively whereas two motors independently. Figure.1 shows a structure of
w phase of both motors is connected in a common leg. In the the five-leg inverter [1]-[4], [6]. The five-leg inverter
five-leg inverter, because w phase of the motors are consists of five legs. U and v phases of both motors are
connected in the common leg, it causes difference from a connected in each leg respectively whereas w phase of two
switching pattern of w phase in two motors. For this reason, motors is connected in a common leg (Leg5).
the modulation methods for a three leg inverter can’t use for
the five-leg inverter. Many modulation methods for the five-
leg inverter have been proposed, but voltage utility factor is S 11 S 21 S 31 S 41 S 51 u
v
50% in these methods. From the reason a maximum voltage w IM1
utility factor of the three leg inverter is 100%, the voltage u
utility factor of the five-leg inverter is lower than one of the E Leg1 v
Leg2 Leg3 Leg4v ' Leg5w
three leg inverter u'
S 12 S 22 S 32 S 42 S 52
w IM2
Keywords; Five-Leg Inverter, Voltage Utility Factor, v'
u'
Two Induction Motor Drives
Figure.1 Structure of five-leg inverter
I. INTRODUCTION
This paper presents an improved method of voltage III. EXPANDED TWO-ARM MODULATION
utility factor (VUF) from 50% to 86.6% for a five-leg An improved method of VUF in this work is based on
inverter when two induction motors are driven in vector the ETAM. Therefore, we introduce the ETAM in this
control and in a condition that a frequency of two motors section.
isn’t extremely different. VUF is defined at the rate of the
maximum output voltage in an inverter and a direct As mentioned above, the modulation methods of the
current (DC) -link voltage. VUF had better have as high as three-leg inverter can’t use for the five-leg inverter.
possible. Because the DC-link voltage required to output a As one of the modulations method for the five-leg
same output is smaller on condition that a stator current inverter, an expanded two-arm modulation (ETAM) has
root mean square (RMS) for the motor equals. In other been proposed [3],[4]. Since a carrier-wave comparison
words, an inverter capacity to output the same output is method is applicable for the ETAM, it is an easier
smaller. Using the five-leg inverter, it is possible to modulation method than other methods for the five-leg
control the position, speed and torque of motors inverter.
independently [1],[2],[3],[4]. However, since w phase of In the ETAM, signal waves in each leg are given by
both motors are connected in a common leg, it causes the equations (1).
difference from a switching pattern of w phase in both
motors. Therefore, the modulation methods for the three
leg inverter can’t use for the five-leg inverter. Though

1-4244-0449-5/06/$20.00 ©2006 IEEE IPEMC 2006

  v2*arm _ uk = vumk
* *
− vwmk
 *
* *
 v2 arm _ vk = vvmk − vwmk ( k = 1, 2 ) (1)
 * * *
 v2 arm _ uk = vwmk − vwmk = 0
Where, v*imk (i=u,v,w) is a command of i phase
voltage and v*2arm_ik is signal waves of i phase in motor k
(k=1,2).
The ETAM is the modulation method giving signal
waves based on w phase voltage of each motor. Giving
signal waves as equations (1), signal waves of w phase in
both motors are zero. This means that we can give a zero
command as the signal wave in the common leg. Adapting
the carrier-wave comparison method, the independent
control of two motors is possible.
IV. IMPROVED METHOD OF VOLTAGE UTILITY FACTOR
A. Voltage Utility Factor
We assume that a virtual neutral point is a central
point of the DC link voltage E and a height of a carrier
wave is 1/2 times of the DC-link voltage. Based on this
assumption, the height of the carrier wave equals to
amplitude of the phase voltage command in both motors,
we have a merit that an analysis can be done easily.
There, using modulation index ak of motor k, An
amplitude of the signal wave of each phase are expressed
by akE/2.
VUF is defined at the rate of the maximum output
voltage for the inverter and the DC-link voltage. Therefore,
adapting the assumption, it is calculated by the equation
(2).
3 ⋅1 2 ⋅ amax E 3 inequality constraints (6) [6].
VUF (%) = ⋅100 = amax ⋅100 (2)
E 2
Where, amax is a maximum modulation index and a
maximum value of the signal wave is E/2.
VUF had better have as high as possible. Because the
DC-link voltage required to output a same output is
smaller on condition that a stator current RMS for the
motor equals.
In the general carrier-wave comparison method used
for the three-leg inverter, since the phase voltage
command of both motors is given as the signal waves,
inequality (3) is obtained.
1 1
0≤ ak E ≤ E (3)
2 2
From inequality (3), amax is 1 and VUF is 86.6% from
equation (2). Otherwise, in the ETAM, because the
amplitude of signal waves equals to it of a line voltage for
the motor, inequality (4) is obtained from equations (1).
1 1
0 ≤ 3 ⋅ ak E ≤ E (4)
2 2
From inequality (4), amax is 1/√3 and VUF is 50%
from equation (2).
As mentioned above, if amax equals 1, we can improve
VUF to 86.6%.
B. Improved Method of Voltage Utility Factor
For the improved method of VUF in this work, we
assume that two induction motors are driven in vector
control and in the condition that the frequency of two
motors isn’t extremely different. Moreover, initial phases
of voltages and the frequency for both motors must
correspond. As the initial phase of u phase voltage for
both motors is zero at starting, only the frequency for
them must correspond. In fact, we can equal the frequency
of both motors with compensating a rotor flux command
on condition that the frequency of two induction motors
isn’t extremely different and they are driven by vector
control [5].
In the proposed method, we assume that signal waves
of each phase in two motors are given in equations (5)
 v uk* *
= v umk − ( v *wm k − v w* ) = v 2* arm _ uk + v *w
 (5)
 v vk = v vm k − ( v wmk − v w ) = v 2 arm _ vk + v w
* * * * * *
 *
 v wk = v wmk − ( v wmk − v w ) = v w
* * * *
v*w is a signal wave synchronizing to w phase, having
the amplitude that the modulation index always equals 1.
Figure.2 shows a vector diagram of signal waves in
two motors. From equation (2) and Figure.2, signal waves
for the proposed method are given by the following
 *2 *2 1 
2
vuk = v2arm_uk + vw − 2⋅ v2arm_uk ⋅ vw cos(π 6) ≤  E
*2 * *
  2  (6)

