This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TPEL.2020.3007829, IEEE
Transactions on Power Electronics

A Dual Two-Vector based Model Predictive

Flux Control with Field-weakening
Operation for OW-PMSM Drives
Zhihao Zheng, Dan Sun, Senior Member, IEEE, Mingze Wang and Heng Nian, Senior Member, IEEE

Abstract—This paper proposes a dual two-vector based model I. INTRODUCTION

predictive flux control (DTV-MPFC) strategy for open winding
ermanent magnet synchronous motors (PMSMs) have
permanent magnet synchronous motor (OW-PMSM) drives with
two isolated voltage source inverters (VSIs). In MPFC strategy, the
reference stator flux vector can be compensated to realize field
P attractive advantages including high efficiency, simple
mechanical construction and high power density [1]. The
weakening (FW) operation by controlling the value of the cost dual-inverter driven open winding (OW) PMSM system has the
function. However, the accuracy of the cost function based FW advantages of multilevel effect and fault tolerant capability [2]-
strategy is limited when the tracking error of stator flux vector [7]. It shows great potential to be applied in electron vehicle
exists. In this paper, a DTV-MPFC strategy is proposed to since the dual-inverter topology can enhance the voltage supply
synthesize the reference flux increment vector precisely and the ability when the capacity of voltage supply is restricted.
FW operation boundary is kept within the linear modulation Generally, the dual-inverter driven OW-PMSM system has
region to enhance the FW operation performance. Each inverter
three different configurations according to different power
applies two vectors during the control period and the switching
frequency of the VSIs is minimized with the proposed strategy. supply modes. The dual-inverter configuration powered by a
When the DC-link voltages of the VSIs are unequal, the number of single DC power source with common DC bus needs to suppress
candidate flux increment vectors and the distribution of the space the zero-sequence current [2]-[3] and the configuration powered
vector plane are different. A generalized vector selection and by a DC power source and a floating capacitor bridge needs to
duration calculation scheme is proposed to realize DTV-MPFC suppress the fluctuation of the floating capacitor voltage [4]-[5].
strategy in this case. Experimental studies are carried out to verify The maximum voltage output of these two configurations are
the validity and effectiveness of the proposed strategy. limited and the maximum operation range is limited. The dual-
inverter system with two isolated DC power sources avoids the
Index Terms—permanent magnet synchronous motor (PMSM), demerits of the other two kinds of configurations and it is more
model predictive flux control (MPFC), field weakening (FW)
flexible to design the voltage distribution schemes to enhance
control
the performance of the OW-PMSM system [6]-[7]. However,
the distribution of the space vector plane is directly influenced
NOMENCLATURE
by the DC-link voltage ratio of the isolated voltage source
ref
Superscript Reference value. inverters (VSIs) and it needs to be taken into consideration
ud, uq d-q components of stator voltage. during the modulation process.
id, iq d-q components of stator current. Model predictive control (MPC) is considered as an effective
ψ d, ψ q d-q components of stator flux linkage. control strategy to manage multiple constraints in different
Ld, Lq d-q components of stator inductance. configurations of OW-PMSM system [8]-[10]. The control
Rs Stator winding resistance. variables in MPC are predicted based on the discretized
ωe Rotor electrical angular speed. mathematical model and a cost function formulated with
ψf Permanent magnet flux linkage. multiple control objectives is evaluated to obtain the optimal
Te Electromagnetic torque. output. The weighting factors in the cost function need to be
np Number of pole pairs. well tuned to guarantee the control performance. In order to
Ts Sampling period. avoid the tuning work of weighting factors, the control variables
θr Rotor angle. are unified as stator flux vector in model predictive flux control
p Differential operator. (MPFC) strategy in [7]-[8]. However, additional assessment
Vdc DC-link voltage. processes of switching frequency is required in [7] and new
weighting factor of switching frequency is introduced in [8] to
Manuscript received December 10, 2019; revised May 18, 2020; accepted reduce the switching frequency of the OW-PMSM system,
July 3, 2020. This work was supported by the National Natural Science
Foundation of China under grant 51877197. (Corresponding author: Dan Sun.) which increases the complexity of the control scheme.
The authors are with college of electrical engineering, Zhejiang University, Field-weakening (FW) operation is also a great concern for
Hangzhou, 310027 China (e-mail: zzh9322@126.com; sundan@zju.edu.cn; OW-PMSM drives and incorporation of FW strategy with MPC
wangmingze@zju.edu.cn; nianheng@zju.edu.cn). strategy demands further research [11]-[16]. The FW strategy

