IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO.

5, MAY 2008 1893

Multiphase Electric Machines for

Variable-Speed Applications
Emil Levi, Senior Member, IEEE

Abstract—Although the concept of variable-speed drives, based machine appeared as the best solution to the problem. Hence,
on utilization of multiphase (n > 3) machines, dates back to the significant efforts have been put into the development of five-
late 1960s, it was not until the mid- to late 1990s that multiphase phase and six-phase variable-speed drives supplied from both
drives became serious contenders for various applications. These
include electric ship propulsion, locomotive traction, electric and voltage source and current source inverters [2]–[6]. This is an
hybrid electric vehicles, “more-electric” aircraft, and high-power advantage of multiphase machines that is nowadays somewhat
industrial applications. As a consequence, there has been a sub- less important since pulsewidth modulation (PWM) of voltage-
stantial increase in the interest for such drive systems worldwide, source inverters (VSIs) enables control of the inverter output
resulting in a huge volume of work published during the last ten voltage harmonic content. The other main historical reasons for
years. An attempt is made in this paper to provide a brief review of
the current state of the art in the area. After addressing the reasons early developments of multiphase drives, better fault tolerance
for potential use of multiphase rather than three-phase drives and and the possibility of splitting the motor power (current) across
the available approaches to multiphase machine designs, various a higher number of phases and thus reducing the per-phase (per
control schemes are surveyed. This is followed by a discussion switch) converter rating, are nowadays still as relevant as they
of the multiphase voltage source inverter control. Various possi- were in the early days.
bilities for the use of additional degrees of freedom that exist in
multiphase machines are further elaborated. Finally, multiphase Over the years, many other beneficial features of multiphase
machine applications in electric energy generation are addressed. machines and drives have become recognized. The pace of
research started accelerating in the second half of the 1990s,
Index Terms—Multiphase electric machines, multiphase
variable-speed drives, multiphase voltage-source inverters (VSIs). predominantly due to the developments in the area of electric
ship propulsion, which remains nowadays one of the main
application areas for multiphase variable-speed drives [7]–[12].
I. I NTRODUCTION A huge body of published work has appeared during the last
decade and an attempt is made in this paper to provide a brief
V ARIABLE-SPEED ac drives are nowadays invariably
supplied from power electronic converters. Since the con-
verter can be viewed as an interface that decouples three-phase
but up-to-date survey of the current situation, together with
an extensive bibliography. In writing this paper, every effort
mains from the machine, the number of machine’s phases is not has been put into making this review complementary to the
limited to three any more. Nevertheless, three-phase machines already existing surveys [13]–[16]. Reference [13] discusses
are customarily adopted for variable speed applications due multiphase induction machines. It provides a treatment of the
to the wide off-the-shelf availability of both machines and stator winding layouts for various phase numbers, as well as
converters. Such a situation is expected to persist in the future a discussion of space harmonics of the magnetomotive force
and multiphase variable speed drive utilization is always likely (MMF). Multiphase drive control schemes were reviewed in
to remain restricted to specialized niche applications where for [14] and a table, with reference classification according to the
one reason or the other, a three-phase drive does not satisfy the machine type and phase number, has been provided. A survey
specification or is not available off-the-shelf either. of control schemes for asymmetrical six-phase induction motor
The roots of multiphase variable speed drives can be traced drives and associated methods of VSI PWM control is given
back to the late 1960s, the time when inverter-fed ac drives in [15]. Finally, [16] covers multiphase induction machines and
were in the initial development stage [1]. Due to the six- drives in a considerable detail. It includes basic models, con-
step mode of three-phase inverter operation, one particular trol schemes in developed form, and experimentally obtained
problem at the time was the low frequency torque ripple. Since illustrations of performance for various multiphase induction
the lowest frequency torque ripple harmonic in an n-phase motor drives (asymmetrical and symmetrical six-phase, and
machine is caused by the time harmonics of the supply of five-phase machines). It should be noted that all these survey
the order 2n ± 1 (its frequency is 2n times higher than the papers [13]–[16] contain at least some additional references,
supply frequency), an increase in the number of phases of the when compared to the bibliography given here.
This paper addresses multiphase machines and drives of all
available types (induction and synchronous), with the exception
Manuscript received February 28, 2007; revised January 16, 2008. This work
was supported in part by the Engineering and Physical Sciences Research of switched reluctance machines. The references are grouped
Council (EPSRC) under Research Grant EP/C007395/1, in part by Semikron, in various subcategories, in accordance with what is perceived
U.K., in part by Moog, Italy, and in part by Verteco, Finland. to be their main contribution. Table I illustrates, for quick
The author is with the School of Engineering, Liverpool John Moores
University, Liverpool, L3 3AF, U.K. (e-mail: [email protected]). reference, relationship between topics covered in this paper and
Digital Object Identifier 10.1109/TIE.2008.918488 the references.

