INDUCTION MACHINE ANALYSIS FOR ARBITRARY

DISPLACEMENT BETWEEN MULTIPLE WINDING SETS

R.H. NELSON P.C. KRAUSE
General Motors Researqh Laboratories Purdue University
Warren, Michigan West LaFayette, Indiana

ABSTRACT that it permits an arbitrary displacement between any

number of three-phase winding s e t s on either stator
The steps in t he applied voltages of a three- or rotor.
phase, inverter-induction mo to r drive system cause
undesirable pulsations in motor t o r q u e . By using DEFINITIONS AND MACHINE EQUATIONS
multiple inverters connected to a multiphase machine
with appropriate winding displacements, significant In developing the equations wh ic h describe the
improvement i n system performance is possible. The behavior of an induction machine with multiple three-
winding displacements re qu i r ed , however, are not phase winding sets, the following assumptions are made:
necessarily the symmetrical displacements u s ed i n
standard multiphase machines. This paper sets forth 1. The air gap is uniform.
an improved method for analyzing ma n y types of un-
symmetrical, a s well as symmetrical, multiphase in- 2. Eddy currents, friction a nd windage
duction machines. The simulation of a 7.5-hp induc- losses, and saturation are neglected.
tion machine w it h t wo three-phase sets of stator
windings fed from two six-step inverters illustrates 3. The windings a r e distributed sinu-
t he application of the method of analysis and shows soidally around the air gap.
how the machine torque characteristic may be improved
by proper spacing of the winding sets. 4. The windings a r e identical w ithin
each three-phase set.
INTRODUCTION
The following voltage equations are written fo r
When supplied from conventional six-step invert- an induction machine with N three-phase winding s e ts
ers, three-phase squirrel c a g e induction machines on stator and M three-phase winding sets on the rotor.
exhibit a pulsating component of torque at six times
the supply frequency. This causes excess mechanical
vN is1
vibration a n d poor system performance -- especially sl
during 1 o w speed, high to r q u e operation. By us-
ing two three-phase invertersI t o supply a mach ine vs2l s2
is2
with two three-phase stator winding sets, the ampli-
(1)
tude of the pulsating torque ca n b e substantially
reduced and the frequency of the pulsating t o r qu e
+
diag[rsl, rs2,' rsN
shifted from 6 to 12 times the supply frequency. To
achieve this improved torque waveshape, however, the
two three-phase stator winding sets must be displaced
by 300, which is not the normal symmetrical displace-
ment used in standard six-phase machines. vsN sN sN
abc abc abc
Further improvement in system performance may be
obtained by extending t h i s concept to three or more The subscript abc affixed to each vector denotes that
inverters feeding a single machine. In general, the the equations are expressed in machine or phase vari-
required angular spacing between multiple w i n d ing ables. The voltage equation f o r the iML stator set
sets for best performance is f/n for a n even number may be written '23
of sets and 27r/n for an odd number of sets, where n
is the total number of phases.
si(abc) PXsi(abc) si s-(abc) (2)
The analysisof standard, symmetrical multiphase
induction machines is s et forth in several texts.1 where the stator resistance is
This work, however, cannot be directly applied to the
machines being considered herein because o f the un-
symmetrical phase displacements required for an even si°
number of winding sets. T hi s paper establishes an
improved method o f analyzing multiphase machines in r
Si
= O r
Si
. O (3)
O O r
~~Si

All vectors are of the form

f T
(4)
csiI
_ f
Paper 73 CHO 763-3 IA, recommended and approved by the Rotating Ma- si(abc) [ asi, bsi,
chinery Committee of the IEEE Power Engineering Society for presentation at the
1973 Annual Meeting of the IEEE Industry Applications Society, Milwaukee, Wis.
October 8-11, 1973. Manuscript submitted February 16, 1973; made available for The flux linkages of phase a of the ith stator s e t
printing February 27, 1974. are

841
 where the rotor resistance is
Xasi =
si asi
rri r j
N rri = ° rri ° (8)
+ Z L sj.3 (cos4) asi ,asj
. i
asj
j=1 ml 0 0 r

