IEEE Industry Applications Society

Annual Meeting
New Orleans, Louisiana, October 5-9, 1997

Induction Motor Drive System for Low Power Applications

C. B. Jacobina, M. B. R. Correa, E. R. C da Silva and A. 119. N. Lima

UFPB/CCT/DEE/LEIAM - Campus II - Caixa Postal 10105
58109-970 Campina Grande, PB, Brazil
Fax: $55-83-3101015; E-mail: {jacobina,edison,marcus}@dee.ufpb.br

Abstract - This paper investigates the utilization of three

configurations o f induction motor drive t o implement low
cost systems for low power applications. The static power
converter side is implemented by a single-phase rectifier cas-
caded with a four-switch inverter (FSI). Three types o f induc-
tion machines are supplied with the static power converter.
In the first scheme a standard three-phase induction machine
is employed. In the second the load is a three-phase induc-
tion machine where only two winding are used. In the third
a standard two-phase induction machine is employed. Simu-
lation and experimental results are provided t o illustrate the
operation of the systems.

I. I N T R O D U C T I O N

T h e development of low cost motor drive systems is a relev-

a n t topic, specially when the power demanded by the target
application is within the low power range. T h e use of static
power converters w i t h a reduced number of components as 3
an alternative to reduce the cost of the drive systems has
already been proposed by various research teams [l], [2], [3],
PI! ~51.[61.
This paper investigates the utilization of three different
configurations of induction m o t o r drives for the implementa-
tion of low cost systems a t low power applications, as shown
i n Fig. 1. Each of t h e three configurations is based upon the
use of a different type of induction machine, i.e., i) a stand-
ard three-phase machine (Fig. l b ) ; ii) a three-phase machine
w i t h t w o windings (Fig. IC) and iii) a standard two-phase
machine (Fig. Id). In all three configurations, the static
power converter side is implemented by a single-phase recti-
fier cascaded w i t h a split capacitor bank and a four switches Figure 1: AC drive system configurations
inverter (FSI).
For the purpose of study, the formulation of scalar and
vector pulse w i d t h modulation strategies is proposed for each
one of the configurations investigated. Further, simulation '1' will indicate a closed switch and the '0' an open one.
and experimental results are provided to illustrate the oper- T h e pairs 41-43 and Q Z - Q ~ are complementary and as a con-
ation of t h e systems. sequence, 43 = 1- 41 and 44 = 1- qz.
T h e use of the configurations presented i n Fig. l b and T h e space vector analysis of the static converter is done
IC can be also employed to increase the robustness of an using the ap stationary reference frame. T h e a p o variables
standard three-phase induction motor drive using six switch are determined by the transforming equation
inverter (SSI). In fact the configuration of Fig. IC has already
been proposed with this purpose [7].

II. THREE-PHASE MACHINE

with
Concerning to the scheme of Fig. l a let us assume t h a t the
conduction state of the power switches is associated to the 5123 =
binary variables 41 to 44. Therefore, f r o m now o n the binary
0 - 7 8 0 3 - 4 0 6 7 - 1/ 9 7 / $ 1 0 . 0 0 0 1 9 9 7 IEEE.
605
Table 3: Grouped sectors by the common test condition t24
I Sectors I Vectors I Condition I

-1. -..4
employed to compute the t i m e weights as it will b e illustrated
by the following example. Consider the use of Table 2. T h e E12 f..... ...... ..... ...... ... .. /xYzY
following steps m u s t be executed
i) compute t 1 3 and t24 by using (20) and (21)
ii) if the sign of t i 3 is positive then: (a) use the vectors
[ v 4 , VI,VZ]; (b) set t 3 = 0 and t l = t13 -E / 2 T _.._>I
...
111) if the sign of t13 is negative then: (a) use the vectors
[ v 2 , v 3 , v 4 ] ; (b) set tl = 0 and t 3 = - t l 3
iv) compute t z and t 4 by using (16) and (21). Figure 3: FSI switching waveforms

C. Scalar modulation D. Steady-state analysis

Given U:@, v,, and using matrix A , one obtains and The fundamental voltages and currents of the equivalent t w o
u,*2 by phase machine are given by (11). Using equation (1) w i t h
1 is3 = 0, one may find t h a t
(22)
i,l = mis +am i s p = J Z I , cos(w,t - 4 - ~ / 6 )