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Transactions on Power Electronics

for current based MPC in [11] is not suitable for MPFC since VSI-1 VSI-2
the stator current becomes an internal control variable. In MPFC,
the stator flux vector can be used as the FW control variable
Vdc1 ia
without introducing additional control variable for FW a1
ib a2 Vdc2
b1 b2
operation. The voltage closed-loop based FW control scheme c1 ic c2
relies on the stability of the DC-link voltage and additional
constraint is required to suppress the disturbance of the DC-link OW PMSM
voltage [12]. A cost function based FW strategy is proposed in
[13], where the value of the cost function is controlled to Fig. 1 Dual inverter driven OW-PMSM system with isolated DC-link sources
compensate the reference stator flux vector. However, since
only a single vector (SV) is used, the reference flux increment The mathematical model of OW-PMSM can be described
vector cannot be synthesized precisely and the tracking error of with the stator voltage and stator flux equations in d-q
the stator flux vector increases in FW region. synchronous rotatory frame.
Multi-vector based MPC strategies have attracted much The stator voltage equation can be expressed as follows:
attention to enhance the steady state performance of the MPC ud  id   p e   d 
strategies [17]-[20]. The space vector modulation (SVM) u  = Rs i  +  p   q 
(1)
method incorporated with deadbeat (DB) control principle is  q  q  e
commonly adopted in two-vector or three-vector based MPC The stator flux linkage equation can be expressed as follows:
strategies. However, the two-vector based MPC strategy in [17]-  d   Ld 0  id   f 
[19] cannot synthesize the reference voltage vector precisely   =  0 L  i     (2)
and the three-vector based MPC strategy in [20] has higher  q  q q 0
switching frequency. Meanwhile, the SVM-DB based MPC The electromagnetic torque equation can be expressed as
strategy relies on angular calculation and it becomes follows:
3
complicated when the sector distribution of the space vector Te  np ( d iq  q id ) (3)
plane is non-uniform. In OW-PMSM system, the candidate 2
voltage vectors are abundant and the distribution of the space
vector plane changes when the DC-link voltages of the VSIs are B. Voltage Vectors of dual-inverter system
different [8], which needs to be taken into consideration in The OW-PMSM system is driven by two isolated three-phase
multi-vector based MPC. two-level inverters, VSI-1 and VSI-2, which are powered by
In this paper, a dual two-vector (DTV) based MPFC strategy DC-link sources Vdc1 and Vdc2. The switching states of each
is proposed to enhance the control performance of the cost inverter can be denoted with binary variables Sa1, Sb1, Sc1, Sa2,
function based FW strategy in OW-PMSM system. A Sb2 and Sc2, which equals to ‘1’ when the upper switch is on and
generalized vector selection and duration calculation scheme is the bottom switch is off and ‘0’ for the reverse on-off state.
proposed to adapt the variation of the DC-link voltages. The u3 (010) u2 (110)
switching frequency of the dual-inverter system is minimized u36' u35' u25'
by applying two vectors for each inverter during the control u4 (011) u0 (000)
period. The reference value of the cost function is controlled as u1 (100)
u7 (111) u31' u15'
a very small value to realize transition operation between VSI-1 u30' u05'
constant torque region and FW region. u5 (001) u00'
u6 (101) u u01' u10'
This paper is structured as follows: the mathematical models u3' (010) u2' (110) 41' u14'
of the dual-inverter driven OW-PMSM system is introduced in
section II. The principle of the conventional SV-MPFC strategy u4' (011) u50' u03'
u0' (000) u u13'
and cost function based FW strategy is introduced in section III. u1' (100) 51'
u7' (111)
The proposed DTV-MPFC strategy and optimized cost function VSI-2
based FW operation strategy is introduced in section IV. u52' u53' u63'
u5' (001) u6' (101)
Experimental results are given in section V to validate the
effectiveness of the proposed control strategy. The conclusion (a) (b)
is presented in the last section. Fig. 2 Voltage vectors distribution (a) VSI-1 and VSI-2 (b) dual-inverter system

The voltage vectors produced by VSI-1 and VSI-2 with

II. MATHEMATICAL MODEL OF OW-PMSM
different switching states are shown in Fig. 2(a), denoted as
um(Sa1Sb1Sc1) and un'(Sa2Sb2Sc2) (m, n = 0, 1…6). The null vectors
A. Mathematical model of OW-PMSM
u0 and u0' are produced by switching state (000) or (111) and the
The schematic diagram of the dual-inverter driven OW-
amplitude of null vector is zero. The amplitude of the other
PMSM system with isolated DC-link sources is shown in Fig. 1.
voltage vectors are decided by the DC-link voltage of VSI-1 and
The neutral point of the stator winding in OW-PMSM system is
VSI-2 (|um|=2Vdc1/3, |un'|=2Vdc2/3). In dual-inverter system, the
opened and connected with two voltage source inverters, VSI-1
stator voltage of OW-PMSM is produced by the voltage
and VSI-2.

