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Phase Current Sensing Method Using Three Shunt Resistors to Eliminate

Immeasurable Area in Voltage Vector Plane

Article in Journal of Electrical Engineering and Technology · October 2020

DOI: 10.1007/s42835-020-00583-7

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Journal of Electrical Engineering & Technology
https://doi.org/10.1007/s42835-020-00583-7

ORIGINAL ARTICLE

Phase Current Sensing Method Using Three Shunt Resistors

to Eliminate Immeasurable Area in Voltage Vector Plane
Dong‑Ki Kim2 · Do‑Hyun Jang3 · Duck‑Yong Yoon1

Received: 3 January 2020 / Revised: 22 April 2020 / Accepted: 13 October 2020

© The Korean Institute of Electrical Engineers 2020

Abstract
This paper proposes a current sensing method to eliminate the immeasurable areas in three-phase inverters using the shunt
resistors. Conventional shunt resistor-based current sensing methods have immeasurable areas in the voltage vector plane.
Since motor control performance is degraded by the immeasurable area, various current reconstruction techniques have been
proposed to expand the measurement range. Nevertheless, the software algorithm is quite complex, and the reconstruction
ability is still unsatisfactory. In the proposed method, shunt resistors are located in series with the inverter output lines to
obtain the motor phase currents. Both ends of the shunt resistors are at the high-potential as the dc-link voltage. High-potential
voltages are lowered to the common-mode voltage level of the analog amplifier using voltage divider, and voltage drops
across shunt resistors are detected by instrumentation amplifiers. Immeasurable areas are completely eliminated because
phase currents can be detected directly through line shunt resistors. Simulations and experiments are carried out to verify
the effectiveness of the proposed current sensing method.

Keywords Shunt resistors · Shunt current sensing · Current reconstruction · Immeasurable area · Instrumentation amplifiers

1 Introduction burden in the low-power applications. Many researchers

Phase current information is essential in ac motor drive sys-
tems for instantaneous torque control. The performance of
current sensing techniques such as Hall-effect sensors, cur-
rent transformers, Rogowski coils, and shunt resistors was
reviewed in Ref. [1]. Hall current sensors have been pre-
ferred for current measurement due to their high-accuracy
and fully electrical isolation [1–3]. In three-phase motor
drives, two or three Hall current sensors are mostly used as
standard. However, the high-cost of these sensors is always
* Duck‑Yong Yoon
yoon3m@kongju.ac.kr
Dong‑Ki Kim
dong‑ki.kim@kr.abb.com
Do‑Hyun Jang
jangdh@hoseo.edu
1
Department of Electrical, Electronic and Control
Engineering, Kongju National University, Cheonan, Korea
2
Motion Division, Drives and Motors, ABB Ltd., Cheonan,
Korea
3
Department of Electrical Engineering, Hoseo University,
Asan, Korea
have tried to replace expensive Hall current sensors in other
ways. Shunt resistors are most interested in terms of cost
effectiveness, performance, and reliability. Table 1 shows the
main features of the current sensing methods using the Hall
current sensor and the shunt resistor [1–3]. In low power
applications, the current sensing methods using shunt resis-
tors can be a good solution for cost reduction. For this rea-
son, the shunt resistor-based current sensing methods have
long been developed to reduce the cost impact of the system.
In conventional current sensing methods, one or three shunt
resistors have been used to detect motor phase currents.
Figure 1 shows the typical configuration of single shunt
dc current sensing inverter (SSDSI). Single shunt resistor
is placed between the negative dc rail and common node
of bottom switches. Three-phase currents are reconstructed
by measuring the voltage drop across a single shunt resistor
when the switches of an inverter are in active vector state.
However, SSDSI have immeasurable area in the voltage
vector plane, where current sampling is impossible. The
immeasurable area in SSDSI is occurred at the borders of
each sector and near the origin as shown in Fig. 2. SSDSI
has drawbacks that simultaneous current sampling for three-
phase currents is impossible, produce time interval error in

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 Journal of Electrical Engineering & Technology

Table 1  Comparison of current sensing methods

Description Hall current sensor Shunt resistor

Accuracy Good Good

Temperature characteristic Poor Good
High current measurement Good Poor
Cost impact High Low
Power consumption Low High
Electrical isolation Yes No
dc offset and scaling errors Yes Yes
Saturation problem Yes No
Hysteresis problem Yes No
Component size Moderate Small
ac/dc measurements Both Both

