International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 2, Jun 2021, pp. 685~694

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i2.pp685-694  685

Modeling and control of two five-phase induction machines

connected in series powered by matrix converter

Mohamed Nekkaz, Abdelkader Djahbar, Rachid Taleb

Laboratoire Génie Electrique et Energies Renouvelables (LGEER), Electrical Engineering Department, Hassiba
Benbouali University of Chlef, Algeria

Article Info ABSTRACT

Article history: The two five-phase Induction Motor (IM) drive system that is serially
connected is available in literature. The power supply of such system is
Received Dec 6, 2019 considered as a matrix converter (a direct AC to AC converter system) by
Revised Apr 27, 2021 three and five-phases outputs. The main benefit from the drive topology is
Accepted May 2, 2021 the sinusoidal source as a side current with a controllable input side power
factor. The decoupled control is achieved similarly to the inverter based drive
system. In this paper; the decoupled control of two five-phase induction
Keywords: machines serially connected and powered by a five-phase matrix converter as
well as analytical and simulation results are presented.
Five-phase induction motor
Five-phase matrix converter
Multi machines system
Vector control
This is an open access article under the CC BY-SA license.

Corresponding Author:
Mohamed Nekkaz
Electrical Engineering Department
Hassiba Benbouali University of Chlef
Laboratoire Génie Electrique et Energies Renouvelables (LGEER)
BP. 78C, Ouled Fares 02180, Chlef, Algeria
Email: [email protected]

1. INTRODUCTION
The three-phase induction machines are reported to have eminent recognized benefits including low
maintenance, reliability, simple construction, ruggedness, off-shelf availability as well as cheaper cost which
explain their widespread applications in numerous industries [1]. Furthermore, with the appearance of fast
and cheap power electronic switching gadgets, the control of induction machines became flexible and easier
in addition to the number of its phases that can be considered as a designed parameter that might be diverse.
The multi-phase motors (superior to three-phase) were extensively researched in literature. It has
been found that they have multiple benefits compared to three-phase machines, for instance, reduced torque
pulsations [2], [3], high density of torque [4], [5], stability and fault tolerance [6], [7] along low ripple current
[8]. Therefore, multi-phase order machines are usually appraised for niche application areas like
electric/hybrid electric vehicles, ship propulsion, robotics and electric aircraft. Exhausted reviews on the
research development of multi-phase motors are proposed in [9, 10].
One of the applications of multi-phase machines is their parallel connection and/or series
connection. This drive system is called a series-connected/parallel-connected two-motor drive system. This
drive system is allocated from a variable frequency and variable voltage supply (most commonly a power
electronic inverter) introduced in [11], [12]. The drive system is such that the motors are controlled
independently and can carry different loads, can run at different speeds without interfering with each other.

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686  ISSN: 2088-8694

The type of machines applied in the drive topology is also not specific [13]. The machines are controlled
using the vector control approach.
Considering that the vector controls of multi-phase motors need two stator current components thus,
the additional stator current component is applied to control additional motors [14]. So, by connecting in
series the multi-phase stator windings it will be possible to independently control every machine with supply
appearing as an individual multi-phase voltage source inverter [15]. A particular drive system that is
immersed by this concept is the parallel-connected/five-phase series two-motor drive, comprising the two
five-phase motors and provided by an individual five-phase voltage source inverter. This topology was
analyzed in substantial detail in [16], [17]. The multi-motor drive systems are disputed up to the present in
the literature with the use of their supply of multi-phase voltage source inverter; however, the matrix
converter was not tested for the drive of such topology.
This present paper deals with the feasibility of driving a five-phase series-connected two-motor
drive system with a direct AC to AC converter (matrix converter) [18]. The originality of this work lies in the
new solution of using a matrix converter for feeding two-motor drive topology by using modulation that
produces two significant frequency outputs from the matrix converter in order to control the two series-
connected five-phase motors. It is shown that the drive topology can be fed successfully using a matrix
converter [19]. The advantage that is offered by this solution is sinusoidal source side current, no use of
bulky DC link capacitors, controllable power factor and two-way power flow. The downside of this scheme
is the complex system with a large number of bi-directional power semiconductor switches [20]. The output
voltage is lower compared to the inverter-based system [21]. An analytical approach was used in this work to
advance and study the suggested modulation techniques with additional support by simulation results.

