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DOI 10.1007/s00202-016-0359-4
ORIGINAL PAPER
Abstract In this paper, the authors propose the math- appear on the power electronic components and the insula-
ematical model in Park reference frame of squirrel cage tion of stator winding induction machines system.
induction machine with dual open-end windings. A compar- The power segmentation is now good solution to improve
ison between open-end stator winding induction machines the availability of the association inverter induction machine.
and star winding induction machines is presented. In this Several researches have been developed in the induction
comparison, the authors take into consideration the power machines:
segmentation, redundancy degrees in degraded mode, the
THD current and the torque undulation. – The multi-phase induction machine [3–5].
– The multi-star induction machine [6–8].
Keywords Dual open-end winding induction machine · – The open-end winding induction machine (OEWIM) [9–
Double star induction machine · 2-Level inverter · Power 14].
segmentation · Torque undulation · THD current – The dual open-end induction machine (DOEWIM) [15,
16].
1 Introduction
The objective of this paper is a comparison between star
winding induction machines (Fig. 1a, c) and open-end three-
Reliability and availability has become increasingly a priority
phase stator winding induction machines (Fig. 1b, d).
in the industrial drive systems such as railway applications,
In this paper, the authors present four parts:
aeronautics, electrical propulsion of ships and electrical vehi-
In the first part, the modeling of the dual open-end winding
cle systems, etc., [1] and [2].
induction machine is successively presented in Clark (α, β)
These drive systems are primarily based on the induction
and Park (d, q) reference frames.
machines associated with the 2-level inverters, but this asso-
The second part is devoted to the simulation model of the
ciation is not without disadvantage. Indeed, high constraints
machine for voltage supply. The model will be validated in
B Sami Guizani Matlab/Simulink environment.
guizani_sami@yahoo.fr In the third part, the THD analysis of the stator current
Abdelmonoem Nayli and torque undulation while making a comparison with the
n.ayli@hotmail.fr induction machine structures are presented.
Faouzi Ben Ammar Finally, a comparison between the different structures
Faouzi.Benamar@insat.rnu.tn using the power segmentation and the operation in degraded
mode is presented.
1 MMA Laboratory, IPEIEM, University of El Manar,
Tunis, Tunisia
2 MMA Laboratory, INSAT, ESSTT, University of Tunis, 2 Modeling
Tunis, Tunisia
3 MMA Laboratory, INSAT, University of Carthage, In this paper, only mathematical modeling of the dual three-
Tunis, Tunisia phase open-end winding induction machine is proposed. The
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E E
E 2 2
Windings A
Windings B
Inverter B1 Double star Inverter B1 Inverter B2
IM
E E
E
2 2
Dual open-end
windings IM
(c) (d)
Fig. 2 Voltage supply dual Windings A
open-end winding induction
Windings B
Dual open-end
winding IM
VsA13 VsA12 VsA11 VsB13 VsB12 VsB11 VsB21 VsB22 VsB23 VsA21 VsA22 VsA23
T
modeling of other induction machines are presented in the [r ] = r1 r2 r3 Rotor flux vector
literature. T
[ISA ] = ISA1 ISA2 ISA3 Current vector of winding A
The supply of the machine is represented in Fig. 2.
T
The variables of the machine are defined as: [ISB ] = ISB1 ISB2 ISB3 Current vector of winding B
T
T [Ir ] = Ir1 Ir2 Ir3 Rotor current vector
VSA1 = VSA11 VSA12 VSA13 Voltage vector A1
T
VSA2 = VSA21 VSA22 VSA23 Voltage vector A2 The developed model is based on the following assump-
T
VSB1 = VSB11 VSB12 VSB13 Voltage vector B1 tions:
T
VSB2 = VSB21 VSB22 VSB23 Voltage vector B2 – The two windings are strictly the same and shifted with
T ψ angle.
[SA ] = SA1 SA2 SA3 Flux vector of winding A
T – The stator windings m.m.f is in sinusoidal space distrib-
[SB ] = SB1 SB2 SB3 Flux vector of winding B ution.