+ -d3 1
- ~ : p + -U,,).
2 Jz
T h e time intervals 71 and 7 2 . during which t h e switches q1
and q 2 m u s t be kept conducting, are obtained by placing
(22) and (23) i n t o (10)
(23)
is2 = h i , p = JZI, cos(w,t - 4 - ~ / 2 > .
Thus, the amplitudes of the currents i,l and i s 2 are &times
the current obtained w i t h a three phase machine (Fig. l b ) .
Also, it can be shown t h a t the ac current in the capacitor
bank is &/2 o f current of phase.
T h e homopolar current is

is, (isl +i s 2 +is3)/& = &Is -4 -~

COS(U,~ / 3 )(28)
fi and the current-voltage model for the homopolar terms is
= -+ -
T2
2 E 3 2 ‘J” +
-v;p
2
1
-vso).
fi
+
Fig. 3 shows typical waveforms observed a t the output
(25) given by

vs0 = rsoi,, + 40-

diso
dt (29)
of a FSI. With r1 and 7 2 computed f r o m (24) and (25), where r,, and E,, are the resistance and inductance homo-
the average o u t p u t voltages during the switching period T polar. Also, the resistance rs0 is equal to the stator resistance
are equal to the reference voltages. Depending upon the and E,, is the stator leakage inductance. Hence, in steady-
switching sequence of switches q1 and q 2 , one may obtain state the voltage U,, is
the same vector sequences discussed i n the previous section.
If the t i m e intervals 71 and 7 2 are flushed t o the beginning vso = KO cos(wst + do), (30)
of the switching period this is equivalent t o the use of vector
where
sequences v 3 v 4 v 1 when 71 < TZ and V ~ V Z V when
~
this corresponds to Table 3. O n the other hand if q1 starts
71 > 72;
v,, = AI,JrJ”, + ( w s ~ s o ) 2
4, = arctan(*) -4 - T/3.
conducting for 71 while q2 remains blocked for T - 7 2 this
is equivalent to use v z v 3 v 4 when r1 > T - r2 and v 2 v 1 v 4 Using equation (1) it can be found that, i n steady-state,
when 71 < T - r2:this corresponds to Table 2. the three phase voltages are
In b o t h cases, the relations rl = t z + t 3 and r2 = t 3 + t 4 are
U,I 1 + U,,,
V,,COS(W,~) V,Z = I/,,cos(w,~ - 2 ~ / 3 ) + tiso
observed. Based o n these relations and using (16), (20) and
(21), a formal relationship between the vector and scalar
2183 = Vs,cos(w,t + 2 ~ / 3 +) US,,

PWM is established as where U,, = u,,/fl.

Tl = (T - t13 + t24)/2
72 (T - t 1 3 - t 2 4 ) / 2 .
Conversely, the expressions (24) and (25) are obtained
if (20) and (21) are introduced i n (26) and (27), respect-
ively. Therefore, same results are obtained for both vector
and scalar PWM techniques.
(26)
IV. T W O - P H A S E MACHINE
(27)
Fig. I d shows the scheme for the case of a standard two-
phase machine. Similarly t o the previous configurations, the
basic equations for PWM technique as well as the steady-
state analysis will be discussed next.
A. Space vector analysis
Table 4: Cormparison of the schemes
Using the two-phase machine w i t h the converter o f Fig. l a
the (rp voltages are given by

E E E
vsa = (q1y - 43-)2 = (241 - 1)-2 (31)

