IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO.

4, DECEMBER 2006 891

General Model of a Five-Phase Induction Machine

Allowing for Harmonics in the Air Gap Field
Luı́s Alberto Pereira, César Cataldo Scharlau, Luı́s Fernando Alves Pereira, and José Felipe Haffner

Abstract—This paper presents a general mathematical model of R Resistance.

a five-phase induction machine including the effects of higher space r Rotor indices.
and time harmonics in the air gap field. These harmonic waves play s Stator indices.
a decisive role in the behavior of machines with more than three
phases. Mathematical expressions for the calculation of the self Te Electromagnetic torque.
and mutual inductances are presented, and results are compared Tm Load torque.
with values obtained by finite element analysis and measurements. vk Voltage of phase k.
Based on the air gap field distribution produced by the stator and α Angular displacement between stator and rotor.
rotor, all the field harmonics are included in a direct and simple β Angle of inclination of rotor bars.
way in the self-inductances. The mutual inductances are obtained
from a Fourier series description of the air gap field, resulting in γ Angle between two stator slots.
a different inductance for each harmonic field. The machine equa- δ Air gap length.
tions are then simplified using coordinate transformations, which δ̄ Equivalent air gap.
result in equivalent d-q models and equivalent circuits for given ε Angle between rotor phases.
harmonic groups. In their final form, the equations are appropri- ψ Linkage flux.
ated for the simulation of the machine behavior and developing
new control strategies including higher space and time harmonics. ϕ Angle between stator phases.
Finally, practical results of a prototype machine are compared with  Machine axial length.
simulations demonstrating the accuracy of the model. ms Mean length of a stator coil.
Index Terms—Finite element method, induction machines, µ0 Permeability of air.
induction motors, modeling. ρs Resistivity of stator conductor.
ρr Resistivity of rotor conductor.
I. NOMENCLATURE τnr Rotor slot pitch.
Aa = Cross section area of a rotor ring. ωe Rotor speed in electrical degrees.
Ab Area of a rotor bar. ωm Rotor speed in mechanical degrees.
As Area of the stator conductor. θ Stator coordinate in electrical degrees.
Bd Damping coefficient.
B Magnetic induction. II. INTRODUCTION
b0 Opening of the rotor slot.
ECAUSE OF its robustness, versatility and reliability, the
D
Da
Internal stator diameter.
Mean diameter of rotor ring. B induction machine has been widely used over the last three
decades in practically all applications requiring variable speed.
ik Current of phase k.
The development of new inverter topologies and efficient con-
J Moment of inertia of load plus machine.
trol strategies, together with ever-reducing cost, has opened a
Kc Carter Factor.
range of applications for induction machines in several areas
Kfe Saturation factor.
where direct current machines were formerly dominant. The
Km Torsion coefficient.
present trend is to replace direct-current machines by induction
Lkj Mutual inductance between winding k and j.
machines in almost all applications.
Lh Main inductance.
In general, induction machines having three phase windings
Lδ Leakage inductance.
are normally used, since the standard power supply is three
ms Number of stator phases.
phase. However, when fed by an inverter, there is no need for
mr Number of rotor phases.
a fixed number of phases, some other phase numbers being
Nph Number of coils in series in stator.
possible and advantageous. In high-power drives, for example,
Nr Number of rotor bars.
machines with two groups of isolated coils 30 ◦ out of phase
Ns Number of turns per stator coil.
and separately powered have long been used successfully [1].
p Number of pole-pairs.
Much published work has shown that drives with more than
three phases have various advantages over conventional three
Manuscript received December 27, 2004; revised April 6, 2005. Paper no.
TEC-00364-2004. phase drives, such as reduction in amplitude and increase in
The authors are with the Electrical Engineering Department of the frequency of pulsating torques, reduction in harmonic currents,
Pontifical Catholic University of Rio Grande do Sul (PUCRS), Brazil increase in current per phase without the need to increase the
(e-mail: lpereira@ee.pucrs.br; scharlau@ee.pucrs.br; pereira@ee.pucrs.br;
jfelipe@ee.pucrs.br). phase voltage, and reduction in the voltage-level in the direct
Digital Object Identifier 10.1109/TEC.2005.858090 current link [2]–[4]. Another important aspect of machines with
0885-8969/$20.00 © 2005 IEEE
892 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 4, DECEMBER 2006