2. MODELING OF A FIVE-PHASE MATRIX CONVERTER

The topology of power circuits of three to five-phase matrix converters is represented in Figure 1.
The input is a three-phase fixed frequency supply over the grid system (50 Hz and 220 V) as well as fixed
voltage. The output is n-phase with variable frequencies and voltages. A tiny filter is needed at the input
source side and the switches are bi-directional for allowing regenerative operation of the load. The matrix
converter is modulated both using a carrier-based Pulse Width Modulation (PWM) [3] and Space Vector
PWM (SVPWM) [22].

Figure 1. Principle diagram of the Pentaphasées matrix converter

The work presented here of a simple carrier-based PWM scheme is derived in [5]. However, the
considered load was a simple R-L load. Furthermore, analytical treatments remained the same as that of [23]
as the input side was a three-phase. Nevertheless, the output side increased to five and consequently, the
investigation has been changed in order to fit the required number of the output phase. Thus, at the input, a
three-phase system is supposed.

𝑣𝑎 = |𝑉| + cos(𝜔𝑡)
{𝑣𝑏 = |𝑉| + cos(𝜔𝑡 − 2𝜋/3) (1)
𝑣𝑐 = |𝑉| + cos(𝜔𝑡 − 4𝜋/3)

Int J Pow Elec & Dri Syst, Vol. 12, No. 2, June 2021 : 685 – 694
Int J Pow Elec & Dri Syst ISSN: 2088-8694  687

Considering that the output voltages of the matrix converter are accompanied by a decoupled
frequency from the input voltages, the duty ratios of the switches were consequently calculated. Thus,
calculation of the desired five-phase output voltage duty ratios is done with a manner as the output voltage
remains unconstrains of the input frequency. To put it differently, the three-phase input voltages could be
regarded to be in a stationary reference frame while the five-phase output voltages may be regarded as in a
synchronous reference frame hence, in output voltages, the expression of the input frequency is absent. In
view of the above-mentioned information, a duty ratio of output phase j was selected as:

𝛿𝑎𝑖 = 𝑘𝑖 + cos(𝜔𝑡 − 𝜌)
2𝜋
{𝛿𝑏𝑖 = 𝑘𝑖 + cos(𝜔𝑡 − 3
− 𝜌) (2)
4𝜋
𝛿𝑐𝑖 = 𝑘𝑖 + cos(𝜔𝑡 − − 𝜌)
3

where ρ represents the phase shift at the input side and the input/output voltages are connected as:

𝑉𝐴 𝛿𝑎𝐴 𝛿𝑏𝐴 𝛿𝑐𝐴

𝑉𝐵 𝛿𝑎𝐵 𝛿𝑏𝐵 𝛿𝑐𝐵 𝑉𝑎
𝑉𝐶 = 𝛿𝑎𝐶 𝛿𝑏𝐶 𝛿𝑐𝐶 [𝑉𝑏 ] (3)
𝑉𝐷 𝛿𝑎𝐷 𝛿𝑏𝐷 𝛿𝑐𝐷 𝑉𝑐
[𝑉𝐸 ] [𝛿𝑎𝐸 𝛿𝑏𝐸 𝛿𝑐𝐸 ]

So, the phase output voltage can be acquired applying the above-mentioned duty ratios as:

𝑉𝐴 = 𝑘𝐴 |𝑉|[cos(𝜔𝑡) ∗ cos(𝜔𝑡 − 𝜌) + cos(𝜔𝑡 − 2𝜋/3) ∗ cos(𝜔𝑡 − 2𝜋/3 − 𝜌) + cos(𝜔𝑡 −

4𝜋/3) ∗ cos (𝜔𝑡 − 4𝜋/3 − 𝜌)] (4)
3
𝑉𝐴 = ∗ 𝑘𝐴 |𝑉|cos (𝜌) (5)
2

The (5), cos (ρ) is used to indicate that the output voltage is impacted by ρ. k A is described in
equation (18). Therefore, VA which is the output voltage is separated from the input frequency depending
solely on the amplitude |V| of the input voltage. k A is a reference output voltage time-varying modulating
signal for the output phase A including the wanted output frequency ω01 + ω02 , with ω01 representing the
first fundamental output frequency of the machine-1 which is called also the operating frequency of
machine-1 and ω02 is a second fundamental output frequency named also the operating frequency of
machine-2. ω01 is stated as m1 whileω02 is stated as m2 . The five-phase reference output voltages may then
be subsequently regarded as:

𝑘𝐴1 = 𝑚1 cos(𝜔01 𝑡)
𝑘𝐵1 = 𝑚1 cos (𝜔01 𝑡 − 2𝜋/5)
𝑘𝐶1 = 𝑚1 cos (𝜔01 𝑡 − 4𝜋/5) (6)
𝑘𝐷1 = 𝑚1 cos (𝜔01 𝑡 − 6𝜋/5)
{𝑘𝐸1 = 𝑚1 cos (𝜔01 𝑡 − 8𝜋/5)

𝑘𝐴2 = 𝑚2 cos (𝜔02 𝑡)

𝑘𝐵2 = 𝑚2 cos (𝜔02 𝑡 − 2𝜋/5)
𝑘𝐶2 = 𝑚2 cos (𝜔02 𝑡 − 4𝜋/5) (7)
𝑘𝐷2 = 𝑚2 cos (𝜔02 𝑡 − 6𝜋/5)
{𝑘𝐸2 = 𝑚2 cos (𝜔02 𝑡 − 8𝜋/5)

and:
𝑘𝐴 = 𝑘𝐴1 + 𝑘𝐴2
𝑘𝐵 = 𝑘𝐵1 + 𝑘𝐵2
𝑘𝐶 = 𝑘𝐶1 + 𝑘𝐶2 (8)
𝑘𝐷 = 𝑘𝐷1 + 𝑘𝐷2
{ 𝑘𝐸 = 𝑘𝐸1 + 𝑘𝐸2

Therefore, from (5), the output voltages are obtained as:

Modeling and control of two five-phase induction machines connected in series … (Mohamed Nekkaz)
688  ISSN: 2088-8694

3 3
𝑉𝐴 = [ ∗ 𝑘𝐴1 |𝑉| cos(𝜌)] cos(𝜔01 𝑡) + [ ∗ 𝑘𝐴2 |𝑉|cos (𝜌)] cos(𝜔02 𝑡)
2 2
3 2𝜋 3
𝑉𝐵 = [ ∗ 𝑘𝐵1 |𝑉| cos(𝜌)] cos (𝜔01 𝑡 − ) + [2 ∗ 𝑘𝐶2 |𝑉|cos (𝜌)] cos(𝜔02 𝑡 − 4𝜋/5)
2 5
3 4𝜋 3
𝑉𝐶 = [ ∗ 𝑘𝐶1 |𝑉| cos(𝜌)] cos (𝜔01 𝑡 − ) + [2 ∗ 𝑘𝐸2 |𝑉|cos (𝜌)] cos(𝜔02 𝑡 − 8𝜋/5) (9)
2 5
3 6𝜋 3
𝑉𝐷 = [ ∗ 𝑘𝐷1 |𝑉| cos(𝜌)] cos (𝜔01 𝑡 − ) + [2 ∗ 𝑘𝐵2 |𝑉|cos (𝜌)] cos(𝜔02 𝑡 − 2𝜋/5)
2 5
3 8𝜋 3
{ 𝑉𝐸 = [2 ∗ 𝑘𝐸1 |𝑉| cos(𝜌)] cos (𝜔01 𝑡 − 5
) + [2 ∗ 𝑘𝐷2 |𝑉|cos (𝜌)] cos(𝜔02 𝑡 − 6𝜋/5)

The discussion on the addition of the common-mode voltage and subsequent enhancement of the
modulation index is presented in [4].

3. FIVE-PHASE SERIES-CONNECTED TWO MOTOR DRIVE

Basic topology of five-phase series-connected two-motor drive systems is represented in the
Figure 1. The variable frequency (VF) source is supplying a five-phase IM (Motor 1) whose stator windings
are connected to another five-phase IM (Motor 2) through appropriate phase transposition. The rotors of the
two machines are independent and are connected to different mechanical loads [24].
Consequently, of the phase transposition that is represented in Figure 2, the inverter phase voltages
were connected to separate machine phase voltages by:

𝑣𝐴 = 𝑣𝑎𝑠1 + 𝑣𝑎𝑠2
𝑣𝐵 = 𝑣𝑏𝑠1 + 𝑣𝑐𝑠2
𝑣𝐶 = 𝑣𝑐𝑠1 + 𝑣𝑒𝑠2 (10)
𝑣𝐷 = 𝑣𝑑𝑠1 + 𝑣𝑏𝑠2
{ 𝑣𝐸 = 𝑣𝑒𝑠1 + 𝑣𝑑𝑠2

