General Pole Number Model of the Brushless Doubly-Fed Machine

Michael S , Boger, Student Member, IEEE Ruqi Li, Member, IEEE

Alan Wallace, Senior Member, IEEE Electrical Division
RenC S e , Senior Member, IEEE Failure Analysis Associates, Inc.
Department of Electrical and Computer Engineering 149 Commonwealth Dr.
Oregon State University Menlo Park, CA 94025 U.S.A.
Corvallis, Oregon 97331 U.S.A.

Abstroct-TIie brushless doubly-fed machine b receiving geometry exclusively [8,9]. Thus, there is a need to develop
attention as a contender for several niche applications. In some a model which is appropriate for any combination of pole-pair
cases the speed ranges of these applications appear to be more numbers. The expanded choice of pole combinations allows
readily met by judicious selectionof the polepair numbers of the for flexible designs enabling tailoring of the drive to custom
stator phase windings. In order to compare dierent proposed
speed ranges and torque requimments. The analysis of the
polepair confgurations and to help in the development of
3-1 machine results in a very simplified model because there
specific designs, a general analytical model, in both dynamic and
steady state forms, is presented. This model supersedes previous am only four rotor ncsts (see Fig. 2) which, when analyid
analyses which are restricted to the 3/1 polepair combmation of in a two axis reference fiame,results in immediate orthogon-
early laboratory machina. The new model U alp0 completely alities.
valid for both positive and negative control voltage sequences. The present paper extends the modeling technique to any
The increased modelling flexibiiitp enables sound e ~ b t i o n of
s number of poles, enabling accurate design of new proposed
the drive converter ratings, the reduction of which is the key to BDFMs. The model shows the inclusion of tem in the
the economic advantage of these machines. An example of the mutual inductance parameters which did not appear in the 3-1
correlation of the performance predictions and test results model because of cancellation due to the orthogonal axes of
encourages use of this new model. the 3-1 machine’s rotor. Without this model, there can only
be rough calculations based on classical induction motor
equations which do not adequately define the relationship
I. ~NTRODUCRON

Recently, there have been noticeable interest and research

activities in using brushless doubly-fed reluctance machines
[1,2] and brushless doubly-fed induction machines [3,4] for
adjustable speed drives (ASD) and variable speed generators
(VSG).The brushless doubly-fed induction machine (BDFM)
shows great promise in reducing the rating of the power
Cage-Rotor
electronic converter needed for ASD and VSG applicationsto (a1 Indudion Motor
a small fraction of the machine rating. Early work dealt with
two separate wound rotor induction machines cascaded to-
gether [ 5 ] to provide speed control. The BDFM [6,7]elimi- 3-phase
nates the need for a wound rotor induction machine, and udjustobls
frrqumcy
when used with a bidirectional power electronic converter,
has the ability to provide precise speed control by virtue of I
its two stator windings and modified cage rotor. The BDFM
shows promising results in automotive, wind generation, and
pump drive applications, as well as other variable speed niche
applications (31. Figure 1 shows a typical BDFM schematic
in comparison with that of an equivalent induction motor
drive.
Stator pole-pair combinations investigated to date include
2/1, 3/1, and 6 / 2 , with 2, 3 and 6 power winding pole-pairs
and 1 and 2 control winding pole-pairs, respectively. Two
axis model development, however, has addressed the 3-1 Fig. 1. Induction machine and BDFM drive configurations.