a higher number of phases is their improved reliability, since they

can operate even when one phase is missing [4]. It has also been
shown that increasing the number of phases can result in an in-
crease in the torque/Ampe`re relation for the same volume of the
machine [5]. In this respect, it was shown in [6] that five-phase
machines can develop torque using not only the fundamental, but
also using higher harmonics of the air gap field. In recent years, a
number of papers have also been published on control strategies
and electrical drives for machines with more than three phases,
and mathematical models have been presented in which the prin-
ciple of vector control was extended to this type of machine [7].
Hence, the analysis, design, and application of machines with Fig. 1. Two pole cross section of the prototype.
high phase numbers requires adequate mathematical models to
TABLE I
be established, through which their performance and advan- PROTOTYPE DATA
tages can be assessed. Classical models of electrical machines
are mostly based on suppositions that are not always valid: for
example, the air gap field is sinusoidal. On the other hand, pa-
rameters such as self and mutual inductances are fundamental if
models are to be established. Calculation of machine parameters
must be made differently from three phase machines, since the
distribution of windings is not the same. From this viewpoint,
it can be seen that most of the work published thus far does not
clearly show how to determine parameters that allow models
and equivalent circuits to be obtained. The major difficulty lies
in how to represent the rotor cage and in the determination of
related parameters, taking higher harmonics into account.
First, this paper describes the way to determine the parameters
of induction machines with a higher number of phases, based
on the example of a developed and tested prototype. General
equations are then presented for the induction machine which
IV. DETERMINATION OF PARAMETERS
allows the machine behavior to be determined under any oper-
ating conditions and considering higher order time and space This section presents the equations used to calculate the ma-
harmonics. A set of transformed equations described in terms chine model parameters. It should be noted that in most pub-
of generalized symmetrical components and based on complex lished work, parameter calculation is either omitted or described
coordinate transformations are also presented and discussed. superficially, so that it is difficult to make use of the models pre-
The machine mathematical model is then simplified to the spe- sented in other machines with different winding arrangements
cific case in which only the fundamental and the third harmonic from those considered. To simplify the process, the calcula-
of the air gap field are considered, resulting in two uncoupled tion will be given analytically, and more accurate values can be
sets of d-q equations. Finally the model is simulated using Mat- obtained by the finite element method (FEM).
lab/Simulink, and the results are compared with corresponding
practical tests from a prototype. A comparison shows a good A. Stator Inductances and Resistances
accuracy between measured and calculated values. The calculation of the stator self-inductance is made by con-
sidering the flux density produced in the air gap by one phase.
Disregarding saturation and distortion effects produced by the
III. PROTOTYPE MACHINE presence of slots, this flux density under a pair of poles can be
approximated by Fig. 2(a). From the flux linked with the phase
To evaluate the performance of induction machines with a winding, the main inductance of a stator phase is:
high number of phases, a prototype of a five-phase induction

machine is built; Fig. 1 shows its two pole cross section. The ψhs 2 1 D·π π−γ
Lh = s = Ns · ·  ·
s
· µ0 · (1)
machine is built using the frame of a totally enclosed three phase i1 δ̄ p π
machine of four poles and 3/4 hp. The stator is redesigned so
δ̄ = δ · Kc · Kfe . (2)
as to accommodate a five-phase winding, and the rotor is main-
tained the same as for the three phase machine. The machine’s
basic data are shown in Table I. The stator has a single layer, The Carter Factor Kc is applied to the air gap length to take
lapped, nonshortened pitch winding, and the rotor has bars in- into account the increase in effective air gap arising from the
clined at one slot. The phases have magnetic axes that are 72 presence of slots, while the saturation factor Kfe considers the
electrical degrees apart. increase in reluctance due to the finite value of permeability
PEREIRA et al.: GENERAL MODEL OF A FIVE-PHASE INDUCTION MACHINE 893

Fig. 3. Field in the airgap produced by the rotor phase k.