Fig. 2  Space voltage vectors and immeasurable area in voltage vector

plane of SSDSI

Fig. 3  Configuration of phase current sensing method using three

shunt resistors in bottom side of lower switches

SSDSI due to its simple current reconstruction and extended

Fig. 1  Configuration of phase current sensing method using single
shunt resistor in negative dc rail
the instantaneous three-phase current information [4, 5]. In
addition, it cannot measure three-phase currents in the low-
speed range because output time for a valid vector is short.
Figure 3 shows the typical configuration of three shunt
leg current sensing inverter (TSLSI). Each shunt resistor is
located between each bottom switch and the negative dc rail.
In TSLSI, the immeasurable area occurs at high modulation
index (MI) and therefore the current detection is impossi-
ble at high MI. Nevertheless, TSLSI is more attractive than
current measurement range.
Therefore, various current sensing methods to reduce the
immeasurable area at high MI in the TSLSI have been pro-
posed [6–15]. Voltage injection methods were proposed to
reconstruct the three-phase currents [8–12]. Although the
current ripple could be larger due to the injected voltage
and compensation for the injection, it could be minimized
with a minimum magnitude voltage injection. In Ref. [15],
the current reconstruction methods at high MI combining
both current sampling moment shift and PWM expansion
methods were proposed. Although this method could reduce
the immeasurable area, it could not be applied to the vector-
controlled ac motor drive because it could not fully eliminate
the immeasurable area and current reconstruction algorithm
was complicated.
In this paper, shunt resistor-based current sensing method
is proposed that can directly detect phase currents on the
inverter phase lines. Finally, experiments are carried out
to verify the effectiveness of proposed method applied

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to field-oriented control (FOC) system of three-phase ac

machines.

2 Immeasurable Area in Voltage Vector

Plane and Typical Operation of TSLSI

In TSLSI, phase currents are reconstructed by measur-

ing the voltage drops across shunt resistors when lower
switches are turned on. Table 2 lists the measurable cur-
rents according to the corresponding switching state. Meas-
urements of more than two-phase currents are required in
Fig. 4  Symmetrical switching patterns of upper switches in sector I
vector-controlled ac motor drive. Two-phase currents can
when TSLSI is operated using SVPWM
be measured when the switches are in valid vectors (1, 0,
0), (0, 1, 0), and (0, 0, 1), and three-phase currents can be
measured when the switches are in zero vector (0, 0, 0). On T0 + T1 + T2 = Ts (3)
the other hand, three-phase currents cannot be measured
when the switches are in invalid vectors of (1, 1, 0), (0, 1,
1), (1, 0, 1) and (1, 1, 1) [9, 10]. Figure 5a shows the boundary line for the measurable
To obtain reliable currents from shunt resistors, the turn- and immeasurable area in sector I. In the shadowed area,
on time of lower switches must be at least Tmin . Minimum no phase currents can be measured when Tb is less than
sampling time Tmin is depending on the system conditions Tmin. Section except for immeasurable area means a measur-
and can be expressed as follows: able area and can measure at least two currents. It is divided
Tmin = Tdead + TA∕D + Tset (1)

where Tdead is dead-time for short-circuit prevention, TA∕D

is analog-to-digital conversion time, and Tset is switch set-
tling time [10, 11]. Figure 4 shows the switching patterns
of upper switches in sector I when TSLSI is operated using
space vector PWM (SVPWM), where T1, T2 and T0 denote
the durations of two active vectors and zero vector, respec-
tively. In sector I, it is not necessary to measure the current
of phase a according to Table 2, but Tb must be longer than
Tmin to measure b- and c-phase currents. a

Tb = T0 ∕2 + T1 > Tmin (2)

Table 2  Measurable phase currents depending on the switching states

in TSLSI
Voltage vector Switching state Measurable current

V(0) 0, 0, 0 ias ibs ics

V(1) 1, 0, 0 – ibs ics
V(2) 1, 1, 0 – – ics
V(3) 0, 1, 0 ias – ics
V(4) 0, 1, 1 ias – – b
V(5) 0, 0, 1 ias ibs –
V(6) 1, 0, 1 – ibs – Fig. 5  Space voltage vectors and immeasurable area in voltage vector
plane of TSLSI a current detection area in sector I, b immeasurable
V(7) 1, 1, 1 – – –
area in voltage vector plane

