898 IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO.

2, FEBRUARY 2013

Winding Design, Modeling, and Control for Pole-Phase

Modulation Induction Motors
Baoming Ge , Dongsen Sun , Weiliang Wu , and Fang Zheng Peng , Fellow, IEEE
School of Electrical Engineering, Beijing Jiaotong University, Beijing, 100044, China,

Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI 48824 USA

A general winding design rule for the pole-phase modulation (PPM) induction machine is proposed, and three different structures,
such as conventional winding machine, toroidal winding machine, and dual-rotor toroidal winding machine, are compared. The results
verify advantages of the conventional winding machine over the others in application to the PPM. A uniform model for the conven-
tional winding-based PPM induction machine, including inductance matrices, voltages, flux linkages, mechanical dynamics, and torque
equation, are deduced by employing the winding distributed function. A prototype validates the feasibility of the designed pole-changing
winding and the built model, which is suitable for operation in different poles, separately; also, it illustrates effective operation in the
pole-changing process, where both operating modes coexist. Double vector control algorithms are developed to control the PPM induc-
tion machine for different poles, respectively, with their different parameters and the given rotor flux linkages. Moreover, only four
current sensors are required, even though there are nine winding currents; the torque share function ensures a constant torque during
pole changing. The simulated and experimental results verify the proposed winding design, model, and control method of the PPM in-
duction machine drive.
Index Terms—Induction machines, magnetic analysis, pole changing, pole-phase modulation, vector control.

I. INTRODUCTION multiphase machines, such as predictive current control, fuzzy

logical control, space vector modulation, vector control, etc.

I NDUCTION MACHINES (IMs) are widely used in wind

power [1], conventional and hybrid electric vehicles
[2]–[9], and other industrial areas. In integrated starter/gener-
ator and/or propulsion applications, the extended speed/torque
capabilities of machines are desirable, because high starting
torque allows faster acceleration, while high speed allows
higher cruising velocity. For this purpose, the conventional
machines have to be oversized, which results in large volume
and weight, high cost, and low efficiency.
Pole changing is an eligible scheme to improve the
speed/torque capabilities of machines. In the past, the windings
are de-energized prior to pole changing and the stator winding
needs to be reconfigurable using contactors, which will produce
a discontinuous torque; the electronic pole changing has been
studied to overcome this problem [2]–[13]. The pole-phase
modulation (PPM) technique of IMs [5]–[13] that can change
the poles and phases (two degrees of freedom) simultaneously,
presents more flexibility to achieve the electronic pole changing
when compared to pole change (one degree of freedom) only.
The PPM technique normally employs multiphase machines,
such as the change of 3-phase/12-pole mode to 9-phase/4-pole
mode. When compared to the conventional three-phase ma-
chines, the multiphase machines offer additional degrees of
freedom, which could be used for fault-tolerant operation
[14]–[23]. Under the fault conditions, the remaining healthy
phases in a multiphase machine can be used to compensate for
the faults and continue the drive operation. Multiphase motor
drives will be more reliable than conventional three-phase
motor drives. Also there are many control methods related to
Manuscript received February 14, 2012; revised May 13, 2012 and June 24,
2012; accepted June 25, 2012. Date of publication July 13, 2012; date of current
version January 22, 2013. Corresponding author: B. Ge (e-mail: bm-ge@263.
net; gebaoming@tsinghua.org.cn).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TMAG.2012.2208652
[24]–[32]. These methods can be referred to the pole-changing
control of IMs due to their multiphase behavior; for example,
the multiple - planes can be introduced in the PPM control
of IMs.
A layout of the stator winding is crucial for the PPM. The
toroidal winding was first proposed for this purpose in [5]–[9].
With the toroidal winding, the coil pitch can be changeable
through controlling the coil current, as a result of the fact that
the three degrees of freedom (coil pitch, phases, and poles) are
employed to implement the PPM. For the traditional winding
structure, the coil pitch is fixed. Therefore, it is more flexible
to achieve PPM using the toroidal winding than the traditional
winding [5]–[9]. However, the toroidal winding will cause a low
utilization of copper and high copper loss [12].
Authors previously presented the winding design method,
machine modeling, and control method for the traditional
winding-based PPM in the papers [11] and [12]. However,
a brief introduction and simple simulation were not in-depth
enough to wholly express its principle; also there were no ex-
perimental results supported at that time. This paper will fill up
this gap through extending them in a detailed and systemic way
as follows: Section II proposes a winding design method for
traditional winding based PPM, where the poles and phases can
be changed simultaneously, and three sample machines are de-
signed; JMAG-based FEM analysis is employed in Section III
to verify the proposed design method for a PPM IM operating
in pole and phase changing; three PPM IMs are compared
in Section IV, where one is with the proposed conventional
winding structure, the others with the toroidal winding struc-
ture; Section V builds the conventional winding-based PPM
model for the purpose of control and transient analysis; the
double vector controls are proposed in Section VI to ensure
the designed motor of achieving the smooth pole-changing
transition; simulation results are shown in Section VII to verify
the built PPM IM model and the control methods are capable
of smoothly operating in PPM modes, which are feasible for