Generally, although both machines are of a five-phase, they might be different and as a
consequence, they might have different parameters. The index ‘1’ stands for the 1st IM that is immediately
connected to a five-phase inverter while the index ‘2’ denotes the 2nd IM which is connected past the 1st
machine throughout the phase transposition.
Thus, the voltage equation of the whole system is scripted in a compact matrix form as:

𝑑(𝐿∗𝑖)
𝑣 =𝑅∗𝑖+ (11)
𝑑𝑡

Where the 15th order of the system is used and

𝑣 𝑖𝑛𝑣 𝑖 𝑖𝑛𝑣
𝑣 = [ 0 ], 𝑖 = [ 𝑖𝑟1 ]; 𝑣 𝑖𝑛𝑣 = [𝑣𝐴 𝑣𝐵 𝑣𝐶 𝑣𝐷 𝑣𝐸 ]𝑇 ;𝑖 𝑖𝑛𝑣 = [𝑖𝐴 𝑖𝐵 𝑖𝐶 𝑖𝐷 𝑖𝐸 ]𝑇 ;
0 𝑖𝑟2
𝑖𝑟1 = [𝑖𝑎𝑟1 𝑖𝑏𝑟1 𝑖𝑐𝑟1 𝑖𝑑𝑟1 𝑖𝑒𝑟1 ]𝑇 ;𝑖𝑟2 = [𝑖𝑎𝑟2 𝑖𝑏𝑟2 𝑖𝑐𝑟2 𝑖𝑑𝑟2 𝑖𝑒𝑟2 ]𝑇

The decoupling transformation was applied to ease the phase-domain model. [25], [26] has given
Clark’s decoupling matrix in power-invariant transformation.

1 cos (α) cos (2α) cos (3α) cos (4α)

0 sin (α) sin (2α) sin (3α) sin (4α)
2
[c] = √ 1 cos (2α) cos (4α) cos (6α) cos (8α) (12)
5
0 sin (2α) sin (4α) sin (6α) sin (8α)
[√1/2 √1/2 √1/2 √1/2 √1/2 ]

By excluding the x-y, zero-sequence equation about the inverter as well as the zero-sequence
equation for rotor windings, over the two five-phase series-connected machines, the complete d-q model in
the stationary reference frame is written in the elaborated form as:

Int J Pow Elec & Dri Syst, Vol. 12, No. 2, June 2021 : 685 – 694
Int J Pow Elec & Dri Syst ISSN: 2088-8694  689

𝑖𝑛𝑣 𝑖𝑛𝑣
𝑑𝑖𝑑 𝑑𝑖𝑑𝑟1 𝑑𝑖𝑑
𝑉𝑑𝑖𝑛𝑣 = 𝑅𝑠1 𝑖𝑑𝑖𝑛𝑣 + 𝐿𝑠1 + 𝐿𝑚1 + 𝑅𝑠2 𝑖𝑑𝑖𝑛𝑣 + 𝐿𝑠2
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑖𝑞𝑖𝑛𝑣 𝑑𝑖𝑞𝑟1 𝑑𝑖𝑞𝑖𝑛𝑣
𝑉𝑞𝑖𝑛𝑣 = 𝑅𝑠1 𝑖𝑞𝑖𝑛𝑣 + 𝐿𝑠1 + 𝐿𝑚1 + 𝑅𝑠2 𝑖𝑞𝑖𝑛𝑣 + 𝐿𝑠2
𝑑𝑡 𝑑𝑡 𝑑𝑡
(13)
𝑑𝑖𝑥𝑖𝑛𝑣 𝑑𝑖𝑥𝑖𝑛𝑣 𝑑𝑖𝛼𝑟2
𝑉𝑥𝑖𝑛𝑣 = 𝑅𝑠1 𝑖𝑥𝑖𝑛𝑣 + 𝐿𝑠1 + 𝑅𝑠2 𝑖𝑥𝑖𝑛𝑣 + 𝐿𝑠2 + 𝐿𝑚2
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑖𝑛𝑣
𝑑𝑖𝑦 𝑖𝑛𝑣
𝑑𝑖𝑦 𝑑𝑖𝛽𝑟2
𝑖𝑛𝑣
{𝑉𝑦 = 𝑅𝑠1 𝑖𝑦𝑖𝑛𝑣 + 𝐿𝑠1 + 𝑅𝑠2 𝑖𝑦𝑖𝑛𝑣 + 𝐿𝑠2 + 𝐿𝑚2
𝑑𝑡 𝑑𝑡 𝑑𝑡

