applied

sciences
Article
Article
Current Harmonic Suppression Algorithm for
Current Harmonic Suppression Algorithm for
Asymmetric Dual Three-Phase PMSM
Asymmetric Dual Three-Phase PMSM
Zhihong Wu 1,2 , Weisong Gu 1, Ke Lu 1,2*, Yuan Zhu1,2 and Jianbin Guan2
Zhihong Wu 1,2 , Weisong Gu 1 , Ke Lu 1,2, * , Yuan Zhu 1,2 and Jianbin Guan 2
1 School of Automotive Studies, Tongji University, Shanghai 201800, China; zhihong.wu@tongji.edu.cn
1 SchoolAutomotiveGu@163.com
of Automotive Studies, Tongji University, Shanghai 201800,
(Z.W.); (W.G.); luke@tongji.edu.cn (K.L.); China; zhihong.wu@tongji.edu.cn
yuan.zhu@tongji.edu.cn (Y.Z.) (Z.W.);
2 AutomotiveGu@163.com
Sino-German (W.G.); yuan.zhu@tongji.edu.cn
School for postgraduate (Y.Z.) Shanghai 201800, China;
studies, Tongji University,
2 Sino-German School for postgraduate studies, Tongji University, Shanghai 201800, China;
1731377@tongji.edu.cn
1731377@tongji.edu.cn
* Correspondence: luke@tongji.edu.cn; Tel.: +86-13661978920
Correspondence:
*Received: luke@tongji.edu.cn;
1 January 2020; Tel.: +86-13661978920
Accepted: 28 January 2020; Published: date




Received:
Abstract:1 Based
Januaryon
2020;
theAccepted: 28 January
vector space 2020; Published:
decomposition 2 February
(VSD) 2020
transformation, the currents

of an
asymmetric dual three-phase permanent magnet synchronous motor (ADT-PMSM) with isolated
Abstract: Based on the vector space decomposition (VSD) transformation, the currents of an
neutral points are decoupled into the torque, producing α-ß components in the fundamental
asymmetric dual three-phase permanent magnet synchronous motor (ADT-PMSM) with isolated
subspace and the loss-producing x-y components in the harmonic subspace. In order to suppress
neutral points are decoupled into the torque, producing α-ß components in the fundamental subspace
the current harmonics, a feedforward voltage compensation that is calculated according to the dead
and the loss-producing x-y components in the harmonic subspace. In order to suppress the current
time, turn on/off time, and the voltage drop is added to the reference voltage of the control
harmonics, a feedforward voltage compensation that is calculated according to the dead time, turn
algorithm. Due to the limitations of the feedforward voltage compensation method, a feedback
on/off time, and the voltage drop is added to the reference voltage of the control algorithm. Due to the
current control loop is set up in the x-y subspace, where an improved resonant controller is
limitations of the feedforward voltage compensation method, a feedback current control loop is set up
adopted to generate the compensation voltage. The improved resonant controller can achieve a
in the x-y subspace, where an improved resonant controller is adopted to generate the compensation
high gain at a specific frequency. The experimental results verify the effectiveness of the proposed
voltage. The improved resonant controller can achieve a high gain at a specific frequency. The
method.
experimental results verify the effectiveness of the proposed method.
Keywords: asymmetric dual three-phase permanent magnet synchronous motor; vector space
Keywords: asymmetric dual three-phase permanent magnet synchronous motor; vector space
decomposition; current harmonic suppression; feedforward voltage compensation; resonant
decomposition; current harmonic suppression; feedforward voltage compensation; resonant controller
controller

1. Introduction
1. Introduction
With the wide application of power electronic converters, the motor drive system is no longer
With
limited by the
the wide
phaseapplication
number of of power electronic
a traditional converters,
three-phase powerthe motorand
supply, drive
thesystem is no longer
multi-phase motor
limited
drive by thehas
system phase
been number
widelyofconcerned
a traditional three-phase
[1–5]. powermotor
The six-phase supply,
hasand the multi-phase
attracted more andmotor
more
drive system
attention has of
because been widely
its close concerned
connection [1–5].
with The six-phase
the traditional motor has
three-phase attracted
motor. more and more
The asymmetric dual
attention because of its close connection with the traditional three-phase motor.
three-phase permanent magnet synchronous motor has greater advantages because of smaller torque The asymmetric
dual three-phase
ripples [5,6]. It haspermanent
two sets ofmagnet synchronous
three-phase windingsmotor
with has greater
isolated advantages
neutral because
points, which areofspatially
smaller
torque ripples [5,6]. It has two sets of
shifted by 30 degrees, as shown in Figure 1. three-phase windings with isolated neutral points, which are
spatially shifted by 30 degrees, as shown in Figure 1.
B
N2

E D

300
A

N1

C
F

Figure 1. Two sets of three-phase windings.

Appl. Sci. 2020, 10, x; doi: FOR PEER REVIEW www.mdpi.com/journal/applsci
Appl. Sci. 2020, 10, 954; doi:10.3390/app10030954 www.mdpi.com/journal/applsci
Appl. Sci. 2020, 10, 954 2 of 18

The vector space decomposition (VSD) method is widely adopted for the control of an asymmetric
dual three-phase permanent magnet synchronous motor (ADT-PMSM) [7,8]. According to the
dimensions of current control, the control methods based on the VSD can be divided into two kinds:
two-dimension current control [9,10] and four-dimension current control [11–13]. Two-dimension
current control only establishes the current closed-loop control strategy in the α-ß subspace where
electromechanical energy conversion takes place, while an open-loop control strategy is adopted in
the x-y subspace. The fifth and seventh harmonic voltages due to the dead time effects of inverter
will cause large harmonic currents. So, the two-dimension current control cannot achieve the desired
results, while the four-dimension current control can control the currents of two subspaces separately.
A current closed-loop control strategy is set up in the x-y subspace to make the harmonic currents 0,
which can compensate for the dead-time effects and the nonlinearities of the inverter [13].
In References [14,15], by suitably selecting the voltage vectors from the divided vector groups
into one sampling period, the current harmonics can be reduced compared to the Switching Table
based Direct Torque Control (ST-DTC) drive. However, this method can only avoid injecting harmonic
voltages into the x-y subspace. However, the dead time and nonlinearities of the inverter are not
considered. Methods based on a proportional–integral (PI) controller due to its simple structure and
well-known characteristics are employed in the x-y subspace. However, the fifth and seventh current
harmonics are only suppressed to some extent due to its limited bandwidth [16]. Accordingly, a
multiple synchronous frame (MSF) scheme based on a PI controller in several synchronous frames (SF)
in parallel (one per harmonic) is employed to eliminate the current harmonics in multi-phase machines,
which can attain zero steady-state error at different harmonics. However, the computational burden is
heavy. In [13,16,17], a resonant controller is employed in an anti-synchronous frame rotating with the
negative sequence fundamental frequency in the x-y subspace to suppress the current harmonics, but
the discretization errors of the poles are not considered.
In the field of current harmonics suppression of three-phase motor drives, extensive research
has been conducted. Methods based on voltage-second balance theory classify the causes that distort
the voltages. By offline measurement of the dead time, the turn-on/off time, and the nonlinearities
including the forward voltage drop of the switching device and voltage drop of freewheeling diode,
the compensation voltages can be calculated [18–20]. However, these parameters are varied with the
junction temperature of the inverter, motor load, speed, and some other factors. Accordingly, online
methods are proposed in [21], but these methods add computational burden to the algorithm and
require a lookup table to search for the corresponding parameters under certain operating points.
Besides, these above-mentioned schemes need the accurate polarities of phase currents [18–21]. Most
methods detect the current polarities with current sensors, which are easily polluted by the noises and
harmonics. In Reference [22], a specific hardware circuit is designed to detect which antiparallel diode
conducts in a one switching cycle to judge the current polarity. However, it adds burden to design the
hardware. Similar to the current harmonics suppression of the ADT-PMSM, the resonant controller or
the PI controller in the synchronous frames is also adopted [23–26]. Another approach that utilizes the
integral term of the d-axis current as feedback to obtain the voltage distortion can only be used on
condition that the d-axis reference current is a constant value [27]. Some methods adopt a disturbance
observer to estimate the voltage error, which does not need current polarities and the specifications of
the inverter [28–31]. However, these methods require lots of efforts to obtain the observer gains and
need to have a good knowledge of the motor parameters.
This paper proposes a method that combines the feedforward voltage compensation and the
feedback voltage compensation methods together to suppress the current harmonics. The feedforward
voltage compensation is obtained by the voltage-second balance theory, and the current detection
scheme is independent of current sensors. In order to overcome the problems caused by the junction
temperature and some other factors of the inverter, a feedback voltage compensation that employs
a resonant controller is put forward. The proposed scheme can achieve the desired results without
Appl. Sci. 2020,
Appl. Sci. 10, x
2020, 10, 954
FOR PEER REVIEW 33 of
of 18
20