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 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS 899

TABLE I
WINDING CURRENTS FOR THE9-PHASE/4-POLE MODE

TABLE II
WINDING CURRENTS FOR THE 3-PHASE/12-POLE MODE

TABLE III
WINDING CURRENTS FOR THE3-PHASE/4-POLE MODE

analysis and control of this machine; Section VIII provides 1) The coil should have a pitch equal to, or slightly smaller
the designed prototype of the PPM IM, experimental setup, than, a full pitch for lower number of poles. In other words,
and experimental results to validate the proposed traditional the coil pitch should be designed according to low pole-
winding based PPM IM drive; finally a conclusion is presented number mode, which can be full pitch or fractional pitch
in Section IX. winding. For example, the winding with 2 modes, namely,
9 phases with 4 poles and 3 phases with 12 poles, should
II. WINDING DESIGN FOR PPM IMS be designed on the basis of 9-phase/4-pole mode, with a
full pitch or fractional pitch.
A. Design Rule 2) To decrease the leg-number of the power converter,
Both sides of each coil in a conventional winding are placed should be selected, which leads to the minimum leg-
in the inner slots of the stator core. The coil pitch is equal and number for the power converter.
constant for all coils, which cannot be changed during winding
B. Prototype Design
reconnection for pole changing. Denoting as the number of
pole pairs and as the number of phases for a synchronous To evaluate the proposed design rule, a 36-slot double-layer
speed, and and for another set of pole pairs and phases winding machine is designed. The machine could be operated
in the same stator slots, they have in 9-phase/4-pole mode, 3-phase/12-pole mode, and 3-phase/4-
pole mode, respectively. The PPM will be performed by con-
(1) trolling each winding current, and the pole changing is achieved
when the motor is operating on line, without the need for any
where is the number of stator slots; is pole pairs; is the mechanical contactor.
number of phases; is the number of slots per pole per phase. For 9-phase/4-pole mode and 3-phase/12-pole mode, there is
The pole ratio is defined by , and the number of converter legs is 9.
For 9-phase/4-pole mode and 3-phase/4-pole mode, there is
(2) , and the number of converter legs is 9.
When the coil is designed with fractional pitch for the lower
where and an integer . number of poles, defining coil pitch , the winding distribu-
The design rule of pole-changing windings for the PPM IM tion and their current directions are those shown in Tables I–III,
is summarized as follows: where the signs and denote the current flowing into and out
1) Select the number of stator slots; of the page, respectively.
2) Select pole ratio ;
3) Select phase ratio in III. PPM VERIFICATION

A. JMAG Based PPM Machine Model

The designed prototype has 36 stator slots and 33 rotor bars,
4) Calculate ratio using (2); and the main dimensions are shown in Table IV. On the basis of
5) Select coil pitch and connect the coils into windings. the finite element software JMAG-studio, the magnetic field of
There are two important points. the PPM machine is calculated to compare two operating modes