0278-0046/$25.00 © 2008 IEEE

1894 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

TABLE I be of so-called modular design where an attempt is made to

RELATIONSHIP BETWEEN DISCUSSED TOPICS AND REFERENCES
minimize the coupling between stator phases, for the reasons
detailed later on (a three-phase permanent magnet machine may
be designed in the same manner, but the most important benefit
of modular design, fault tolerance, is then not exploited to the
full extent). It should be noted that the spatial flux distribution in
permanent magnet synchronous machines (including BDCM)
is determined by the shaping of the magnets. Stator current
supply should match the spatial flux distribution in terms of
torque-producing stator current components (harmonics), as ap-
propriate for a given phase number, for optimum performance.
An illustration of the possible stator winding arrangements in
multiphase machines is shown in Fig. 1.
Stator winding of an n-phase machine can be designed in
such a way that the spatial displacement between any two
consecutive stator phases equals α = 2π/n, in which case a
symmetrical multiphase machine results. This will always be
the case if the number of phases is an odd prime number.
However, if the number of phases is an even number or an
odd number that is not a prime number, stator winding may
be realized in a different manner, as k windings having a
subphases each (where n = a · k). Typically, a = 3 (although
a = 5 exists as well) and k = 2, 3, 4, 5, . . .. In such a case,
II. T YPES AND A DVANTAGES OF M ULTIPHASE M ACHINES
the spatial displacement between the first phases of the two
FOR V ARIABLE -S PEED D RIVES
consecutive a subphase windings is α = π/n, leading to an
The types of multiphase machines for variable-speed applica- asymmetrical distribution of magnetic winding axes in the cross
tions are in principle the same as their three-phase counterparts. section of the machine (asymmetrical multiphase machines).
There are induction and synchronous multiphase machines, In this multiphase machine type there are k neutral points
where a synchronous machine may be with permanent magnet and these are typically kept isolated, for the reasons discussed
excitation, with field winding, or of reluctance type. Three- later on.
phase machines are normally designed with a distributed stator Some of the advantages of multiphase machines, when
winding that gives near-sinusoidal MMF distribution and is compared to their three-phase counterparts, are valid for all
supplied with sinusoidal currents (the exception is the per- stator winding designs while the others are dependent on the
manent magnet synchronous machine with trapezoidal flux type of the stator winding. Machines with sinusoidal winding
distribution and rectangular stator current supply, known as distribution are characterized with [17]–[21] the following.
brushless dc machine, or simply BDCM). Nevertheless, spatial
• Fundamental stator currents produce a field with a lower
MMF distribution is never perfectly sinusoidal and some spatial
space-harmonic content.
harmonics are inevitably present.
• The frequency of the lowest torque ripple component,
Multiphase machines show more versatility in this respect. A
being proportional to 2n, increases with the number of
stator winding can be designed to yield either near-sinusoidal
phases.
or quasi-rectangular MMF distribution, by using distributed
• Since only two currents are required for the flux/torque
or concentrated windings, for all ac machine types. Near-
control of an ac machine, regardless of the number of
sinusoidal MMF distribution requires use of more than one
phases, the remaining degrees of freedom can be utilized
slot per pole per phase. As the number of phases increases
for other purposes. One such purpose, available only if the
it becomes progressively difficult to realize a near-sinusoidal
machine is with sinusoidal MMF distribution, is the inde-
MMF distribution. For example, a five-phase four-pole machine
pendent control of multimotor multiphase drive systems
requires a minimum of 40 slots for this purpose, while in a
with a single power electronic converter supply.
seven-phase four-pole machine at least 56 slots are needed (for
a three-phase four-pole machine the minimum number of slots As a consequence of the improvement in the harmonic content
is only 24). Multiphase machines where an attempt is made to of the MMF, the noise emanated from a machine reduces and
realize near-sinusoidal MMF distribution by using an appropri- the efficiency can be higher than in a three-phase machine.
ate number of slots are termed henceforth, for simplicity and In a concentrated winding machine, a possibility of enhanc-
brevity, machines with sinusoidal MMF. ing the torque production by stator current harmonic injection
In both stator winding designs, there is a strong magnetic exists. Given the phase number n, all odd harmonics in between
coupling between the stator phases. If the machine is a perma- one and n can be used to couple with the corresponding
nent magnet synchronous machine, then concentrated winding spatial MMF harmonics to yield additional average torque
design yields a behavior similar to a BDCM [159]–[169]. A components. This possibility exists if the phase number is odd,
permanent magnet multiphase synchronous machine can also while the only known case where the same is possible for an
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1895