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into two areas by dotted line. Right area for the dotted line 3.2 Analog Circuit Design for High‑Potential
means the area when T1 is over Tmin whereas left area means Voltage
when T1 is less than Tmin but Tb is over Tmin . Figure 5b
shows a whole immeasurable area, which is composed of In TSPSI, three shunt resistors are at high-potential. High-
three immeasurable areas. When TSLSI is operated using potential voltages are lowered to the common-mode voltage
SVPWM, MImax for two-phase current measurable area can level and voltage drops across shunt resistors are detected by
be calculated from Fig. 5b [15], analog amplifiers. Instrumentation amplifier shown in Fig. 7
is one of the most useful and precise amplifiers available.
Vref 2 � In addition, this circuit can take the input impedance almost
�
MImax =
2∕3Vdc
= √ 1 − 2fsw Tmin (4)
3 to infinity because the input voltage is connected directly
to the non-inverting input terminal in the amplifier and can
where fsw (= 1∕Tsw ) is switching frequency. MImax is deter- be implemented inexpensively because it can be configured
mined by Tmin and fsw. using three operational amplifiers [16, 17]. The output volt-
age of instrumentation amplifier is given by

3 Proposed Phase Current Sensing Method (5)

( ) ( )
Vo = (1 + 2∕a) E1 − E2 = m E1 − E2
Using Three Shunt Resistors

3.1 Three Shunt Phase Current Sensing Method Figure 8 shows the phase current sensing circuit used
in proposed TSPSI. Current sensing circuit is composed of
In this paper, a current sensing method using three shunt an instrumentation amplifier, a basic differential amplifier
resistors is proposed to eliminate the immeasurable area of and four resistors for voltage divider. The output voltages
typical shunt resistor methods. Figure 6 shows the proposed V1 and V2 across shunt resistor decrease to E1 and E2 using
three shunt phase current sensing inverter (TSPSI). Sensing higher resistors R1 and R3, and lower R2 and R4 when the V1
position of shunt resistors in TSPSI is the same as typical and V2 floats. From (5) and Fig. 7, the output voltage of an
three Hall current sensor method. Shunt resistors are placed instrumentation amplifier can be expressed as
in series with inverter phase lines. TSPSI can be theoreti-
cally used to measure phase currents at inverter output lines.
However, both ends of the shunt resistors are at the high-
potential as the dc-link voltage. Current sensing techniques
for TSPSI have not been reported due to the isolation prob-
lem and high potential handling between the inverter phase
lines and the analog circuits [15].
If this problem is solved, the TSPSI can be an important
sensing method for measuring phase current in low-power
and low-cost applications. Additionally, if a ground fault
or short-circuit occurs on the motor side, the fault currents
will flow through the line shunt resistors and the protection
Fig. 7  Typical instrumentation amplifier circuit used to detect a small
can be activated. SSDSI and TSLSI methods do not provide differential voltage
current-based fault protection except for overcurrent [16].

Fig. 6  Configuration of phase current sensing method using three Fig. 8  Current sensing circuit for measuring voltage drop across
shunt resistors in three-phase lines shunt resistor by adjusting high-potential voltage