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 900
Fig. 1. Finite element mesh model in JMAG software.
Fig. 2. Winding circuit in JMAG software.
TABLE IV
SPECIFICATIONS OF THE PPM IM PROTOTYPE
using the field-circuit coupling method. Figs. 1 and 2 show the
finite element model and winding circuit in the JMAG, respec-
tively. The 2-D finite-element mesh consists of 20 157 nodes
and 25 938 first-order elements including the air-gap elements.
The mesh in the gap is smaller than in other parts of the ma-
chine.
B. Calculated Results
For the 3-phase/4-pole mode, three coils of every phase have
unbalanced back electromotive forces (EMF) because of their
non-identical space distributions, which causes the circulating
winding current in three coils, so it is not practical in the PPM
operation. Here we just use the 3-phase/12-pole mode and the
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013
Fig. 3. Magnetic field of the machine for different poles: (a) 3-phase/12-pole
mode and (b) 9-phase/4-pole mode.
9-phase/4-pole mode for pole changing. The prototype presents
the different responses in the flux field when its winding ter-
minals are supplied with the 3-phase voltages and the 9-phase
voltages, respectively. The magnetic fields, in steady state, are
shown in Fig. 3. When the 3-phase voltage of 50 Hz is energized,
in Fig. 2, the 12-pole magnetic field is generated, as shown in
Fig. 3(a); and the 9-phase voltage of 50 Hz results in the 4-pole
magnetic field, as shown in Fig. 3(b).
Figs. 4–6 show the speed, torque, and phase current during
the no-load starting process. The steady speed is 1495 r/min for
9-phase/4-pole mode and 495 r/min for 3-phase/12-pole mode.
The pole number is changed when the different voltages are
applied to the same machine.
Fig. 7 shows the torque comparison of the machine operating
in 9-phase/4-pole and 3-phase/12-pole modes, respectively.
In the calculation, there is the same magnitude of the applied
voltage with the same frequency, and the speed slip is 0.04. The
3-phase/12-pole mode provides higher torque with lower speed,
when compared to the 9-phase/4-pole mode of lower torque
and higher speed. During simulation, the 3-phase/12-pole mode
has an efficiency of 80.2%, and the 9-phase/4-pole mode with
an efficiency of 89.7%.
 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS
Fig. 4. Rotor speed in free acceleration.
Fig. 5. Torque in free acceleration: (a) 3-phase/12-pole mode and (b)
9-phase/4-pole mode.
Fig. 6. Phase-a current in free acceleration: (a) 3-phase/12-pole mode and (b)
9-phase/4-pole mode.
Fig. 7. Torque of the machine operating in speed slip of 0.04.
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901
Fig. 8. Toroidal coils in a stator core.
TABLE V
PARAMETERS OF THREE MACHINES
IV. COMPARISON OF THREE PPM MACHINES
A. Three Structures of PPM Machines
Three structures of PPM machines, which are based on
the conventional winding, toroidal winding, and dual-rotor
toroidal winding [33], are considered, denoted in this paper as
machine-1, machine-2, and machine-3, respectively, with the
same inner rotor. In machine-3, there is an outer rotor, an inner
rotor, and a stator with toroidal winding [33]. Fig. 8 presents
some toroidal coils in a stator core [7]. The toroidal coil needs
twice the coil turns as compared to conventional coils for the
same magnetomotive force (MMF). So the stator resistance per
phase is bigger than that of the conventional winding machine.
Machine-3 has two rotors when compared to machine-2, and
both the inner and outer rotors are cage structure. Reference [33]
showed this type of machine’s geometry and prototype. Table V
shows the parameters of the three machines.
B. Comparison of Three Machines
The same voltage is applied to three machines, respectively,
with the frequency of 50 Hz and the speed slip of 0.04 (1440 r/
min). Both rotors of machine-3 have the same speed. Fig. 9
presents their steady magnetic fields at load. Three machines
show the magnetic fields of four poles. Machine-1 and machine-2
have the same magnetic field distribution. For machine-3, there
are magnetic lines in both the inner and outer rotors, as a result
of torques produced in both inner and outer rotors. Stator cur-
rents, torques, and efficiencies are different in three machines,
as shown in Table VI, where the coil-head losses are ignored.
For machine-3, two rotors utilize both sides of the toroidal
winding, which reduces the non-active winding copper and
copper loss, when compared to machine-2. Also, this structure
makes machine-3 roughly equivalent to two machines (ma-
chine-2) connected in series. Assuming the voltage, torque,
current, flux (flux density), and power of machine-2 as 1 per
unit (pu) for the same terminal voltage and frequency applied
to machine-3, each equivalent machine of machine-3 will get
0.5 pu voltage, which causes the flux (or flux density) to be
around 0.5 pu, so the core loss is significantly reduced. With
the same slip frequency, the stator and rotor currents are around
0.5 pu. As a result, each rotor will produce torque with around
 902 IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013

TABLE VI
COMPARISON OF THREE MACHINES AT 1440 R/MIN

Fig. 10. Winding function.

0.25 pu and two rotors will make a total torque around 0.5 pu.
The reduced current will lead to a reduced copper loss (around
1/4). Therefore, for the same voltage, supply frequency, and
slip frequency, machine-3 produces the power of around 0.5 pu
when compared to machine-2, but the core loss is decreased to
half and the copper loss is reduced to one-fourth, which leads
to higher efficiency than machine-2.
In Table VI, machine-2 presents the highest copper loss,
leading to the lowest efficiency. Moreover, machine-2 requires
more coils than machine-1. Machine-3 has double rotors with
one stator and utilizes both sides of the coils, instead of only
one side of the coils as in machine-2. Both rotors of machine-3
produce torque and result in high efficiency. Torque per unit
current of the three machines are 3.45 N.m/A, 3.31 N.m/A,
and 3.67 N.m/A, respectively. Therefore, machine-3 presents
higher toque capacity compared to machine-2.