0-7803-1993-1/94 $4 00 0 1994 IEEE 67

LDUlUIeu
The stator impedaace matrices are similar to regular
induction motor matrices as derived in [8]. The power
winding stator matrix is shown in (2); the control
Winding matrix is similar. The rotor impedance matrix is
common partitioned into sub-matrices that show the impedances of all
Endring similar loops in a nest as shown in (3). Since there are m
loops per nest, the rotor partitioned impedance matrix is
square of dimension m. Each partitioned matrix is square of
dimension n. Loops are numbered starting from the outside
Fig. 2. Rotor configurationof the BDFM of a nest and working inward. The rotor cage of n bars, if
present, would be loop #l in each of the nests. The combi-
between two stator windings sharing a common rotor. In nation of this rotor impedance matrix with the stator imped-
addition, this model can be easily extended to handle cage- ance matrix forms an electrical system of order 6+mn.
less BDFM rotors. This general pole model, in two axes,
will result in a reduced simulation time due to a reduction of
the number of state equations needing to be solved in compar-
-1L D
2 " ' 1
ison to a detailed simulation [ 101. A power invariant direct- -1L
2 "
D
'
-1L D
2 " '
quadrature axes (dq) transformation is applied in the rotor
reference frame to the voltage equations to arrive at the
simplified model. A companion paper [ 111 shows the results I - ,LL D
2 - '

of simulations comparing the performance of a 311 machine

with a different pole pair numbered machine.

11. ~ U C I ' U R EAND MODELDEVELOPMENT

OF THE B D W

Consider a BDFM with Pp pole-pairs in the power winding

and P, pole-pairs in the control winding. The windings are A typical partitioned rotor impedance matrix is shown in
assumed sinusoidally distributed and Pp. # Pc to avoid direct (4). The primed quantities arise from the presence of the
transformer coupling. The rotor consists of n = (Pp+P,) common bar impedance of the caged rotor. The resistance
nests each with m loops in a configuration due to Broadway term is the resistance of the bar and the inductance term is
[7] as illustrated in Fig. 2. This nested isolated loop struc- the slot leakage associated with the common bar. The
ture allows the indirect coupling of the two stator windings to common bar terms vanish if a cage-less rotor is used. For
take place efficiently by constraining the induced rotor other rotor impedance matrices, replace the 11 subscript with
currents. the particular impedance to be evaluated, ij.

A. System Equations in Machine Variables

The following derivation assumes balanced 3 phase wind-

ings and considers only the fundamental component of the -w4
stator phase to rotor loop mutuals. Cross coupling of the
stator phases occurs only through the rotor. The general (4)
voltage equation can be expressed as follows, with nomen- The mutual inductance between the power winding and
clature given i t the end of the paper. rotor can be part;:ioned into a row of matrices which repre-
sent the mutual of the stator winding with all of the similar
loops of all nests. The mutual impedance matrix between the
power winding and the rotor, (9,uses the pole pairs of the
68
winding and the mechanical angle to resolve the necessary which will subsequently be combined to yield the desired
impedances. model.

A typical term in the mutual inductance matrices is shown

as (6) in whch the pole-pair number, P, will be either Pp or
P, depending on which winding is under consideration. A
nominal angle, a, can exist between the power winding
(9)
A-phase reference axis and the control winding A-phase axis
whch accounts for the physical displacement of the phases
along the circumference of the motor. The row dictates the
value of k to use depending on which phase is being coupled. Each rotor loop must be taken into account in the transfor-
The value o f j dictates coupling to a specific rotor loop and mation. However, because of the alignment of the loops
is the column index. within the nests, the transformation can be simplified. Thus,
each rotor loop is transformed into a set of d-axis and q-axis
coils. All of the d-axis coils can be summed on the rotor by
construction of the rotor transformation matrix as a parti-
tioned row matrix, (lo), to yield an equivalent single d-axis
rotor coil to minimize the computation requirements; similar-
ly for the q-axis coils. A typical term of the rotor loop
transformation matrices is shown as (11). First row terms
B. DQ Transformation are cosine functions; second row terms are sine functions.
Each rotor transformation matrix uses the appropriate number
The dq reference frame power invariant transformation of pole pairs.
matrices are developed for transformation to the rotor
mechanical reference frame. Transformation to any other
reference frame will not eliminate the time varying mutual
inductances. The mechanical rotor angle is used to account
for the different wave numbers impressed on the rotor due to
the different poles of the windings. This transformation
simplifies the equations of the electrical system, resulting in
6 electrical equations. The rotor is assumed initially aligned j E [ O , 1, -, (n-l)]
with the power winding axis for ease of computation without
loss of generality. Reference [12] presents a method of The matrix transformation multiplication to be performed
developing a general phase transformation matrix which is is shown in (12). The transformation of the stator windings
adaptable to both power and control winding transformations. is straightfoward. However, transformation of the stator to
A typical term of these matrices is shown, (7), neglecting the rotor mutual inductances presents a difficulty because of the
zero sequence knns due to analysis of balanced winding form of the stator and rotor transformation matrices. A
voltages whch results in a rectangular matrix of dimension closed form solution is found due to symmetry based on the
2 by 3. In (7), the value of k dictates a column quantity. sum of the pole-pairs of the two windings as reflected in the
The second row of the transformation is composed of sine values of the parameters used in the model.
functions.