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Journal of Electrical Engineering & Technology
( )
R2 R4
(6)
( )
Vo = m E1 − E2 = m V − V fier of Fig. 8.
R1 + R2 1 R3 + R4 2
where E1 and E2 are input voltages of an instrumentation
amplifier and are adjusted by voltage-divider resistors. The
lower voltage ripple is generated in input voltages E1 and
E2 whenever the switches are turned on or off. On the other
hand, (E1 − E2) has constant value regardless of voltage rip-
ple because E1 and E2 have the same value of voltage ripple.
In analog circuit using the instrumentation amplifier, the
voltage-divider resistors should be designed as R2 = R4 and
R1 = R3. Thus, output voltage Vo can be arranged as
R2 (
(7)
)
Vo = m V − V2
R1 + R2 1
From (6) and (7), the potential difference ( V1 − V2 )
across a shunt resistor is proportional to differential input
( E1 − E2 ) of an instrumentation amplifier. Assuming that
the value of mR2 ∕ R1 + R2 is unity, the value of output
( )
voltage Vo is equal to the potential difference ( V1 − V2 ).
Accordingly, a phase current can be measured by adjusting
a induction motor, dc generator, load resistor, and controller.
Fig. 9  Simulation waveforms of phase current measurement per-
formance of conventional TSLSI and proposed TSPSI (MI = 1.15) a
TSLSI, b TSPSI
the output voltage of (7) through a basic differential ampli-
In addition, R1, R2 , R3 , and R4 need to be determined
considering the characteristics of operational amplifier,
in which the E1 and E2 should not exceed approximately
3 V. For example, at Vdc = 300 V, R1 = R3 = 200 kΩ, and
R2 = R4 = 2 kΩ in a circuit of Fig. 8, the value of E1 was
calculated to be 2.97 V (= 300 × 2/202). The output voltage
in a basic differential amplifier was re-adjusted through the
amplifying rate and was inputted into the analog-to-digital
converters of the microcontroller. Motor phase currents can
be measured at any time just like current sensing method
using Hall-effect sensors.
Figure 9 shows the simulation waveforms comparing the
phase current sensing performance of TSLSI and TSPSI.
The dc-link voltage is 300 V, the switching frequency is
10 kHz, and the operating frequency is 50 Hz. TSLSI and
TSPSI are connected to RL load (R = 67 Ω, L = 0.19 H).
Measurable sampling time Tmin is assumed to be 5 μs, maxi-
mum MI is calculated as 1.04 from (4). In this simulation,
three-phase currents detected by shunt resistors are com-
pared to the actual phase currents, and MI is changed from
1.0 to 1.15 after 50 ms. At MI = 1.0, three-phase currents are
obtained for both methods. However, at MI = 1.15, TSLSI in
Fig. 9a does not detect three-phase currents, while TSPSI in
Fig. 9b shows excellent current measurement performance.
4 Experimental Results
Experiments are carried out to verify the practicality of pro-
posed current sensing method. In this paper, the FOC of the
three-phase induction motor using proposed TSPSI was car-
ried out. Figure 10 shows a photograph of the experimental
setup, which is roughly divided into four parts: three-phase
Motor controller was implemented using ARM Cortex-M7
Fig. 10  Photograph of the experimental setup
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Table 3  Parameters of three-phase induction motor used in the exper-

iments
Parameter Unit Value

Rated power W 200

Rated voltage
Rated current
Rated speed
Stator resistance (Rs)
Stator inductance (Ls)
Rotor resistance (Rr)
Rotor inductance (Lr)
Mutual inductance (Lm)
V 220
A 1.3
r/min 1650
Ω 21.7542
H 0.4721
Ω 39.0828
H 0.4721 Fig. 12  Steady-state experimental results for the current waveforms
H 0.4160 in the peak measurable area of the voltage vector plane using the
proposed TSPSI

experimental response for the motor speed and two-phase cur-

rents at the stationary reference d–q frame when the reference
speed changes to the opposite direction from − 1000 to 1000 r/
min slowly under a 2/3 load condition. As shown, in the reverse
operation, isqs leads isds, while in the forward operation, isds leads
isqs. And then, two-phase currents with a phase difference angle
of 90 degrees are balanced in d–q frame. Figure 15 shows the
experimental response for motor speed, q-axis current at the
synchronous reference frame ieqs and d-axis current at the station-