V. UNIFORM MODEL OF PPM IMS

A. Winding Functions
On the basis of Tables I and II, one of nine winding func-
tions distributed among 36 slots is shown in Fig. 10, for com-
puting the winding inductances, where is turn number of
each coil. In Fig. 10, and represent fundamental compo-
nent and the third harmonic component of the winding function,
respectively. The 5th, 7th, and other harmonic components are
ignored.
The winding function can be written by
(3)
(4)

(5)
Fig. 9. Magnetic fields of three machines: (a) machine-1; (b) machine-2; and
(c) machine-3. where is the mechanical space angle in the stator.

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 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS 903

For nine windings, their winding functions are as follows: where is a diagonal matrix with leakage inductance of
each winding, is a diagonal matrix with leakage inductance
component of the rotor, and is defined by the equation
shown at the bottom of the page.
(6) The mutual inductance between the stator and the rotor is
written as listed in Section V-C.
where the subscript denotes the th winding of stator.
C. Model of PPM Machines
B. Inductance Matrices
The voltage equations include
The self-inductance of winding- is calculated through
(11)
(7)
(12)
where denotes the length of stator core; is the inner radius where the boldfaced variables denote the matrices and vectors;
of stator; is the permeability of vacuum; is the length of , and are the stator voltage, stator resistance, stator
average air-gap. current, and stator flux linkage, respectively; , and
The mutual inductance between the windings and is are the rotor voltage, rotor resistance, rotor current, and rotor
flux linkage, respectively. is diagonal matrix with winding
(8) resistance is diagonal matrix with resistance component
. For a cage induction machine, .
The flux linkage equations include
The stator inductance can be deduced as
(13)
(9)
(14)
and the rotor inductance can be deduced as
with the equation at the bottom of the page, where is the
(10) mechanical angle of the rotor.

.. .. .. .. ..
. . . . .

.. .. .. .. ..
. . . . .

.. .. .. .. ..
. . . . .

.. .. .. .. ..
. . . . .

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 904 IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013

The mechanical dynamic equation is presented as

(15)

(16)

where and are the machine torque and the load torque,
respectively; is the rotor speed; is the inertia constant of
motor-load system.
The torque equation is written as
Fig. 11. Relationship between the natural frame and the - frame: (a)
9-phase/4-pole mode and (b) 3-phase/12-pole mode.
(17)

Every row’s 9 elements present a phase/angle differ- mode, the 9-phase winding currents in the stationary reference
ence from each other in the first part (related to 9-phase mode) of frame can be obtained from the current components of the -
the matrices and , but the second part (related to 3-phase plane, by
mode) of the matrices and has a phase/angle dif-
ference from each other. These phase/angle differences are in
the stator space (not in time).
When the 9-phase currents with a phase difference are
injected in the 9 windings, the first part of the matrices and
contributes the flux linkages and of the stator and
rotor, but the second part of the matrices and produces
a zero total flux linkage. For example, currents of windings 1,
4, and 7 correspond to the space phases 0, , and in the
second part of and , so the resultant three flux linkages
sum as zero. For the other two groups (such as windings 2, 5, 8,
and windings 3, 6, 9) there are the same reason with windings 1,
4, and 7 to produce zero total flux linkage on the second part of where denotes the winding- current, for nine windings with
the matrices and , which is because of the three currents’ ; the superscript 4 represents the 9-phase/4-pole
symmetry in time domain. For this case, a 9-phase/4-pole mode mode; and are the -axis and -axis components for
will be active and produce a 4-pole rotating flux field in the the operation with the 9-phase mode; .
motor. As shown in Fig. 11(b), for the 3-phase/12-pole mode, 9
When the 3-phase currents with a phase difference are winding currents in the stationary reference frame can be
injected in the 9 windings, the second part of the matrices obtained from the current components of the - plane as
and contributes the flux linkages and of the stator and follows:
rotor, but the first part of the matrices and produces zero
total flux linkage. For example, currents of windings 1, 4, and
7 are identical, which correspond to the space phases 0, ,
and in the first part of and , so the resultant three
flux linkages sum as zero. For the other two groups (such as
windings 2, 5, 8, and windings 3, 6, 9) there are the same reason
with windings 1, 4, and 7 to produce zero total flux linkage on
the first part of the matrices and , which is because of
the three windings’ symmetry in space domain. For this case,
a 3-phase/12-pole mode will be active with a 12-pole rotating
flux field in the motor.
When the 9-phase and 3-phase currents are injected to the 9 where the superscript 12 represents the 3-phase/12-pole mode;
windings simultaneously, the 4-pole and 12-pole rotating flux and are the -axis and -axis components for the op-
fields coexist in the air gap of the motor. eration with the 3-phase/12-pole mode.
When 9-phase/4-pole and 3-phase/12-pole modes coexist, the
VI. VECTOR CONTROL OF PPM IMS 9 winding currents will be
A. Transformation of Natural Frame to d-q Frame
For the designed PPM IM system, the traditional frame
transformation can be referred to get the -axis and -axis
components. As shown in Fig. 11(a), for the 9-phase/4-pole

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 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS 905

Then the currents of 9 windings can be obtained through the

current components of the - planes, by

.. .. .. .. ..
. . . . .