(7)

Using the principle of superposition, the rotor voltages and (12)

currents are broken into components, (8) and (9), which are
the result of influence from the power and control windings The rotor voltages and currents n e 4 to be combined to
separately, This introduces two more states in the rotor eliminate the excess states introduced earlier. Equation (13)
shows how an arbitrary abc reference frame variable on the

69
rotor can be combined from the earlier separation. The
system of equations in (13) is an over determined system with T, = MpPp(iwib - i+iq) - McPc(iFi& + idciqr) (17)
only two independent equations. Extracting two acceptable
solutions yields (14)as the describing equations for the rotor
quantities. D. Dynamic Model

Obviously there is no rotor applied voltage, so that

combining the rotor simplifying equations, (14), along with
the results of the transformation product, (12), a dynamic
machine voltage model results, (18).
The stator inductances, (19), are as expected from standard
dq analysis of an induction machine.

C. Torque Equation

The torque equation has been determined assuming a linear The other variables within (18) are found through simplify-
magnetic system. The basis for developing the torque equa- ing the series of n terms that results from the transformation
tion, the abc reference Frame equation (15),is shown below. product (12). This leads to a sum of multiplications between
The square partitioned impedance matrix allows the summa- sinusoids which can be simplified based on the symmetry of
tion of all torques developed due to the coupling From one the problem. After simplifying, the mutual inductances in the
winding, through the rotor, to the other winding. equivalent model are as shown in (20).

Utilizing the transformation matrices, the dq reference

frame torque equation is found by the product shown in (16).
The additional rotor current constraints, (14) are used to
simplify the equation resulting in the final simplified form The evaluation of the rotor resistance and inductance is as
shown in (17). shown in (21). It is significant to note that the cosine terms
in (21) reduce to zero with the 3/1 pole-pair architecture
analyzed previously [a]. The value of the cosine terms can
assume either positive or negative values depending on the
pole pair combinations which shows the sensitivity of the
BDFM to rotor leakage inductance.

-vW’ rp + LpDt PparLp 0 0 PparMp i,

MpDi
-Ppo,Lp rp + LpD, 0 0 -PparMp MpD, i4
vdP
0 0 rc + LcD, PcorLc -PcorMc i ,
McDI
vF =

V&
0 0 -PearLC rc + LcDt -PeorMc -McD, id,
M p Dt 0 MCD, 0 rr + L,D, 0 iw
M p Dl 0 -MA 0 r, + LrD, i&
 I

- (
2cos -Pp-2;)L:1)
r' I

E. Steady S m e Model

The steady state analysis assumes that the machine is

synchronized so that the Frequencies of the windings in the
two axes are constrained by (22) allowing either positive or
negative sequence control voltage. Maintaining this con-
straint enables power to be transferred from one winding to
the other through the rotor. I I
(up - 'pur) f ('cur 7 0,) (22)