the desired results without additional hardware or a good knowledge of the load parameters. The
additional hardware or a good knowledge of the load parameters. The effectiveness of the proposed
effectiveness of the proposed method is verified by a set of experimental results.
method is verified by a set of experimental results.
This paper is structured as follows: Section 2 describes the mathematical model of ADT-PMSM.
This paper is structured as follows: Section 2 describes the mathematical model of ADT-PMSM.
The analysis of dead-time effects is given in Section 3. The feedforward voltage compensation and
The analysis of dead-time effects is given in Section 3. The feedforward voltage compensation and
feedback current regulator designed in x-y subspace are discussed in Section 4. Section 5 gives the
feedback current regulator designed in x-y subspace are discussed in Section 4. Section 5 gives the pulse
pulse width modulation (PWM) techniques to implement the four-dimension current control of
width modulation (PWM) techniques to implement the four-dimension current control of ADT-PMSM.
ADT-PMSM. Experimental results are carried out on an ADT-PMSM experimental platform to verify
Experimental results are carried out on an ADT-PMSM experimental platform to verify the effectiveness
the effectiveness of the proposed method in Section 6. Finally, the conclusions are summarized in
of the proposed method in Section 6. Finally, the conclusions are summarized in Section 7.
Section 7.
2. Machine Model of Asymmetric Dual Three-phase Permanent Magnet Synchronous Motor
2. Machine Model of Asymmetric Dual Three-phase Permanent Magnet Synchronous Motor
(ADT-PMSM)
(ADT-PMSM)
As depicted in Figure 2, the drive system of ADT_PMSM in this paper has two sets of three-phase
As source
voltage depicted in Figure
inverters 2, sharing
(VSI) the drive
thesystem of ADT_PMSM
same DC-link voltage, in this can
which paper has two
supply two sets of
sets of
three-phase voltage
three-phase windings. source inverters (VSI) sharing the same DC-link voltage, which can supply two
sets of three-phase windings.

0
A 30 D B E C F

Figure 2. 2.Drive
Figure Drivesystem
systemof
of asymmetric dual three-phase
asymmetric dual three-phasepermanent
permanentmagnet
magnet synchronous
synchronous motor
motor
(ADT-PMSM). (ADT-PMSM).

According to the VSD theory, the variables including the current, flux, and voltage of the machine
According to the VSD theory, the variables including the current, flux, and voltage of the
can be mapped into three orthogonal subspaces, i.e., the α–β, x–y, and zero-sequence subspaces. This
machine can be mapped into three orthogonal subspaces, i.e., the α–β, x–y, and zero-sequence
approach gives an alternative description of the machine, which is useful for machine control and
subspaces. This approach gives an alternative description of the machine, which is useful for
the development of pulse width modulation (PWM) techniques. Harmonics of different orders are
machine control and the development of pulse width modulation (PWM) techniques. Harmonics of
mapped into different subspaces. The fundamental component and harmonics with the order 12n ± 1
different orders are mapped into different subspaces. The fundamental component and harmonics
(n = 1, 2, 3 ...) are mapped into the α–β subspace. The harmonics with the order 6n ± 1(n = 1, 3, 5 ...)
with the order 12n ± 1(n = 1, 2, 3 . . .) are mapped into the α–β subspace. The harmonics with the
are mapped into the x–y subspace. The harmonics with the order 6n ± 3(n = 1, 3, 5 ...) are mapped
order 6n ± 1(n = 1, 3, 5 . . .) are mapped into the x–y subspace. The harmonics with the order 6n ± 3(n =
into the O1 -O2 subspace, which is also called the zero sequence subspace. With neutral points being
1, 3, 5 . . .) are mapped into the O1-O2 subspace, which is also called the zero sequence subspace. With
isolated, no current components in the O1 -O2 subspace would exist. Therefore, the ADT-PMSM with
neutral points being isolated, no current components in the O1-O2 subspace would exist. Therefore,
isolated neutrals is a four-order system. The mathematical model and the VSD modeling process of the
the ADT-PMSM with isolated neutrals is a four-order system. The mathematical model and the VSD
dual three-phase motor in more detail are introduced in Reference [9]. According to the magnitude
modeling process of the dual three-phase motor in more detail are introduced in Reference [9].
invariant principle, the static decoupling transformation matrix is employed as
According to the magnitude invariant principle, the static decoupling transformation matrix is
employed as
Appl. Sci. 2020, 10, 954 4 of 18

 √ √ 
3 3
 1
 −√21 −√12 2 − 2 0 
3 3

 1 1
1  0 − 2 2 2√ √2
−1 
TVSD =  . (1)
3  1
 −√21 −√12 − 23 2
3
0 
− 23 3 1 1

0 −1

2 2 2

In order to achieve the vector control, a transformation is used to transform the α–β variables into
a synchronous reference frame rotating with the fundamental frequency, i.e.

 cos θ sin θ 0 0 0 0 
 
 − sin θ cos θ 0 0 0 0 
 
Tdq =  (2)
0 0 1 0 0 0 



0 0 0 1 0 0


where θ is the electrical rotor position.

On the condition that the back electromotive force (EMF) is sinusoidal, two sets of windings are
symmetric, and mutual leakage inductances are ignored. The voltage equations in the synchronous
rotating d-q coordinate axis in the α–β subspace and in the stationary x-y coordinate axis in the x-y
subspace are
 di


 ud = id R + Ld dtd − we Lq iq
di

 uq = iq R + Lq q + we (Ld id + ψ f )


 dt (3)
 dix



 u x = ix R + Lz dt

 di y
 u = i R+L y y z dt

where R is the stator resistance, Ld and Ld are the d- and q-axes inductances respectively, Lz is the
leakage inductance, and uk (k = d, q, x and y) and ik (k = d, q, x and y) are the voltage and current
components, respectively. we is the electrical angular speed, and ψf is the permanent magnet flux.

