A Polyphase Cartesian Vector Approach To Control Of Polyphase AC M a c h i n e s ' )

Slobodan Gataric
Lockheed Martin Control Systems
600 Main St.
Johnson City NY 13760 USA
Email: gataricC&switchbodrd.net

Abstract - The traditional approach to the three-phase space The authors in [3] and [4] developed a 3 dimensional
vector theory and its extension to polyphase systems (5, 7, 9 approach to the space vector theory. This paper extends this
phases and more) does not give us complete insight. Due to the
assumption that all phase axes lay in a single plane, the concept to multidimensional space.
additional degrees of freedom that exist in polyphase systems
are lost. By putting the phase axis into an orthonormal system, [&
- --& --651
all degrees of freedom are preserved and can be utilized. As a
result, it is shown in this paper that t w o five-phase ac machines
can be independently controlled from a single five-phase
inverter by utilizing all 4 degrees of freedom (one degree of
freedom is always the zero axis, which can not be used without
the neutral wire). By generalizing this approach, it is possible to
independently control ((N-1)/2) N-phase ac machines using a 1 3 3 3 1
single N-phase inverter. Simulation results confirm this theory.
An algorithm for the five-phase space vector calculation was Derivation Of An Orthogonal Cartesian Vector
developed and can be generalized to an arbitrary number of Approach Of A Three-phase System
phases
Introduction
The reference frame theory, proposed in [I] gained wide
use in the field of analysis and control of three-phase AC
machines. It assumes that three phase axes lay in a plane 120"
apart. Well known coordinate transformation in Eq. 1
converts this system into an orthogonal system which is
mathematically easier to handle. It is not possible to get the r -
2 --1 --1 '
zero sequence with this arrangement of the phase axes. The 3 3 3
zero axis is attached as an orthogonal scalar equation in the
vector plane.
-1 -1 - _2
3 3 3
--1 2
- --1
(3)
Vec3D=I --
2 1
- -I3 1

17 1; ;j
3 3 3
11 1 1 1 1 1 2

T. Lip0 proposed an orthogonal approach in [2]. This

approach is mathematically correct, and due to the linear
Checking for the Gram-Schmidt orthogonal basis of the
orthonormal coordinate transformation used, shown in Eq. 2,
matrix in Eq. 3, returns [2/3, -1/3, -1/3] and [0 1/2 -1121. This
the power is preserved. This is not the case in Eq. 1. It also
means that all the vectors lay in a plane which is a subspace
naturally produces the zero sequence.
of three-dimensional Cartesian space. If the zero vector
The author reasoned out his way to the transformation in
[ I , 1 , 13 is added as the third row to the basis vectors and
Eq. 2, without giving a strict mathematical derivation. This
each row is normalized, the matrix defined in Eq. 2 is
paper gives a strict mathematical derivation as well as a
produced. Fig. 1. shows the 3D picture of vectors
generalization on multiphase systems.
corresponding to the rows of matrix in Eq. 3 in an orthogonal
Three-phase systems are widely used today. There are
system. The six vectors are diagonals of the hexagon shown
some quasi-four-phase systems in use as well, which
in Fig. 1. This figure has been explained in [2].
comprise of systems that employ a neutral leg in three-phase
inverters. The fourth leg gives an advantage in the bus
voltage utilization and minimization of the dc bus capacitor.
') Lockheed Martin patent pending