 *2 *2 1 
2
vvk = v2arm_vk + vw − 2⋅ v2arm_vk ⋅ vw cos(π 6) ≤  2 E
*2 * *

Using the assumption for v*w, signal waves of u and v
phase are the same formation from the inequality
constraints (6). This is remarkable point.
If ak has the range from 0 to 1, the maximum voltages of
v*uk and v*vk are E/2. For this reason, the inequality (6) is
satisfied on condition that ak has the range from 0 to 1.
Therefore, amax is 1, it is possible to improve VUF to
86.6% by the proposed method.
 * * *
vumk + vvmk + vwmk =0 (8)
v * Im
w
From the equation (1), (7), (8), CMV of the motor k
equals the w phase voltage command of the motor k.
π
6
v2*arm _ uk vck _ etam = − v*wmk (9)
*
v wmk 2π *
v2*arm _ vk 3 vumk Therefore, amplitude of the vck_etam, Vck_etam, is akE/2.
O 2π
Re
*
vvmk 3 1
Vck _ etam = ak E (10)
2
Otherwise, CMV of the motor k in adapting the
proposed method is given by the following equation.

Figure.2 Vector diagram of signal waves in two induction motors 1 *

From equations (1) and (5), if v*w is zero, signal waves
vck _ pro =
3
( vuk + vvk* + vwk
*
) = v*w − v*wmk (11)
giving to each leg in the proposed method are the same as
ETAM. For this reason, we can understand that the Where, vck_pro is CMV of the motor k in adapting the
ETAM is an especial case of the proposed method. proposed method. From the equation (11), amplitude of
the vck_pro, Vck_pro, is given by the equation (12).
ET AM Proposed Method
*
v um1 + v *
2arm _ u1 =v*
um1
*
−v
wm1
+ 1 1 1
Vector
* +
Leg1 Vck _ pro = E − ak E = (1 − ak ) E (12)
Control v vm1 + - v *
2arm _ v1
*
= v −v
vm1
*
wm1 + 2 2 2
Leg2
*
- +
for IM1 v wm1 +
vw* 0 Leg5 And, we express that a voltage between each phase of
*
v um2 + +
+ the motor k and the earthing point is viok and a maximum
Vector *
Leg3
v - + value of it is viokmax. In this case, since viokmax equals to E/2,
vm2 +
v*2arm_ u2 = vum
*
− v*
wm 2 +
Control 2
Leg4 an inequality constraint is obtained.
for IM 2 v * - v*2arm _v2 = vvm
* *
2 − vwm2
+
wm2
vw* E
[vimk + vck ]Amp _ max ≤ viok max =
Figure.3 Signal waves giving to each leg 2 (13)