+ cos4 i
asi,bsj
,b
s bsj
All vectors are of the form

+ cos as,c,
asi ,cs
i
csj ) fi
ri(abc)
a
= (f[ani, f bri, fccni] T (9)
(5)
M The flux linkages of phase a of the it- rotor set are
srik
[cos(0r + asi ark ) iark
k=l
ari tri ari
+ Cos( r + 4) ) i
asi,brk brk
M
57Lmrik
E
k=l
(cos ark i
+ cos(O
r + 4)
asi,crk ) i crk-I
+ cos4 i
ari,brk brk
where 4asi,asj, asi,bsj,and
fasi,csj are the angles
between the magnetic axis of the phase a stator wind-
ing of the ith stator set and the magnetic a x e s of
all other stator windings. S i m i 1 a r 1 y, 4asi,ark, ari,crk crk
4asi,brk, 4asi,crk are the angles between.ththe magne- (10)
tic axis of the phase a winding o f the i - s t a tor N
+ 4
set and the magnetic axesof all rotor windings. The
angle er is the angular displacement of the rotor as j=l
L
sri3.. [cos( r ari,asj ) i asj
measured with respect to the magnetic axis of phase a
of the 1 set (asl at time zero. + cos(e r + ¢a.b.)
ari,bsj i bsj
The inductances are defined as

L = the leakage inductance of the i-

stator set.
+ cos(or + fari,csj csj

L . = the magnetizing inductance when

msij j=i and the mutual indiuctance where 4ari,ark, 4ari,brk, 4)ari,crk t he angles are
between stator phases when j$i. betwepp the magnetic axis of the phasea winding of
the i- rotor set and the magnetic axes of all rotor
th windings. Similarly,ani,asj,4ari,bsj,and 4ari,csj
Lrik = mutual inductance between the i-
stator set and the three-phase are the angles be tw e e n the magnetic axis o-f the
sets on the rotor. phase a winding of the i rotor set and the magne-
tic axes of all stator windings.
The flux linkages may be expressed in a similar man-
ner for the remaining stator phases. The inductances are defined as
th
For the rotor, L = leakage inductance of the i- rotor
set.

i
xrl Lmi = the magnetizing inductance when
mrik k=i and the mutual inductance
vvr r2 ir2 between rotor phases when k34i.

L = .th
mutual inductance between the i-
= p + diag[r'rl, r r2, .. r rM (6) srik rotor set and the three-phase sets
rM
on the stator.

IThe flux linkages may be expressed in a similar man-

ner for the remaining rotor phases,
vrM rM 1rM
abc abc abc TRANSFORMATION TO THE ARBITRARY REFERENCE FRAME
In induction machine theory, it is customaryto
The voltage equation for the i- rotor set i$ transform the stator and rotor phase variables to a
common frame of reference.??3 Usually,o n e trans-
formation is defined for the stator variables and
+
another for the rotor variables. Actually these t w o
v p

ri(abc) r(
ri(abc) ri ri(abc) (7)

842
transformations a r e special c a s e s o f one general
change of variable which transforms the voltages and
currents from the phase variables to variables in an fsl sl
arbitrary frame of reference. For a three-phase
system, this general transformation is expressed fs2 fs2
fqd0
f == Af
abc
(11)
= diag([As 1As2, .,A sN (19)
where

f_dO=
qd0O
[f q, f
d,
fXT
0
(12) fsN sN
qdO abc

fabc = [f a, f
b,
fc]T (13)
For the i- stator set,

= [ f f T
The transformation matrix is defined as si (qdo) [ qsi, dsi, Osi]
(20)

cos 6 cos ( - L) cos ( + 2Tr) The vector fsi (abc) is defined b y equation 4. T h e
A
- 21
=-sin 5
sin( - 23 ) sin(5 + 2Tr) (14)
angular displacement used in the transformation for
the i th tator set is

1/2 1/2 1/2 j 6s.