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Transactions on Power Electronics

difference between VSI-1 and VSI-2 and it can be described in reference flux increment vector Δψsref and the tracking error of
α-β stationary frame as follows: the stator flux vector is therefore minimized.
  Sa1   Sa2  
uα  uα1  uα2  2      B. Evaluation of cost function
 u  =  u  u  = M  Vdc1   Sb1   Vdc2   Sb2   (4)
 β   β1 β2  3   Sc1   Sc2  
In SV-MPFC strategy, the flux increment vector is produced
 by the voltage vectors umn' and it can be denoted as Δψmn'.
1 1/2 1/2  Generally, all the basic flux increment vectors need to be
where M =  ;
3/2  3/2  evaluated with the cost function in (8) to select the optimal one
0
that minimizes the tracking error of the flux increment vector.
The voltage vectors produced by the dual-inverter system can
be denoted as umn', which is synthesized by um and un'. When Δψ36' Δψ35' Δψ25'
the DC-link voltages of VSI-1 and VSI-2 are the same
(Vdc1=Vdc2), there are 19 different voltage vectors, as shown in Δψref
Δψ31' Δψ30' Δψ05' Δψ15'
Fig. 2(b).

III. CONVENTIONAL SV-MPFC STRATEGY

Δψ01' Δψ00'
Δψ41' Δψ10' Δψ14'
A. Prediction model
In MPFC strategies, a cost function is used to evaluate the Δψ51' Δψ50' Δψ03' Δψ13'
tracking error of the stator flux vector and the optimal voltage
vector that minimizes the cost function is applied during the
control period. After considering one step delay in digital Δψ52' Δψ53' Δψ63'
implementation, the cost function in MPFC strategy can be
written as follows [13]: Fig. 3 Flux increment vectors in dual-inverter system

C  ψs ref  ψs  k  2 
2
(5) Fig. 3 shows the flux increment vectors in dual-inverter
system and the nearest flux increment vector to Δψs ref is selected
Generally, the reference stator current isref
can be calculated
as the optimal vector. Since only one flux increment vector is
with the given torque reference Teref according to either
applied during the control period, Δψs ref cannot be synthesized
maximum torque per ampere (MTPA) [21] or id =0 [7] current
precisely and the tracking error of Δψs ref cannot be eliminated
control strategy. By substituting the d-q components of isref into
in SV-MPFC.
(2), the stator flux vector ψsref can be calculated as follows:
 dref   Ld 0  idref   f  C. FW operation of SV-MPFC
 ref  =    ref     (6)
 q   0 Lq  iq   0  In FW region, the output ability of the dual-inverter system is
limited and the reference stator flux vector ψs ref needs to meet
The stator flux vector ψs(k+2) in k+2 instant is obtained by
the requirements of voltage and current limits [13]:
discretizing the dynamic mathematical model of the stator 2
voltage equation in (1) with Euler method [15]:  U max 
 d 2  q 2    (11)
 d  k  2    1 eTs   d  k  id  k  ud  k  1 (7)   
      RsTs    Ts  
 q
    eTs 1   q  
  q   uq  k  1
2
k 2 k i k
  d  f    q 
2
(12)
     I max
2
In order to simplify the description of voltage vector selection, 
 Ld   qL
the control variable is converted as the flux increment vector.
By substituting (7) into (5), the cost function is written as where, Umax and Imax are the voltage and current limits.
follows:
FW
C  ψs ref  ψs  k  1
2
(8) C Controller
The reference flux increment vector Δψs ref in (8) represents ΔψFW
the required flux increment for the control system and the d-q PI
components of Δψs ref is written as follows: Cref
  dref   dref   1 eTs   d  k  id  k 
 ref    ref        RsTs   (9) Fig. 4 Cost Function based FW controller
 
 q   q   e s   T 1 
 q   k  i
q  k 
Δψs(k+1) represents the flux increment vector produced by In order to realize FW operation in SV-MPFC strategy, a cost
the stator voltage us(k+1) in k+1 instant during the control function based FW controller is used to compensate ψsref with
period Ts and it can be written as follows: ΔψFW and keep ψsref within the voltage and current limits [13].
ψs  k  1  us  k  1 Ts (10) The control block diagram of the cost function based FW
controller is shown in Fig. 4. The reference value of the cost
In MPFC strategy, the flux increment produced by the dual- function is set as Cref, which is the maximum tracking error of
inverter in k+1 instant Δψs(k+1) is controlled to follow the Δψs ref in SV-MPFC strategy.