0-7803-6401-5/00/$10.00Q 2000 IEEE

1648

Fig. 1. Cartesian approach to three-phase systems
An Orthogonal Cartesian Vector Approach Of A
Multi-Phase System
In order to control an ac machine, regardless of the number
of phases, two degrees of freedom are needed i.e. two
dimensions. A five-phase system without a neutral wire has
four dt .ees of freedom. Hence, it is possible to control two
v i = [ 8/10, -2/10, -2110, -2/10, -2/10]'
~2 = [-2/10, 8/10, -2110, -2110, -21101
~3 = [ 6/10, 6/10, -4/10, -4/10, -4/10]
~4 = [-2/10, -2/10, 8/10, -2/10, -21101
~5 = [ 6/10, -4/10, 6/10, -4/10, -4/10]
~6 = [-4/10, 6/10, 6/10, -4/10, -4/10]
~7 = [ 4/10, 4/10, 4/10, -6/10, -6/10]
~8 = [-2/10, -2/10, -2110, 8/10, -21101
~9 = [ 6/10, -4/10, -4/10, 6/10, -4/10]
~10=[-4/10,6/10, -4/10, 6/10, -4/10]
vl I=[ 4/10, 4/10, -6/10, 4/10, -6/10]
~12=[-4/10,-4/10, 6/10, 6/10, -41101
~ 1 3 =4/10,
[ -6/10, 4/10, 4/10, -61101
~14=[-6/10,4/10, 4/10, 4/10, -6/10]
V = ~ 1 5 =2/10,
[ 2/10, 2/10, 2/10, -81101 (4
~16=[-2/10,-2/10, -2/10, -2/10, 8/10]
~ 1 7 =6/10,
[ -4/10, -4110, -4110, 6/10]
~18=[-4/10,6/10, -4/10, -4110, 6/10]
~ 1 9 =4/10,
[ 4/10, -6/10, -6110, 4/10]
~20=[-4/10,-4/10, 6/10, -4110, 6/10]
~ 2 1 = 4/10,
[ -6/10, 4/10, -6/10, 4/10]
~22=[-6/10,4/10, 4/10, -6110, 4/10]
~ 2 3 = 2/10,
[ 2/10, 2/10, -8110, 2/10]
~24=[-4/10,-4/10, -4110, 6/10, 6/10]
~ 2 5 = 4/10,
[ -6/10, -6110, 4/10, 4/10]
~26=[-6/10,4/10, -6110, 4/10, 4/10]
~ 2 7 = 2/10,
[ 2/10, -8/IO, 2/10, 2/10]
~28=[-6/10,-6/10, 4/10, 4/10, 4/10]
v29=[ 2/10, -8/10, 2/10, 2/10, 2/10]
v30=[-8/10, 2/10, 2/10, 2/10, 2/10]
1649
two five-phase ac machines independently using a single
five-phase inverter, provided all four available degrees of
freedom that exist in a five-phase system are utilized.
Eq. 4 shows all allowable phase to neutral voltages,
normalized by dc link voltage, corresponding to all possible
active vectors of a five-phase system. The rank of matrix V,
whose rows are vectors VI to v30, is equal four. Therefore,
the vectors vl to v30 lay in the four-dimensional subspace d f
the five-phase, five dimensional space. As in the three-phase
case, the zero axis is the fifth axes. If the Gram-Schmidt
orthogonalization is applied to the basis of matrix V, it does
not lead to usable results. The reason is that there is an
infinite number of basis vectors and very few of them allow
physical implementation of the system.
Fig. 2. Five-phase 2D vectors
In order to find the correct basis, lets consider ordinary
approach to a five-phase system where the five phases lay in
a plane 72" apart, shown in Fig. 2. Eq. 5 shows a
transformation T52D that takes a five-phase system in a
plane and transforms it into an orthogonal (a$) system. The
normalization factor of 2/5 is omitted because the
normalization will be done at the end.
T52B
[ cos(0) cos(72) cos(144) cos(216) cos(288)
sin(0) sin(72) sin(144) sin(216) sin(288)
] (5)
Two rows of matrix T52D are the first two basis vectors of
five-phase transformation. The third basis vector is the zero
vector [ 1,1,1,l ,1]. If those three vectors are augmented as the
first three rows of the matrix V, the basis of such matrix is
calculated, the Gram-Schmidt orthogonalization is applied on
the basis vectors, and finally each orthogonal basis vector is
normalized, matrix T5, shown in Eq. 6 , is obtained. Careful
examination of Eq. 6 reveals that the matrix elements are sine
and cosine values of the angles that are integer multiples of
72". Eq. 7 shows the same matrix, T5, with sine and cosine
hnctions as its elements. This version of T5 is important
because it yields information about the physical connections
between the motor terminals.
A linear coordinate transformation T5 changes
orthogonal [a,b,c,d,e] basis into [a1$1 ,z,a2,P2] which
allows the physical implementation of the sytem. Matrix T5
is not the only solution for the transformation matrix, but it is
the most convenient because it retains the positive speed
convention in the (cQ,P2) plane and aligns phase 'a' with a2
axes. Two-dimensional subspace (a1,p 1) corresponds to
stationary axes of the first five-phase machine,
 - -
0.632455 0.195439 -0.51 1667 -0.51 1667 0.195439
0 0.601500 0.371748 -0.371748 -0.601500
T5 = 0.4472 13 0.4472 13 0.4472 13 0.4472 13 0.4472 13
0.632455 -0.511667 0.195439 0.195439 -0.51 1667
L
0 0.371748 -0.601500 0.601500 -0.371748-
cos(0' ) cos(72') cos(144") cos(2 16') cos(288' )
sin(0") sin(72") sin(144') sin(216') sin(288')
T5=-f i -1 - 1 - 1 - 1 -1
(7)
5 Jz Jz Jz Jz Jz
cos(0' ) cos(144' ) cos(288' ) cos(72' ) cos(2 1 6' )
sin(0") sin(144") sin(288") sin(72") sin(216")