S1
= e - aC (21)

where e is defined by equation 16. Since t h e r e is

where only one frame of reference t o which all stator and
rotor variables are being transformed,equation 16 is
5 = 0 - e (15) valid for this analysis without change. Thus, in the
ct case of stator circuits where w . is zero,

t
0 = w dt + 6 (0) (16) ectsi ectsi(O) (22)

The value of 6ctsi(°) is the angle between the magne-

t tic axis of phase a of the ith stator set and a ref-
act Jo ct dt+ect (°) (17) erence axis. In this development, the magnetic axis
of phase a of the 1 stator set (asl) i s selected as
the reference axis.

For the rotor circuit,

The inverse of A is
rl frl
cos S sin S 1
r2 fr2
2r)
-1 I2 7r
A -1 cos (S - ) sin(S - 1 (18) = diag[AAr
l *r,ArMI
* (23)
S($+2 3 3 1
(5 2 Tr 2
sin(S + 7r 11
3j
+

The substitute variables fq and fd are expressed i n rM rM

an arbitrary reference frame which rotates at an ar- qdo abc
bitrary angular velocity of w. The angular velocity
of the circuit is wct. If this transformation is to For the i- rotor set,
be applied to stator circuits, then wct is set equal
to zero; for the rotor circuits, wct is set equal to
wr, the angular velocity of the rotor. firi (qdO) = [ qif
qri, dri,
f
Oni IT (24)

The transformation equations used in the case of The vector fri (abc) is defined b y equation 9. The
a three-phase machine maybe readily modified and ex- angultfi displacement used in the transformation for
tended to include an induction machine w i t h N sets the i- rotor set is
of three-phase stator windings and M sets o f three-
phase rotor windings. For the stator,
.=
rl
e -
ec~~ctri (25)

843
where 8 is definedby equation 16. In the case of all
rotor circuits, the angular velocityof the circuit is
dsi Lsi dsi
the angular velocity of the rotor wr. Thus in th is
development, i= and
N
+ - L ij
I
(32)
(26)
j=1 2 nsij dsj
ctri (0)
w 0
ctri.= | dt +
=

r
0
M
+ - L i
where 6ctri (0) is the time zero angle between the mag- k=l 2 srik qrk
netic axis of phase a of the ith rotor set and a ref-
erence axis, asl in this analysis.

If the stator voltage equation, equation 1 , i s

transformedby equation 19 and the rotor voltage equa- X L i (33)
tion, equation 6, by equation 23, the following volt- osi tsi Osi
age equations are obtained.

For the stator, In the case of the rotor,

v
xsl sl is1 rl
7 Arl
i
vs2 )s2 As2 is2 vr2
xr2 Ar2
+ (w - w) +
+diag [rsl, rs2, *'sN]

SN sN_ AsN 'sN vM

drM qrdJ
qdO qdO qdO qdO qdO qdO qd0 (34)

(27)
rl
For the i- stator three-phase set, ri
ir2
vsisi(qdO)
(qdO)P
X
si (qdO)
+ A Si (qd0) si si (qdO) (28) diagrrl, rr2, -
rrM]

where v
si(qdO)
and
Xsi are of the form

crMj
[f f f ad0
fsi(qdo)
si (qdO)
qs3, dsi, OsiI (29)

For the i- rotor three-phase set,

and

(3 0 )

si (qdO) [ dsi, qsi,

ri (qdO) P ri (qdO) (W r) ri (qdO)
=

ri ri (qdO)

The flux linkage equations are

(35)

where v and are of the form

ri(qdO) ri(qdO)
Xqsi = L
s iqsi
N fri (qdO) =
[fqri, fdri, fOri (36)
+
2 Lmsij iqsj (31)
M and
2i
E sr
ik 1qrk
(37)
ri (qdO) [ dri, qri,T

The flux linkage equations are

844
 cally in Figure 1 for a 30° displacement between t h e
Aqri Lri iqri
L
stator winding sets.