Corresponding rotor equations are:

𝑖𝑛𝑣
𝑑𝑖𝑑 𝑑𝑖𝑑𝑟1
0 = 𝑅𝑟1 𝑖𝑑𝑟1 + 𝐿𝑚1 + (𝐿𝑟1 + 𝐿𝑚1 ) + 𝜔1 (𝐿𝑚1 𝑖𝑞𝑖𝑛𝑣 + (𝐿𝑟1 + 𝐿𝑚1 )𝑖𝑞𝑟1 )
𝑑𝑡 𝑑𝑡
𝑑𝑖𝑞𝑖𝑛𝑣 𝑑𝑖𝑞𝑟1
0 = 𝑅𝑟1 𝑖𝑞𝑟1 + 𝐿𝑚1 + (𝐿𝑟1 + 𝐿𝑚1 ) − 𝜔1 (𝐿𝑚1 𝑖𝑑𝑖𝑛𝑣 + (𝐿𝑟1 + 𝐿𝑚1 )𝑖𝑑𝑟1 )
𝑑𝑡 𝑑𝑡
(14)
𝑑𝑖𝑥𝑖𝑛𝑣 𝑑𝑖𝑑𝑟2
0 = 𝑅𝑟2 𝑖𝑑𝑟2 + 𝐿𝑚2 + (𝐿𝑟2 + 𝐿𝑚2 ) + 𝜔2 (𝐿𝑚2 𝑖𝑦𝑖𝑛𝑣 + (𝐿𝑟2 + 𝐿𝑚2 )𝑖𝑞𝑟2 )
𝑑𝑡 𝑑𝑡
𝑖𝑛𝑣
𝑑𝑖𝑦 𝑑𝑖𝑞𝑟2
{ 0 = 𝑅𝑟2 𝑖𝑞𝑟2 + 𝐿𝑚2 + (𝐿𝑟2 + 𝐿𝑚2 ) − 𝜔2 (𝐿𝑚2 𝑖𝑥𝑖𝑛𝑣 + (𝐿𝑟2 + 𝐿𝑚2 )𝑖𝑑𝑟2 )
𝑑𝑡 𝑑𝑡

The electromagnetic torques are evaluated as:

𝑇𝑟1 = 𝑃1 𝐿𝑚1 (𝑖𝑑𝑟1 𝑖𝑞 − 𝑖𝑑 𝑖𝑞𝑟1 )

{ (15)
𝑇𝑟2 = 𝑃2 𝐿𝑚2 (𝑖𝑑𝑟2 𝑖𝑦 − 𝑖𝑥 𝑖𝑞𝑟2 )

The mechanical equation of the two machines is described as:

𝑑
𝐽𝑚1 Ω1 = 𝑇𝑟1 − 𝑇𝐿1 − 𝑓𝑚1 Ω1
𝑑𝑡
{ 𝑑 (16)
𝐽𝑚2 Ω2 = 𝑇𝑟2 − 𝑇𝐿2 − 𝑓𝑚2 Ω2
𝑑𝑡

𝑖𝐴 𝑣𝑎𝑠1 𝑣𝑎𝑠2
A
𝑖𝐵 𝑣𝑏𝑠1 𝑣𝑏𝑠2
B
𝑖𝐶 𝑣𝑐𝑠1 𝑣𝑐𝑠2
C
𝑖𝐷 𝑣𝑑𝑠1 𝑣𝑑𝑠2
D
𝑖𝐸 𝑣𝑒𝑠1 𝑣𝑒𝑠2
E
Stator 1 Stator 2

Figure 2. Representation of two five-phase IM in series with transposed stator phases

4. VECTOR CONTROL OF THE TWO-MOTOR DRIVE

As stated by (13)-(16), the phase transposition places the stator d– q axis windings of the 2nd
machine in series connected with the x– y windings of the 1st machine (for example into the x– y subspace of
the inverter). In addition, using standard indirect method of Rotor Flux Oriented (RFO) control, the
independent vector control of the two machines can be achieved. For the indirect RFO controller for the two
machines, it is of a similar structure in addition to an asymmetrical six-phase or three-phase machines [20].
Furthermore, as shown in Figure 3, only one difference is noted which is at the output, five instead of three-
phase current references are established. The two indirect RFO controllers that function parallelly gave at the
output phase current references (k = √2⁄5 of the two machines with references for x– y stator current
components that are zero for both machines as given by Figure 3.