Sphase AC Machine 1 AC Machine 2

$ ..................................... i

Fig. 3. Wiring of two five-phase motors to a single five-phase source

.4x .8n .2n .6n

2n 4n 6n 8n -JT
;in(wt) + I sin(ot --)e
-J-
5 + I sin(ot - -)e -J-
5 + I sin(ot --)e -J-
5 + I sin(wt --)e
5 5 5 5
.6x .ZIT .8x .4n
2n -J- 4n -J- 6n 8n -17
O = I sin(ot) + I sin(wt --)e 5 + I sin(ot --)e 5 + Z sin(wt --)e -J-
5 + I sin(wt --)e
5 5 5 5

while two-dimensional subspace (a2J32) corresponds to
stationary axes of the second five-phase machine. The
subspace assigned to each ac machine depends on the
selection of phase wiring, as shown in Fig. 3.
The phase windings of the five-phase machines, shown in
Fig. 3 marked 1,2,3,4, and 5, are displaced in space by 72".
Connecting the phases of the source and the phase windings
of ac machine 1 in series connection places ac machine 1 in
the (crl,Pl) plane. By swapping source phases and phase
windings, as shown in Fig. 3 "phase swapping" block, places
ac machine 2 in the plane (a2,P2). The physical explanation
is that the five-phase current produced by five-phase voltage
source has two balanced components, one laying in (a1,Pl)
and the other in (a2,p2) plane. The vector sum of the
balanced set in (a1,pl) whch are displaced in time by 72" is
equal zero if it is connected to the windings of ac machine 2
which are spatially displaced by 144" as shown in Eq. 8. The
same is valid for balanced set in (a2,P2) which is displaced
by 72" in (a2$2) when connected to windings of ac machine
1 which are spatially displaced by 216" from ac machine's 2
point of view, as shown in the Eq. 9.
This means that a balanced subset in (a1,pl) does not
produce a rotating field in ac machine 2 and vice versa, a
balanced subset in (a2,P2) does not produce a rotating field
in ac machine 1 . The independent control is possible by
controlling the total current as the sum of these two balanced
subsets as shown in Fig 4. The mathematical explanation is
that there exists a four dimensional space where ac machine 1
is in a two dimensional subspace (a plane) which only
intersects at the origin with another 2 dimensional subspace
belonging to ac machine 2. Whatever we do in one plane does
not affect the machine in another plane due to the fact that
two planes only intersect at the origin of the four dimensional
space.
This approach can be generalized to any odd number o f
phases. In general, it is possible to control ((N-1)/2) N-phase
machines connected in series with appropriate phase
swapping between them from a single N-phase inverter,
where N=3,5,7, . ..
Switch Stress
It is interesting to compare the switch stress in a dual five-
phase system and a three-phase equivalent system. The first