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Transactions on Power Electronics

Since the tracking error of Δψs ref is controlled to Cref rather Vmn' are used to represent the small primary vectors Δψ0n' (n =
than zero, the FW operation boundary is wider than the flux 1, 3, 5) and the amplitude of Vmn' is the same as the large primary
increment limit hexagon, as shown in Fig. 5. When the operation vectors Δψm0' (m = 1, 3, 5). The angular bisector of Vmn' and
trajectory of Δψsref rotates along the unsmooth FW operation Δψm0' is Δψmn', which is the boundary of different vector groups,
boundary, the value of the cost function cannot be controlled to as shown in Fig. 6. After substituting the large primary vectors
Cref precisely and the tracking error of Δψsref increases in FW Δψm0' (m = 1, 3, 5) and two adjacent virtual vectors Vmn' into the
region, which deteriorates the FW control performance. cost function, the optimal and sub-optimal primary vectors
Δψsref Δψm0' and Δψ0n' can be selected, denoted as Δψx and Δψy.
Cref
TABLE I
CANDIDATE VECTOR GROUPS
Primary Vector Candidate vector group
Δψ10' Δψ10', Δψ13', Δψ14', Δψ15'
Δψ05' Δψ05', Δψ15', Δψ25', Δψ35'
Δψ30' Δψ30', Δψ35', Δψ36', Δψ31'
Δψ01' Δψ01', Δψ31', Δψ41', Δψ51'
FW Δψ50' Δψ50', Δψ51', Δψ52', Δψ53'
Operation Δψ03' Δψ03', Δψ53', Δψ63', Δψ13'
Boundary

Fig. 5 FW operation boundary of Δψs ref in SV-MPFC

Δψ36' Δψ35' Δψ25'

Δψ31' Δψ30' V35'

IV. PROPOSED DTV-MPFC STRATEGY Δψ05' V15'
Δψ15'
V31
The SV-MPFC strategy only applies one vector during the Δψ41' Δψ10'
Δψ01' Δψ14'
control period and the tracking error of Δψsref cannot be Δψ00'
V51'
eliminated, which limits the effectiveness of the cost function
Δψ50' Δψ13'
based FW strategy. In this section, a DTV-MPFC strategy is Δψ03'
V13'
proposed to enhance the FW control performance of the cost Δψ51'
V53'
function based FW strategy in OW-PMSM system. Meanwhile,
a generalized vector selection scheme is proposed to adapt the Δψ52' Δψ53' Δψ63'
variation of the DC-link voltages. The switching frequency of Fig. 6 Candidate flux increment vectors with unequal DC-link voltages of VSIs
the OW-PMSM system is reduced by applying two vectors for
each inverter during the control period. The durations of Δψx and Δψy are calculated based on DB
control principle. The flux increment produced by the dual-
A. Proposed DTV-MPFC strategy inverter system in k+1 instant Δψs(k+1) can be calculated as
In dual-inverter driven OW-PMSM system, when the DC- follow:
link voltages ratio of the VSIs changes, the number of candidate   d  k  1   xd  yd   d x 
 =    (13)
  q  k  1   xq  yq   d y 
flux increment vectors and the distribution of the space vector
plane is different [22]. Therefore, a generalized vector selection
and duration calculation scheme is proposed to adapt the where, dx and dy are the duration of Δψx and Δψy.
variation of the DC-link voltage ratio of the VSIs. Based on DB control principle, dx and dy can be calculated as
In order to realize generalization, the candidate flux follows:
1
increment vectors in DTV-MPFC strategy remain the same as  d x    xd  yd    dref 
that in SV-MPFC strategy. The candidate flux increment vectors  d  =     ref  (14)
are classified into six groups and six primary vectors (Δψ10',  y   xq  yq    q 
Δψ05', Δψ30', Δψ01', Δψ50' and Δψ03') are used for optimal vector After calculation of dx and dy, the durations need to be
group selection, as shown in Table I. By applying the candidate distributed to VSI-1 (dx1 and dy1) and VSI-2 (dx2 and dy2) to
flux increment vectors in the same group, only one inverter synthesize Δψsref precisely. The schematic diagram of the
needs to change the switching state and therefore, the switching duration distribution principle in different circumstances of
frequency of the DTV-MPFC strategy can be reduced and no Δψsref is shown in Fig. 7. For each inverter, the maximum
additional assessment process of the switching frequency is duration of the switching state is Ts. When dx is smaller than Ts,
required. the reference flux increment vector can be synthesized precisely
When the DC-link voltages of the VSIs are unequal, the by applying one non-zero vector and one null vector for each
distribution of the candidate flux increment vectors is non- inverter (e.g. dx1=dx, dy2=dy). When dx is larger than Ts, dx needs
uniform and the primary vectors have different amplitudes. In to be distributed to VSI-1 and VSI-2 (e.g. dy1=dy, dx1=Ts-dy,
order to select the optimal vector group, six virtual vectors Vmn' dx2=dx-dx1).
(m, n = 1, 3, 5; m≠n) are created for cost function evaluation.