The resistance of one stator phase can be calculated from the

following equation:
Fig. 2. Flux density in the air-gap produced by phase 1. (a) Phase 1 on it-
1
self. (b) Phase 1 on the first coil of phase 2. (c) Phase 1 on the second coil Rs = ρs · ms · · Nph . (9)
of phase 3. Inductances and linked fluxes depend on the areas A and A 1 to As
A 4 being Ψsh ∼ 2A and Ψsh ∼ (A 1 − A 2 + A 3 − A 4 ) = A · 4 / 9 . From the
relationship between the illustrated areas, Ψs12 = Ψsh · 2 / 9 . The matrix of stator resistances is given as follows:
[R]s = diag[Rs Rs Rs Rs Rs ]. (10)
of iron [8]. The stator leakage inductance Lsδ is calculated as
B. Rotor Inductances and Resistances
described in [9]. The total self-inductance of one phase is given
by the sum of the main inductance plus the leakage inductance: In the case where rotors are of the cage type, as in the proto-
type developed, no fixed number of phases exists in principle, so
Ls11 = Lsh + Lsδ . (3) many possible systems of equations could be found. In general,
for three phase machines, the number of phases is taken to be
The mutual inductances between the stator phases are calcu- equal to the number of phases of the stator, the equivalent rotor
lated by considering the current of phase 1 and the flux linking winding being determined and referred to the stator [8], [10].
the other phases, as shown in Fig. 2(b) and (c) for phase 2. The equivalence is obtained by assuming that the fundamental
Considering the number of stator slots of the prototype, the field (first harmonic) produced in the air gap by the real winding
following values are obtained for the mutual inductances. and by the equivalent winding are equal [10], [11]. However,
s this procedure becomes complicated when it is necessary to in-
ψ12 2 ψs 2
Ls12 = Ls15 = s = · sh = · Lsh (4) clude higher harmonics, since for each harmonic it is necessary
i1 9 i1 9 to determine a different equivalent winding [12]. As shown in
s
ψ13 6 ψs 6 what follows, determining the parameters of the rotor winding
Ls13 = Ls14 = = − · sh = − · Lsh . (5)
s
i1 9 i1 9 becomes simpler when it is considered that each rotor mesh,
formed by two consecutive bars, constitutes one phase (Fig. 3).
The factors 2/9 and 6/9 in the preceding equations vary ac- Thus, the phase currents are the mesh currents and the number
cording to the number of stator slots. For other numbers of of phases of the rotor is equal to the number of meshes un-
slots, they can be obtained using the same procedure. Consid- der a pair of poles. There is no need to consider both pairs of
ering the machine symmetry, the remaining mutual inductances machine poles because of symmetry, since the electromagnetic
are obtained by cyclic permutation of the indices, leading to the phenomena are repeated at each pole pair. However, when the
following matrix of inductances: number of rotor slots for each pole pair is not an integer, it
  becomes necessary to consider a greater number of pole pairs,
9 2 −6 −6 2 and consequently a greater number of phases [13]. Therefore,
 2 9 2 −6 −6 
Lsh   for the prototype machine (four poles, 30 rotor bars) it is neces-
[L]ss = ·  −6 2 9 2 −6  (6) sary to consider 15 phases for the rotor. To obtain the machine
h
9  
−6 −6 2 9 2 equations, the determination of the equivalent inductances of
2 −6 −6 2 9 the rotor phases becomes necessary.
[L]ss s s s s s
δ = diag [Lδ Lδ Lδ Lδ Lδ ] (7) The self-inductance computation for a phase k is based on
ss the field produced in the air gap by the current in mesh k,
[L] = [L]ss
h + [L]ss
δ . (8) disregarding slotting effects and iron saturation effects (Fig.
3). Starting from the linked flux with mesh k, the main self-
Note that the matrix of stator inductances is a circulant sym-
inductance is given by the following expression:
metric matrix. These properties are very useful whenever co-
ordinate transformations are applied, allowing the system of (mr − 1) 1 1 D·π
Lrh = · · · · µ0 (11)
equations to be simplified. m2r δ̄ Kr p
894 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 4, DECEMBER 2006