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The flux vector and the current vector are linked by the fol-
S S A
r lowing equation:
⎡ ⎤ ⎡ ⎤
Vr [sA] [L sA ] [MsAsB (ψ)] [MsAr (θ )]
⎣ [sB] ⎦ = ⎣[MsAsB (ψ)]t [L sB ] [MsBr (ψ, θ )]⎦
Vs [r] [MsAr (θ )]t [MsBr (ψ, θ )]t [L r ]
⎡ ⎤
r [IsA ]
. ⎣ [IsB ] ⎦ (3)
Vs A S B [Ir ]
V
With:
B
[MsAsB (ψ)]
⎡
2π
4π ⎤
S A
cos(ψ)
4π cos 3 + ψ cos
2π 3 + ψ
= −2m ss . ⎣ cos
3 + ψ cos(ψ)
cos 3 + ψ
⎦ (4)
A cos 2π 3 +ψ cos 4π3 +ψ cos(ψ)
[MSAr (θ)]
Fig. 3 Representation of the DOEWIM in the reference frame (SαA , ⎡
2π
4π ⎤
SβA ) and (SαB , SβB ) cos(θ)
4π cos 3 − θ cos
2π 3 − θ
= m sr . ⎣ cos
3 − θ cos(θ)
4π cos 3 − θ
⎦ (5)
cos 2π 3 − θ cos 3 − θ cos(θ)
– We neglect the saturation of the magnetic circuit, the hys- [MsBr (ψ, θ)]
teresis and the eddy currents. ⎡
⎤
cos(θ −ψ) cos 2π 3 −(θ −ψ) 3 −(θ −ψ)
cos
4π
– We neglect the skin effect that increases resistances and = m sr . ⎣ cos
3 −(θ −ψ)
4π
4π − ψ) cos 3 −(θ −ψ)
cos(θ 2π ⎦
decreases inductances. cos 2π3 −(θ −ψ) cos 3 −(θ −ψ) cos(θ −ψ)
(6)
⎡ ⎤
L ra m rr m rr
The basic voltage and flux equations of dual winding stator [L r ] = ⎣ m rr L ra m rr ⎦ (7)
induction machine can be written in the following general m rr m rr L ra
⎡ ⎤
matrix form: L sa m ss m ss
[L sA ] = [L sB ] = m ss L sa m ss ⎦
⎣ (8)
m ss m ss L sa
⎡ ⎤ ⎡ ⎤ ⎡ ⎤
[VSA ] [ISA ] [SA ]
d
⎣ [VSB ] ⎦ = [R ] ⎣ [ISB ] ⎦ + ⎣ [SB ] ⎦ The Clark transformation [T32 ] allows to represent all the
(1)
dt three-phase variables in their respective orthogonal reference
[Vr] [Ir] [r ]
frame (SαA , SβA ), (SαB , SβB ) and (rα , rβ ), Fig. 3.
The system (SαB , SβB ) is shifted by an angle ψ relatively
With: to (SαA , SβA ).
The system (rα , rβ ) is shifted by an angle θ relatively to
(SαA , SβA ).
[VSA ] = VSA1 − VSA2 The system (rα , rβ ) is shifted by an angle θ − ψ relatively
[VSB ] = VSB1 − VSB2 to (SαB , SβB ).
The relationship between fluxes, currents and voltages are
described by the nonlinear equation system in the reference
R is a diagonal matrix which terms are the values of the frame (SαA , SβA ), (SαB , SβB ).
different winding resistances: The relation that links the voltage, the flux and the currents
is described by:
⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
Rs 0 0 0 0 0 0 0 0 VsαA Rs 0 0 0 0 0 IsαA sαA
⎢ 0 Rs 0 0 0 0 0 0 0 ⎥ ⎢ VsβA ⎥ ⎢ 0 Rs 0 0 0 0 ⎥ ⎢ IsβA ⎥ ⎢ sβA ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ VsαB ⎥ ⎢ 0 0 Rs 0 0 0 ⎥ ⎢ IsαB ⎥ d ⎢ sαB ⎥
⎢ 0 0 Rs 0 0 0 0 0 0 ⎥ ⎢ ⎥=⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎢ VsβB ⎥ ⎢ 0 0 0 Rs 0 0 ⎥ ⎢ IsβB ⎥ + dt ⎢ sβB ⎥
⎢ 0 0 0 Rs 0 0 0 0 0 ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥ ⎢ ⎥
⎢ ⎥ ⎣ Vrα ⎦ ⎣ 0 0 0 0 Rr 0 ⎦ ⎣ Irα ⎦ ⎣ rα ⎦
R =⎢ ⎥
⎢ 0 0 0 0 Rs 0 0 0 0 ⎥ (2) Vrβ 0 0 0 0 0 Rr Irβ rβ