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Δψ36' Δψ35' Δψ25' The maximum linear flux increment Δψsmax produced by the
dual-inverter system is decided by the voltage limit Umax and it
dy2 dy1
Δψ31' can be calculated as follows:
dx2
dx1
Vdc1  Vdc2
Δψs2ref dx1 Δψs1ref Δψ15'  s max =U max  Ts =  Ts (15)
dx2 3
dx2 dx1
Δψ14'
When Δψsref goes outside the FW operation boundary, the
Δψ41' dy1 dy2
flux increment vector produced in k+1 instant ΔψsFW(k+1) is
Δψs4ref Δψs3ref
limited on the boundary as follows:
Δψ13'
 s max
ψsFW  k  1 =ψs ref 
Δψ51' (16)
 s ref
Δψ52' Δψ53' Δψ63' The value of the cost function before FW compensation can
Fig. 7 Duration distribution of each inverter in different circumstances be described as follows:
 0 ， ψs ref   s max
The switching sequences of VSI-1 and VSI-2 in different 
C  (17)
 ψs  ψsFW  k  1 ， ψs   s max
circumstances are shown in Fig. 8. It can be seen that each ref 2 ref
inverter applies two vectors during the control period and the
switches of each inverter operate only two times in each control In order to realize FW compensation, the value of cost
period. Hence, the switching frequency of the proposed DTV- function is controlled to keep Δψsref on the FW operation
MPFC strategy is reduced compared with conventional three- boundary. The block diagram of the cost function based FW
vector based strategy. controller is shown in Fig. 10.

Δψ2+Δψ1 Δψ3+Δψ0 Δψ1+Δψ0 Δψ5+Δψ0 FW θψ ΔψFW_d

Sa1 Cref Controller FW
Sb1 C |ΔψFW| Compensation ΔψFW_q
PI Equ.(18)
Sc1
dx1 dx1 dx1 dy1
Δψ5'+Δψ0' Δψ6'+Δψ1' Δψ3'+Δψ0' Δψ1'+Δψ0' Fig. 10 Diagram of the cost function based FW control module
Sa2
Sb2 Actually, in digital implementation, the value of the cost
Sc2 function is not possible to be controlled to absolute zero and the
dx2 dx2 dy2 dx2 cost function in (17) will always hold as a nonnegative value.
Δψref1 Δψref2 Δψref3 Δψref4 Therefore, the reference value of cost function Cref in Fig. 10
Fig. 8 Switching sequences of VSI-1 and VSI-2 should be set as a very small value in order to keep the capability
of returning the FW operation back to the normal operation.
B. FW operation of DTV-MPFC The output of the FW controller ΔψFW is calculated as
With the proposed DTV-MPFC strategy, the reference flux follows:
increment vector can be synthesized precisely and the value of
Δ FW_d  cos  
the cost function can be controlled to zero. In order to eliminate Δ  = Δ FW   sin   (18)
the tracking error of Δψsref in FW region, the FW operation  FW_q    

boundary is set as the maximum linear output of the dual- where  = arctan  qref  dref  ;
inverter system, as shown in Fig. 9.
The reference flux increment vector Δψs_FWref in FW region
Δψs ref is compensated with ΔψFW as follows:
Δ d_FW ref = Δ dref  Δ FW_d
ΔψsFW (19)
Δ q_FW ref = Δ qref  Δ FW_q
Since Cref is set as as a very small value δ close to zero, the
tracking error of Δψsref in FW region is significantly reduced and
the FW control performance is enhanced. The control block
|Δψsmax| FW
Operation
diagram of the proposed DTV-MPFC strategy for the OW-
Boundary PMSM system is shown in Fig. 11.

Fig. 9 FW operation boundary of Δψs ref in DTV-MPFC

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Transactions on Power Electronics

ΔψFW_d
FW
ωr ref ΔψFW_q Controller
ω ref Te Current
Fig. 10
PI Control Strategy S1
and Equ.(6)
C Vdc1
ψs ref
Δψx iabc
Cost Function
Δψd ref
Minimization Δψy
iabc idq Reference Flux Equ.(8) θr
abc Pulse PM
Increment Vector and
dx Generation SM
dq
Equ.(9) Δψqref Duty ratio
Calculation
Equ.(14) dy
ωe
S2
ωr θr Vdc2
np d/dt