For the currents , and , there are

Fig. 12. Double vector control-based pole-changing control.

3-phase mode; and are the -axis and -axis com-

ponents of rotor currents for the operation with 9-phase mode;
and are the -axis and -axis components of rotor
currents for the operation with 3-phase mode; is the torque
component produced by the 9-phase/4-pole mode; is the
Contrarily, the components of the currents can be cal- torque component produced by the 3-phase/12-pole mode.
culated by
B. Double Vector Control Algorithms of PPM IMs
Fig. 12 shows the vector control-based pole-changing con-
trol system. First of all, four of nine winding currents are de-
tected to get and for the operation with 9-phase mode,
and and for operation with 3-phase mode. The rota-
tional transformation of (19) will be used to calculate their -
(18) current components, respectively, but the angle of (19) is dif-
ferent, for example, for 9-phase mode and for 3-phase
mode. The same vector control algorithm is used to control two
A rotational transformation will be used to get the cur- torque components and , and one for the case of op-
rent components and in the synchronous rotating frame, eration in 9-phase mode, and another for operation in 3-phase
when employing mode, with their corresponding parameters. The four desired
- voltage components enforce that the IM will produce the
(19) desired torque components and . Finally the modu-
lated nine winding voltages will be fed to the
motor, which are obtained through - - rotational transfor-
where denotes the angle between -axis and -axis. The mation, 4/9 transformation, SPWM, and the inverter. In the con-
different will be employed for 3-phase/12-pole mode and trol system, the - current component closed-loop controls and
9-phase/4-pole mode, respectively. the speed closed-loop control will ensure the operational perfor-
All of the transformations above are suitable for application mance. The torque share function (TSF) will split total desired
to other variables such as voltage, flux linkages, rotor side’s torque into two torque components, where is a given
variables, etc. torque in operation of 9-phase mode and for operation of
From (17), the torque in the synchronous rotating frame is 3-phase mode.
deduced by In steady state, the control system only operates in 3 phases
with 12 poles for low speed, or in 9 phases with 4 poles for high
speed, separately. During pole changing, two operating modes
coexist in simultaneity to produce total torque. We desire that
total torque remains a constant when pole changing, and torque
decreases when speed is decreasing and at the same time
where is the number of poles for 9-phase/4-pole mode; torque increases linearly, as a result of constant total torque
and are the -axis and -axis components of stator currents . Vice versa, torque increases when speed
for the operation with 9-phase mode; and are the -axis is increasing, and torque decreases linearly, with a constant
and -axis components of stator currents for the operation with total torque.

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 906 IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013

Fig. 15. Steady current comparison of the JMAG-based model and the pro-
posed model with 9 phases and 4 poles.

Fig. 13. Simulated results of the built model operating in different pole modes:
(a) 9-phase/4-pole mode and (b) 3-phase/12-pole mode.

Fig. 14. Dynamic experimental result of 3-phase/12-pole mode.

VII. SIMULATED RESULTS

A. Verification of the Built Model

A simulation model that consists of (11) through (17) was
built in Matlab. Parameters of the designed PPM IM are:
mH, mH, mH, mH,
, and kg m . In simulation,
two constant voltage sources feed the PPM IM, respectively,
where one is a 3-phase power supply; another is a 9-phase power
supply, and they have the same frequency of 50 Hz and the
same voltage. The IM will accelerate freely from standstill, with
load torque of 1 N.m, and its responses of 9-phase/4-pole mode
and 3-phase/12-pole mode are shown in Fig. 13. For 3-phase
mode, we present its experimental result of dynamic response
in Fig. 14 for comparison with Fig. 13(b). The experimental re-
sult of Fig. 14 has a longer starting time from standstill than
the simulated result of Fig. 13(b), which is because the prac-
tical prototype has a greater moment of inertia than the value
used in the built simulation model. Finite element-based JMAG Fig. 16. Steady current comparison of the JMAG-based model, the proposed
model, and experimental result with 3 phases and 12 poles: (a) currents of the
is used to verify the built model, and time step is 0.001 s to proposed model; (b) currents of JMAG-based model; (c) experimental result;
implement its time-stepping method. Fig. 15 shows a compar- and (d) comparison in the same axis.
ison of steady currents derived from the JMAG-based model
and the proposed model in 9-phase/4-pole mode. For 3-phase
mode, we present the experimental result, the model-based re- see that the pole number changes when the different voltages
sult, and JMAG-based result for comparison in Fig. 16. We can are applied to the same machine. The proposed model produces