τnr Resistances are calculated from the following equations.

Kr = . (12)
τnr − b0
 1
Rbr = ρr · · (22)
The factor Kr gives the relationship between the area of a slot cos(β/2) Ab
interval and the effective area in which the field is distributed
Da · π 1
[13]. The leakage inductance of one rotor phase is made up of Rar = ρr · · . (23)
Nr Aa
two parts: one relating to the ring and one relating to the bar
inserted into the slot. Thus, the matrix of resistances for the rotor is as follows:
 Rr −Rr · · · −Rr 
Lrδ = 2 · (Lrδ a + Lrδ b ) . (13) 0 0
b b
 −Rbr Rr −Rbr 0 ··· 0 
Thus the total self-inductance for phase k is:  
 0 −Rbr Rr −Rbr ··· 0 
[R] = 
rr
 0 0 −Rbr Rr ··· 0
 . (24)

Lrk k = Lrh + Lrδ = Lrh + 2 · (Lrδ a + Lrδ b ) . (14)  . 
 . .. .. .. .. r 
. . . . . −Rb
The leakage inductances are calculated as shown in [9]. To
−Rbr 0 0 0 −Rbr Rr
the field shown in Fig. 3, the mutual inductances between neigh-
boring phases are given as follows:


1 C. Mutual Inductances Between Stator and Rotor
Lrk j = − Lrh · + Lrδ b . (15)
mr − 1 The determination of mutual inductances between stator and
The later is valid for j = k − 1 and j = k + 1, while for the rotor windings is based on the linked flux for one rotor phase
remaining phases, the mutual inductance is given as: when one phase of the stator is fed, as shown in Fig. 4. To obtain
analytical expressions, the field produced by one stator phase
1
Lrk j = −Lrh · . (16) in the air gap is described in terms of a Fourier series using the
mr − 1 natural system coordinate of the stator. The induction produced
For the preceding equations, the matrix of self-inductances by one stator phase is given by the following expression:
for the rotor is a 15 × 15 matrix taking the form of equations ∞

(17), (18), and (19), shown at the bottom of the page. B(θ) = B̂n · cos(n · θ). (25)
The matrix of self-inductances for the rotor has the same n =1
properties as the matrix of the stator, namely a circulant sym-
metric matrix. The self-resistance of one phase is made up of For reasons of symmetry, only odd harmonics exist in the air
resistances of the two bars and two ring segments connecting gap field. The flux linked with phase 1 (mesh 1) of the rotor,
them (Fig. 3): whose axis has in the center an angle α in relation to phase 1 of
the stator, is as follows:
r
Rkk = 2 · (Rar + Rbr ) = Rr . (20)

+ 1
α+ ε
2 2 D dθ
The mutual resistance exists only between two neighboring sr
ψ11 (α) = B(θ) ·  · · · dx (26)
−21
α− 2
ε 2 p
phases and is given by the expression:
x
Rkr j = −Rbr for j = k − 1 and j = k + 1. (21) ᾱ = α + β · (27)


[L]r r = [L]rhr + [L]rδ r (17)

 
(mr − 1) −1 −1 ··· ··· −1
 −1 (mr − 1) −1 ··· ··· −1 
 
 .. 
L r  −1 −1 (mr − 1) −1 ··· . 
rr
[L]h = h
·  (18)
mr − 1  
..
.
..
.
..
.
..
.
..
.
..
.