Fig. 11 Control block diagram of the proposed MPFC with cost function based FW strategy
TABLE II
PARAMETERS OF THE PMSM SYSTEM
V. EXPERIMENTAL STUDIES
Symbol System Parameters Value
The effectiveness of the proposed DTV-MPFC strategy is
Rs Stator resistance 1.35Ω
investigated with the experimental platform of OW-PMSM
Ld Direct inductance 5.86mH
system, as shown in Fig. 12. The dual inverter system is built
Lq Quadrature inductance 11.05mH
with SEMIKRON SKM75GB12T4 IGBTs and driven by
np Number of pole-pairs 4
SEMIKRON SKHI61. The digital implementation of the ψf Permanent magnet flux linkage 0.1547Wb
control algorithm is carried out based on TI DSP TMS320- Ts Sampling period 0.0001s
F28335 controller. Parameters of the OW-PMSM system are Umax Maximum stator voltage 69.3V
listed in Table II. Imax Maximum stator current 7.07A
The control performance of the proposed DTV-MPFC
strategy in constant torque region is compared with the DB
based SVM-MPFC strategy in Figs. 13-14. The control A. Control performance in constant torque region
performance of the proposed DTV-MPFC strategy in FW region Fig. 13 shows the steady state performance of the proposed
is compared with the conventional SV-MPFC strategy in Figs. DTV-MPFC and DB based SVM-MPFC strategies in constant
15-16. The transition operation between constant torque region torque region when the OW-PMSM system operates at 500 rpm
and FW region is analyzed in Fig. 17 when Cref is set as different with 2 Nm load. The DC-link voltages of VSI-1 and VSI-2 are
value. The rated speed of the motor is 800 rpm when the DC- set as Vdc1=Vdc2=60V in Fig. 13(a) and Fig. 13(b). In Fig. 13(c),
link voltage is 120V and the experimental results obtained at the DC-link voltages are set as Vdc1=80V and Vdc2=40V. The
500 rpm and 1250 rpm are in constant torque region and FW waveforms in Fig. 13 from top to bottom are rotor speed N,
region respectively. electromagnetic torque Te, amplitude of stator flux ψs and stator
current of phase A ia, respectively.
The average electromagnetic torques in Fig. 13(a)-(c) are 2
DSP Nm and the torque ripples are 0.20Nm, 0.28 Nm and 0.32 Nm,
TMS320F28335
Dual- respectively. The average amplitude of stator flux in Fig. 13(a)-
inverter (c) are 0.1548 Wb and the flux ripples are 0.0022Wb, 0.0022Wb
and 0.0044Wb, respectively. It can be seen that the proposed
Sampling strategy has similar torque and flux ripples compared with the
module DB based SVM-MPFC strategy. When the DC-link voltages
changes, the control performance maintains almost the same in
Encoder signal
Fig. 13(b) and (c). The current THD in Fig. 13(a)-(c) are 3.08%,
processing 3.31% and 3.97%, respectively. The experimental result shows
that the steady state performance of the proposed DTV-MPFC
strategy in constant torque region is similar to the SVM-MPFC
Dynamometer
controller strategy and it can adapt the variation of the DC-link voltages.
Fig. 14 shows the switching sequences of the proposed DTV-
MPFC strategy and the DB based SVM-MPFC strategy. The
PMSM Hysteresis
DC source
dynamometer
DC-link voltages of VSI-1 and VSI-2 are set as Vdc1=Vdc2=60V
in Fig. 14(a) and Fig. 14(b). In Fig. 14(c), the DC-link voltages
Fig. 12 Experimental platform of the OW-PMSM system are set as Vdc1=80V and Vdc2=40V.

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Transactions on Power Electronics

10ms/div 10ms/div 10ms/div

N (500rpm/div) N (500rpm/div) N (500rpm/div)
Zoom (0.4Nm/div) Zoom (0.4Nm/div) Zoom (0.4Nm/div)
Te (1.5Nm/div) Te (1.5Nm/div) Te (1.5Nm/div)

ψs (0.086Wb/div) (0.022Wb/div) ψs (0.086Wb/div) (0.022Wb/div) ψs (0.086Wb/div) (0.022Wb/div)

ia (7.07A/div) ia (7.07A/div) ia (7.07A/div)

(a) (b) (c)
Fig. 13 Steady state performance in constant torque region at 500 rpm with 2 Nm load (a) SVM-MPFC, Vdc1=Vdc2=60V (b) DTV-MPFC, Vdc1=Vdc2=60V (c) DTV-
MPFC, Vdc1=80V and Vdc2=40V

10ms/div 10ms/div 10ms/div

(100V/div) Zoom (100V/div) Zoom (100V/div) Zoom

Va1o Va1o Va1o

Vb1o Vb1o Vb1o
Vc1o Vc1o Vc1o
Va2o Va2o Va2o
Vb2o Vb2o Vb2o
Vc2o Vc2o Vc2o
0.05ms/div 0.05ms/div 0.05ms/div

(a) (b) (c)

Fig. 14 Switching sequences of VSI-1 and VSI-2 (a) SVM-MPFC, Vdc1=Vdc2=60V (b) DTV-MPFC, Vdc1=Vdc2=60V (c) DTV-MPFC, Vdc1=80V and Vdc2=40V