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 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS
Fig. 17. Operation during pole changing: (a) speed; (b) torque; and (c) currents.
an identical current for the same torque, when compared to the
results in JMAG and in the experimental test for 3-phase mode.
If the designed PPM IM is fed by a power supply as follows:
where is the voltage amplitude, is a coefficient related to
pole changing, then the IM only operates in 3 phases with 12
poles at , or only in 9 phases with 4 poles at . mode, with
When decreases from one to zero linearly, the IM will grad-
ually change poles from 12 to 4. Fig. 17 shows the simulated
results for the case when starts to decrease at the instant 1.0 s.
During 0.0–1.0 s the IM operates in 3-phase/12-pole mode, and
it operates in 9-phase/4-pole mode after 3.0 s.
B. Operation of Double Vector Control for PPM IM Drive
Fig. 17 shows the pole-changing operation even though its
performance is just fair, due to a very simple control method.
In fact, we can get excellent pole-changing performance when
using vector control. The PPM IM drive in Fig. 12 is modeled
in Matlab to verify its vector control-based pole-changing op-
eration, where the IM model consists of (11) through (17). In
simulation, carrier frequency kHz, motor load torque
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907
Fig. 18. Simulated results of the vector control based PPM IM drive during
pole changing: (a) motor speed; (b) motor torque; (c) -axis current; (d) -axis
current; (e) currents in whole period; (f) transient current; (g) currents in
3-phase/12-pole mode; and (h) currents in 9-phase/4-pole mode.
N.m, and the reference speed r/min. The
PPM IM runs in 3-phase/12-pole mode before 0.8 s, and in
9-phase/4-pole mode after 2.0 s. A transient process of pole
changing occurs from 0.8 s to 2.0 s, as a result of Fig. 18.
Constant speed and torque, as shown in Fig. 18(a) and (b),
are achieved during pole changing, and the 3-phase/12-pole
mode is changed to 9-phase/4-pole mode through adjusting the
currents of 9 windings only. As in Fig. 18(c) and (d), during
0–0.8 s, the motor runs in 3-phase/12-pole mode, where the
-axis and -axis components and will contribute to
the total torque for the motoring operation of 3-phase/12-pole
and . During 2.0 s–2.5 s, the
motor runs in 9-phase/4-pole mode, where the -axis and
-axis components and will contribute to the total
torque for the motoring operation of 9-phase/4-pole mode, with
and . The time interval from 0.8 s to 2 s is a
pole-changing transient state.
At first, the -axis magnetizing current component of the
9-phase/4-pole mode is built up linearly while its -axis torque
current component is kept at zero to ensure a constant total
torque which is produced only by the 3-phase/12-pole mode.
Secondly, during the pole/phase change, the -axis torque cur-
rent component of the 9-phase/4-pole mode increases linearly
while the counterpart of the 3-phase/12-pole mode decreases
linearly. This will ensure a constant total torque by causing
the torque component of the 9-phase/4-pole mode to increase
 908
Fig. 19. Prototype of pole-phase modulation induction machine: (a) stator and
(b) motor.
while the torque component of the 3-phase/12-pole mode de-
creases. Thirdly, the -axis current component of 3-phase/12-
pole mode is kept at zero, and its -axis current component de-
creases linearly, and the total torque is now contributed only by
the 9-phase/4-pole mode.
The winding currents present great changes due to pole
changing in Fig. 18(e). Fig. 18(f)–(h) is the zoomed currents of
Fig. 18(e) to clarify the variation of winding current when poles