 .. .. .. .. 
 . . . .
..
. −1 
−1 −1 −1 ··· −1 (mr − 1)
 Lr −Lrδ b 0 0 ··· −Lrδ b 
δ
 −Lrδ b Lrδ −Lrδ b 0 ··· 0 
 
 0 −Lrδ b Lrδ −Lrδ b ··· 0 
[L]rδ r =
 0 0 −Lrδ b Lrδ ··· 0 
 (19)
 . 
 . .. .. .. .. 
. . . . . −Lrδ b
−Lrδ b 0 0 0 −Lrδ b Lrδ
PEREIRA et al.: GENERAL MODEL OF A FIVE-PHASE INDUCTION MACHINE 895

Fig. 5. Phase relationship for the stator and for the rotor.

Regarding the remaining phases of the stator and rotor, and

their relative angle displacement it can be generalized to the
following form (Fig. 5).
Fig. 4. Field of phase 1 of the stator and mutual flux of one rotor phase.
∞
 
L̂rns e+j n [α +(k −1)·ε−(m −1)·ϕ)] +
Lrksm (α) = . (37)
2 e−j n [α +(k −1)·ε−(m −1)·ϕ)]
∞

+ 12
α + 2ε n =1
D dθ
sr
ψ11 (α) = B̂n · cos(n · θ) ·  · · · dx.
n =1 − 12 α − 2ε 2 p The angles ϕ and ε are the displacement angles between the
phases of the stator and rotor respectively (Fig. 5), given by the
(28) expressions:
The amplitudes of the induction harmonics are given by: 2·π 2·π
ϕ= = (38)
4 BM n · γ  ms 5
B̂n = · · cos (29) 2·π 2·π 2·π
π n 2 ε= = ·p= . (39)
1 mr Nr 15
BM = µo · · Ns · is1 . (30) For these last equations, the matrix of mutual inductances has
δ̄
dimension 15 × 5 assuming the form of the equation (40).
Thus, the mutual inductance between the stator phase 1 and
∞
the rotor phase 1 is obtained as: L̂rns j n α
[L] rs
= e · [S]
2
ψ r s (α) n =1
Lr11s (α) = 11s (31) ∞
i1 L̂rns −j n α
∞
− e · [S]∗ . (40)
4 µo D ·  Ns 2
Lr11s (α) = · · 2 · Kw n · cos(n · α) (32) n =1

n =1
π δ̄ p n
In (40), the symbol “∗” stands for the complex conjugate of
4 µo D ·  Ns the matrix S, denoted by (41) shown at the bottom of the next
L̂rns = · · 2 · Kw n (33)
π δ̄ p n page. It should be noted that the equations for the magnetic
n · γ   nε 

 coupling between stator and rotor allow the inclusion of higher
nβ 2
Kw n = cos · sin · sin · space harmonics of any order. Furthermore, the known winding
2 2 2 nβ factors are automatically built into the inductances in a simple
(34) and natural way. Also, it should be pointed out that in the classi-
∞
cal theory of induction machines, only the first space harmonic
Lr11s (α) = L̂rns · cos(n · α). (35) is considered.
n =1
D. Parameters of the Prototype
It should be noted that the factor Kw n defined by (34) explic-
itly contains the winding factors, the pitch shortening factor and Based on the equations given and considering the prototype
the inclination factor for the harmonic of order n. Using Euler’s dimensions given in Table I, the values shown in Table II are ob-
formula, the last equation can be rewritten in the following more tained; these parameters are sufficient to determine the general
convenient form: equations of the five-phase induction motor. For comparison, the
∞ parameters calculated by a 2-D finite element analysis are also
L̂sr 
Lr11s (α) = n
· ej n α + e−j n α . (36) given. This analysis is performed using the software fem2000,
n =1
2 developed at PUCRS. Experimental tests are also undertaken
896 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 4, DECEMBER 2006