The steady state voltages, after transformation, can be

substituted into the dynamic model to result in three voltage
equations that describe the steady state performance of the
BDFM, (23)-(25). The first sign on the control voltage
s i p f i e s positive sequence control voltage, the second sign
negative sequence voltage. The rotor current frequency is
given by either side of (22), the left side chosen for ease of
analysis. The torque equation, expressed in the real and Fig. 3. BDFM m d y a t e model in the rotor reference h m e .
imaginary parts of the rms currents, is given by (26).

vw = (rp +iupLp)Zw
+bPMPZqr (23) F. Sitnuidion Resulrs

Steady state performance predictions can be made using the

steady state model in this paper. In order to examine the
applicability of the model, simulations of the s d y state
performance of a 5 hp, 311 pole-pair, laboratory machine
were prepared for comparison with available test results.
These comparisons are shown in Figs. 4-6. The parameters
of the machine required for the simulation are given in the
appendix. The load being driven in this example is a
representation of a simple fan or centrifugal pump character-
istic in which the torque is a function of the square of the
shaft speed. For this machine, the two extreme load torques
The steady state equivalent model can be represented by are 13.75 N-m at 587 rimin and 31.5 N-m at 867 dmin.
three circuits
in the rotor reference frame where the voltages The correlation betwwetn predictions and the test results for
and currents are at the rotor current frequency and effects the stator winding currents and the power winding power
from the windings are represented by current controlled factors, shown in Figs. 4 and 5 , respectively, demonstrates
voltage sources as shown in Fig. 3. the use of this model as a post-design dssessment tool. The
predictions of the m o t x efficiency, Fig. 6,show a substantial
but consistent optimism compared to the test data. It should
be noted that the measured values are line-input to shaft-

71
 "I predicted 100

80 U,....
predicted
a*""
U .U ..... ~ "-0"
power winding current
'Ot c

E 60 + e p
%
0
c
P)
equivalent 8-pole
.-0
E 40 induction motor drive
P)

20

2t
- 0 ~- ~

600 700 800 900 600 700 800 900

speed (r/minl speed (r/min)

Fig. 4. Comparisonof predicted and measured stator cumnts. Fig. 6. Comparison ofpredicted a d mumred motor cfficienciea.

III. CONCLUSIONS
By a combination of involved transformation techniques
and circuit theorem, the original electrical system of the
BDFM, which is of order 6 + m , has been d d to a
test minimumpossible equivalent system of order 6. The reduced
system of equations nsults in substantially decnased simula-
..v tion times.
a4
0"' The model yields highly acceptable correlation of the
laboratory test phase currents and power factor for the 311

a2
O 1
t 6k ' 700
I I I
800
I I
900
pole-pair machine. Future work will investigate the correla-
tion for the other pole-pair configurations. Additional
analysis is required to develop techniques to amount for core
and stray load losses in the machine.
speed (rlmin) Analysis of the general pole number model showed how
the values of the rotor parameters can be affected by the
Wg. 5 . Comparison of predicted and measured power factor of the power wmmon bar impedance. As a consequence, if a Certain pole
winding. pair combination is to be used, evaluating the effect of the
common bar impedance may dictate the use of a cage-less
output quantities which will contain converter loss, machine rotor instead of the standard caged rotor for future BDFM
core loss, machine stray load loss, and bearing friction and designs.
windage loss. None of these losses are currently included in
the model. Methods are available for estimating converter,
bearing, and windage losses. However, in a machine of such IV. NOMENCLATURE
complex electromagnetic interactions as the BDFM, identifi-
cation of wre and stray load losses represents a substantial A, Main Variables
challenge. Also shown in Fig. 6 for comparison is the
measured efficiency of a commercially produced 8-pole C transformation matrix.
inductor motor VSG. Dt differentiation with ,espect to time.
i insta~bm~uscurrent.
I rms current.
j imaginaryoperator.