change. We can find that different current waveforms are shown
in the different operation states, where Fig. 18(f) is the transient
currents during pole changing, Fig. 18(g) is the response of
3 phases with 12 poles, and Fig. 18(h) is corresponding to 9
phases with 4 poles. Due to pole changing with a constant rotor
speed, the current frequency of the 9-phase/4-pole mode is
one-third the frequency of the 3-phase/12-pole mode. During
pole changing, current components with two frequencies lead
to the total current waveforms shown in Fig. 18(f).
VIII. EXPERIMENTAL RESULTS
A. PPM IM Prototype
Comparison of the three machines shows that machine-1 has
a simple structure, high utilization of windings and the optimum
comprehensive performance cost ratio. So an experimental pro-
totype of machine-1 was designed and manufactured, as shown
in Fig. 19, and its specifications are in Table IV. It uses the
frame of a normal machine YDM132-6/4, and is prototyped
with nine stator windings. There are eighteen outgoing line ter-
minals outside of the motor. The upper nine terminals connect
to the nine-leg inverter while the others connect together to form
a Y-connection.
B. Experimental Setup
Fig. 20(a) shows the experimental bench which consists of
the PPM IM with speed sensor, inverter with gate drive, rectifier
fed by a transformer, DSP-based controller, four current sensors,
and a power supply. Fig. 20(b) presents the detailed main power
circuit, including the inverter, gate drive boards, and dc-link ca-
pacitors.
As shown in Fig. 20(b), the 9-phase inverter (18 IGBTs) con-
sists of 3 traditional three-phase IGBT bridge inverters (each
has 6 IGBTs), and each module has its own dc-link capacitor
and gate drive board. The inverter’s 9 terminals will be con-
nected to the PPM IM. An AC source will feed the rectifier to
provide power for the PPM IM drive system. The controller em-
ploys the TMS320LF2812 and CPLD XC95288, and the DSP
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013
Fig. 20. Experimental bench: (a) experimental setup and (b) main power
circuit.
will produce 9 PWM sequences that are sent to the CPLD. The
18 PWM sequences from the CPLD drive 18 IGBTs. Dead time
is provided by the gate drive board, rather than the DSP and
CPLD. Four currents of nine windings and rotor speed will be
used to achieve vector control in the DSP.
C. Experimental Results
The PPM IM drive control system in Fig. 12 is tested in
the experimental bench shown in Fig. 20. In order to demon-
strate the designed PPM IM operating in 3-phase/12-pole and
9-phase/4-pole modes, respectively, and to verify the control
method in Fig. 12, three cases have been investigated: 1)
3-phase/12-pole mode; 2) 9-phase/4-pole mode; 3) Transient
state from 3-phase/12-pole mode to 9-phase/4-pole mode.
1) 3-Phase/12-Pole Mode: As shown in Fig. 12, there is a
given constant speed reference r/min,
A, A, and carrier frequency kHz. Fig. 21
shows the rotor speed, -axis and -axis current components,
and phase-a current responses when the PPM IM drive starts in
3-phase/12-pole mode from standstill. In steady state, the rotor
flux linkage angle is shown in Fig. 22(a) with the speed
and phase current . Three line-to-line voltages of 9 windings,
, and , are shown in Fig. 22(b) along with the phase
current . Three voltages have a 120 phase shift from each
other, which presents an operation in 3-phase/12-pole mode
with a phase current frequency of 50 Hz.
2) 9-Phase/4-Pole Mode: For a given speed reference
r/min, A, and A, Fig. 23 shows the
rotor speed, -axis and -axis current components, and phase-a
 GE et al.: WINDING DESIGN, MODELING, AND CONTROL FOR POLE-PHASE MODULATION INDUCTION MOTORS 909