E E E
"SP = ( ( I 2 2 - 44-)2 = ( 2 q 2 - 1)-.
2 (32)
The combination o f the states o f the switches originate The equation (26) is also valid as a general relationship
four different vectors i n t h e plane between the vector and scalar P W M t o the two-phase ma-
chine.
[ql = 0, QZ = 01 + v1 = E/fie-j3*14,
[q1 = 1,q2 = 01 + v2 = E/fie-j*14, D. Steady-state analysis
[q1 = 1,qz = 11 + v3 = E/fiej*14, (33)
The steady-state voltages and currents o f a two-phase ma-
[q1 = 0, q2 = 11+ v4 = E/fiej3a/4.
chine are given by (11). The amplitudes o f the fundamental
Vectors o f same amplitude are phase shifted o f a/2 f r o m each phase currents are times greater than those determ-
other. Using the above vector definitions one may split the ined i n Fig. l b . Also, it can be shown that the ac current i n
ap plane i n t o four (I t o IV) sectors as presented i n Fig. 2c. the capacitors is 1/fi of current of phase.
In this case, t o obtain the same maximum voltage, V, in
the (rp plane, the dc bus voltage must be fi
times t h a t o f V. COMPARISION OF THE SCHEMES
the dc bus for the SSI, 4
times lower than that required
when using the three-phase machine w i t h FSI (Fig. 2b) and Table 4 presents the comparison chart between the scheme
larger than i n case o f the three-phase w i t h two winding o f Fig. 1 operating at same power. In this table are given
(Fig. 2c) and v,, = 0. Therefore, the system o f Fig. IC i s less the dc bus voltage (E), t h e fundamental stator phase voltage
demanding in terms o f dc bus voltage when os, is negligible. (Vm), current (I,) and the amplitude o f the ac capacitors
current (Iac).E, Vm,and I, are normalized relatively t o the
B. Space vector PWM values o f a three-phase mlachine supplied w i t h a SSI whereas
Iacis normalized relatively t o the phase current amplitude o f
Using (15) and (16), and introducing V, = v1 -- -v3 = the three-phase machine. In the case o f the scheme of Fig.
+
vZa jv,p and vy = v2 = -v4 = vya j v y p , where + IC the ideal case where v8, = 0 is considered.
v,, = w , ~= vUyp= - E / 2 and vya = E/2 one may find t13
and t24 f r o m this case as follows
VI. CURR:ENT CONTROLLER
T T
t13 = -E(v:a + v:p)t t24 = z ( v : a - v:p) (34) The most inner loop is the current control loop, normally
required when the machine is controlled by field orientation
For each one o f the sectors o f Fig. 2c there exists two principles. This section focuses on t h e design o f the digital
groups o f three vectors that can be employed t o compose the current control loop for the configurations proposed in Fig. 1.
reference voltage, as shown in Table 1. The test conditions The model used t o design the controller is obtained f r o m
employed t o determine t h e sectors o f Fig. 2c are grouped the machine dq model [9]and is given by
by pairs. Also, the adjacent sectors are grouped t o create
two double sectors. Tables 2 and 3 show the double sectors
and the corresponding vectors. As the vectors have the same
amplitude, the utilization o f the Tables 2 and 3 produces the
same effect. The same algorithm can be used t o generate
the P W M based on table 2 or 3.

C. Scalar modulation
Terms e s d and esq are counter emfs given by
One may use the same techniques employed w i t h a previous
configuration t o define a scalar PWM strategy t o control
the FSI. The t i m e intervals, 7-1 and ~ 2 during
, which the
switches q1 and qz must be kept conducting in order to obtain
a t the output o f the FSI the desired reference voltage, are
determined by

T T T T where we is the angular .frequency o f the synchronous refer-

7-1 = + &, 7-2
2 + -v*
=- E sp (35) ence frame, i.e., stator angular frequency.

609
 , isd sd
Three-phase machin,e

O t
-'"
0 0.005 0.01 0.015
' I
. .,
I

0.02
123

+
I.
lsq l e sq IS
0 0.00s 0.01 0.015 0.02

Figure 4: Block diagram of the current controller

T h e discrete-time current-voltage representation given by

-LV
(36)-(39) can be obtained by using t h e forward shift operator. 0 0.005 0.01 0.015 0.02
T h i s simplified representation allows to derive decoupled con-
t r o l laws t h a t have the same complexity of PI controllers. For Figure 5: Three-phase, t w o winding and two-phase machine
this simplified model the current controller vector equations currents.
are