Modeling and control of two five-phase induction machines connected in series … (Mohamed Nekkaz)
690  ISSN: 2088-8694

1
Figure 3. Indirect RFO controller for a five-phase induction machine (k1 = )
Tr i∗ds

∗ ∗ ∗
𝑖𝑎𝑠1 = 𝑘(𝑖𝑑𝑠1 𝑐𝑜𝑠𝜑𝑟1 − 𝑖𝑞𝑠1 𝑠𝑖𝑛𝜑𝑟1 )
∗ ∗ ∗
𝑖𝑏𝑠1 = 𝑘(𝑖𝑑𝑠1 𝑐𝑜𝑠(𝜑𝑟1 − 𝛼) − 𝑖𝑞𝑠1 𝑠𝑖𝑛(𝜑𝑟1 − 𝛼))
∗ ∗ ∗
𝑖𝑐𝑠1 = 𝑘(𝑖𝑑𝑠1 𝑐𝑜𝑠(𝜑𝑟1 − 2𝛼) − 𝑖𝑞𝑠1 𝑠𝑖𝑛(𝜑𝑟1 − 2𝛼)) (17)
∗ ∗ ∗
𝑖𝑑𝑠1 = 𝑘(𝑖𝑑𝑠1 𝑐𝑜𝑠(𝜑𝑟1 − 3𝛼) − 𝑖𝑞𝑠1 𝑠𝑖𝑛(𝜑𝑟1 − 3𝛼))
∗ ∗ ∗
{ 𝑖𝑒𝑠1 = 𝑘(𝑖𝑑𝑠1 𝑐𝑜𝑠(𝜑𝑟1 − 4𝛼) − 𝑖𝑞𝑠1 𝑠𝑖𝑛(𝜑𝑟1 − 4𝛼))

∗ ∗ ∗
𝑖𝑎𝑠2 = 𝑘(𝑖𝑑𝑠2 𝑐𝑜𝑠𝜑𝑟2 − 𝑖𝑞𝑠2 𝑠𝑖𝑛𝜑𝑟2 )
∗ ∗ ∗
𝑖𝑏𝑠2 = 𝑘(𝑖𝑑𝑠2 cos(𝜑𝑟2 − 𝛼) − 𝑖𝑞𝑠2 𝑠𝑖𝑛(𝜑𝑟2 − 𝛼))
∗ ∗ ∗
𝑖𝑐𝑠2 = 𝑘(𝑖𝑑𝑠2 cos(𝜑𝑟2 − 2𝛼) − 𝑖𝑞𝑠2 𝑠𝑖𝑛(𝜑𝑟2 − 2𝛼)) (18)
∗ ∗ ∗
𝑖𝑑𝑠2 = 𝑘(𝑖𝑑𝑠2 cos(𝜑𝑟2 − 3𝛼) − 𝑖𝑞𝑠2 𝑠𝑖𝑛(𝜑𝑟2 − 3𝛼))
∗ ∗ ∗
{ 𝑖𝑒𝑠2 = 𝑘(𝑖𝑑𝑠2 cos(𝜑𝑟2 − 4𝛼) − 𝑖𝑞𝑠2 𝑠𝑖𝑛(𝜑𝑟2 − 4𝛼))

For the establishment of the overall inverter current references, the currents in (17) and (18) are
summarized and the series connections with phase transposition are presented in Figure 3.

𝑖𝐴∗ = 𝑖𝑎𝑠1
∗ ∗
+ 𝑖𝑎𝑠2
∗ ∗ ∗
𝑖𝐵 = 𝑖𝑏𝑠1 + 𝑖𝑏𝑠2
∗ ∗ ∗
𝑖𝑐 = 𝑖𝑐𝑠1 + 𝑖𝑐𝑠2 (19)
𝑖𝑑∗ = 𝑖𝑑𝑠1
∗ ∗
+ 𝑖𝑑𝑠2
∗ ∗ ∗
{ 𝑖𝐸 = 𝑖𝑒𝑠1 + 𝑖𝑒𝑠2

In the frame of the stationary reference, the closed-loop phase current control is at the end used to
force the proper inverter output currents of (2) in order to trace the reference currents of (19). Supposing that
the idealistic current control is applied, one has the equivalence of the reference inverter currents (19) with
the proper inverter currents (2) therefore, machine currents are connected with reference machine currents of
(17) and (18) by:

𝑖𝑎𝑠1 = 𝑖𝑎𝑠2 = 𝑖∗𝑎𝑠1 + 𝑖∗𝑎𝑠2

𝑖𝑏𝑠1 = 𝑖𝑐𝑠2 = 𝑖∗𝑏𝑠1 + 𝑖∗𝑏𝑠2
𝑖𝑐𝑠1 = 𝑖𝑒𝑠2 = 𝑖∗𝑐𝑠1 + 𝑖∗𝑐𝑠2 (20)
𝑖𝑑𝑠1 = 𝑖𝑏𝑠2 = 𝑖∗𝑑𝑠1 + 𝑖∗𝑑𝑠2
∗
{ 𝑖𝑒𝑠1 = 𝑖𝑑𝑠2 = 𝑖𝑒𝑠1 + 𝑖∗𝑒𝑠2

In consideration of the right-hand part of (19) that includes in a stable-state operation two sets of
sinusoidal currents, generally distinct frequencies and amplitudes were added in accordance with the phase
transposition that is shown in Figure 3. Following (19), each of the five-phases of any of the two-machines

Int J Pow Elec & Dri Syst, Vol. 12, No. 2, June 2021 : 685 – 694
Int J Pow Elec & Dri Syst ISSN: 2088-8694  691

carries at the same time two sinusoidal current components. Furthermore, one directs the flux/torque
producing (α − β) components and the other is as a result of the other machine in series determining
parasitic (x − y) current components.

5. SIMULATION RESULTS
MATLAB/Simulink for the complete drive system was used for the developement of the simulation
model. The three-phase grid supply was supposed as 50 Hz and 400 V rms phase voltage and since the two-
motor drive was taken into account, the double voltage was assumed. For the 1st machine, the five-phase
reference voltage was selected while for the 2nd machine, a different set of five-phase reference was chosen.
The five-phase modulating signals were developed by including the two five-phase references as reported in
the transposition rule (7).
The simulation condition is presented as;
Motor-1 working at 1500 rpm rated speed (reference frequency of 50 Hz) and Motor-2 working at
half of rated speed of 750 rpm and a reference frequency of 50 Hz.
In the initial trial, the 1st machine operates at 1500 rpm then at -1500rpm at t=0.9s and the second
machine was running at 750 rpm of the speed reference. The load torque that were applied to the first and
second machines was 100 % of the rated torque at respectively t1 = [1 − 3] s and t 2 = [1.5 − 3.5] s.
In the third test, the first machine was running at 1500 rpm then at -1500rpm at t=0.9s and the
second machine speed reference was of 750 rpm. The load torque applied to the first machine was 100 % of
the rated torque at t1 = [1 − 3] s. In addition, the first machine was running at 1500 rpm and for the second
machine, it was 750 rpm, then -750 rpm at t 2 = [1.5 − 3.5] s the speed reference of the 2nd motor. The load
torque applied to the first and second machines is 100 % of the rated torque. It is evident from Figures (4, 5,
6 and 7) and Figures (8, 9, 10, 11, 12 and 13) that the loading step of the 2nd motor does not generate any
disturbance in the 1st motor’s speed and torque references traces.

600 2000
N1
1500
400 N2
1000
Speed N 1 (rpm)
voltage Va (V)

200
500

0 0

-500
-200
-1000
-400
-1500

-600 -2000
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0 0.5 1 1.5 2 2.5 3 3.5 4
times (s) Times (s)

Figure 4. Output voltage Va (V) Figure 5. Speeds of the first and second machine

400 200
w r ef
300
wr1
150
200
Speed wr2 (rsd/s)

wref
speed wr1 (rad/s)

100 100 wr2

0

-100 50

-200
0
-300

-400 -50
0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.5 1 1.5 2 2.5 3 3.5 4
Times (s) Times (s)

Figure 6. Speeds of the first machine Vs its reference Figure 7. Speeds of the second machine Vs its
value reference value

Modeling and control of two five-phase induction machines connected in series … (Mohamed Nekkaz)
692  ISSN: 2088-8694

10 4
T r1
8 T r2 3
6
2

Stator phase 'a'

4
torque (N)

1
2
0
0

-2 -1

-4 -2
-6
-3
-8
0 0.5 1 1.5 2 2.5 3 3.5 4 -4
times (s) 1.1 1.12 1.14 1.16 1.18 1.2 1.22 1.24 1.26 1.28 1.3
times (s)