1650
comparison is between the single three phase machine of
rated power P3ph,voltage V3ph and current 13p~and the two
five phase machines with rated power P3ph/2 each. Due to the
orthogonality of two five-phase machines, the dc bus voltage
needed is sqrt(2) times higher than the dc voltage needed for
a single five-phase machine. In this analysis we will assume
that the five phase machines are designed for l/sqrt(2) less
nominal voltage than the equivalent three-phase machine,
therefore the required dc bus voltage is the same
5 . - .V1 - - .13 . V . ] 3 (10)
J5 5-2
Eq. 10 says that the power of a five-phase machine, in the
system we compare, is equal one half of the power of the
reference three-phase machine. Furthermore, Eq. 10 can be
solved for Is:
I , =-.3 f i I, (1 1)
10
Due to orthogonality between the current vectors, total five-
phase current, seen by a switch, is sqrt(2) times higher that in
Eq. 11.
6 of the first line-to-line voltage is 0.588*Vdc, while magnitude
' 5 Total = ' 3' (12)
It is interesting to notice that total current flowing through all
five phases is the same as in the case of reference three-phase
machine, as shown in Eq. 13.
5.6
5 . 1 , ~ ~ , 1=-.I3 = 3 . I 3 (13)
10
Another very interesting case is the comparison between a
three-phase generator and motor driven by two inverters
sharing a common DC link against two five phase machines
driven by a single five phase inverter. If the power rating of
each machine is P, the five-phase machine nominal voltage is
sqrt(2) less than the nominal voltage of three-phase machines,
and the three-phase machine current is 13, then required dc
bus voltage is the same and the power equation is shown in
Eq. 14.
v
5.--.I, =3.V.I3 (14)
Jz
Solving Eq. 14 for Is and multiplying the solution with sqrt(2)
in order to calculate phase current leads to:
In the dual five-phase system each switch has 20% higher
current stress, but there are 10 switches compared to 12 in the
dual three-phase system. Therefore, overall current stress is
the same. However, there is a big difference. In the dual
three-phase system there are 4 switches in the power path,
while there are only 2 switches in the dual five-phase system.
The efficiency of five-phase system is expected to be higher
due to lower conduction loss.
Simulation Results
The Matlab simulation block diagram is shown in Fig. 4.
There are two acim machine models, one is a voltage driven
1651
model that has the input current as an output, while another
one is a current driven model that has the applied voltage as
an output. These models allowed a series connection of two
acim machines in the simulation. Each model is a standard
two-dimensional model in the stationary frame. The two-
dimensional transformation, shown in Eq. 5, is used to
transform five-phase set into stationary orthogonal set inside
each model. The acim machines are loaded with friction
loads, which are also part of the model, while external load
torque is set to zero.
The selector block changes the order of the phases
according to Fig. 3. The simulation results in Fig. 5 confirm
that it is possible to independently control two five-phase
machines from a single five-phase inverter.
Five-Phase Space Vector
If a sine-triangle modulator is used, the magnitude of phase
to neutral voltage is one half of the dc bus voltage. The five-
phase system has two line-to-line voltages. One is between
the two phases which are 72" apart, and the second is
between the two phases which are 144" apart. The magnitude
of the second line-to-line voltage is 0.951*Vdc, as shown in
Eq. 16.
2n
vab=+ (sin(wt>- sin(ot- -))=OS88Vdc sin(wt- 50)
5
(16)
4n
v,,=&(sin(wt) - sin(ot- -))=0.95 1vdCsin(wt- y )
2 5
Using a space-vector modulator, the magnitude of Vac can be
increased to one. Hence, in the five-phase case, the space-
vector modulator improves the dc bus voltage utilization for
4.9%, which is much less than in the three-phase case where
it is improved for 15%.
The five-phase vectors lay in the four-dimensional space.
A Matlab program has been developed, shown in the
Appendix, which scans the four-dimensional space with a
vector whose magnitude is one and three polar coordinate
angles vary in increments of 5". The program calculates
angles between the test vector and the five-phase vectors,
searches for four vectors that are the closest to the test vector,
and sorts the groups of four closest vectors that define a
sector. The program found 538 sectors. Due to a very large
number of sectors, a simplified but computational intensive
algorithm for space vector calculation has been developed.
The first step in the calculation is the search for four
closest vectors. It is known that cosine of an angle between
two vectors can be calculated using a dot product. In order to
simplify the calculations, the right side of the expression
shown in Eq. 17 is calculated. If the result is negative the V,,
is rejected. If it is positive, the V, is stored. The second step is
to sort all stored vectors in order to find four closest ones to
the output vector. The last step is to calculate the duty cycles
of each vector by solving the Eq. 18. Vectors Vnl, V,,,, Vn3,
and V,,, are four closest vectors. Vector d is the duty cycle
vector and Vis output command.
 -1
To Workpace7