3. Analysis of Dead-Time Effects

In order to facilitate the analysis, Figure 3 shows one phase leg of the widely used six-phase PWM
inverter during the dead-time period. If the phase current flows into the stator, the direction is defined
Appl.
as Sci. 2020,
positive and10, xvice
FORversa.
PEER REVIEW 5 of 20

i<0
Q1 D1
motor
Q2 D2 i > 0

Figure 3. Phase
Figure3. Phase leg
leg of
of the
the converter
converter during
during the
the dead-time
dead-timeperiod.
period.

In Figure 3, the turn-on time is usually shorter than the turn-off time. In order to avoid the
simultaneous conduction of both switching devices Q1 and Q2, fixed dead-time insertion is
necessary to ensure the safety of the inverter system. The dead time could cause the desired
reference voltages to distort and affect the control performance. During the dead-time period, both
switches are turned off, and the current can only flow through the free-wheeling diode D1/D2, if the
polarity of phase current is negative/positive. So, the output voltage relies on the direction of phase
Appl. Sci. 2020, 10, 954 5 of 18

Figure 3. Phase leg of the converter during the dead-time period.

In Figure 3, the turn-on time is usually shorter than the turn-off time. In order to avoid the
In Figure 3, the turn-on time is usually shorter than the turn-off time. In order to avoid the
simultaneous conduction of both switching devices Q1 and Q2, fixed dead-time insertion is necessary
simultaneous conduction of both switching devices Q1 and Q2, fixed dead-time insertion is
to ensure the safety of the inverter system. The dead time could cause the desired reference voltages to
necessary to ensure the safety of the inverter system. The dead time could cause the desired
distort and affect the control performance. During the dead-time period, both switches are turned off,
reference voltages to distort and affect the control performance. During the dead-time period, both
and the current can only flow through the free-wheeling diode D1/D2, if the polarity of phase current is
switches are turned off, and the current can only flow through the free-wheeling diode D1/D2, if the
negative/positive. So, the output voltage relies on the direction of phase current during the dead-time
polarity of phase current is negative/positive. So, the output voltage relies on the direction of phase
period from the above analysis.
current during the dead-time period from the above analysis.
Taking the PWM waveforms of one phase leg for example, Figure 4a,b show the situations when
Taking the PWM waveforms of one phase leg for example, Figure 4a and Figure 4b show the
the phase current is positive or negative, respectively.
situations when the phase current is positive or negative, respectively.

Ts Ts

PWM ideal PWM ideal

Td +Tond Toffd Toffd Td +Tond

PWM actual PWM actual

U ideal U ideal
U sat U dc U sat

U actual U actual
U diode U diode U dc

U err U err

Figure 4. Switching patterns and output voltages. (a) Phase current is positive. (b) Phase current
Figure 4. Switching patterns and output voltages. (a) Phase current is positive. (b) Phase current is
is negative.
negative.

The average voltage error in one PWM period can be obtained as

i<0
(
−1,
Uerr = Ud ∗ sign(i), sign(i) = (4)
1, i>0

where sign(x) is a sign function and Ud represents the magnitude of voltage error. Ud can be expressed as

Td + Tond − To f f d
Ud = (Udc − Usat + Udiode ) + Uv (5)
Ts

Ton To f f

 Ts Usat + Ts Udiode i>0
Uv =  (6)

To f f Ton
Ts Usat + Ts Udiode i<0



where Td is the dead time, Ts is the PWM carrier period, Ton and Toff are the on-period and off-period of
the switching device of the inverter leg, while Tond and Toffd define the turn-on time delay and turn-off
time delay of the switching device, respectively. Usat and Udiode denote the forward voltage drop of the
 turn-off time delay of the switching device, respectively. Usat and Udiode denote the forward voltage
drop of the switching device and the diode. Uv represents the average voltage drop in one PWM
cycle. The error voltages of six phases can be transformed into the x-y coordinate axis in the x-y
subspace as follows:
Appl. Sci. 2020, 10, 954 1 1 3 3  6 of 18
1 − − − 0
U xd  1  2 2 2 2

U  =   [U Ad U Bd U Cd U Dd U Ed U Fd ]T
switching device  diode.
 yd and3the 3 Uv represents
3 1 1 average
the  voltage drop in one PWM cycle. The error
−
 0 be −1

voltages of six phases can transformed
2 2 into
2 the
2 x-y 
coordinate axis in the x-y subspace as follows:
where U#xd and Uyd are the error voltages
√ √ in the  x-y coordinate axis in the x-y subspace, while UAd,
1  1 −√21 −√12 − 23 3
"
Uxd 0 h iT
UBd, UCd, U=Dd, U  Ed, and UFd are the error 2voltages ofUphase
Ad UA,
Bd B, C,
U D,
Cd E,
U and
Dd F,
U respectively.
Ed U Fd (7)
U yd 3 0 − 3 3 1 1
−1 
2 2 2 2
The error voltages in the x-y subspace can be obtained by applying the Fourier series as
follows:
where U and U are the error voltages in the x-y coordinate axis in the x-y subspace, while U , U ,
xd yd Ad Bd
UCd , UDd , UEd , and UFd arethe ∞error n( wet +ofδ phase
sinvoltages ) sin n( wet + δ ) 
∞A, B, C, D, E, and F, respectively.

The error voltages in the

U xd  4U d  +
n

 x-y subspace can be obtained by applying the  Fourier series as follows:
n
U  =  n =6 k −∞1 n = 6 k +1
  k = 1,3,5...
" yd  # π  δ) δ )
we tt++ δ) t + δ ) 
∞P ∞∞
cossinnn((w cos
n(wne t(
+w
4Ud−  n=6k
P sin
Uxd n
e + + +1 n
e 
 

=   n =n6=k −6k−1
∞1 n nP= 6 k +1
∞ n (8)   k = 1, 3, 5...

U yd π 
 −
 P
+
cos n(we t+δ) cos n(we t+δ)  
n n


where δ denotes the anglen=between
6k−1 n=6k
the current +1
vector Is and the q-axis, as depicted in Figure 5. Here,
wherethe anticlockwise
δ denotes the anglerotation
between is the
defined as vector
current the positive
Is and direction.
the q-axis, Itasisdepicted
noteworthy that 5.
in Figure theHere,
fifth and
the anticlockwise rotation
seventh current is defined
harmonics as the
will positive
appear direction.
as the It is−7th
+5th and noteworthy
in the x-y thatcoordinate
the fifth andaxis
seventh
in the x-y
current harmonics
subspace. will appear as the +5th and −7th in the x-y coordinate axis in the x-y subspace.

iq
Is we
δ d
θ
A
id

Figure 5. Space diagram of current vector angle.