TABLE II tion used here is described in [14], [15], and their application
PROTOTYPE PARAMETERS
to the case of a five-phase machine including higher harmon-
ics is described in [16]. Using the properties of the generalized
symmetrical components, and considering only the two field
harmonics in the air gap, the transformed equations in the stator
reference system are as follows:
dĩs1 dĩr s
ṽ1s = R̃s · ĩs1 + L̃s1 · + M1 · 1 (42)
dt dt
dĩr1s dĩs
0 = R̃1r · ĩr1s + L̃r1 · + M1 · 1 + j · ωe · ψ̃1r s . (43)
dt dt
dĩs3 dĩr s
ṽ3s = R̃s · ĩs3 + L̃s3 · + M3 · 3 (44)
dt dt
dĩr3s dĩs
0 = R̃3r · ĩr3s + L̃r3 · + M3 · 3 + j · 3 · ωe · ψ̃3r s . (45)
dt dt
The sequence resistances and inductances in the previous
equations are defined as follows (further details are given in
[16]):
R̃s = Rs (46)
and the values are shown in Table II. The stator resistance is
obtained by direct measurement and the inductance values are R̃1r = 2 · Rar + 4 · Rbr · sin2 (ε/2) (47)
determined using standard short circuit and no-load tests. There- R̃3r =2· Rar +4· Rbr · sin (3 · ε/2)
2
(48)
fore, the main and leakage inductances were determined by in-
direct measurements. During the tests the machine is connected L̃s1 = Ls11 + 2 · [Ls12 cos(ϕ) + Ls13 cos(2ϕ)] (49)
to a three phase grid through a specially designed 1 kVA trans- L̃s3 = Ls11 +2· [Ls12
cos(2ϕ) + cos(4ϕ)] Ls13
(50)
former that converts a symmetrical three phase system to a sym- ε mr
metrical five-phase system. The differences between measured L̃r1 = 2 · Lrδ a + 4 · Lrδ b · sin2 + Lrh · (51)
2 mr − 1
and calculated values of the stator main inductance (Lsh ) can be  ε mr
explained considering that only the part of the main inductances L̃r3 = 2 · Lrδ a + 4 · Lrδ b · sin2 3 · + Lrh · (52)
related to the fundamental field is determined by standard tests. 2 mr − 1
√
The calculated value of Lsh include all the harmonic fields. The 75 r s
differences in the leakage inductances come from the fact that M1 = L̂ (53)
2 1
their determination is based on simplifications about the stray √
75
field distribution [8]. Besides, the saturation condition of the M3 = · L̂r3s . (54)
machine is not the same during the no-load and during the short 2
circuit tests. Saturation is difficult to determine and it is assumed ĩs1 and ĩs3 are the symmetrical components for the first and third
constant for the analytical calculation, by means of a constant current harmonic expressed in the stator system of coordinates,
factor (Kfe ). Considering all the practical simplifications, the while ṽ1s and ṽ3s are the corresponding voltage components. In
experimental values are in agreement with the values obtained terms of d-q components they are given as follows:
with the equations presented in this paper. qs qr
ĩs1 = ids
1 + ji1 , ĩr3s = idr
3 + ji3 (55)

V. SYSTEM OF ELECTROMECHANICAL EQUATIONS ṽ1s = v1ds + jv1q s , ṽ3s = v3dr + jv3q r . (56)
The general equations of the induction machine are difficult to The fluxes in the above equations are defined as:
solve, being both highly coupled and having time-varying coeffi-
ψ̃1r s = L̃r1 · ĩr1s + M1 · ĩs1 (57)
cients. However, the equations can be simplified by introducing
a set of coordinate transformations. The complex transforma- ψ̃3r s = L̃r3 · ĩr3s + M3 · ĩs3 . (58)