TABLE II
POTENTIAL UTILIZATION OF ADDITIONAL DEGREES OF
FREEDOM IN MULTIPHASE MACHINES

All multiphase variable-speed drives share a couple of com-

mon features.
• For the given machine’s output power, utilization of more
than three phases enables splitting of the power across
a larger number of inverter legs, thus enabling use of
semiconductor switches of lower rating.
• Due to a larger number of phases, multiphase machines
are characterized with much better fault tolerance than the
three-phase machines. Independent flux and torque control
requires means for independent control of two currents.
This becomes impossible in a three-phase machine if one
phase becomes open-circuited, but is not a problem in
a multiphase machine as long as no more than (n − 3)
phases are faulted.
In summary, taking n as an odd prime number and as-
suming a single neutral point of the star connected stator
winding, there are (n − 3) additional degrees of freedom in
a multiphase machine that can be used for different purposes:
torque enhancement in concentrated winding machines, real-
ization of multimotor drive systems with independent control
and single inverter supply with machines having sinusoidal
MMF distribution, and design of fault-tolerant strategies for
all multiphase machine types. However, the available degrees
of freedom can be used for only one purpose. Hence, if for
example a five-phase concentrated winding induction machine
operates with the third stator current harmonic injection and a
fault takes place, implementation of a fault-tolerant operating
strategy requires that the stator current harmonic injection is
dispensed with. Possible uses of additional degrees of freedom
in different types of multiphase machines (according to the
stator winding design of Fig. 1) are summarized in Table II.
The main advantages of multiphase machines when compared
Fig. 1. Illustration of stator windings in multiphase machines: to their three-phase counterpart, discussed previously in this
(a) sinusoidally distributed winding (two-pole, five-phase), (b) concentrated
winding (two-pole, five-phase), and (c) modular design (four-phase; cross
section, are summarized in Table III.
section and an actual stator [170] are shown; photograph provided courtesy of The main driving forces behind the rapid development
B. C. Mecrow of University of Newcastle upon Tyne, U.K.). of multiphase variable speed drives in recent times have
been some very specific application areas, in addition to the
aforementioned electric ship propulsion. These are primar-
even phase number is the asymmetrical six-phase machine with ily locomotive traction, industrial high-power applications,
a single neutral point. Torque enhancement by stator current electric and hybrid-electric vehicles (propulsion, integrated
harmonic injection is one possible use of the additional degrees starter/alternator concept, and others), and the concept of the
of freedom, offered by the fact that only two currents are “more-electric” aircraft. Table IV lists some of the applications
required for flux and torque control due to the fundamental for which use of multiphase motor drives has been considered,
stator current component. together with associated references. The common features of
1896 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

TABLE III models. Since the phase-variable model of a physical multi-

OVERVIEW OF MAIN ADVANTAGES OF
MULTIPHASE-MACHINE-BASED DRIVES phase machine gets transformed using a mathematical transfor-
mation, the number of variables before and after transformation
must remain the same. This means that an n-phase machine
will have n new stator current (stator voltage, stator flux)
components after the transformation.
If a machine is with sinusoidal-field distribution, standard
modeling assumptions apply and only the first harmonic of
inductance terms exists in the phase-variable model. Appli-
cation of the decoupling (Clarke’s) transformation produces
a set of n equations. The first, α−β, pair is identical to the
corresponding pair of equations for a three-phase machine.
The last equation (or the last two, for even phase numbers) is
the zero-sequence equation, again the same as for a three-phase
machine. In between, there are (n − 3)/2 (or (n − 4)/2 for
n = even) pairs of rows which define (n − 3)/2 (or (n − 4)/2
for n = even) pairs of equations, featuring the same number of
TABLE IV new variables that are termed further on as x−y components.
MULTIPHASE-MOTOR-DRIVE APPLICATIONS In principle, the form of x−y equations is the same as for
the zero-sequence component, meaning that the impedance for
x−y stator current components is in essence the stator winding
leakage impedance. Provided that the machine is supplied
with purely sinusoidal voltages and the field is sinusoidal,
the x−y voltage components are zero and there are no stator
current x−y components.
Corresponding decoupling transformation matrices are avail-
able also for asymmetrical multiphase machines and the result
of the application of the decoupling transformation matrix is the
same as for symmetrical machines (for example, the models
obtained by applying appropriate decoupling transformation
matrices in conjunction with an asymmetrical and a symmet-
rical six-phase induction machine are identical, as long as there
most of the recent works related to these applications are that is a single neutral point). In the special case when an n-phase
typically high-performance motor control is utilized [vector winding is created using k individual a subphase windings with
control or direct torque control (DTC)] and that the machine’s k isolated neutral points, the total number of equations and
supply is VSI based. Hence, this paper predominantly deals variables reduces to (n − k) after transformation, since zero-
with the review of topics pertinent to such solutions. The sequence components cannot flow in any of the star-connected
exception is the material covered in Sections VIII (high power k windings.
compressors, where synchronous motors supplied from load- Since coupling between stator and rotor appears after de-
commutated inverters (LCIs) are used) and IX, where other coupling transformation only in α−β equations of the mul-
possibilities are briefly addressed. tiphase machine, it is only these equations that have to be
Drive systems, aimed at safety-critical applications such as transformed further, using rotational transformation. The form
“more-electric” aircraft, are very specific and utilize the mod- of this transformation is the same as for the corresponding
ular design of both the machine (which is always a permanent three-phase machine. The resulting final d−q model in the
magnet synchronous machine) and the supply system, so that common reference frame contains d−q and torque equations
the stator phases are isolated and independent magnetically, identical to those of a corresponding three-phase machine, zero-
electrically, thermally and mechanically [170]–[179]. Individ- sequence equations that are also the same, and, additionally,
ual H-bridge (single-phase) inverters are used for such drives. the x−y pair(s) of equations that, in form, correspond to zero-
In these multiphase drive systems, the available additional de- sequence equations.
grees of freedom are normally used for achieving fault-tolerant Modeling of multiphase machines has been and still is a
operation of the drive. subject of considerable interest [23]–[36]. A great deal of effort
has been put into modeling of concentrated winding machines,
where both the starting physical-variable model and the final
III. M ODELING OF M ULTIPHASE M ACHINES
d−q model are different. In principle, the inductance terms
General tools for multiphase machine modeling have been in the initial model have to include not only the fundamental
developed in the first half of the 20th century [22]. The well- harmonic but also one (or more, as appropriate for the given
known space vector and d−q models of three-phase machines phase number) higher harmonics. Decoupling transformation
are only particular cases of the universal n-phase machine results now in (n − 1)/2 (or (n − 2)/2 for n = even) pairs
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1897