⎢ 0 0 0 0 0 Rs 0 0 0 ⎥
⎢ ⎥ (9)
⎢ 0 0 0 0 0 0 Rr 0 0 ⎥
⎢ ⎥
⎣ 0 0 0 0 0 0 0 Rr 0 ⎦
The relation that links the flux and the currents is described
0 0 0 0 0 0 0 0 Rr by:
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⎡ ⎤ ⎡ ⎤
sαA IsαA
⎢ sβA ⎥ ⎢ IsβA ⎥
⎢ ⎥ ⎢ ⎥
⎢ sαB ⎥ ⎢ IsαB ⎥
⎢ ⎥ = L (α,β) (θ, ψ) . ⎢ ⎥
⎢ sβB ⎥ ⎢ IsβB ⎥ . (10)
⎢ ⎥ ⎢ ⎥
⎣ rα ⎦ ⎣ Irα ⎦
rβ Irβ
⎡ ⎤
Ls 0 Mss cos (ψ) −Mss sin (ψ) MsrA cos (θ ) −MsrA sin (θ )
⎢0 Ls Mss sin (ψ) Mss cos (ψ) MsrA sin (θ ) MsrA cos (θ ) ⎥
⎢ ⎥
⎢ Mss cos (ψ) Mss sin (ψ) Ls 0 MsrB cos(θ − ψ) −MsrB sin(θ − ψ) ⎥
L (α,β) (θ, ψ) = ⎢
⎢ −Mss sin (ψ)
⎥
⎢ Mss cos (ψ) 0 Ls MsrB sin(θ − ψ) MsrB cos(θ − ψ) ⎥⎥
⎣ MsrA cos (θ ) MsrA sin (θ ) MsrB cos(θ − ψ) MsrB sin(θ − ψ) Lr 0 ⎦
−MsrA sin (θ ) MsrA cos (θ ) −MsrB sin(θ − ψ) MsrB cos(θ − ψ) 0 Lr
(11)
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⎡
⎤
K 1 Ms A r K 1 Ms B r K3
−K 4 Rs + 0 −K 4 −0 K 4 TKr1 K4 K1ω
⎢ Tr
Tr σ2 Ts
⎥
⎢ −K 4 Rs + K 1 Ms Ar
−K 4 K 1 Ms Br K3 K1 ⎥
⎢
⎢
0
Tr
0 Tr − σ2 Ts −K 4 K 1 ω K 4 Tr ⎥
⎥
⎢ −K K 2 Ms A r − K 3 −K 5 Rs + K 2 Ms Br K2
K5 K2ω ⎥
⎢ 5 0 0 K 5 Tr ⎥
[A] = ⎢ Tr σ1 Ts
Tr
⎥
⎢ −K 5 K 2 Ms Ar K3
−K 5 Rs + K 2 Ms Br K2 ⎥
⎢
⎢
0 Tr − σ1 Ts 0 Tr −K 5 K 2 ω K 5 Tr ⎥
⎥
⎢ Ms A r Ms Br −1
−
⎥
⎣ Tr 0 Tr 0 Tr ⎦
0 Ms A r
0 Ms B r
−1
Tr Tr Tr
With: σ1 Ls
K5 = ,
σ1 σ2 Ls2 − K 32
−1
[C] = L d,q (17)
Msr A : mutual maximal cyclic inductance between winding A and rotor ⎡ ⎤
Msr B : mutual maximal cyclic inductance between winding B and rotor
1 0 0 0
⎢0 1 0 0⎥
Msr 2A ⎢ ⎥
σ1 = 1 − : coefficient of dispersion windingA ⎢0 0 1 0⎥
LrLs [B] = ⎢
⎢0
⎥ (18)
Msr 2B ⎢ 0 0 1⎥⎥
σ2 = 1 −
Ls.Lr
: coefficient of dispersion windingB ⎣0 0 0 0⎦
K1 =
Ms A r
−
K 3 Ms B r
, K2 =
Ms B r
−
K 3 Ms A r
,
0 0 0 0
Lr σ2 LsLr Lr σ1 LsLr
Ms A r Ms B r The drive mechanical equation is given as follows:
K 3 = Mss − ,
Lr
σ2 Ls 1 dω
K4 = , Tem − Tr = J. + f.ω (19)
σ1 σ2 Ls2 − K 32 pn dt
Inverter A1 Inverter A2
E/2 E/2
Inverter B1 Inverter B2
Windings B
E/2 E/2
Fig. 5 Dual open-end winding induction machine supplied by four voltage source inverters
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Fig. 6 Pole voltage, stator currents, speed and torque for a “DOEWIM”
3
The following cycle of operation, at t = 0.6 s, the system
Tem = P sα1 Isβ1 − sβ1 Isα1 + sα2 Isβ2
2 has a starting cycle, from t = 0.6s to t = 1 s, the machine is
−sβ2 Isα2 (20) working in no-load conditions. At time t = 1 s, a load torque
Tr = 300 mN is applied.
Figure 6 shows the pole voltage machine U A = (Vs A11 −
Vs A12 ) − (Vs A21 − Vs A22 ). And the pole voltage machine
4 Validation of the model of the dual open-end U B = (Vs B11 − Vs B12 ) − (Vs B21 − Vs B22 ). And the stator
winding induction machine currents, the speed and the torque.