 
1 e−j n ϕ e−j n 2ϕ e−j n 3ϕ e−j n 4ϕ
 ej n ε e−j n (ϕ−ε) e−j n (2ϕ−ε) e−j n (3ϕ−ε) e−j n (4ϕ−ε) 
 2·j n ε 
e e−j n (ϕ−2ε) e−j n (2ϕ−2ε) e−j n (3ϕ−2ε) e−j n (4ϕ−2ε) 
[S] = 


 (41)
 . .. .. .. .. 
 .. . . . . 
e14·j n ε e−j n (ϕ−14ε) e−j n (2ϕ−14ε) e−j n (3ϕ−14ε) e−j n (4ϕ−14ε)
PEREIRA et al.: GENERAL MODEL OF A FIVE-PHASE INDUCTION MACHINE 897

TABLE III
TRANSFORMED PARAMETERS

The mechanical equation can be stated by the following:


1 d2 α dα
Tm − Te = · J · 2 + Bd · + Km · α (59)
p dt dt
dα
ωe = p · ωm = − . (60)
dt Fig. 6. Stator current during startup under load of 0.6 N · m and 40 Hz.
The equation for electromagnetic torque can also be expressed
in terms of the transformed currents and voltages as follows:
 qr 
Te = 2 · p · M1 · iq1s · idr
1 − i1 · i1
ds

 qr 
+ 6 · p · M3 · iq3s · idr
3 − i3 · i3 .
ds
(61)
The expression found for the torque has two independent
terms corresponding to the considered space harmonics. Similar
expressions for other harmonics can be found in the same way.