Figure 5. Space diagram of current vector angle.
Applying the inverse Park transformation, the error voltages in the anti-synchronous rotating
coordinate axis with the negative angular frequency +we , which is defined as the x1-y1 coordinate
axis, become
 x1  "
 Uxd  cos θ − sin θ
#" #
Uxd
 y1  =
 U 
yd
sin θ cos θ U yd
∞ ∞
sin[n(we t+δ)−δ] sin[n(we t+δ)+δ] 
 P 
 +
P (9)
n n
 
4Ud  n=6k n=6k 
= π   ∞ ∞ k = 1, 3, 5...
cos[n(we t+δ)−δ] cos[n(we t+δ)+δ] 
P P 
 − +
 
n n 
n=6k n=6k

where Uxd x1 and Uyd y1 are the error voltages in the x1- and y1- axes respectively.
After the transformation, it is obvious that the sixth-order voltage components are the main
contents of the error voltages. It will influence the motor currents, which will in turn affect the control
performance. Assuming that the motor back EMF contains only the fundamental frequency, the
sixth-order current harmonics in the virtual anti-synchronous rotating x1-y1 coordinate axis in x-y
subspace are  sin(6w t+5δ−φ) sin(6w t+7δ−φ) 
 6  e e
 Ix1  4Ud  + 
 cos(6w5t+5δ−φ) cos(6w7t+7δ−φ) 
 6  = q (10)
I y1 e
+ e
π R2 + (6we Lz )2 −
 
5 7

6we Lz
where φ = tan−1 R .
Appl. Sci. 2020, 10, 954 7 of 18

It can be seen that the sixth-order current harmonics are dependent upon the speed and the
parameters of the motor.

4. Proposed Current Harmonics Suppression Strategy

4.1. Feedforward Voltage Compensation

The feedforward voltage compensations can be calculated according to Equations (4), (5), and (6)
as described in the previous section, so the key issue of the feedforward voltage compensation is to
determine the polarities of the phase currents.
This paper proposes a current vector method that uses the current vector angle to judge the
polarities of the six-phase currents. The current vector angle that is shown in Figure 5 is defined
as follows:
φ = θ + sign(iq ) ∗ π/2 + δ (11)

Twelve different combinations can be derived according to the polarities of the six-phase currents,
which divide the complex plane of the 360-degree electric angle into 12 sectors. Every sector occupies
30 degrees. The corresponding relationship between the current vector angle and the polarities of the
Appl. Sci. 2020,
six-phase 10, x FOR
currents PEER
are REVIEW
shown in Figure 6. 8 of 20

−+− ++−
−+− ++− ++− ++−
−+− +−−
5 4 3
−++ 2 +−−
−+− +−−
6 1
−++ 7 12 +−−
−++ +−+
8
−−+ 9 10 11
−++ +−+
−−+ +−+ +−+
−−+ −−+

Figure 6. Relationship between the current vector angle and polarities of six-phase
six-phase currents.
currents.

So,
So, the
the polarities
polarities of
of six-phase
six-phase currents
currents can
can bebe defined
defined according
according to to the
the current
current vector
vector angle,
angle, as
as
shown in Figure 6. Meanwhile, the current vector angle can be calculated according
shown in Figure 6. Meanwhile, the current vector angle can be calculated according to the current to the current
vector
vector in
in space
space coordinate,
coordinate, asas shown
shown inin Equation (11). δδ can
Equation (11). can be be given
given as
as
id i 
 
δ = δsign (iq )(*arctan
= sign iq ) ∗ arctan d  (12) (12)
iq iq 
.
According
According to
to Equations
Equations (11)
(11) and
and (12),
(12), the
the current
current vector
vector angle
anglecan canbe
beobtained
obtainedas
asfollows:
follows:
id  i 
 
φ = φθ =
+ sign iq )π∗ (2π/2
(iq ) (*(
θ + sign + arctan
+ arctan )d ) (13) (13)
iq  iq 
.
4.2. Adaptive Feedback Current Control Loop
4.2. Adaptive Feedback Current Control Loop
A feedback current control loop is implemented in the anti-synchronous reference frame to
A feedback current control loop is implemented in the anti-synchronous reference frame to
eliminate the sixth-order current harmonics. According to Equation (10), the sixth-order current
eliminate the sixth-order current harmonics. According to Equation (10), the sixth-order current
harmonics in the x1-y1 coordinate axis can be defined as follows:
harmonics in the x1-y1 coordinate axis can be defined as follows:
 I x61 Ix1  I xs sin(6 ) +e tI)xc+cos(6
we(t6w t ) e t)
Ixc cosw(e6w
 6  " #
Ixs sin
 6 I6=  = I ys sin(6we t) + I yc cos(6we t) (14) (14)
 I y1  y1  I ys sin(6 wet ) + I yc cos(6 wet )  .

The resonant controller can achieve infinite gain at the specific frequency [16,17,23], which can
be expressed in the s-domain as follows:
s
G ( s) = K
Appl. Sci. 2020, 10, 954 8 of 18

The resonant controller can achieve infinite gain at the specific frequency [16,17,23], which can be
expressed in the s-domain as follows:
s
GR (s) = KR (15)
s2 + (hwe )2

where h is the harmonic order, and KR is the resonant gain.

When the frequency of ac signal is hwe , i.e., s = jhwe , the amplitude can be obtained as
s
  KR hwe
GR (s) = ( ) (16)
s= jhwe −w2e + w2e

From Equation (16), it is obvious that the amplitude of GR (s) is infinite, which can achieve a zero
steady-state error of an AC signal at the resonant frequency. However, the gain of the frequency that
is not located at the resonant frequency decreases sharply, which will make the control system more
sensitive to the change of input signal frequency and may result in system fluctuation. In addition,
due to the limitation of the accuracy of the digital system, the ideal resonant controller is not easy
to implement
Appl. Sci. 2020, 10,inx digital
FOR PEERsignal processor (DSP). In order to take advantage of the resonant controller,
REVIEW 9 of 20
it is necessary to improve the ideal resonant controller. The improved resonant controller can be
employed as K R wc s
GMR ( s) = 2 KR wc s 2 (17)
GMR (s) s= + 2 wc s + (hwe ) 2 (17)
s2 + 2wc s + (hwe )
where wc is the cut-off frequency.
whereSo, wctheis the cut-off frequency.
relationship between output voltage function Y(s) and current error function E(s) can be
So, the
expressed as relationship between output voltage function Y(s) and current error function E(s) can be
expressed as
Y ( s ) s) K R wc s
GMRG( s) (=s) = Y(= 2
KR wc s
2
(18)
MR E ( sE)(s) s +s22+wc2w
= s +s(+hw (hwe ) )2
(18)
c e
which can also be defined as follows:
which can also be defined as follows:
 1
 Y ( s) = [ K 1 R wc E ( s ) − V1 ( s ) − V2 ( s ) ]


 Y ( s ) s
= s [KR wc E(s) − V1 (s) − V2 (s)]
 (19)

 V1 (Vs1)(=s)2=wcY2w( sc)Y(s) (19)
 2

(hw
2 e)
V2 (s)(hw = e ) s Y (s)



V2 ( s ) = Y (s)
 s .
The equivalent schematic block diagram of Equation (19) is shown in Figure 7.
The equivalent schematic block diagram of Equation (19) is shown in Figure 7.

2 wc

E (s) − Y (s)
+ 1
K R wc
s
−

1
(hwe ) 2
s

7. Structure
Figure 7.
Figure Structureofofthe
theimproved
improvedresonant
resonantcontroller.
controller.

Figures
Figures88and
and99show
showthe theBode
Bodediagrams
diagrams of of
thethe
improved
improvedresonant
resonant controller.
controller.It isItobvious thatthat
is obvious the
parameters will influence
the parameters the system
will influence gain and
the system bandwidth.
gain The gainThe
and bandwidth. and gain
bandwidth of the improved
and bandwidth of the
resonant will increase as the parameter w c increases, but a large w
improved resonant controller will increase as the parameter wc increases, but a large wc the
controller c will affect willfrequency
affect the
selection
frequencycharacteristics of the controller,
selection characteristics of the while the change
controller, of Kchange
while the R will only
of Kinfluence the gain of the
R will only influence the
improved resonant
gain of the improvedcontroller.
resonantIt iscontroller.
ideal to choose a larger
It is ideal KR , but athelarger
to choose stability
KR, and
but convergence
the stability will
and
convergence will be affected. So, the best values of KR and wc should be determined by
comprehensive consideration according to the actual situation of the system.