We note that the dual open-end winding induction machine
The dual open-end winding induction machine is supplied makes to increase the level of the pole voltage. Indeed this
by four voltage source inverters based on V/F law as shown machine is fed by 2-level inverters which obtained 3-levels
by Fig. 5. of phase-to-phase machine voltage.
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Fig. 7 Voltage of the classic IM, stator currents, speed and torque
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Fundamental (50Hz) = 158.3 , THD= 1.26% 5.3 THD analysis of the stator current of the double star
1
induction machine
M ag (% of Fundam ental)
0.8
0.6 Figures 12 and 13 show the waveform and the harmonic con-
tent of the stator current for the double star induction machine
for the shifted between the two star, respectively, by 30◦ and
0.4
0.2
0◦ .
0 The double star induction machine is fed by two 2-level
0 50 100 150 200 250 300 350 400
Harmonic order voltage source inverters. Figure 11 shows the simulation
results of the pole voltage, the stator current, the speed and
Fig. 8 Waveform and harmonic ration of current (IM)
the torque.
5 THD analysis of the stator current 5.4 THD analysis of the stator current of the dual
open-end winding induction machine
We are interested in the THD analysis of the stator current
for the different induction machine structures. Figure 14 shows the waveform and the harmonic content of
the stator current for the dual open-end winding induction
machine.
5.1 THD analysis of the stator current of the Table 1 summarizes the various results of the THD current
three-phase induction machine for the different induction machine structures.
We note the important advantage which presents the open-
The three-phase induction machine is fed by a 2-level volt- end winding induction machine structure compared to the star
age source inverter. Figure 7 shows the simulation results induction machine to the THD of the stator current.
of the pole voltage, the stator current, the speed and the
torque.
Figure 8 shows the waveform and the harmonic content 6 Undulation rate analysis of the torque
of the stator current for the machine.
In order to analyze the torque undulations, we defined Tem
5.2 THD analysis of the stator current of the open-end by the expression:
winding induction machine
TMax − Tmoy
Tem = .100 (21)
The open-end winding induction machine is fed by two 2- Tmoy
level voltage source inverters.
Figure 9 shows the evolution of the pole voltage, the stator 6.1 Torque undulation of the three-phase induction
current, the speed and the torque. machine
Figure 10 shows the waveform and the harmonic con-
tent of the stator current for the open-end winding induction As for the THD, we determined the torque undulations for
machine. the induction machine.
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Fig. 9 Pole voltage, stator currents, speed and torque of the OEWIM
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100 Then:
305.5 − 300
0
0.8
Figure 18 shows the enlarging effect of the torque during the
0.6 permanent mode.
Then Tem = 302.5−300
300 .100 = 0.83%
0.4
Table 2 summarizes the various results of the torque undu-
0.2 lation for the different induction machine structures.
0
Table 2 shows that the dual open-end winding induction
0 50 100 150 200 250 300 350 400
Harmonic order
machine clearly improves the torque undulation.
Figure 15 shows the enlarging effect of the torque during If we consider that all machines have a power P, we will have
the permanent mode for a load torque Tr = Tn. as power inverters for assuring the supply to each machine
Then we can calculate the torque undulation for this oper- shown in Fig. 1a–d as shown by Table 3.
ation mode. Table 3 clearly shows the advantage that present open-end
winding induction machines for the dimensioning inverters.
309 − 300
Tem = .100 = 3%
300
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Fig. 11 Pole voltages, stator currents, speed and torque of the DSIM
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50 50
0 0
-50 -50
1.408 1.41 1.412 1.414 1.416 1.418 1.42 1.422 1.424 1.426 1.408 1.41 1.412 1.414 1.416 1.418 1.42 1.422 1.424 1.426
Time (s) Time (s)
Fundamental (50Hz) = 75.61 , THD= 5.18% Fundamental (50Hz) = 75.61 , THD= 0.99%
5 1
M a g (% o f F u n d a m e n ta l)
M ag (% o f F un da m en ta l)
4 0.8
3 0.6
2 0.4
1 0.2
0 0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
Harmonic order Harmonic order
Fig. 12 Waveform and harmonic ration of current (DSIM) for 30◦ Fig. 14 Waveform and harmonic ration of current (DOEWIM)
50
The characteristics of the machine used:
0
1.408 1.41 1.412 1.414 1.416 1.418 1.42 1.422 1.424 1.426
Time (s) Speed n = 1450 tr/min.
Fundamental (50Hz) = 75.57 , THD= 1.60% Resistance of stator Rs = 0.15 .
1.5
Resistance of rotor Rr = 0.046 .
Mag (% of Fundamental)
0
0 50 100 150 200 250 300 350 400
Harmonic order
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IM P
OEWIM P/2
DSIM P/2
DOEWIM P/4
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