VI. EVALUATION OF THE MODEL

To obtain an evaluation of the proposed model, the trans-
formed parameters appearing in (42)–(60) are determined for
the prototype and are given in Table III. They are calculated
from the inductances shown in the second column of Table II.
The resistances are multiplied by a factor 1.3 to take into account
the temperature increasing of the stator and rotor windings. Dur-
ing the tests the machine is fed by a five-phase programmable Fig. 7. Rotor speed during startup under load of 0.6 N·m and 40 Hz.
voltage PWM inverter with 20 kHz as the switching frequency.
The reference voltages of the inverter can be programmed so that
the reference voltage waveform can include harmonic voltages
as well as the fundamental. The model described is also im-
plemented using Matlab/Simulink and tested for different load
conditions to evaluate its performance. These results are shown
from Figs. 6–9. The mechanical constants for the test stand are
Bd = 5.9 · 10−4 N · m/(rad · s−1 ) and J = 7.8 · 10−3 kg · m2 .
Fig. 6 refers to the stator phase current during the standstill
startup with a load torque of 0.6 N · m on the shaft and with
pure sinusoidal reference voltage of 40 Hz in the inverter. Also,
the steady state phase current is presented in Fig. 6. According
to the proposed model, there will be currents only at the funda-
mental frequency, with the air gap field strongly influenced by
fundamental field. Fig. 7 refers to the rotor speed during startup
for this load condition.
Fig. 8 refers to the phase current during startup for the case
in which the machine is fed by the PWM with a 30 Hz ref-
erence voltage containing a third harmonic voltage of 15% of Fig. 8. Stator current including the third harmonic under load of 0.5 N·m and
the fundamental. The load on the shaft is 0.5 N · m and the 30 Hz.
898
Fig. 9. Rotor speed during startup including the third harmonic under load of
0.5 N·m and 30 Hz harmonic.
stator frequency is 30 Hz. Fig. 9 refers to the rotor speed dur-
ing startup for this load condition. According to (61), in this
case the resulting third harmonic current will produce a torque
on the shaft through the L̂r3s mutual inductance. The influ-
ence of the third harmonic can be clearly seen in the current
curve.
It can be seen from the results that the simulated curves are
very close to curves obtained from tests. The small discrepancy
between them can be explained considering the simplifications
introduced; for example the saturation and slotting effects were
considered only by constant factors in the simulation. During
the simulation, constant values for the inductance were taken.
The differences between calculated and measured values can
also be explained taking into account the fact that some parame-
ters have been determined by approximate analytical formulas,
such as the leakage inductances. However, the test result shows
that the derived model can predict with enough accuracy the
machine behavior, even with the simplifications considered in
the paper.
VII. CONCLUSION
The paper has initially derived the parameters of induction
machines with high phase number, in analytical form. To make
the derivation simpler, a prototype was taken as a basis. The de-
rived expressions are easy to understand and can be extended to
other cases. In addition, they have included the effects of higher
field harmonics in a simple and direct way, so that their influence
on the machine behavior can be assessed. The self-inductances
were determined by considering distribution of the fields created
by the stator and rotor in the air gap, with the effects of satura-
tion and slots approximated by means of Carter and saturation
factors. The mutual inductances were obtained by representing
the mutual flux in terms of Fourier series, with individual in-
ductance values obtained for each harmonic. These inductances
express the mutual couplings between stator and rotor fields for
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 21, NO. 4, DECEMBER 2006
each frequency. In contrast to previously published works on the
topic, the approach taken here conveys a clear understanding of
how the parameters can be determined, and how the method
can be extended to other machines having different numbers of
phases. Finally, the general equations including high harmonics
are presented. The paper also shows a torque equation which
allows evaluation of the torque related to third space harmonic.
This torque equation is also very useful for developing control
strategies which also include the effects of higher field and space
harmonics. Finally, the model derived was applied to the case of
a machine operating under different load conditions and includ-
ing the effects of the third space and time harmonics. The results
obtained are in good agreement with measurements obtained on
a prototype. Therefore, the model proved to be adequate for the
purposes of simulation and design for machines with high phase
numbers.
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PEREIRA et al.: GENERAL MODEL OF A FIVE-PHASE INDUCTION MACHINE
Luı́s Alberto Pereira received the B.E. degree in
electrical engineering from the Santa Maria Fed-
eral University, Santa Maria, Brazil. He received the
M.Sc. degree from Santa Catarina Federal Univer-
sity, Florianópolis, Brazil, and the Dr. Ing. degree
from the University of Kaiserslautern, Kaiserslautern,
Germany, in 1992 and 1997, respectively.
Since 1998, he has been Professor of Electrical
Engineering at the Pontifical Catholic University of
Rio Grande do Sul (PUCRS), Brazil. His main re-
search fields are the design and analysis of electrical
machines and devices.
César Cataldo Scharlau received the B.E. degree
in mechatronic engineering and the M.S. degree in
electrical engineering from Pontifı́cia Universidade
Cato´lica do Rio Grande do Sul (PUCRS), Porto
Alegre, Brazil, in 2002 and 2005, respectively.
His current research interests are in the control of
electrical machines and industrial automation.
899
Luı́s Fernando Alves Pereira received the B.E. de-
gree in electrical engineering from Pontifı́cia Uni-
versidade Cato´lica do Rio Grande do Sul (PUCRS),
Porto Alegre, Brazil, and the M.S. and Dr. degrees
from the Instituto Tecnológico de Aeronáutica (ITA),
São José dos Campos, Brazil, in 1987, 1989, and
1995, respectively.
He is currently a Professor of Electrical, Control
and Computer Engineering at PUCRS. His research
fields include control of induction machines and mo-
bile robots.
José Felipe Haffner received the B.E. and the M.S.
degrees in electrical engineering from Pontifı́cia Uni-
versidade Cato´lica do Rio Grande do Sul (PUCRS),
Porto Alegre, Brazil, in 1986 and 1998, respectively.
He is a Lecturer of Electrical, Control and Com-
puter Engineering at PUCRS. His current research
interests are control of electrical machines and edu-
cation technology applied in control systems.