Bode Diagram
0
 Figure 7. Structure of the improved resonant controller.

Figures 8 and 9 show the Bode diagrams of the improved resonant controller. It is obvious that
the parameters will influence the system gain and bandwidth. The gain and bandwidth of the
improved resonant controller will increase as the parameter wc increases, but a large wc will affect the
Appl. Sci. 2020, 10, 954 9 of 18
frequency selection characteristics of the controller, while the change of KR will only influence the
gain of the improved resonant controller. It is ideal to choose a larger KR, but the stability and
convergence
be affected. So,will be affected.
the best So, and
values of K the wbest values of KR and wc should be determined by
c should be determined by comprehensive consideration
R
comprehensive consideration according
according to the actual situation of the system. to the actual situation of the system.

Bode Diagram
0
w =2
c
wc =4
-20 w =6
c

-40

-60
90

45

-45

-90

Appl. Sci. 2020, 10, x FOR PEER REVIEW Frequency (rad/s) 10 of 20

Figure 8. Bode diagram for different values of wc when KR is constant.

Figure 8. Bode diagram for different values of wc when KR is constant.

Figure9.9.Bode
Figure Bodediagram
diagramfor
fordifferent
differentvalues
valuesKKRR when
whenwwcc is
is constant.
constant.
5. Pulse Width Modulation (PWM) Techniques for the Implementation of Four-Dimensional
5. Pulse Control
Current Width Modulation (PWM) Techniques for the Implementation of Four-Dimensional
Current Control
The block diagram of four-dimensional current control based on the VSD approach is illustrated
in FigureThe 10, block
which diagram of four-dimensional
can compensate currentsuch
for nonlinear factors control based on
as dead-time the After
effects. VSD theapproach
feedback is
illustrated
current in Figure
control loop 10, which can
is adopted compensate
in both α-ß andforx-ynonlinear
subspaces, factors such asvoltages
the desired dead-timeuαeffects.
, uß , ux ,After
and
the feedback current control loop is adopted in both α-ß and x-y subspaces,
uy can be acquired. Applying the inverse VSD transformation, the phase voltages after the feedback the desired voltages uα,
u , u , and u can be acquired. Applying
current control loop can be obtained as follows:
ß x y the inverse VSD transformation, the phase voltages after
the feedback current control loop can be obtained as follows:
iT T T
*U∗ T
h h i
U AN* U∗
AN
* U∗
U BN * U∗
U CN
BN
* U∗ *U∗
CNU DN DNU EN ENU FNFN  = T=VSD Uα UU
−1T −1
VSD α UβU Ux U Uy
β x y
(20) (20)
.
Adding the
Adding the feedforward
feedforward voltage
voltage compensations
compensations to to the
the phase
phase voltages
voltages obtained
obtained from
from Equation
Equation
(20),the
(20), thedesired
desiredreference
referencephase
phasevoltage
voltagevector
vectorisis
T
[Uh AN U FN ] iT= U
T
U BN U CN U DN U EN *
h AN
∗
*
U BN∗
*
U CN∗
*
U DN
∗
*
U EN
∗
*
U ∗FN iT +
U AN UBN UCN UDN UEN UFN = UAN UBN UCN UDN UEN UFN + (21)
(21)
[U Ad ]
T i T
UUBdAd U U Dd UUDdEd UU
h
UCd
Bd UCd EdFd UFd
where UAd, UBd, UCd, UDd, UEd, and UFd are the feedforward voltage compensations of phases A, B, C,
D, E, and F, respectively.
Appl. Sci. 2020, 10, 954 10 of 18

where UAd , UBd , UCd , UDd , UEd , and UFd are the feedforward voltage compensations of phases A, B, C,
D, E,Sci.
Appl. and F, 10,
2020, respectively.
x FOR PEER REVIEW 11 of 20

feedforward
[U Ad U Fd ]
T
U Bd U Cd U Dd U Ed
voltage
compensation U AN
*
 UAN 
 *  U 
U
 BN   BN 
id _ cmd + Ud U CN
* 
UCN 
PI Uα  *   
− U DN  UDN 
iq _ cmd e jθ U *  UEN 
+ PI  EN    ADT-PMSM
UFN 
*
Uq Uβ −1
TVSD U FN  PWM
− inverter
0+ I x1 U xcom +
ADALINE 1 Ux +
−
e jθ e − jθ
0 +
ADALINE Uy
− I y1 U ycom
1
id iα

e − jθ
iq iβ iABC
TVSD
ix
iDEF

iy

Figure 10. Diagram of control algorithm for asymmetric dual three-phase permanent magnet
Figure 10. Diagram of control algorithm for asymmetric dual three-phase permanent magnet
synchronous motor (ADT-PMSM).
synchronous motor (ADT-PMSM)

Due to the isolated neutral points of ADT-PMSM, the three-phase zero-sequence voltage injection
Due to the isolated neutral points of ADT-PMSM, the three-phase zero-sequence voltage
PWM technique can be adopted. The output PWM waveform is modulated by comparing the final
injection PWM technique can be adopted. The output PWM waveform is modulated by comparing
reference voltage waveform of each phase with the triangular carrier waveform, which is also known
the final reference voltage waveform of each phase with the triangular carrier waveform, which is
as the carrier-based pulse width modulation (CBPWM). There are many methods for calculating
also known as the carrier-based pulse width modulation (CBPWM). There are many methods for
zero-sequence components. Different zero-sequence components are corresponding to different PWM
calculating zero-sequence components. Different zero-sequence components are corresponding to
strategies [32]. In this paper, the commonly used mean zero sequence component injection, i.e., half of
different PWM strategies [32]. In this paper, the commonly used mean zero sequence component
the middle value of the three-phase voltage values is used, as shown in Equation (22).
injection, i.e., half of the middle value of the three-phase voltage values is used, as shown in
Equation (22). (
Uo1 = −0.5(Umax1 + Umin1 ) = 0.5Umid1
(22)
 U U=o2 −=0.5(
−0.5 + U+ Umin2
U(Umax2
o1 ) = )0.5
=U0.5Umid2
max1 min1 mid 1
 (22)
where Umax , Umid U
and U = −0.5(
o 2 are
min max 2 + U min 2 middle,
the Umaximum, ) = 0.5U mid
and 2 the minimum values of the
three-phase voltages.
where Umaxthe
Since , Umid
sum and of U min are the maximum, middle, and the minimum values of the three-phase
three-phase voltages is zero, the zero-sequence voltage is equal to the half of
voltages.
the middle value of three-phase voltage values. It has been proved that the zero sequence voltage
Sincemethod
injection the sum of three-phase
is equivalent voltages
to the is zero,
space vector thewidth
pulse zero-sequence
modulation voltage is equal
(SVPWM) to the half
algorithm, of
which
the
can middle
achievevalue of three-phase
the same linear voltagevoltage values. range
modulation It hasas
been proved
proved that the zero
in [14,15,32]. sequence
Compared voltage
to the four
injection methodalgorithm,
vector SVPWM is equivalent to the space vector
a four-dimension currentpulse width
control for modulation
ADT-PMSM(SVPWM) algorithm,
can be implemented.
which
Besides,canit achieve
is easy to the same linear
implement andvoltage modulation
the PWM waveform range as proved
is centrally in [14,15,32].
symmetrical Compared
and each power to
the four
device vector SVPWM
is switched only oncealgorithm,
in each PWM a four-dimension
cycle. Besides, itcurrent control for
will not introduce ADT-PMSM
even harmonics andcan can
be
implemented.
reduce switching Besides,
losses.it Figure
is easy 11
to shows
implement and the
the double PWM waveform
zero-sequence is centrally
injection symmetrical
pulse width and
modulation
each
(PWM) power device is switched only once in each PWM cycle. Besides, it will not introduce even
strategy.
harmonics and can reduce switching losses. Figure 11 shows the double zero-sequence injection
pulse width modulation (PWM) strategy.
Appl. Sci. 2020, 10, 954 11 of 18
Appl. Sci. 2020, 10, x FOR PEER REVIEW 12 of 20