The waveforms in Fig. 14 are the three phase voltage of VSI-
1 and VSI-2, Va1o, Vb1o, Vc1o, Va2o, Vb2o and Vc2o, respectively. It
can be seen from Fig. 14(a) that the switches of the dual-inverter
system operate 12 times during each control period. In Fig. 14(b)
and Fig. 14(c) the switches of the dual-inverter system operate
only 4 times during each control period, which is one third of
that in Fig. 14(a). The switching frequency of the proposed
DTV-MPFC strategy is reduced compared with the DB based
SVM-MPFC strategy.
B. Control performance in FW region
Fig. 15 shows the steady state performance of the proposed
DTV-MPFC and SV-MPFC strategies in FW region when the
OW-PMSM system operates at 1250 rpm with 2 Nm load. The
DC-link voltages of VSI-1 and VSI-2 are set as Vdc1=Vdc2=60V
in Fig. 15(a) and Fig. 15(b). In Fig. 15(c), the DC-link voltages
are set as Vdc1=80V and Vdc2=40V. The waveforms in Fig. 15
from top to bottom are rotor speed N, electromagnetic torque Te,
amplitude of stator flux ψs and stator current of phase A ia,
respectively.
The average electromagnetic torques in Fig. 15(a)-(c) are 2
Nm and the torque ripples are 0.74 Nm, 0.24 Nm and 0.28 Nm,
respectively. When the DC-link voltages ratio are different in
Fig. 15(b) and Fig. 15(c), the torque ripple maintains almost the
same. The average amplitude of stator flux in Fig. 15(a)-(c) are
0.1462 Wb and the flux ripples are 0.0101Wb, 0.0044Wb and
0.0044Wb. The current THD in Fig. 13(a)-(c) are 7.39%, 3.26%
and 3.18%, respectively. Compared with SV-MPFC strategy,
the steady state performance of the OW-PMSM system in FW
region is improved with the proposed DTV-MPFC strategy.
When the ratio of the DC-link voltages changes, the steady state
performance has not been influenced.
The dynamic performances of the proposed DTV-MPFC
and SV-MPFC strategies are compared in Fig. 16(a) and Fig.
16(c) and the dynamic performance of DTV-MPFC without and
with FW strategy are compared in Fig. 16(b) and Fig. 16(c). The
OW-PMSM system operates with the reference speed suddenly
changes from 500 rpm to 2500 rpm without load. The
waveforms in Fig. 16 from top to bottom are rotor speed N, the
value of cost function C, electromagnetic torque Te and
amplitude of stator flux ψs, respectively.
The value of the cost function reflects the tracking error of
the stator flux vector. It can be seen from Fig. 16(a) that the
tracking error cannot be eliminated in SV-MPFC and it
increases when the OW-PMSM system enters FW region. When
the proposed DTV-MPFC strategy is applied, the value of the
cost function is controlled to a small value close to zero in FW
region, as shown in Fig. 16(c). The experimental result shows
that, the proposed DTV-MPFC with cost function based FW
strategy can minimize the tracking error of stator flux vector.
When the OW-PMSM system operates without the proposed
FW strategy in Fig. 16(b), the value of the cost function
increases rapidly and the maximum speed reaches the limits at
1225 rpm. With the proposed FW strategy, the flux increment
vector is compensated and the amplitude of ψs decreases in FW
region. Therefore, the maximum speed is increased to 2125 rpm
in Fig. 16(c) and the electromagnetic torque in FW region is
increased as well. Although the maximum output of the dual-
inverter system is limited within the linear modulation region,
the maximum speed in DTV-MPFC is the same as that in SV-
MPFC, which is 2125 rpm in Fig. 16(a). According to Fig. 16,
the cost function based FW strategy incorporated with DTV-
MPFC strategy can extend the operation range of the OW-
PMSM system and enhance the FW operation performance.

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Transactions on Power Electronics

N (500rpm/div) 10ms/div 10ms/div 10ms/div

(500rpm/div) N (500rpm/div)
Zoom (0.4Nm/div) N (0.4Nm/div) (0.4Nm/div)
Te (1.5Nm/div) Zoom Zoom
(1.5Nm/div) Te (1.5Nm/div)
Te
ψs (0.086Wb/div) (0.022Wb/div) ψs (0.086Wb/div) (0.022Wb/div) ψs (0.086Wb/div) (0.022Wb/div)

ia (7.07A/div) ia (7.07A/div) ia (7.07A/div)

(a) (b) (c)
Fig. 15 Steady state performance in FW region at 1250 rpm with 2 Nm load (a) SV-MPFC, Vdc1=Vdc2=60V (b) DTV-MPFC, Vdc1=Vdc2=60V (c) DTV-MPFC,
Vdc1=80V and Vdc2=40V