M The performanceof the machine may be described

+ 5
k=l
-L. i
2 mrik qrk (38)
directly from the equations set fo rt h in the pre-
vious section. The equivalent circuit i s shown in
Figure 2. Therein, the primed quantities have been
referred to the stator windings by the appropriate
N turns ratio. It is interesting to note that, due to
+
Ei 2 sri qsj the form of the transformation, a change in the re-
lative positionof winding sets is manifested in the
applied voltages (Vqsl, Vqs2, vdsl vds2 in FigLre 2)
rather than in t h e parameters o f t h e equivalent
circuit. The zero quantities d o not exist in Fig-
X =L i ure 2 because multiple three wire connections have
dri tin dri
been assumed.
M
+ 3- L i An analog computer simulation was established
k=l 2 mi r (39) from the equivalent circuit (Figure 2) w i t h w&= 0
(stationary reference frame) fo r a 7.5-hp, 2-pole,
squirrel cage induction machine with th e following
N per unit parameters:
3
+ j 2 srij dsj
j=i s
=
rs2 = 0.0243 rrl = 0.0185
Xi sl ==
xQ Xs2
x = 0. 0793
X;r = 0.0698
x
Tm = 3.347 H = 0.25 s
X =L i (40)
Oni kin Ori
bsl-axis
The electromagnetic torque may be expressed brl-axis
as2-acis
bs2-axis
7-
'qsl
arl-axis
'qs2
, asl-axis
Te =
(2)(2 diagdsl,Xds2, ' dsN

i
qsN

sl (41)
'ds2 crl

qsl, qs2, "

qsN

.'dsN
where P is the number of poles in a three-phase wind-
ing set.
+
ANALYSIS AND SIMUIATION OF A SIX-PHASE INDUCTION MACHINE
ROTOR
In electric drive systems, it is often desirable
to minimize the amplitude o f the pulsating to r qu e
which occurs due to the switching of the stator volt-
ages. It is possible to reduce the pulsating torque
in the case of rectifier-inverter d r i v e systems by
using multiple inverters in combination with multiple
three-phase winding sets appropriately displaced o n
the machine. This feature may be established by con-
sidering an induction machine w i t h t wo identical Figure 1. A two-pole, six-phase induction machine
three-phase stator winding sets (N=2) with a single with 30° displacement between stator wind-
rotor winding (M=l). This machine is shown schemati- ing sets.

845
 -.0=:_5
J ', tKO J4XA J.I PW7ItaL-
The reactances were calculated assuming a base speed
(w,) of 377 rad/sec. Its performancewas investigat-
ed for displacements of 0Q, 300 and 600 between the
two three-phase stator winding sets.

rs1 XdslPO

XdrlP
,-rN. rrl

q-axis

,Pe

xqr1P0

(a)
Steady state, 60-Hz operation with 2-Hz slip frequency.
0.4
0 ras
d-axis

-2.0
5.0 ~~~ ~~~~~~~~s
0
-0.5 _-:__:Mf lIII11llivgplRDRGDgfiiiiiI
Figure 2. The q and d equivalent circuits of a six- -20
phase induction machine, arbitrary refer-
ence frame. ~~
- !1 - 1
2.0 -Or-ue __i

15.0
In the study, a "stepped" voltage so u r c e was
used to simulate the switchingof the inverter. Such
an inverter simulation is completely adequate for
studying this modeof operation.4 The resultsof this
investigation are shown in Figures 3-5.
The steady state waveshapes for displacements of
0Ez

0
|

L--
-
:: : - : :: -f: -
:- b
00 and 600 (symmetrical displacements) are virtually (b)
identical. This isas expected when considering that Free acceleration characteristics.
the pulsating component o f torque i n a three-phase
machine is at six times the applied frequency or 600 Figure 3. Six-phase induction machine performance, 00
of the fundamental. displacement between stator winding sets.