zero U o1
sequence
calculation

+ SA
+
U AN
+ SB
U BN +
+ SC
U CN +

CBPWM SD
U DN
+
+
SE
U EN +
+ SF
U FN
+
+

zero
sequence
Uo2
calculation

Figure
Figure 11. 11. Double
Double zero-sequenceinjection
zero-sequence injection pulse
pulse width
widthmodulation
modulation(PWM) strategy.
(PWM) strategy.

6. Experimental Verification
6. Experimental Verification
The effectiveness
The effectiveness of the
of theproposed
proposedcurrent
current harmonic suppression
harmonic suppression algorithm
algorithm is verified
is verified by the
by the
implementation in an ADT-PMSM experimental platform
implementation in an ADT-PMSM experimental platform (Siemens, Munich, Germany). The (Siemens, Munich, Germany). The
experimental
experimental setupsetup is shown
is shown in Figure
in Figure 12, which
12, which is composed
is composed of amachine
of a DC DC machine mechanically
mechanically coupled
coupled to the ADT-PMSM acting as a loading motor. The loading motor
to the ADT-PMSM acting as a loading motor. The loading motor is controlled in speed control mode. is controlled in speed
control mode. The ADT-PMSM is supplied by using a two-level VSI (Infineon, Munich, Germany)
The ADT-PMSM is supplied by using a two-level VSI (Infineon, Munich, Germany) configured for
configured for six-phase operation. A DC power supply is used to provide the DC-link voltage of
six-phase operation. A DC power supply is used to provide the DC-link voltage of 12V to the VSI. The
12V to the VSI. The complete control algorithm is implemented in a control board using Infineon
complete
TC277 control algorithm
(Infineon, Munich, is Germany,
implemented2017).inThe
a control board
switching using Infineon
frequency is 10 kHz TC277
with 1 μs(Infineon, Munich,
of dead time
Germany,
provided
Appl.
2017). The
by10,the
Sci. 2020,
switching
hardware
x FOR
frequency is 10 kHz with 1 µs of dead time provided
in the VSI (Infineon, Munich, Germany, 2017). To provide the current
PEER REVIEW
by the hardware
13 of 20
in thedisplay
VSI (Infineon,
at higherMunich, Germany,
resolution, 2017).
a current probeTo (CP150,
provideLecroy,
the current
New display at higher2013)
York, America, resolution,
and a
current probe (CP150,
Teledyne Lecroy Lecroy, Newns
oscilloscope
Turn-off delay, York, America,
(WaveSurfer 3024,2013) andNew
Lecroy, Teledyne Lecroy
22 oscilloscope
York, America, (WaveSurfer
2016) are used. The
3024, data of the
Lecroy, Newphase currents
Saturation
York, are
vol.saved
America, as Excel
V 2016) files with
are used. The the help
data of of
theanphase
oscilloscope.
0.95
currents are saved as Excel
files with The parameters
the help Diode for ADT-PMSM
of anforward vol. V are given in Table 1, and the specifications
oscilloscope. 0.9 of VSI are given in
Table 2. Dead time, µs 1

Table 1. Machine parameters.

Parameter, Unit Value

Inductance value d, H 8× 10-5
Inductance value q, H 8× 10-5
Leakage inductance value, H 7.2×10-5
Flux, Wb 5× 10-3
Pole pairs 4
Resistance, Ω 1.13× 10-2
Rated torque, N*m 3±2.5%
Rated speed, rpm 1860
Rated phase current, A 50
Rated power, W 500

Table 2. Specifications of voltage source inverters (VSI).

Parameter, Unit Value

DC-link voltage, V 12
Turn-on delay, ns 10

Figure 12.Experimental
12.
Figure platformfor
Experimental platform forADT-PMSM.
ADT-PMSM.

Four cases are listed below to compare the performances.

Case 1: The algorithm is implemented without feedforward voltage compensation and a
resonant controller;
Case 2: The algorithm is implemented with feedforward voltage compensation only;
Appl. Sci. 2020, 10, 954 12 of 18

The parameters for ADT-PMSM are given in Table 1, and the specifications of VSI are given in
Table 2.

Table 1. Machine parameters.

Parameter, Unit Value

Inductance value d, H 8 × 10−5
Inductance value q, H 8 × 10−5
Leakage inductance value, H 7.2 × 10−5
Flux, Wb 5 × 10−3
Pole pairs 4
Resistance, Ω 1.13 × 10−2
Rated torque, N*m 3 ± 2.5%
Rated speed, rpm 1860
Rated phase current, A 50
Rated power, W 500

Table 2. Specifications of voltage source inverters (VSI).

Parameter, Unit Value

DC-link voltage, V 12
Turn-on delay, ns 10
Turn-off delay, ns 22
Saturation vol. V 0.95
Diode forward vol. V 0.9
Dead time, µs 1

Four cases are listed below to compare the performances.

Case 1: The algorithm is implemented without feedforward voltage compensation and a
resonant controller;
Case 2: The algorithm is implemented with feedforward voltage compensation only;
Case 3: The algorithm is implemented with resonant controller only;
Case 4: The algorithm is implemented with both feedforward voltage compensation and a
resonant controller.
Figure 13 shows the experimental results without employing feedforward voltage compensation
and a resonant controller, which is equivalent to Case 1. Here, the command currents id and iq are set
to be 0 A and 35 A, respectively. The ADT-PMSM is operating under a current control loop and the
speed is maintained at 500 rpm and 1000 rpm by the loading motor, respectively. Without the current
closed-loop control strategy in the x-y subspace and feedforward voltage compensation method, ux
and uy are set to be 0 in order to avoid injecting extra harmonic voltages. It is obvious that the phase
currents are severely distorted due to the dead-time effects and some other factors. A fast Fourier
transform is conducted on the phase A current waveform as illustrated in Figure 14. From the figure,
one can see that the phase current contains dominant fifth and seventh current harmonics and the total
harmonic distortions (THD) are 20.53% and 17.98% respectively. Besides, it can be seen that the system
is more sensitively influenced by the error voltage at low speed than at high speed, because the voltage
error caused by dead time accounts for a large proportion at low speed.
Figure 15 depicts the experimental results after adopting the proposed feedforward voltage
compensation which is equivalent to Case 2. The compensating voltages are calculated based on
Equations (4), (5), and (6). The reference voltages are synthesized based on the proposed SVPWM
method illustrated in Section 5. The waveforms of the phase currents have been improved a lot. The
fifth and seventh current harmonics are significantly reduced. The THDs of the phase A current
are reduced to 4.60% and 4.11% respectively with the proposed feedforward voltage compensation
method, as shown in Figure 16.
Appl. Sci.
Appl. Sci. 2020, 10,
10, x FOR PEER REVIEW 14
13 of 20
2020, 10,954
Appl. Sci. 2020, x FOR PEER REVIEW 14 of 18
20