of equations (variables) that are again mutually decoupled but

correspond, in form, to the α−β equations, since stator to rotor
coupling appears in all of them. Consequently, an appropriate
rotational transformation has now to be applied to all equations
(except for the zero-sequence components) and the final d−q
model contains (n − 1)/2 pairs of equations of the form valid
for d−q equations of a three-phase machine. Torque equation
has now, in addition to the component due to the fundamental
stator current, (n − 3)/2 new components, each of which is due Fig. 2. Basic rotor flux oriented control scheme for a multiphase machine with
to the interaction of a certain stator current harmonic and the current control in the stationary reference frame.
corresponding spatial harmonic of the field.
If an n-phase machine with sinusoidal winding distribution
is formed by using k three-phase (a = 3) stator windings,
then a rather different modeling approach can be used. It is
based on the observation that each three-phase winding can be
replaced with an equivalent d−q winding, so that the complete
n-phase machine model then contains k pairs of d−q equations.
As a consequence, the torque equation is a sum of individual
contributions of each of the three-phase windings. Such a
modeling approach [31], [32] is widely used in conjunction Fig. 3. Basic rotor-flux-oriented control of a five-phase machine with con-
with asymmetrical six-phase machines in the development of centrated winding and with current control in the stationary reference frame
(indexes 1 and 3 stand for the first and the third stator current harmonic
vector control schemes [15]. references).
Basic transformation equations, as well as the resulting
mathematical models of multiphase induction machines with control method offers the same quality of performance as with
sinusoidal winding distribution and with concentrated stator three-phase drives. Assuming that indirect vector control is
winding are available in [16]. used, basic rotor-flux-oriented control scheme of an n-phase
As far as modeling of modular permanent magnet synchro- induction or synchronous machine (permanent magnet or syn-
nous machines is concerned, it corresponds closely to the chronous reluctance) with sinusoidal MMF distribution is of the
procedure described in conjunction with machines with sinu- form shown in Fig. 2. The block “vector controller” is identical
soidal field distribution. The difference is in the absence of the to the one for the three-phase machine of the same type and
mutual inductance terms within the stator winding, since these the value of the stator d-axis current reference depends on the
are deliberately eliminated by virtue of the machine’s design machine type (as does the transformation angle as well). For
(basically, winding of one phase occupies two consecutive slots example, “vector controller” for a surface-mounted permanent
[Fig. 1(c)] so that the phases are isolated). magnet synchronous machine is just a speed controller, stator
d-axis current reference is zero and transformation angle is the
rotor position angle. In the case of an induction machine, stator
IV. C ONTROL OF M ULTIPHASE V ARIABLE -S PEED D RIVES
d-axis current reference is the rated magnetizing current, while
The methods of speed control of multiphase machines are “vector controller” includes a speed controller, calculation of
in principle the same as for three-phase machines. Constant the angular slip speed and calculation of the transformation
V/f control is nowadays of relatively little interest, since the angle by summation of the slip angle and rotor position angle.
cost of implementing more sophisticated control algorithms is If current control is in the rotating reference frame, then it
negligible compared to the cost of multiphase power electronics would appear that only two current controllers are sufficient
and the multiphase machine itself (neither are available on the since torque production is governed only by d−q stator current
market). The emphasis is therefore placed further on vector components. However, since an n-phase machine essentially
control and DTC. has (n − 1) independent currents (or (n − k) in the case of
As long as a symmetrical multiphase machine with sinu- the n-phase winding being formed of k identical a subphase
soidally distributed stator winding is under consideration, the windings with isolated neutral points), utilization of only two
same vector control schemes as for a three-phase machine are current controllers is in practice not sufficient, since winding
directly applicable regardless of the number of phases [37]– and/or supply asymmetries lead to the unbalanced load shar-
[51]. The only difference is that the coordinate transformation ing and effective flow of undesired x−y current components.
has to produce an n-phase set of stator current (or stator Application of the current control in synchronous reference
voltage) references, depending on whether current control is in frame also requires an adequate method of inverter PWM
the stationary or in the synchronous rotating reference frame. control in order to avoid creation of unwanted low-order stator
If current control is in the stationary reference frame, (n − 1) voltage harmonics that map into voltage x−y components (as
stationary current controllers (assuming stator winding with discussed in the next section) and therefore lead to the flow of
a single neutral point) are required. Either phase currents or large stator current x−y current components. The problem of
phase current components in the stationary reference frame can winding/supply asymmetry is well documented for the asym-
be controlled and here the standard ramp-comparison current metrical six-phase induction machine (with two isolated neutral
1898 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

Fig. 4. Illustration of DTC schemes for multiphase machines: (a) Switching-table-based DTC and (b) constant switching frequency DTC.