SinCoS

sincos1

Selector2
m

Figure 4. Matlab simulation block diagram of a jive phase system

1652
 I:------Om.. Il
-0m.g.1

0 00 1 .oo 2.00 3.00 4.00 5.00 6.00 7.00 8.00 8.00

-
10.00

Motor electrical speed in radh

0 35

0 30

0 25
0 20

0 15

0 10
0 05

000
000 100 200 300 400 5w 600 700 800 a00 10 00

Commanded and motorjlux in Vs

0 00 1 00 2 00 3 00 4 00 5.00 8 00 7 00 8 00 a00 1000

Commanded and motor torque in Nm

200
150
100 -Va
50 Vb
0 -vc
-50 Vd
-100 Ve
-150
-200
6 6005 601 6.015 602 6.025 603 6.035 604 6045 605

Inverter average mode five-phase voltages in V

400
300
200
100
0
-100
-200
-300
-400
6 6005 601 6015 602 6025 603 6035 604 6045 605

Inverter five-phase currents in A

Fig. 5. Simulation results

1653
 lT1cos(LTn,T) = (Pn . P)- 1
(17)
-.3162277660 -.2297529207
,3162277660 -.2297529207
-.1207882583 ,3717480305
-.3162277660 -.9732489897;
.3162277660 -.9732489897:
-.8278950395 -.6015009552;