60 Phase A Current
60 Phase DA Current
Phase Current
50 Phase D Current
50
40
40
30
30
20
20
10
10
0
0
-10
-10
-20
-20
-30
-30
-40
-40
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17
Time(s)
Time(s)
(a)
(a) (b)
(b)
Figure 13. Phase A and D currents without adopting voltage compensation and resonant controller
Figure13.
Figure 13. Phase
PhaseAAandandDDcurrents
currentswithout
withoutadopting
adopting voltage
voltage compensation
compensation and
and resonant
resonant controller
controller in
in the x-y subspace, (a) speed is maintained at 500 rpm and (b) speed is maintained at 1000 rpm.
in the
the x-y x-y subspace,
subspace, (a) (a) speed
speed is maintained
is maintained at 500
at 500 rpmrpm
andand
(b) (b) speed
speed is maintained
is maintained at 1000
at 1000 rpm.
rpm.

(a)
(a) (b)
(b)
Figure 14.
14. Total harmonic distortions
Total harmonic distortions (THDs) of of the phase
phase A current
current without adopting
adopting voltage
Figure
Figure 14. Total harmonic distortions (THDs)
(THDs) of the
the phase A A current without
without adopting voltage
voltage
compensationand
compensation and resonantcontroller
controller
in in
x-yx-y subspace, (a) speed is maintained
at 500at 500and
rpm(b)and (b)
compensation andresonant
resonant controller subspace,
in x-y (a) speed
subspace, is maintained
(a) speed is maintained atrpm
500 rpm speed
and (b)
speed
is is maintained
maintained at 1000at 1000 rpm.
rpm.
speed is maintained at 1000 rpm.

Figure
Figure
Figure1715 depicts
15shows
depictsthethe experimental
experimental
the experimental results
results afterafter
results adopting
adopting
after the
the proposed
the proposed
adopting resonant
proposed feedforward voltage
controller, which
feedforward voltageis
compensation
equivalent
compensation which
to Case
which is
3. The equivalent to Case
reference voltages
is equivalent to Caseare2. The compensating
2. synthesized based on
The compensating voltages are
the proposed
voltages calculated
SVPWMbased
are calculated based
method,on
on
Equations
as (4),
illustrated in (5), and
Section (6).
5. The
The reference
waveforms voltages
of phase are synthesized
currents have been based on
improved.
Equations (4), (5), and (6). The reference voltages are synthesized based on the proposed SVPWM the
The proposed
fifth and SVPWM
seventh
method
current illustrated
methodharmonics
illustratedare in
in Section 5.
5. The
significantly
Section waveforms
Thereduced.
waveforms Theof the
the phase
ofTHDs currents
of the
phase phase A
currents have been
current
have improved
beenvalue aa lot.
lot. The
are reduced
improved to
The
fifth
fifth and
3.52% andseventh
and current
current harmonics
3.25% respectively
seventh with theare
harmonics significantly
proposed
are reduced.
resonant
significantly The
The THDs
controller,
reduced. of
of the
as shown
THDs in phase
the FigureA
phase current
current are
A18. are
reduced to
Figure 4.60%
19 and
depicts the4.11% respectively
experimental with
results the
after proposed
adopting bothfeedforward
the proposed
reduced to 4.60% and 4.11% respectively with the proposed feedforward voltage compensation voltage compensation
feedforward voltage
method,
method, as
compensationas shown
shownand in Figure
Figure 16.
resonant
in controller, which is equivalent to Case 4. The reference voltages are
16.
synthesized based on the proposed SVPWM method illustrated in Section 5. The waveforms of phase
currents have been improved a lot, while the fifth and seventh current harmonics are significantly
reduced. The THDs of the phase A current are reduced to 2.97% and 2.65% respectively with the
proposed combination method, as shown in Figure 20. The THDs are the smallest among the four
above-mentioned cases.
 Appl. Sci. 2020, 10, x FOR PEER REVIEW 15 of 20
Appl.Sci.
Appl. Sci.2020,
2020,10,
10,954
x FOR PEER REVIEW 15 of 18
14 of 20

Phase
Phase Current(A)
Current(A)

(a)
(a) (b)
(b)
Figure 15. Phase A and D currents after adopting the proposed feedforward voltage compensation
Figure15.
Figure 15.Phase
PhaseAAandandDDcurrents
currentsafter
afteradopting
adoptingthe
theproposed
proposedfeedforward
feedforwardvoltage
voltagecompensation
compensation
method only, (a) speed is maintained at 500 rpm, and (b) speed is maintained at 1000 rpm.
method only, (a) speed is maintained at 500 rpm, and (b) speed is maintained at 1000 rpm.
method only, (a) speed is maintained at 500 rpm, and (b) speed is maintained at 1000 rpm.

(a)
(a) (b)
(b)
Figure 16. THDs of the phase A current after adopting the proposed feedforward voltage
THDs ofPEER
the
Appl.Figure
Figure 16.16.
Sci. 2020, 10, xTHDs
FOR of phase
the A current
phase
REVIEW A after adopting
current after the proposed
adopting thefeedforward
proposed voltage compensation
feedforward voltage16 of 20
compensation
method only, (a)method
speed isonly, (a) speed
maintained atis maintained at 500 rpm,
is and (b) speed is maintained at 1000
compensation method only, (a) speed is500 rpm, and (b)
maintained speed
at 500 rpm, maintained at 1000
and (b) speed rpm.
is maintained at 1000
rpm.
rpm.

Figure
Figure 17 17 shows
shows thethe experimental
experimental results
results after
after adopting
adopting the
the proposed
proposed resonant
resonant controller,
controller,
which
which is equivalent to Case 3. The reference voltages are synthesized based on
is equivalent to Case 3. The reference voltages are synthesized based on the
the proposed
proposed
SVPWM method, as illustrated in Section 5. The waveforms of phase currents have
SVPWM method, as illustrated in Section 5. The waveforms of phase currents have been improved.been improved.
The
The fifth
fifth and
and seventh
seventh current
current harmonics
harmonics areare significantly
significantly reduced.
reduced. The
The THDs
THDs of
of the
the phase
phase AA current
current
value
value are reduced to 3.52% and 3.25% respectively with the proposed resonant controller, as
are reduced to 3.52% and 3.25% respectively with the proposed resonant controller, as shown
shown
in Figure 18.
in Figure 18.

(a) (b)
Figure
Figure 17.17.Phase
PhaseAAandandDDcurrents
currentsafter
afteradopting
adoptingthe
theproposed
proposedresonant
resonantcontroller
controlleronly,
only,(a)(a) speedis is
speed
maintained
maintained atat 500
500 rpm,
rpm, and
and (b)(b) speed
speed is is maintained
maintained atat 1000
1000 rpm.
rpm.
 (a) (b)

Appl. Sci. 2020, 10, 954

Figure 17. Phase A and D currents after adopting the proposed resonant controller only, (a) speed is
15 of 18
maintained at 500 rpm, and (b) speed is maintained at 1000 rpm.