points) and it is in principle necessary to employ four current Notice that the “rotational transformation” block in Fig. 3 is
controllers rather than a single pair of d−q current controllers. different from the corresponding one in Fig. 2 (see [16]). The
If a concentrated winding machine is used, torque can be outputs of this block are now four stator current components
enhanced using low-order stator current harmonic injection (rather than just two as shown in Fig. 2), which reflect the
[52]–[54]. Hence, the vector control scheme has to be modified desired first and the third stator current harmonic.
accordingly [55]–[69]. The injected low-order stator current There are two basic approaches to DTC of three-phase
harmonics are firmly tied to the fundamental in terms of machines. Hysteresis stator flux and torque controllers can be
magnitude, frequency and phase and the major modification used in conjunction with an optimum stator voltage vector
of the vector control scheme consists in calculating the refer- selection table, leading to a variable switching frequency. Alter-
ences for these harmonics (on the basis of the fundamental) natively, the inverter switching frequency can be kept constant
and on utilization of the modified rotational transformation. by applying an appropriate method of inverter PWM control
Vector control schemes have to utilize again (n − 1) current (usually space vector PWM). In principle, both approaches
controllers. Vector control of concentrated winding machines are also applicable to multiphase machines [70]–[77] and are
is well-documented in literature for five-phase induction, per- shown in Fig. 4. However, there are some important differences,
manent magnet synchronous, and synchronous reluctance ma- predominantly caused by the existence of additional degrees
chines, where torque enhancement is provided by the third of freedom in multiphase machines (x−y components). If a
harmonic injection. Similarly, third harmonic injection can be multiphase machine is with sinusoidal MMF distribution, the
used in asymmetrical six-phase machines [58]–[61]. In a seven- DTC scheme needs to apply sinusoidal voltages to the ma-
phase machine both the third and the fifth harmonic can be chine’s stator winding (neglecting PWM ripple), without any
used to improve torque per ampere characteristic [64], while unwanted low-order frequency components (since these excite
with a nine-phase machine injection of the third, the fifth, x−y circuits, as explained in the next section). With constant
and the seventh harmonic is possible [56]. A conceptual block switching frequency DTC, this problem can be solved relatively
diagram of a rotor flux oriented control scheme for a five- easily. It is only necessary to apply one of the PWM methods
phase machine, assuming again current control in the stationary that will provide inverter operation with sinusoidal (or at least
reference frame, is shown in Fig. 3. The block “vector con- near-sinusoidal) output voltages.
troller” now additionally includes partitioning of the overall A problem that is encountered in hysteresis-based DTC
torque reference (obtained at the output of the speed controller) schemes for sinusoidal multiphase machines is that optimum
into the stator q-axis current references for the first and the stator voltage vector selection table, designed in the same man-
third stator current harmonic, as well as the calculation of ner as for a three-phase induction machine, dictates application
the transformation angles for the first and the third harmonic. of a single space vector in one (variable) switching period.
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1899

However, each individual inverter output voltage space vector

inevitably leads to generation of unwanted low-order harmon-
ics, which excite x−y stator circuits and lead to large unwanted
stator current low-order harmonics. This problem has so far
not been solved completely although a significant improvement
has been reported for an asymmetrical six-phase induction
machine in [74]. The solution is based on modifications of
the basic hysteresis-based DTC and it requires introduction of
additional hysteresis controllers, thus increasing substantially
the complexity of the control scheme (and therefore negating
the main advantage of DTC when compared to vector control,
relative simplicity).
If the multiphase machine is with a concentrated stator
winding, hysteresis-based DTC can be utilized without any
modifications, using optimum stator voltage vector selection
table with large vectors only. This is so since in this case at
least some of the low-order harmonics actually lead to torque
enhancement by higher stator current harmonic injection. For
example, in a five-phase machine, utilization of only large
inverter vectors generates the third harmonic, causing flow of
the third stator current harmonic. However, since the winding is
concentrated, the third current harmonic couples with the third
field harmonic and produces an average torque, thus yielding an
automatic enhancement of the overall torque.
A more detailed description of the control schemes shown
in Figs. 2–4 and their detailed outlay for multiphase induction
motor drives is available in [15] and [16] for asymmetrical six-
phase and five-phase induction machines, respectively.

V. M ULTIPHASE VSI C ONTROL

By and large, the existing research related to PWM control
of multiphase inverters applies to two-level inverters [78]–
[117] [Fig. 5(a) and (c)]. The most straightforward approach
is undoubtedly utilization of the carrier-based PWM methods.
Similar to the carrier-based PWM with third harmonic injection
for a three-phase VSI, it is possible to improve the dc bus Fig. 5. Basic building blocks for VSI supplied multiphase machines: (a) Leg
utilization in multiphase VSIs by injecting the appropriate zero- of a two-level inverter; (b) leg of a three-level NPC inverter; and (c) H-bridge
sequence harmonic (or adding the offset) into leg voltage ref- supply. For an n-phase machine, legs of the type shown in (a) or (b) are
combined into an n-phase bridge inverter or n individual H-bridge inverters
erences. As the number of phases increases, the improvement of (c) are used.
in the dc bus utilization by zero-sequence harmonic injection
rapidly reduces. The gain in the maximum fundamental in the TABLE V
PERCENTAGE INCREASE IN THE FUNDAMENTAL OUTPUT VOLTAGE
linear modulation region is only 5.15% for the five-phase VSI, OBTAINABLE WITH ZERO-SEQUENCE INJECTION
while it is 15.47% in a three-phase VSI. Table V illustrates the
improvement in the dc bus utilization as a result of the zero-
sequence injection, for various odd phase numbers. Carrier-
based PWM is also suitable for control of concentrated winding
machines, where in addition to the fundamental and zero-
sequence voltage, references also need to contain a certain
amount of specified low-order harmonic(s) aimed at providing
torque enhancement. In principle, carrier-based PWM can be ing configurations. This means that, as the number of phases
used without any problems for generation of multifrequency increases, the problem of devising an adequate space vector
output voltages with any number of components. PWM scheme becomes more and more involved. On the other
Space-vector PWM is undoubtedly the most popular method hand, space-vector PWM offers a good insight into VSI op-
as far as the three-phase inverters are concerned. However, eration. The available 2n switching configurations define 2n
as the number of phases of the inverter increases, the avail- space vectors that map into (n − 1)/2 planes (n is taken as
able number of inverter output voltage space vectors changes an odd number in this section). These planes correspond to
according to the law 2n , since there are 2n different switch- α−β and x−y pairs of components. Harmonics of the order
1900 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

TABLE VI
HARMONIC MAPPING INTO DIFFERENT PLANES FOR FIVE-PHASE AND
SEVEN-PHASE SYSTEMS (j = 0, 1, 2, 3, . . .)