IPn I .5116672735 ,3717480345

-.3162277660 -.9732489897
,3162277660 -.9732489897
-.1207882583 -.3717480345
-.1954395077 -.6015009552;
-.3162277660 ,2297529207,
,3162277660 ,2297529207;
- 8278950395 .6015009552;
,5116672735 -.3717480345 -.1954395077 6015009552;
[Pn,Tn2Fn3 q4]2 P
= (18) -.E278950395 -.6015009552
-.1954395077 -.6015009552
- .6324555320 0
-.1207882583 -.3717480345;
,5116672735 -.3717480345:
-.6324555320 01;
In the case of maximum load and equal share of dc bus n=l;
voltage, each five-phase machine utilizes VdJsqrt(2) of dc for i=1:5:356.
phil=i/l80*pi:
bus voltage. However if one machine does not utilize its f o r j=1:5:356.
phi2= j/18O8pi:
share, the dc bus voltage can be diverted to the other five- for k=O:pil2/18:pi/2,
phase machine. v=[sinlk)*cos(phil) sin(k)‘sin(phi1) cos (kl* C O S Iphi2)
cosIkl*sin~phi211;
for m=l:30.
Conclusion t h e t a h . ll=m:
theta~m,2~=acos~dotlv.T5~m,’~ll~normlv~~normlT5~m.~l
I ) ) / pi.180;
It is shown in the paper that it is possible to control thetalm,3:6I=v;
((N-1)/2) N-phase machines connected in series with end;
theta~sort=~0rtr0~~1theta,2).
appropriate phase swapping between them from a single N- sectors1n.l:4I=theta~sortll.4,1l’:
phase inverter, where N=3,5,7, ... The concept was simulated sectors~n,5:8l=theta~sortll:4,2l’:
sectors~n.9:12l=theta_sortll.3.6).
n=n+l:
and the result confirm the theory. Unfortunately, the end:
experimental results were not ready before the deadline for end:
end;
the paper submission. The algorithm for the five-phase space
s=size(sectorsl;
vector was developed. The further optimization of the for p-1 : s ( 1.1 I ,
algorithm is possible and improvements in algorithm for dc xl=sectors(p.l):
x2=sectors(p.2):
bus utilization between the five-phase ac machines. x3=sectors(p.31:
x4=sectoeslp.4);
if (sectorslp.1) > sectorslp.21)
References sectorslp, 11.~2;
sectors(p,2)=xl;
end;
K.P.Kovacs and I. Racz, “Transient Vorgange in if Isectors(p.31 < sectors(p.1))
sectors(p, 3l-sectors(p.2l ;
Wechselstrom-machinen”, Verlag de Ungarishehen sectors~p,2l=sectors~p,ll:
sectors(p.ll=x3;
Akademie der Wissenshafien, Budapest, 1959. elseif (sectorslp.3) < sectors(p.2))
sectors~p,3~-sectors~p.Z);
T.A.Lipo, “A Cartesian Vector Approach To Reference sectors(p,2r=x3:
end;
Theory of AC Machines”, Int. Conference On Electric if (sectorslp.4) < sectorslp,lI)
se~tors~~.O=~e~t0rs~p.3~;
Machines, Laussane, Sept. 18-24, 1984. sectorslp.3~=sectorslp,2l;
sectors1p.2)=~e~to~dlp.lI.
Richard Zang, Dushan Boroyevich, V.Himumshu Prasad, sectorslp,l)=x4;
elseif lsectors(p.4l < sectorslp.2lI
Hengchun Mao, Fred C. Lee, Stephen Dubovski, “A ~e~t0r8lp.4~=~e~torslp,3l:
sectorslp.3l~sectorslp.21;
Three-phase Inverter with A Neutral Leg with Space sectorslp,2I=x4;
Vector Modulation”, Conference Record of IEEE APEC elseif Isectors(p.4) < sectorslp.311
sectors~p.41-sectorsIp.3l;
1997, pp 857-863. sectors(p.3l=x4:
end;
end;
Richard Zang, Himumshu Prasad, Dushan Boroyevich, temp~sortrows~sectors.11.2.3.411:
Fred. C. Lee, Analysis and Design of A Three-phase sectors-temp;
clear temp;
Inverter with a Neutral Leg”, VPEC Annual Seminar sect(l.1: 121 =sectors 11.1:12) :
u=l:
Proceedings, 1997. for p.2 :s 11.1),

Appendix if~-~~sect~p,l~==sectors~p.l))k~sectlu,2l=-sectors~p.2~I&lsect~q.31=
=sectors~p.3~Ih~sectl~.4~==sectorsl~.4l~l1
q=q+1;
clear; sect (U. 1: 12)=sectors (p,1: 12) ;
T5=[ .6324555320 0 ,6324555320 0;
end;
,1954395077 ,6015009552 -.5116672735 .3717480345;
end;
,8278950395 ,6015009552 .1207882583 .3717480345;
-.5116672735 .3717480345 ,1954395077 -.6015009552; Listing of Matlab program for the sector search
,1207882583 .3717480345 ,8278950395 -.6015009552;
-.3162277660 ,9732489897 -.3162277660 -.2297529207;
,3162277660 ,9732489897 ,3162277660 -.2297529207;
-.5116672735 -.3717480345 ,1954395077 .6015009552;
,1207882583 -.3717480345 ,8278950395 ,6015009552;
-.3162277660 ,2297529207 -.3162277660 .9732489897;
.3162277660 ,2297529207 ,3162277660 ,9732489897;
-1.023334547 0 .3908790152 0;
-.3908790152 0 1.023334547 0;
-.8278950395 ,6015009552 -.1207882583 ,3717480345:
-.1954395077 .6015009552 ,5116672736 ,3717480345;
,1954395077 -.6015009552 -.5116672736 - .3717480345:
,8278950395 -.6015009552 ,1207882583 - ,3717480305;
.3908790152 0 -1.023334547 0;
1.023334547 0 -.3908790152 0;

1654