v:dq( t ) = v:,,(t +
-t a) k, Ai,dg(t)+ kd Ai,dq(t-tal, ( 4 0 ) machines were considered to have same dq parameters and
Table 4 was used so t h a t a same m a x i m u m voltage was ob-
where vZdq= ~ : ~ + j w : ~ ,i:d? = i : d + j i : q , Ai,(t) = i:(t) - tained for all schemes. This way, the amplitude of vectors
is(t) and k, and ICd are the gains o f t h e controller. This paper v1 and v2 in Fig. 2a, for the three-phase machine, becomes
did n o t consider the compensation o f terms due to e,d and equal t o the amplitude o f vectors vz and VI, in Fig. 2b,
esq. The gains of the controller are determined according t o for the t w o winding machine, i n which wso = 0, respectively.
the o p t i m u m damping criteria. T h e gains IC,, proportional, For results i n Fig. 5 and 6 the scalar PWM t h a t always use
and lei, integral, of the continuous controller are computed t w o vectors of small amplitude are employed, i.e., Table 3 is
and, f r o m those, the discrete gains k, and ICd are obtained applied t o the three-phase machine and Table 2 is applied t o
by the Tustim approximation. the t w o winding machine.
Fig. 4 presents a generic block diagram of t h e current Figs. 5 presents the a currents obtained for the systems
control strategy to be employed w i t h the configurations pro- i n Figs. l b , I d and the ,B current for the system of the Figs.
posed i n Fig. 1,for t h e synchronous reference frame. In t h a t IC. In all cases the modulation index is m = 0.5 and the
+
figure, block e J 6 = cos S jsin 6 represents the coordinate switching frequency fw = 2.0kH.z. T h e machine w i t h t w o
transform and converts the quantities f r o m the synchronous windings has been considered ideal, i.e., T,, = lsp = 0, so
(dq) t o the stator reference frame (ab). Block a p o / 1 2 3 t h a t w,, = 0. Load currents presented i n these figures are
implements the m a t r i x transformation given by A. Block superimposed t o ideal current waveforms (inner curve) ob-
PWM+FSI+IM represents t h e PWM voltage source inverter tained w i t h the assumption t h a t the FSI is sinusoidal voltage
plus the induction machine. Block R;corresponds to the cur- source. T h e p currents for the case of Figs. l b , I d and a
rent controller. Notice t h a t the t e r m vso must be included currents for the case of Fig. IC are similar. A comparison o f
in the transformation a/30/123. the currents shows t h a t the ripple is slightly higher for the
For t h e machine in Fig. I b , w:, = -&.Ti = (w:,+ two-phase machine, The ripple for the t w o winding machine
fiw:B)/./", where w:; is the voltage i n case o f three-phase is equivalent to t h a t o f the three-phase machine, b u t i n this
machine supply by a SSI. case w J o = 0.
For the case of the Fig. IC, w,": can be obtained f r o m (29), Figure 6 presents the t o t a l harmonic distortion (THD) of
i.e.. v:, = r,,i:, + the
lsodi:o/dt, where i:, = (i:l +.iZ2)/A. voltage supplied to t h e load w i t h t h e schemes of Figs.
Of course the compensation of w:, is only achieved if rs0 and l b and I d for axis /?, and IC for axis a , as a function of
l,, are known. t h e modulation index. T h e t w o winding machine has been
considered as ideal, i.e., T,, = I, = 0, so t h a t U,, = 0. T h e
In the case of two-phase machine w s l , v,2, i,l and is2 are
equivalent to w,,, v s p , i s , and i , p , respectively. THD presented in Fig. 6 has been computed by
Another alternative t o implementation o f current control
loop is to use t h e hysteresis approach [lo]. In this case the
compensation of v,, is achieved by the controller and it is
not necessary t o known the machine parameter. where a1 is the amplitude of the fundamental, ai is the amp-
litude of ith harmonic and p i s the number of harmonics taken
VII. SIMULATION RESULTS i n t o consideration. The THD is quite close for t h e three ma-
chines when the modulation index is large. However, the
Next, simulation results obtained for the configurations i n THD for the two-phase machine is higher than other for a
Figs. 1 are presented. With this purpose, the induction low modulation index.

610
 THD ( 1 0 )
*" I I
0 Three-phase machine
+ Two-winding machine
IO Two-phasemachine
t (s
-200
0.o.r 0.02 0.03

1' , 0.'2 0.4 0.6 0.'8 A

? (s
Figure 6: THD of the output voltages
: 00 0.0.1
0.02 0.03

o
Figure 7 shows the phase current (actual and reference
superimposed), t h e electromagnetic torque and vector vi i n
the plan a@when the load is an induction machine w i t h t w o
windings. These results, obtained when a hysteresis current
control loop is employed, show t h a t the induction machine 0
operates correctly. A deformation of vector vi due to U,, is
always present i n the process, independently o f the type of
-0.5
current control.
-1 -1 -0.5 0 0.5 c1t
VIII. E X P E R I M E N T A L RESULTS