Fig. 6. Double-sided supply of an n-phase machine with an open-end sta-

2jn ± 1(j = 0, 1, 2, . . .) map into the first, α−β plane, while tor winding structure using VSIs of m and l levels at two winding ends,
all the other harmonics map into the other (n − 3)/2 planes. respectively.
For example, for a five-phase VSI, harmonics of the order
10j ± 3(j = 0, 1, 2, . . .) map into the (single) x−y plane. An stator current ripple minimization. The same kind of equiva-
illustration of the harmonic mapping in five-phase and seven- lence exists in the PWM of multiphase VSIs. However, full
phase systems is given in Table VI (harmonics in bold denote dc bus utilization is not possible if purely sinusoidal output
those that are available for average torque production in con- voltages are required. In addition, zero-sequence injection,
centrated winding machines). Since machines with sinusoidal explicitly present in the carrier-based PWM and implicitly in
MMF distribution have very small impedance for x−y voltage the space-vector PWM, although giving the maximum achiev-
components, it is imperative that space vector PWM does able output voltage in the linear modulation region, does not
not generate such harmonics, since only the first harmonic is minimize the current ripple [111], [112]. Stator current ripple
available for the torque production. minimization requires a different approach to the selection of
If the goal is to generate purely sinusoidal voltages, then the the active space vectors, based on selecting the closest vectors
reference voltage space vector appears only in the α−β plane, to the reference with due regard for the reference voltage
while references in all x−y planes are zero. To get at the output amplitude (rather than selection purely based on the reference
desired sinusoidal voltages using space vector PWM, it is belonging to a given sector).
necessary to use in one switching period (n − 1) active vectors Multilevel inverters [Fig. 5(b)] for multiphase variable speed
neighboring the reference. Duty cycles can be calculated using drives appear to be a natural solution for high-power induction-
either analytical expressions (similar to the well-known ones motor drives, such as those aimed at electric ship propulsion
for a three-phase VSI) or online solution of an appropriate [118]–[120] or locomotive traction [121]. A rather different
system of equations. Sinusoidal output voltage generation using application, for microelectromechanical systems, is elaborated
space vector PWM has been reported for five-phase, seven- in [122], where a six-phase machine supplied form five-level
phase, nine-phase, and six-phase VSIs. If the multiphase VSI inverter is used. Configurations considered in the existing lit-
is used to supply a concentrated winding machine, then in erature are typically either H-bridge based or of neutral-point
addition to the reference voltage space vector in the α−β plane clamped (NPC) inverter type [118]–[125]. Another approach to
there will be nonzero reference voltage space vector(s) in other, realizing multilevel supply for a multiphase machine consists
x−y plane(s). These references are firmly tied to the reference of the use of an open-end stator winding machine, supplied
in the α−β plane with regard to amplitude, frequency, and at both ends from a two-level VSI. Such an approach has so
phase. Since the amplitude of the reference(s) in x−y plane(s) far been considered only in conjunction with asymmetrical six-
is considerably smaller than the amplitude of the reference phase machine [126], [127]. A set of four two-level three-phase
in the α−β plane, the desired reference voltages can still be VSIs is used, configured into two six-phase VSIs, connected
synthesized by selecting the same set of active space vectors at each side of the stator winding. Three-phase motor drives
as for the case of purely sinusoidal output voltage generation. with the open-end winding structure and double-sided sup-
Typically, an online solution to the set of n algebraic equations ply are currently being investigated extensively as a potential
is required to calculate application times of the (n − 1) active advanced solution for high-power applications. It is therefore
vectors and the zero vector. anticipated that more work will be done in conjunction with
Selection of the active vectors according to the described the applicability of this supply arrangement for high-power
principle (i.e., by considering only the reference in the α−β multiphase motor drives in the near future. In principle, two
plane) automatically restricts the achievable voltage in the inverter systems at the two sides of the open-end winding can be
other, x−y planes. While this is not a problem when only a sin- of the same or different number of levels, which can be two or
gle multiphase machine (with either sinusoidal or concentrated more. The concept is shown in Fig. 6 for an n-phase machine.
winding) is supplied, it means that it is not possible to generate Two inverters are of bridge structure and can utilize inverter
multifrequency output voltages required for normal operation legs, as shown in Fig. 5(a) and (b), as the basic building blocks.
of multimotor multiphase drives with single inverter supply, of
the type discussed in Section VII.
VI. F AULT -T OLERANT O PERATION
Carrier-based PWM with zero-sequence injection and space-
vector PWM are exact equivalents in the three-phase case, One of the most important properties of multiphase machines
which simultaneously enable both full dc bus utilization and is their ability to continue to operate after the loss of one
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1901