Fig. 11  Implementation of FOC system of three-phase induction

motor using TSPSI

STM32F767. Table 3 lists the specifications of a three-phase

induction motor used as the test motor in the experiments.
The dc-link voltage, switching frequency, and three shunt
resistors were 300 V, 10 kHz, and 0.01 Ω/2 W 1%. Figure 11
shows an implementation of FOC for three-phase induction a
motor with the TSPSI.
Figure 12 shows the experimental waveforms for the three
phase currents under a steady state when the three-phase induc-
tion motor operates using the FOC. As shown, the three-phase
currents approach the sinusoidal waveforms, and are balanced.
Figure 13 shows the experimental response for the motor speed,
q-axis current at the synchronous reference frame ieqs and d-axis
current at the stationary reference frame isds when the reference
speed changes suddenly from 1000 to − 1000 r/min and stops
again under no-load (Fig. 13a) and full-load condition (Fig. 13b).
As shown, the magnitude of ieqs reaches a constant value, and the b
actual motor speed follows the reference motor speed because
the reference speed is under a constant load. In addition, the Fig. 13  Experimental response to the motor speed, q-axis current at
magnitude of q-axis current at the synchronous reference frame synchronous reference frame and d-axis current at stationary refer-
ence frame to quick variations in the opposite direction of the refer-
ieqs and d-axis current at the stationary reference frame isds
ence speed (1000 r/min ⇒ − 1000 r/min ⇒ 0 r/min) a no-load b full-
increases with increasing load. Figure 14 shows the load

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Journal of Electrical Engineering & Technology
Fig. 14  Experimental response of the motor speed and dq-axis cur-
rents due to slow variations in the opposite direction of the reference
speed under 2/3 load torque (− 1000 r/min ⇒ 1000 r/min)
Fig. 15  Experimental response for the motor speed and q-axis stator
currents due to the quick variations of the load torque at fixed 1000 r/
min (no-load ⇒ 2/3 load)
ary reference frame isds when the load torque at fixed reference
speed is changed quickly from no-load to 2/3 load. As shown,
the magnitude of isqs increases, but its frequency is fixed because
of the motor speed. In addition, the magnitude of ieqs and isds are
increased according to the load condition.
5 Conclusion
Typical current sensing methods using the shunt resistors
have immeasurable area in voltage vector plane and require
to reconstruct the phase currents from voltage drops across
shunt resistors. This paper proposed the shunt resistor-based
current sensing method that can directly measure the phase
currents on the inverter phase lines. However, both ends of
shunt resistors are at the high-potential as the dc-link volt-
age. In proposed method, current sensing circuit was com-
prised of instrumentation amplifiers and voltage dividers to
detect high-potential voltages. Phase currents were measured
at any time just like current sensing method using the Hall
current sensors. Complex reconstruction algorithm was not
needed, and immeasurable area was completely eliminated.
In this paper, the FOC of three-phase induction motor using
the proposed TSPSI was performed. The proposed current
sensing method has shown satisfactory performances in vari-
ous response experiments. Experimental results confirmed
that TSPSI can be applied for the vector-controlled three-
phase ac machines.
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Publisher’s Note Springer Nature remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.
Dong‑Ki Kim was born in Cheonan, South Korea, in 1983. He received
his B.S., M.S. and Ph.D. degrees from the Department of Electrical,
Electronic and Control Engineering, Kongju National University,
Cheonan, South Korea, in 2009, 2013 and 2017, respectively. Since
2009, he has been with the Motion Division, ABB Ltd., Cheonan,
South Korea, where he is presently working as a Senior Technical Con-
sultant. His current research interests include electric machine control
and industrial applications.
Do‑Hyun Jang was born in Cheonan, South Korea, in 1956. He
received his B.S. degree in Electrical Engineering from Hanyang Uni-
versity, Seoul, South Korea, in 1980; and his M.S. and Ph.D. degrees
13
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Journal of Electrical Engineering & Technology
from Seoul National University, Seoul, South Korea, in 1982 and 1989,
respectively. Since 1985, he has been with the Department of Electrical
Engineering, Hoseo University, Asan, South Korea, where he is pres-
ently working as a Full Professor. From 1993 to 1994, he was a Visit-
ing Scholar in the Department of Electrical Engineering, Texas A&M
University, College Station, TX, USA. His current research interests
include ac motor speed control, switched reluctance motor drives, and
two-phase induction motor drives.
Duck‑Yong Yoon was born in Cheongju, South Korea, in 1958. He
received his B.S. and M.S. degrees in Electrical Engineering from
Seoul National University, Seoul, South Korea, in 1981 and 1983,
respectively. He received his Ph.D. degree from Dankook University,
Seoul, South Korea, in 1995. Since 1985, he has been with the Depart-
ment of Control and Measurement Engineering, Kongju National Uni-
versity, Cheonan, South Korea, where he is presently working as a
Full Professor. His current research interests include electric machine
control and microprocessor applications.