846
 a1.:
-1. 0
t-L
_ , +
0

A l;1
II III,IIIIiIIIIIIiII 111111

11 A
___

,| II:!1
O_I'|F{x.:$,
1.. 0

-2.0 t

1.0 X s) as2

O ~ ~~~~~~ as-'' :
4~~~~-Q1-: _7
,Ii l
5
k1/ii
4I N P ,u
l,
2-1 r 0 -t -:77:Lt[tXt-l
4 * Q -~~~~It
T --(,|i
I

-2.0 _TX <; 0

sec
0
4.1 - ~sec - *4
° L eg-gl ;

4.0
a:Ki~~ 5I~~~~L+~~I Iv=±N s~~~~_
__
z
I
qrl.=
j
I
vT
_II IIV I

. 0 t] = ~ 0.
I- Al
._T-I
AL
--'iL
O~~~~~~~---;= ---1
-4.
----=---
l | l i S [ drl
Cal~ ~ ~ ~~r
Steadstt,6-0oeainwih2H lpfeun
P- ! I_ I - Ii_Ii-Torqu
ie
- _.,I_

(a)
Steady state, 60-Hz operation with 2-Hz slip frequency.

0.4 1qSH 0.4

0 vasl 01
-0.4 _-0.4

-2.0
2.0
0 E asl
-_
2.0
0
-2.0
:asl
bii..
Yni1Wlq-A---
-

5.0 i qrl 5.0 iqrl

0 TIorqAAue
-

-5.0 -5.0
- 0.5 --
sec
1.Z K .: Torque 1.0
Torque

0
-U.., t -0.5
1.0

o 0 Speed
0.5 0
Speed

(b) (b)
Free acceleration characteristics. Free acceleration characteristics.
Figure 4. Six-phase induction machine performanc Figure 5. Six-phase induction machine performance,
300 displacement between stator windir 600 displacement between stator winding
sets. sets.

847
 The machine to r q u e characteristic fo r a 30°
displacement between winding sets (Figure 4) is sub-
stantially improved. The amplitude of the pulsating
component of torque has been reduced from 25 percent
of the average to r q u e for 0O and 600 displacement
(Figures 3 & 5) to only 5 percent (Figure 4) with 30°
displacement. The predominant frequency has also been
shifted from 6 to 12 times the supply frequency.
The q- and d-axis ro to r currents fo r the 30°
c a s e are seen to be more sinusoidal t h a n for the
other two cases. Thus, rotor heating due to harmonic
losses should be minimum with t he 30° displacement.
The additional harmonics and higher peak currents in
the stator will increase stator losses, but the stator
temperature is easier to c o n t ro 1 t h a n the rotor
temperature in most machines.
The dynamic responses of t he machine for half
voltage, 60-Hz, line starts are also shown in Figures
3-5.
CONCLUSIONS
A general method ofanalysis suitable for study-
ing induction machines with either symmetrical or un-
symmetrical three-phase winding configurations h a s
been developed.
Application of the method of analysis and im-
provement in t he machine torque characteristic o b-
tained by using t wo six-step inverters to supply a
six-phase machine has been demonstrated by computer
simulation.
848
A six-phase, 7.5-hp induction machine w it h 300
separation between stator winding s e t s is presently
being constructed. T e st data on the performance of
this machine will be used to check the validity of the
simulation and be the subject of a future paper.
In many three-phase systems, because of VI limi-
tations of SCRs, inverters with parallel SCRs or in-
verters in parallel, may be required to power a large
motor. A significant advantageof the type of machine
described herein is t ha t it allows a machine to be
operated directly from parallel inverters without in-
tervening transformers or other load sharing means.
REFERENCES
1. D. C. White an d H. H. Woodson, Electromechanical
Energy Conversion, New York: Wiley, 1959.
2. P. C. Krause and C. H. Thomas, "Simulation of sym-
metrical induction machinery", IEEE Trans. (Power
Apparatus and Systems), vol. PAS-84,pp. 1038-1052,
November 1965.
3. R. H. Nelson, T. A. Lipo, and P. C. Krause, "Sta-
bility analysis ofa symmetrical i n d uc t io n ma-
chine", IEEE Trans. (Power Apparatus and Systems)
vol. PAS-88, pp. 1710-1717, November 1969.
4. P. C. Krause and T. A. Lipo, "Analysisand simpli-
fied representations o f a rectifier-inverter in-
duction mo to r d r i v e" IEEE Trans. (Power Ap-
paratus and Systems), vo 1. PAS-88, pp. 588 - 596,
May 1969.