T h e current control strategy presented i n this section was im-
plemented employing a 486DX266 microcomputer equipped
w i t h a special plug-in board.
Figures 8 and 9 show t h e experimental test results ob-
tained for schemes of Fig. l b and Fig.lc. In these figures,
t h e reference and the actual stator current of axis a (a) and
axis p (b).are plotted. T h e same reference current waveform
i: = 0.8e320?rtwas employed for both cases w i t h an abrupt
change in its amplitude. T h e transient change reduces the
amplitude of t h e reference f r o m 0.8A to 0.4A and always oc-
curs a t the instant t = 0.1. T h e closed loop performance is
quite good i n all cases. However, it can be noted a small dif-
ference between the reference and real current in the scheme
of Fig.lc, indicating t h a t the compensation of w,, can be
improved.
IX. CONCLUSION
T h i s paper has investigated the utilization o f three config-
urations of induction m o t o r drives t o implement low cost
systems for low power applications. Theses schemes use the
same power converter and three different induction machine
arrangements: three-phase machine, two winding machine
and two-phase machine.
Comparing t h e schemes in Fig. l b to Fig. Id to a scheme
consisting of a three-phase machine and three-phase inverter
(SSI) designed t o supply induction machines o f same power
level one observe t h a t the
- Three-phase machine has (a) the same fundamental
phase voltage and current, (b) a double dc bus voltage, and
Figure 7: Current, torque waveforms and voltage vector ob-
tained for the case of t h e t w o winding machine.
(c) the ac current i n the capacitor bank is half of the phase
current.
- T w o winding machline has (a) the same fundamental
phase voltage , (b) a 4 times fundamental phase current,
(c) a 2 / 4 times dc bus voltage, (d) and an ac current i n
the capacitor bank t h a t is 3 times the phase current.
- Two-phase machine has (a) a times fundamental
phase voltage and current, (b) a fi times dc bus voltage,
and (c) the ac current in t h e capacitor bank is fi
times the
phase current.
T h e voltage rating of the two winding machine mentioned
above corresponds to the ideal case i n which U,, = 0.
However, i n practical case U,, # 0, so t h a t the voltage
applied by the FSI pres,ents an interne voltage drop which
depends on the current, T h i s makes more complex the im-
plementation of the digiital current controller.
T h e harmonic distortion for both the three-phase and the
t w o winding machine is similar, b u t only if t h e homopolar
impedance is null. Instead, the two-phase machine presents
a higher harmonic distortion for low values of the modulation
index.
T h e scheme w i t h a three phase-machine presents the best
performance for the features analyzed, except for the dc bus
voltage. However, the choice of one of the schemes depends
o n the most important ipractical aspects of each application.
For instance, the three-phase machine and the t w o winding

61 1
 1

0.8 n

-0.81 v 1
-10 0.05 0.1 0.15 0.2 0.05 0.1 0.15 0.2
Time (9) Time Is)

(a) Axis-a stator current (a) Axis-or stator current

I I

I I
0.05 0.1 0.15 0.2 0.05 0.1 0.15 0.2
Time (s) Time I s )

(b) Axis-/3 stator current (b) Axis-P stator current

Figure 8: Stator current to scheme of the Fig. Ib. Figure 9: Stator current to scheme of the Fig. IC.

machine can be considered as a case o f failure i n a three- [5] G. Kim and T. A. Lipo. Vsi-pwm rectifier/inverter sys-
phase machine with SSI. In this case, i t s use allows t o in- t e m w i t h a reduced switch count. In Proc. IAS Conf
crease the robustness of t h e three-phase machine ac drive. Rec., pages 2327 - 2332, 1995.

[6] M.F. Rahman and L. Zhong. A current-forced reversible

REFERENCES
[l] H. W. Van der Broeck and J. D.Van Wyk. A comparat-
ive investigation of three-phase induction machine drive
with a component minimized voltage-fed inverter under
different control options. IEEE Transactions on Industry
Applications, 20( 1):309-320, March/April 1984.
rectifier fed single-phase variable speed induction m o t o r
drive. In Proc. PESC Conf Rec., pages 114-119, 1996.
[7] T.-H. Liu, J.-R. Fu, and T. A. Lipo. A strategy for im-
proving reliability of field-oriented controlled induction
motor drives. IEEE Transactions on Industry Applica-
tions, 29(5):910-918, Sept./Oct. 1993.

[2] P. Enjeti and A. Rahman. A new single phase to three [8] R. L. A.Ribeiro, C. B. Jacobina, E.R. C. da Silva, and
phase converter w i t h active input current shaping for A. M. N. Lima. Ac/ac converter with four switch three
low cost ac m o t o r drives. In Proc. /AS Conf Rec., phase structures. In Proc. PESC Conf. Rec., pages 134-
pages 935-939, 1990. 139, Baveno - Italy, June 1996.

[3] C. B. Jacobina, E. R. C. da Silva, A. M. N. Lima, and
R. L. A. Ribeiro. Vector and scalar control of a four
switch three phase inverter. In Proc. /AS Conf. Rec.,
pages 2422-2429, 1995.
[9] L. A. de S. Ribeiro, C.B. Jacobina, and A. M. N. Lima.
Real-time estimation of the electrical parameters of an
induction machine using sinusoidal p w m voltage wave-
forms. In R o c . /AS Con6 Rec., 1997.

[4] F. Blaabjerg, S. Freysson, H.H. Hansen, and S. Hansen. [lo] D. M. B r o d and D. W. Novotny. Current control of
vsi-pwm inverters. IEEE Transactions on Industry Ap-
Comparison of a space-vector modulation strategy for
plications, 21(4):526-570, May/June 1985.
a three phase standard and a component minimized
voltage source inverter. In Proc. €PE Conf. Rec., pages
1806-1813, 1995.

612