Figure.3 shows a relationship between signal waves

[ x ] Amp _ max → maximum amplitude of x
giving to each leg and phase voltage command of both
motors. As you can see from Figure.3, adding v*w to Where, vck is CMV. Using the ETAM, vck equals vck_etam
signals waves in the ETAM, them in the proposed method and using the proposed method, vck equals vck_pro. Moreover,
are given. Therefore, since a carrier-wave comparison adapting inequality (13) about vimk and vck on condition that
method is applicable for the proposed method, a switching modulation index equals amax, we get.
algorithm for the proposed method is easy.
E
C. Between Voltage Utility Factor and Common Mode  vimk ( a max) + vck ( a max)  ≤ viok max = (15)
Voltage Amp _ max 2
In the ETAM, common mode voltage (CMV),which
Where vimk(amax) is vimk and vck(amax) is vck on condition that
is a voltage between a neutral point of the motor and an
modulation index equals amax. From the equation (2), VUF
earthing point, is given by a following equation.
is decided in vimk(amax). Therefore, you can understand that
the vck(amax) is smaller, the VUF is higher. We assume that
1 *
vck _ etam =
3
( v2 arm _ uk + v2*arm _ vk + v2*arm _ wk ) (7) vck(amax) in the ETAM is vck_etam(amax) and vck(amax) in the proposed
method is vck_pro(amax). In this case, vck_etam(amax) and vck_pro(amax) are
as the follows.
Where, vck_etam is CMV of the motor k in adapting
ETAM. Since a sum of the phase voltage for the motor is
zero, an equation (8) is obtained.
  1 1
vck _ etam ( amax ) = 2 amax E = 2 3 E TABLE2. SPEED AND LOAD TORQUE COMMANDS
 (16)
v 1 Time [s ] 0 1 1.51.6 2
= (1 − amax ) E = 0 0.5 0.8

 ck _ pro ( amax ) 2 IM 1
S p e e d [r p m ] 2 3 5 .0 4 8 5 .0 5 8 5 .0
T or qu e [ N i m ] 1 0 .0 (8 3 % ) 1 4 .0 (1 1 7 % )
S p e e d [r p m ] 2 5 0 .0 5 0 0 .0 6 0 0 .0
CMV of the proposed method varies according to IM 2 T or q ue [ N i m ] 1 2 .0 (1 0 0 % ) 1 6 .0 (1 3 3 % )
modulation index. Especially, when modulation index
6 00
equals amax, CMV of the proposed method is zero. This is a
remarkable point. 5 00

4 00

Speed(rpm)
3 00
D. Compensation of motor frequenvy
2 00
For the proposed method, it is required that the
1 00
frequency of both motors has the same value. In this work
S pe e d r ef.
as shown Figure.4, the frequency commands of both 0 S pe e d o f IM 1
motors are given as the input signal of Proportional- - 10 0
0 0 .5 1 1 .5 2
Integral (PI) controller, and the value adding the output T im e (s )
signal of PI controller to the rotor flux command for Figure.5 (a) Speed of induction motor1
motor 1 is the new rotor flux command for motor 1 7 00
+ 6 00
ω 2* PI ∆ Φ edr* 1
− 5 00
Speed(rpm)

ω *
1
4 00
Figure.4 Compensatory method of motor frequency 3 00
In this Figure.4, ω*i (i=1,2) is a frequency command 2 00
of motor i and ∆Φe*dr1 is a output signal of PI controller, 1 00 S pe e d r ef.
compensatory value of rotor flux in the motor 1. S pe e d o f I M 2
0
0 0 .5 1 1 .5 2
V. SIMULATION RESULTS T im e(s )
We simulated to confirm a validity of the proposed Figure.5 (b) Speed of induction motor2
method. Table1. is the specification of induction motor
using for simulations. The specification of both motors is 150
the same. Table2. shows the speed and load torque 100
commands. The values in parentheses are at the rate for a
50
Voltage(V)

rated torque. DC-link voltage is the constant value of

150(V). The Simulation results of the ETAM cases are 0
also shown to compare the proposed method of the -50
ETAM. Figure.5 shows the results for the proposed - 10 0
method. L in e V o lta g e o f P W M O ut p ut
- 15 0 M e a n V alu e o f P W M O u tp u t
Inverter output voltage can be outputted up to 75(V) in 1 .7 1 .7 5 1 .8 1 .8 5 1 .9 1 .9 5 2
the ETAM and up to 150(V) in the proposed method. As T im e(s )
you can see from Figure.5 (a) and (b) and Figure.6 (a)
and (b), using the proposed method, output voltage is Figure.6 (a) Line Voltage between u and v phase of motor1
about 130(V). The validity of the proposed method is
shown from these simulation results. 1 50

1 00
TABLE1. SPECIFICATION OF INDUCTION MOTOR
50
Voltage(V)

O u tp u t 2 . 2 [k W ] Rs = 0 . 7 1 8 5 [Ω ]
V o lta g e 1 8 0 [V ] Rr = 0 . 5 9 6 5 [Ω ] 0
C u rren t 1 0 [A ] Ls = 6 3 . 3 8 [m H ]
- 50
Speed 1 7 5 0 [r p m ] Lr = 6 3 . 3 8 [m H ]
P o le s 4 M = 6 1 . 2 8 [m H ] -1 0 0
L in e V o lta ge o f P W M O ut p ut
-1 5 0 M e a n V a lu e o f P W M O u tp u t
1 .7 1 .75 1 .8 1 .85 1 .9 1 .9 5 2
T im e(s )
Figure.6 (b) Line Voltage between u and v phase of motor2
 VI. CONCLUSION
This paper presents that voltage utility factor can be
improved from 50% to 86.6% for the five-leg inverter if
the frequency of two induction motors isn’t extremely
different and they are driven in vector control.
Moreover, the validity of the proposed method is shown
theoretically and by simulation results.

REFERENCES
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