(or more) phase(s) without problems, something that cannot TABLE VII
IMPACT OF THE POSTFAULT STRATEGY ON MULTIPHASE INDUCTION
be achieved with three-phase machines. Under the faulted MOTOR DRIVE POSTFAULT OPERATION
phase(s) conditions, the available degrees of freedom that exist
in multiphase machines are effectively utilized for an appropri-
ate postfault operating strategy. Behavior of multiphase drives
in faulted operation and development of postfault operating
strategies, in conjunction with sinusoidal and concentrated
winding machines, is covered in [128]–[158], while similar
considerations related to the permanent-magnet machines of
modular design can be found in [170]–[179].
The analysis of the fault impact is most frequently based on
simulations using models of the type described in Section III.
Such relatively simple circuit modeling usually suffices for the
studies related to the design of postfault operating strategies. It
is also possible to use more complex machine representations torque enhancement by stator current harmonic injection is not
in fault studies, such as, the dynamic reluctance mesh model available any more for postfault operating conditions.
[137], or generalized harmonic analysis [138]. The impact of the postfault operating strategy on the drive
The basic idea of all fault-tolerant strategies is that a mul- behavior depends on both the operating point and on the
tiphase machine can continue to operate with a rotating field characteristics of the load torque (speed-dependent or speed-
as long as no more than (n − 3) phases are faulted. How the independent). Suppose that one phase is open-circuited. One
strategies are actually developed and implemented depends to possible criterion for postfault operation can be that the ma-
a large extent on the application of the multiphase drive. The chine’s torque remains of the same value as before the fault and
simplest case arises in multiphase machines with k windings of without any pulsations (strategy 1). While this is in principle
a subphases each, with k isolated neutral points. If one phase possible with multiphase machines, one inevitable consequence
fails, the complete a subphase winding, in which the fault has is the increase of the current amplitude in the remaining healthy
taken place, is taken out of service. For example, in the case phases over the prefault value, by a factor n/(n − 1). This
of a six-phase machine with two isolated neutrals, if one phase leads to an increase in the stator winding loss and may cause
fails the whole three-phase winding is taken out of service. The overheating if the operation is sustained for a prolonged period
machine can however continue to operate without any control of time. In addition, the semiconductor switches of the power
algorithm modification using the remaining healthy three-phase electronic converter must be able to withstand operation with
winding, of course with the available torque reduced to one an increased current level. Alternatively, one may wish to keep
half of the rating (assuming no increase in the current in the the stator winding losses at the prefault level (strategy 2). This
healthy phases). This is a perfectly satisfactory solution in, allows for an increase in the current

magnitude in the remaining
for example, traction applications [129], [130]. Similarly, the healthy phases by a factor of n/(n − 1), but simultaneously
15-phase induction machine for ship propulsion of [7] and [8], reduces the available output torque at any given speed. Finally,
configured with three five-phase stator windings, can continue one may wish to continue to operate the machine without
to operate with one or even two five-phase windings discon- any change of the currents in the remaining healthy phases
nected from the supply due to faults. Taking out of service the (strategy 3). This will lead to both stator winding loss reduction
whole a subphase winding results, in these applications, in a and torque reduction.
simple slowing down of a ship, train, or a vehicle. A qualitative impact of these three strategies on postfault
Such a simple postfault operating strategy does not suffice for operation is illustrated in Table VII for a multiphase induction
safety-critical applications, such as for example fuel pump for motor drive. It is assumed that one phase is open-circuited
“more-electric” aircraft. Single neutral point now gives better and that the load torque is proportional to the speed squared
characteristics in postfault operation than the configuration with (corresponding quantitative data for prefault slip of 0.01,
k isolated neutral points. This is so since the single neutral as a function of the machine’s phase number, are available
point enables utilization of all the remaining healthy phases in [16]).
for postfault control, while in the case of the isolated neutral While by and large postfault operating strategies require
points the complete faulty a subphase winding(s) is(are) taken software reconfiguration only, meaning that the faulty phase(s)
out of service. In this case, the control algorithm of the drive has is not supplied any more, control algorithm modification (soft-
typically to be reconfigured in the software, so that a new set of ware reconfiguration), can be combined with hardware recon-
current references is generated for the remaining healthy phases figuration if the reason for the loss of supply to a phase is not a
after disconnection of the faulty phase(s). Since it is desirable fault within the machine itself [131]. For example, in the case of
now to continue to operate with a rotating field although one (or a fault of one inverter leg in a six-phase motor drive, the phase
more) phase(s) is not available any more, the new set of currents that would be left without supply in postfault operation if only
becomes inevitably asymmetrical, meaning that the available software reconfiguration were applied gets connected to one of
degrees of freedom are used for postfault operation (i.e., the the remaining healthy inverter legs (so that two motor phases
x−y current components become of nonzero values). Hence, are now supplied form the same inverter leg) using additional
for example in a concentrated winding five-phase machine, semiconductors (triacs) for this reconfiguration [131].
1902 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