72
 L inductance. REFERENCES
L' common bar inductance.
m number of rotor loops. Y.Liao and C. Sun, "A Low Cost, Robust Sensorless
M mutual inductance. Controlled Scheme for Doubly-Fed Reluctance Motor
n number of rotor nests = PP + P p . Drives," LEEE Industry Application Society Annual
P number of pole-pairs. Meeting Confeenee Record, pp. 4 3 7 4 , 1993.
r resistance. Y. Xu and Y. Tang, "A Novel Wind Power Generat-
r' common bar resistance. ing System Using Field Orientation Controlled Dou-
Te electrical torque. bly-Fed Brushless Reluctance Machine, " IEEE Indus-
V instantaneous voltage. try Application Society Annual Meeting Confeence
V rms voltage. Record, pp. 408-13, 1992.
w angular frequency. A.K. Wallace, R. SpBe, and H.K. LUW, "The Poten-
speed of the rotor. tial of Brushless Doubly-Fed Machines for Adjustable
Z impedance matrix. Speed Drives,' LEEE Industry Application Society
Z ' transformed impedance matrix with excess states. Pulp and Paper Industry Annual Confkrence, Seattle,
June 20-22, 1990.
C. Brune, R. SW, and A. K. Wallace, "Experimental
B. Subscript and Superscript Variables Evaluation of a Variable Speed, Doubly-Fed Wind
Power Generation System, " IEEE Industry Application
C control winding. Society Annual Meeting Conference Record, pp.
d d-axis quantity. 480-7, 1993.
i rotor loop index. A. Kusko and C. B. Somuah, "Speed Control of a
i rotor loop index. Single-Frame Cascade Induction Motor with Slip
1 leakage quantity. Power Pump Back," LEEE Trans. on Industry Appli-
P power winding. carions, Vol. IA-14, No. 2, pp. 97-105, AprilMay
4 q-axis quantity. 1978.
r rotor quantity. L.J. Hunt, "A New Type of Induction Motor," J. of
S stator quantity. IEE, 39, pp. 648-667, 1907.
T transpose of a matrix. A.R. Broadway and L. Burbridge, "Self-cascaded
Machine: A Low Speed Motor or High-Frequency
Brushless Alternator,' LEE Roc., 117(7), pp. 1277-
APPENDIX 1290, 1970.
R. Li, A.K. Wallace, R. SF&, and Yixin Wang,
The following parameters are derived from a 5 hp BDFM 'Two Axis Model Development of Cage Rotor Brush-
currently being used as a laboratory prototype. less Doubly-Fed Machines," LEEE Trans. on Energy
Conversion, Vol6(3), pp.453-60, September 1991.
r = 0.672 Q, rc = 0.924 fl R. Li, A.K. Wallace, and R. Sp&, 'Dynamic Simula-
,(, = 66.5 mH, L, = 378.4 mH tion of Cage Rotor Brushless Doubly-Fed Machines, "
rr = 164 pQ, L, = 42.9 pH IEEE Trans. on Energy Conversion. Vol 6(3), pp.
MP = 839 p H , M, = 3.195 mH 445-52, September 199 1.
a = 70.1 deg. R. S e , A.K. Wallace, and H.K.Lauw, "Simulation
of BIUS~~CSS Doubly-Fed Drives," IEEE Industry
Application Society Annual Meeting, San Diego, 1989.
ACKNOWLEDGEMENTS A.K. Wallace, R. Sp&, and M.S. Boger, "Investiga-
tion of Appropriate Pole Number Combinations for
The authors wish to thank the Electric Power Research Brushless Doubly-Fed Machines Applied to Pump
Institute, Bonneville Power Administration, and Puget Sound Drives," LEEE Industry Applicarions Society Annual
Power and Light for their financial support for this project. Meeting, Denver, 1994.
A.K. Wallace and A. Wright, "Novel Simulation of
Cage Windings Based on Mesh Circuit Model," LEEE
PES S u m " Meeting and EHV/UHV Con$, Vancou-
ver, Canada, July 15-20, 1973.
73