Figure 8. Torques of the first and second machines. Figure 9. Currents is one phase of the first machines

200
2000 wref
N1
150
1500 N2 wr2
100
1000

speed wr2 (red/s)

Speeds (tr/min)

500
50

0 0

-500 -50

-1000 -100

-1500 -150
-2000 -200
0 0.5 1 1.5 2 2.5 3 3.5 4 0 0.5 1 1.5 2 2.5 3 3.5 4
times (s) times (s)

Figure 10. Speeds of the first and second machine Figure 11. Speeds of the second machine Vs its
reference value

4 4

3 3

2 2
Stator phase (A)
Stator phase (A)

1 1

0 0

-1 -1

-2 -2

-3 -3

-4 -4
1.9 1.95 2 2.05 2.1 2.15 2.2 2.25 2.3 2.35 2.4 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3

Times (s) Times (s)

Figure 12. Currentis one phase of the firest machines Figure 13. Currentis one phase of the second
machines

6. CONCLUSIONS
Three to five-phases matrix converters based five-phase series-connected two-motor drive structure
was presented in this paper. The carrier-based PWM techniques were used for the control of the matrix
converter. The matrix converter successfully drives the two five-phase series-connected induction machines.
This solution has an advantage of a higher power factor and sinusoidal source side current. We have obtained
a completely decoupled control by the independent vector control, which allowed decoupling the flux control
and the torque for the two machines, which leads to control several machines in series that can have
polyphase machines of different types

SIMULATION PARAMETERS
Parameters symbol Values Units
Stator resistance 𝑅𝑠 6.3 Ω
Rotor resistance 𝑅𝑟 10 Ω
Stator leakage inductance 𝐿𝑙𝑆 0.46 mH
Rotor leakage inductance 𝐿𝑙𝑟 0.46 mH
Mutual inductance M 0.42 mH
Stator rated Frequency 𝑓𝑠 50 Hz
Moment of Inertia 𝐽𝑚 0.01 Kg.m2
Number of Poles P 2
Rated Torque 𝑇𝑟 5 Nm

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  693

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BIOGRAPHIES OF AUTHORS

Mohamed Nekkaz was born in Chlef, Algeria, inFebruary 1986, He received the
Engineer and Masterdegrees in electrical engineering from the university hassiba ben
bouali of Chlef, Algeria, in 2009 and 2012, respectively. He is a Ph.D. student in
electrical engineering at university hassiba ben bouali of Chlef since 2013. His
scientific work is related to electrical machines, and drives and Power Electronics. His
present research interests include multi machine drives, degraded mode, matrix
converter and power quality.
Email: [email protected]

Professor Abdelkader Djahbar was born in Chlef, Algeria, in February 1970. He received the
Eng. and M.Sc. degrees in electrical engineering from the National Polytechnic school of
Algiers, Algeria, in 1995 and 1998, respectively, and the Ph.D. degree in electrical engineering
from the Mohamed Boudiaf University of Science and Technology of Oran (USTO), Algeria, in
2008 and the Habilitation to lead Researches in 2012 at the USTO University, Algeria. In
December 2002, he joined the electrical engineering department of Hassiba Ben Bouali
Univesity of Chlef, Algeria. Since August 2012, he is Associate Professor in the
samedepartment. He is associate researcher in the LMOPS laboratory of the Université de
Lorraine and Centrale Supélec since April 2014 and researcher at the LGEER laboratory of
UHBC since 2013. His scientific work is related to electrical machines and drives and Power
Electronics. His present research interests include multi machine drives, matrix converter and
power quality. Email: [email protected]

Professor Rachid Taleb received the M.S. degree in electrical engineering from the Hassiba
Benbouali University, Chlef, Algeria, in 2004 and the Ph.D. degree in electrical engineering
from the Djillali Liabes University, Sidi Bel-Abbes, Algeria, in 2011. Currently he is a professor
with the Department of Electrical Engineering, Hassiba Benbouali University. He is a team
leader in the LGEER Laboratory (Laboratoire Génie Electrique et Energies Renouvelables). His
research interest includes intelligent control, heuristic optimization, control theory of converters
and converters for renewable energy sources.
E-mail: [email protected]

Int J Pow Elec & Dri Syst, Vol. 12, No. 2, June 2021 : 685 – 694