VII. M ULTIMOTOR M ULTIPHASE V ARIABLE -S PEED is three-phase and it is not in any way affected by the series
D RIVES W ITH S INGLE I NVERTER S UPPLY connection. Since flux/torque producing currents of the three-
phase machine flow through the six-phase machine’s stator
As already emphasized, flux and torque control of a mul-
winding, impact of the series connection on the efficiency of
tiphase machine requires only two currents regardless of the
the six-phase machine will be negligible provided that the six-
number of phases. How the remaining degrees of freedom can
phase machine is of a considerably higher rating than the three-
be utilized for torque enhancement in concentrated winding
phase machine.
machines, using stator current harmonic injection, and for de-
In contrast to this, in five-phase and asymmetrical six-phase
velopment of postfault operating strategies, has been addressed
configurations, both machines are affected by the series con-
in Sections IV and VI, respectively. An entirely different utiliza-
nection since flux/torque producing currents of each machine
tion of the remaining degrees of freedom is however possible
flow through both machines. Hence, the potential applicability
with multiphase machines having sinusoidal field distribution of this configuration is related to either two-motor drives where
(Table II). A certain number of machines can be connected in the two machines never operate simultaneously or where the
series, using an appropriate transposition in the connection of operating conditions are at all times very different (for example,
the machines’ phases, in such a manner that flux/torque pro- two-motor center driven winder drives). However, the efficiency
ducing (d−q) currents of one machine appear as nonflux/torque of such a two-motor drive will always be lower than in a
producing (x−y) currents for all the other machines and vice corresponding two-motor drive with two independent VSIs as
versa. The idea has been floated for the first time in [180] in the supply.
conjunction with two-motor five-phase series-connected two- It is also possible to connect the multiphase machines in
motor drive and is shown in Fig. 7(a) at a conceptual level for parallel instead of in series [Fig. 7(b)]. Using the same idea of
an n-phase supply. However, the origins can be traced back to phase transposition, independent control can again be achieved
[181], where a symmetrical six-phase machine was considered [199], [200]. However, parallel connection can only be realized
and the phases were supplied with two current components. when the system (VSI) number of phases is an odd prime
One of these was generating flux and torque, while the second number. While parallel connection looks more attractive than
one was creating forces required for bearing relief, without the series connection at first sight, it suffers from some serious
impacting on the machine’s flux and torque production. disadvantages that make it far inferior to the series connec-
The concept of series connection using phase transposition tion. First of all, the dc-link voltage in the series connection
enables completely independent control of all the machines al- is split across machines connected in series, while in paral-
though a single multiphase inverter is used as the supply. Vector lel connection each of the machines is subjected to the full
control is applied in conjunction with every machine in the dc-link voltage (dc-link voltage has to be increased by the same
group and the inverter is required to generate a multifrequency amount, regardless of whether machines are connected in series
output voltage for the supply of the complete drive system. Such or in parallel). Even more importantly, in series connection all
multimotor drive systems are possible for symmetrical multi- inverter current components are directly controlled and there-
phase machines with both an even and an odd supply phase fore known. In contrast to this, in parallel connection it is the
numbers and they have been investigated in a considerable inverter voltage components that are directly controlled, leading
depth in [182]–[198]. The number of machines connectable in to essentially uncontrollable stator x−y current components
series is at most w = (n − 2)/2 for even supply phase numbers in the machines of the group. The net result is that, although
and w = (n − 1)/2 for odd supply phase numbers. Whether or fully decoupled dynamic control of all the machines of the
not all the series-connected machines are of the same phase multimotor drive is possible using both series and parallel
number depends on the supply phase number. The possibility connection, it is only the series connection that holds some
of series connection exists also in the case of asymmetrical prospect for industrial applications.
machines and it has been so far developed for the asymmetrical
six-phase case and asymmetrical nine-phase case. The asym-
metrical six-phase supply enables series connection of either VIII. M ULTIPHASE M ACHINES IN
E LECTRIC -E NERGY G ENERATION
two asymmetrical six-phase machines or one asymmetrical six-
phase machine and a two-phase machine. The latter possibility Potential utilization of multiphase (in essence, six-phase)
has a drawback in that it requires the neutral of the drive system synchronous generators was considered extensively in the
to be connected either to the seventh inverter leg or to the 1970s and 1980s [201]–[208]. The perceived applications
midpoint of the dc link. On the other hand, the properties of the were related predominantly to uninterruptible-power-supply
former are practically the same as for the two-motor five-phase systems. A similar but permanent-magnet-based synchronous
drive. The concept is independent of the machine type and has generator configuration has also been analyzed more recently
been studied using induction, permanent-magnet synchronous, in conjunction with high-power high-speed systems for rectifier
and synchronous reluctance machines. load supply [209].
From the application point of view, two potentially viable In recent times, interest in the use of multiphase generators
solutions appear to be two-motor series-connected five-phase has reappeared, in conjunction with renewable electric-energy
(or asymmetrical six-phase, comprising two asymmetrical six- generating sources [210]–[215]. It needs to be emphasized
phase machines) and symmetrical six-phase two-motor drives. though that there is no evidence at present of any indus-
In the symmetrical six-phase configuration, the second machine trial uptake of such solutions. Permanent-magnet synchronous
LEVI: MULTIPHASE ELECTRIC MACHINES FOR VARIABLE-SPEED APPLICATIONS 1903

Fig. 7. Concept of multimotor multiphase drive systems with single inverter supply and independent control: (a) Series and (b) parallel connection.

multiphase generators [210]–[212] may become a viable solu- A somewhat specific use of machines with more than three-
tion for the direct-driven applications in wind-powered plants, phases is met in Lundell alternators, aimed at the generation of
while multiphase induction generators with multiple three- two independent dc voltages for automotive applications [216],
phase windings may have a prospect for applications in stand- [217]. Typically, the machine is designed with two independent
alone self-excited generating systems in rural areas [213] and three-phase windings which may [216] or may not [217] have
low-power hydroelectric plants [214]. strong magnetic coupling. However, since the outputs of the
1904 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 5, MAY 2008

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