Fig. 21. PPM IM drive starts in 3-phase/12-pole mode. Fig. 23. PPM IM drive starts in 9-phase/4-pole mode.

Fig. 24. PPM IM drive operates in steady state of 9-phase/4-pole mode: (a)
speed, flux linkage angle, and phase current and (b) line-to-line voltages and
phase current.

Fig. 22. PPM IM drive operates in steady state of 3-phase/12-pole mode: (a)
speed, flux linkage angle, and phase current and (b) line-to-line voltages and
phase current.
current responses when the PPM IM drive starts in 9-phase/4-
pole mode from standstill.
In steady state, the rotor flux linkage angle is shown in
Fig. 24(a) with the speed and phase current . Three line-to-
line voltages of 9 windings, , and , are shown in
Fig. 24(b) along with the phase current . Three voltages have a
40 phase shift from each other, which presents an operation in
9-phase/4-pole mode with a phase current frequency of 16 Hz.
3) Transient State From 3-Phase/12-Pole Mode to
9-Phase/4-Pole Mode: From steady state of the 3-phase/12-
pole mode, the PPM IM drive is changed to 9-phase/4-pole
mode, with a given constant speed reference

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 910
Fig. 25. PPMIM drive operates in transient state of pole changing: (a) experi-
mental result and (b) simulated result.
r/min. Fig. 25(a) shows three line-to-line voltages of 9 wind-
ings, , and , along with the phase current . The
line-to-line voltages and phase current are different from those
of Figs. 22(b) and 24(b), because the transient current and volt-
ages contain components of both the 3-phase/12-pole mode and
the 9-phase/4-pole mode. The current waveform of Fig. 25(a)
is identical to the simulated result in Fig. 25(b).
IX. CONCLUSION
The paper proposed a general winding design rule for pole
changing in the PPM IM. A prototype with a 36-slot stator
and pole-changing windings was designed and analyzed. Three
types of machine structures, such as the conventional winding,
toroidal winding, and dual-rotor toroidal winding, were com-
pared. Both the machine with the conventional winding and the
machine with the dual-rotor toroidal winding showed high effi-
ciency. Moreover, the machine with the conventional winding
presented a more simple structure than the machine with the
dual-rotor toroidal winding. As a result, this machine has a rea-
sonable performance cost ratio and is an attractive solution.
Finite element-based JMAG was used to verify the proposed
design rule and the feasibility of the designed machine with
pole-changing windings.
A uniform model of the conventional winding-based PPM
IM (including inductance matrices, voltage, flux linkages, me-
chanical dynamics, and torque equations) was built for its anal-
ysis and control, especially during pole changing. Double vector
control algorithms were developed to smoothly control this kind
of induction machine where the torque share function was em-
ployed to ensure a constant torque during pole changing. A PPM
IM that can operate in 3-phase/12-pole mode and 9-phase/4-
pole mode was prototyped. The simulated and experimental re-
sults effectively verified the proposed winding design rule, the
built model, and the double vector control based PPM IM drive.
ACKNOWLEDGMENT
This work was supported by the China Scholarship Council.
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IEEE TRANSACTIONS ON MAGNETICS, VOL. 49, NO. 2, FEBRUARY 2013
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Baoming Ge (M’11) received the Ph.D. Degree in electrical engineering from
Zhejiang University, Hangzhou, China, in 2000.
He was a Postdoctoral Researcher in the Department of Electrical En-
gineering, Tsinghua University, Beijing, China, from 2000 to 2002, was a
Visiting Scholar in the Department of Electrical and Computer Engineering,
University of Coimbra, Coimbra, Portugal, from 2004 to 2005, and was a
Visiting Professor in the Department of Electrical and Computer Engineering,
Michigan State University, East Lansing, MI, from 2007 to 2008. Currently,
he is working with the Department of Electrical and Computer Engineering,
Michigan State University; he also is a Professor with the School of Electrical
Engineering, Beijing Jiaotong University, Beijing, China, where he has been
since 2002. His research interests include permanent magnet synchronous,
switched reluctance and induction motors, real-time control of electrical ma-
chines, power electronics systems, nonlinear control theories, and applications
to electric drives.
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911
Dongsen Sun was born in Shanxi, China, in 1986. She is currently pursuing the
Ph.D. degree in electrical engineering at Beijing Jiaotong University, Beijing,
China.
Her research interests include electrical machine and drive, renewable energy
generation technology, Z-source inverter, etc.
Weiliang Wu was born in Jiangxi, China, in 1987. He is currently pursuing the
Master degree in electrical engineering at Beijing Jiaotong University, Beijing,
China.
His research interests include electrical machine and drive.
Fang Zheng Peng (M’92–SM’96–F’05) received the B.S. degree in electrical
engineering from Wuhan University, Wuhan, China, in 1983 and the M.S. and
Ph.D. degrees in electrical engineering from Nagaoka University of Technology,
Nagaoka, Japan, in 1987 and 1990, respectively.
From 1990 to 1992, he was with Tokyo Electric Manufacturing Company,
Ltd., Tokyo, Japan, as a Research Scientist and was engaged in research and de-
velopment of active power filters, flexible ac transmission systems (FACTS) ap-
plications, and motor drives. From 1992 to 1994, he was with Tokyo Institute of
Technology as a Research Assistant Professor and initiated a multilevel inverter
program for FACTS applications and a speed-sensorless vector-control project.
From 1994 to 2000, he was with Oak Ridge National Laboratory (ORNL), Oak
Ridge, TN, as a Research Assistant Professor. From 1994 to 1997, he was with
the University of Tennessee, Knoxville, as a Staff Member, and, from 1997 to
2000, he was the Lead (Principal) Scientist with the Power Electronics and
Electric Machinery Research Center at ORNL. Since 2000, he has been with
the Michigan State University, East Lansing, as an Associate Professor and is
currently a Full Professor of the Department of Electrical and Computer Engi-
neering. He is the holder of over ten patents and two of them have been used
extensively in industry.
Dr. Peng is the recipient of many awards including the 1996 First Prize
Paper Award and the 1995 Second Prize Paper Award of Industrial Power
Converter Committee in IEEE/IAS Annual Meeting, the 1996 Advanced
Technology Award of the Inventors Clubs of America, Inc., the International
Hall of Fame, the 1991 First Prize Paper Award in IEEE TRANSACTIONS ON
INDUSTRY APPLICATIONS, and the 1990 Best Paper Award in the transactions
of the IEE of Japan, the Promotion Award of Electrical Academy. He has
served the IEEE Power Electronics Society in many capacities such as Chair
of Technical Committee for Rectifiers and Inverters, an Associate Editor
for the IEEE TRANSACTIONS ON POWER ELECTRONICS, Region 1-6 Liaison,
Member-at-Large, etc.