(a) (b)

Appl.Figure
Appl. Figure
Sci.
Sci. 2020,
2020, THDs
18.10,
18.
10, FORofPEER
THDs
xx FOR the
of phase
PEER the
REVIEWA current
phase
REVIEW after adopting
A current the proposed
after adopting resonant
the proposed controller
resonant only, (a) only,
controller speed17(a)
17 of
of 20
20
is maintained at 500 rpm,
speed is maintained andrpm,
at 500 (b) speed is maintained
and (b) at 1000 rpm.
speed is maintained at 1000 rpm.

Figure 19 depicts the experimental results after adopting both the proposed feedforward
voltage compensation and resonant controller, which is equivalent to Case 4. The reference voltages
are synthesized based on the proposed SVPWM method illustrated in Section 5. The waveforms of
phase currents have been improved a lot, while the fifth and seventh current harmonics are
significantly reduced. The THDs of the phase A current are reduced to 2.97% and 2.65% respectively
with the proposed combination method, as shown in Figure 20. The THDs are the smallest among
the four above-mentioned cases.

(a)
(a) (b)
(b)
Figure 19.
Figure19.
Figure Phase
19.Phase
PhaseA A
Aandand
andDD currents
Dcurrents after
currentsafter adopting
afteradopting both
adoptingboth feedforward
bothfeedforward voltage
feedforwardvoltage compensation
voltagecompensation and
andaaa
compensationand
resonant
resonant controller,
controller, (a)
(a) speed
speed is
is maintained
maintained at
at 500
500 rpm,
rpm, and
and (b)
(b) speed
speed is
is maintained
maintained at
at 1000
1000
resonant controller, (a) speed is maintained at 500 rpm, and (b) speed is maintained at 1000 rpm.rpm.
rpm.
(%of
Mag(%
Mag Fundamental)
ofFundamental)

(a)
(a) (b)
(b)
Figure 20.
Figure20.
Figure THDs
20.THDs
THDsof of the
ofthe phase
thephase
phaseAA current
Acurrent after
currentafter adopting
afteradopting both
adoptingboth feedforward
bothfeedforward voltage
feedforwardvoltage compensation
voltagecompensation and
andaaa
compensationand
resonant
resonant controller,
controller, (a)
(a) speed
speed is
is maintained
maintained at
at 500
500 rpm
rpm and
and (b)
(b) speed
speed is
is maintained
maintained at
at 1000
1000
resonant controller, (a) speed is maintained at 500 rpm and (b) speed is maintained at 1000 rpm. rpm.
rpm.

In
In order
order to
to facilitate
facilitate the
the analysis,
analysis, Table
Table 33 shows
shows thethe comparison
comparison of of the
the THDs
THDs for
for four
four different
different
cases
cases under 500 rpm where the phase currents are 20 A and 35 A, respectively. The switching
under 500 rpm where the phase currents are 20 A and 35 A, respectively. The switching
frequency
frequency isis 10
10 kHz
kHz with
with 11 μs
μs of
of dead
dead time.
time. It
It can
can be
be seen
seen that
that the
the THD
THD when
when the
the phase
phase current
current is
is 35
35
A
A is smaller than the THD when the phase current is 20 A, because the fundamental component is
is smaller than the THD when the phase current is 20 A, because the fundamental component is
smaller
smaller when
when the
the phase
phase current
current is
is 20
20 A.
A. Besides,
Besides, it
it is
is apparent
apparent that
that although
although the
the methods
methods adopted
adopted
for Case 2 and Case 3 can suppress the current harmonics effectively, the scheme for Case 4 is even
Appl. Sci. 2020, 10, 954 16 of 18

In order to facilitate the analysis, Table 3 shows the comparison of the THDs for four different
cases under 500 rpm where the phase currents are 20 A and 35 A, respectively. The switching frequency
is 10 kHz with 1 µs of dead time. It can be seen that the THD when the phase current is 35 A is smaller
than the THD when the phase current is 20 A, because the fundamental component is smaller when
the phase current is 20 A. Besides, it is apparent that although the methods adopted for Case 2 and
Case 3 can suppress the current harmonics effectively, the scheme for Case 4 is even more superior to
the methods adopted for Case 2 and Case 3.

Table 3. Comparison of THDs under 500 rpm for four different cases.

Cases Phase Current 20 A Phase Current 35 A

Case 1 23.62% 20.53%
Case 2 5.82% 4.60%
Case 3 4.91% 3.52%
Case 4 3.68% 2.97%

Table 4 depicts the comparison of THD values for four different cases under 1000 rpm and phase
currents are 20 A and 35 A, respectively. The switching frequency is 10 kHz with 1 µs of dead time. It
can be seen that as the speed increases, the system is more sensitively influenced by the error voltage
at low speed than at high speed, because the voltage error caused by dead time accounts for a large
proportion at low speed. We can obtain the conclusion that feedforward voltage compensation and the
feedback current control loop in the x-y subspace can suppress the current harmonics effectively, and
employing both methods at the same time can achieve even better results.

Table 4. Comparison of THDs under 1000 rpm for four different cases.

Cases Phase Current 20 A Phase Current 35 A

Case 1 19.91% 17.98%
Case 2 5.23% 4.11%
Case 3 4.53% 3.25%
Case 4 3.12% 2.65%

7. Conclusions
Through the analysis of dead-time effects, this paper proposes a current harmonic suppression
algorithm that combines the feedforward voltage compensation with a resonant controller implemented
in the x-y subspace as the feedback current controller. The feedforward voltage compensation can
eliminate the current harmonics between 73% and 78% of its original value based on the accurate
phase current polarities, which are determined based on the relationship between the current vector
angle and the polarities. An improved resonant controller adopted in the x-y subspace as the feedback
current controller can suppress the current harmonics between 76% and 84% in the x-y subspace. The
experimental results verify that not only the feedforward voltage compensation but also the improved
resonant controller employed in the x-y subspace can suppress the current harmonics effectively.
Meanwhile, employing both methods at the same time can eliminate the current harmonics between
84% and 86%, which can achieve even better results compared to the cases of adopting only one method.

Author Contributions: Conceptualization, Z.W., Y.Z. and W.G.; methodology, Z.W., Y.Z. and W.G.; software,
Z.W., Y.Z., and K.L.; validation, Z.W., Y.Z., W.G., K.L., and J.G.; formal analysis, Z.W.; investigation, W.G. and
K.L.; resources, Z.W., Y.Z., W.G., K.L., and J.G.; data curation, Z.W., Y.Z., W.G., K.L., and J.G.; writing—original
draft preparation, Z.W., Y.Z., W.G., K.L., and J.G.; writing—review and editing, Z.W., Y.Z., W.G., K.L., and J.G.;
visualization, Z.W., Y.Z., W.G., K.L., and J.G.; supervision, Z.W.; project administration, Y.Z.; funding acquisition,
Z.W., Y.Z., and K.L. All authors have read and agreed to the published version of the manuscript.
Funding: This research is supported by National Key Research and Development Program of China
(2016YFB0100804).
Appl. Sci. 2020, 10, 954 17 of 18

Conflicts of Interest: The authors declare no conflicts of interests.

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