N N
(1250rpm/div) N (1250rpm/div) (1250rpm/div)
2
Zoom
(0.005Wb /div) Zoom (0.005Wb2/div)
C (0.05Wb2/div) C (0.05Wb2/div) C (0.05Wb2/div)

Te (3.6Nm/div) Te (3.6Nm/div) Te (3.6Nm/div)

ψs (0.086Wb/div) ψs (0.086Wb/div) ψs (0.086Wb/div)

500ms/div 500ms/div 500ms/div
(a) (b) (c)
Fig. 16 Dynamic response when the reference speed changes from 500 rpm to 2500 rpm without load (a) SV-MPFC with FW strategy (b) DTV-MPFC without FW
strategy (c) DTV-MPFC with FW strategy

2s/div 2s/div
N (1250rpm/div) N (1250rpm/div)

Te (3.6Nm/div) Te (3.6Nm/div)

ψs (0.086Wb/div) ψs (0.086Wb/div)

(a) (b)
Fig. 17 Transition operation between constant torque region and FW region (a) Cref = 0 (b) Cref = δ

C. Transition operation between different regions VI. CONCLUSION

Fig. 17 shows the transition operation between constant
torque region and FW region when the reference speed of the
OW-PMSM system changes from 500 rpm to 1500 rpm and
then returns to 500 rpm without load. It can be seen from Fig.
17 that when the reference value of cost function Cref is set as
zero, the amplitude of stator flux ψs maintains unchanged when
the rotor speed N returns from FW region to constant torque
region. The electromagnetic torque Te during the return process
is limited since the amplitude of stator flux ψs is weakened. As
for comparison, when the reference value of cost function Cref is
set as a very small value δ as 10-5, the amplitude of stator flux
ψs returns to the initial value when the rotor speed N returns to
the constant torque region. The electromagnetic torque Te during
the deceleration is reverse as that during the acceleration. The
experimental result shows that the proposed method is able to
realize transition operation between constant torque region and
FW region when the value of Cref is set as a very small value δ.
In this paper, a dual two-vector based MPFC strategy has
been proposed for OW-PMSM system with isolated power
sources. The main contributions of this paper can be concluded
as follows:
1. A dual two-vector based MPFC strategy has been proposed
and the reference vector is precisely synthesized. The
tracking error of the cost function based FW strategy has
been minimized and the FW control performance is
enhanced with the proposed DTV-MPFC strategy.
2. A generalized vector selection and duration calculation
scheme has been proposed for DTV-MPFC strategy and the
influence of DC-link voltage ratio has been eliminated.
3. The switching frequency of the dual-inverter system has
been minimized with the vector distribution scheme and no
additional assessment process of switching frequency is
required.

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Transactions on Power Electronics
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Zhihao Zheng received the B.Eng. degree from Zhejiang
University, Hangzhou, China in 2015. He is currently
working toward the Ph.D. degree of electrical engineering
in Zhejiang University.
His current research interests include power electronics
and advanced control strategy of electric machine.
Dan Sun (M’05, SM’17) received the B.S. from Shenyang
Jianzhu University, Shenyang, China, the M.S. from Hohai
University, Nanjing, China, and the Ph.D. from Zhejiang
University, Hangzhou, China, in 1997, 2000 and 2004,
respectively, all in electrical engineering. In 2004, she
joined the College of Electrical Engineering, Zhejiang
University. Since 2017, she has been a Full Professor at
Zhejiang University.
Her research interests include the advanced electric
machine drives and control for wind power generation system.
Mingze Wang was born in Shenyang, China. He received
the B.Eng. degree from Shenyang University of
Technology, Shenyang, China, in 2019. He is currently
working towards the M.Eng. degree of electrical
engineering in Zhejiang University.
His current research interests include power electronics
and advanced control strategy of electric machine.
Heng Nian (M’09–SM’14) received the B.Eng. degree and
the M.Eng. degree from HeFei University of Technology,
China, and the Ph.D. degree from Zhejiang University,
China, in 1999, 2002, and 2005 respectively, all in electrical
engineering. From 2005 to 2007, he was as a Post-Doctoral
with the College of Electrical Engineering, Zhejiang
University, China.
In 2007, he was promoted as an associate professor. Since
2016, he has been a Full Professor at the College of
Electrical Engineering, Zhejiang University, China. From 2013 to 2014, he was
a visiting scholar at the Department of Electrical, Computer, and System
Engineering, Rensselaer Polytechnic Institute, Troy, NY. His current research
interests include the optimal design and operation control for wind power
generation system. He has published more than 40 IEEE/IET Transaction papers
and holds more than 20 issued/pending patents.