A Novel Six-Phase Series-Connected Two-Motor

Drive with Decoupled Dynamic Control

Martin Jones, Slobodan N. Vukosavic, Emil Levi, Atif Iqbal
School of Engineering
Liverpool John Moores University
Liverpool L3 3AF, UK
e.levi@livjm.ac.uk
control of the two machines, although a single six-phase
inverter supply is used. The six-phase series-connected twomotor drive is one particular case of a much wider concept,
which is applicable to any phase number greater than or equal
to five. It relies on the fact that any n-phase ac machine,
regardless of the type, requires only two currents for
independent flux and torque control. A general study for all
the possible even phase numbers has been reported in [6]
while a corresponding study for odd phase numbers can be
found in [7]. Studies reported in [6] and [7] were based on
physical and intuitive reasoning and they provide verification
of the concept by simulation. Detailed mathematical models of
series-connected multi-phase multi-motor drive systems of
[6,7] do not exist at present, except for the two-motor fivephase drive [8]. Moreover, the concept has never been proved
before by experimental investigation.

AbstractThe paper proposes a novel six-phase two-motor drive,

consisting of a six-phase voltage source inverter (VSI), a sixphase induction machine and a three-phase induction machine.
Stator windings of the two machines are connected in series in an
appropriate manner. This enables full decoupling of the
dynamics of the two machines by means of vector control.
Detailed mathematical modeling of the system is performed and
the set of d-q equations, describing the two machines connected in
series to a six-phase VSI, is developed. The resulting model
clearly shows the possibility of independent vector control of the
two machines, although a single VSI is used as the supply. An
experimental rig is constructed and existence of the decoupled
dynamic control of the two machines supplied from a single VSI
is fully verified by extensive experimental testing.
Keywordsmulti-motor drives, multi-phase machines, sixphase, vector control.

I.

The purpose of this paper is twofold. In the first part of the

paper, a rigorous mathematical modeling of the six-phase
series-connected two-motor drive system is reported. The final
result is a model in the rotor flux oriented reference frames of
the two machines, which confirms the existence of means for
independent rotor flux oriented control of the two-motor drive
system. The second part of the paper at first describes the
experimental rig, constructed with the aim of verifying the
existence of the completely decoupled dynamic control of the
two machines. This is followed by presentation of results
collected from the rig for relevant transients (acceleration,
deceleration, reversing, and step loading). The complete
decoupling of the dynamics of the two machines is thus
confirmed for the first time experimentally.

INTRODUCTION

Six-phase ac motor drives are often considered as a viable

solution when reduction of the inverter per-phase rating is
required due to the high motor power. Although the basic
concept is old [1], there has been an upsurge in the interest in
this type of ac motor drive in recent time [2]-[5]. The standard
choice is a six-phase induction or synchronous machine with
two three-phase windings on stator. The spatial displacement
between the two three-phase windings is 30 (so-called quasi
six-phase machine) and neutral points of the two windings can
be isolated or connected. The main reason for selecting the
asymmetrical six-phase winding instead of the true six-phase
winding (60 displacement between any two consecutive
phases), elimination of the sixth harmonic from the torque [1],
was important in the pre-PWM era of VSI control. It is
nowadays somewhat irrelevant since good inverter current
control in PWM mode eliminates low order harmonics from
the inverter output currents. A true six-phase induction motor
is used in the work described here, with the underlying idea of
realizing a two-motor drive system with independent vector
control, while utilizing a single six-phase VSI as the supply.

II.

The two-motor drive, analyzed in the paper, is shown in

Fig. 1. It consists of a six-phase VSI (capital letters A,B,F),
a six-phase and a three-phase ac machine. Stator windings of
the two machines are connected in series, Fig. 1. The sixphase machine has the spatial displacement between any two
consecutive stator phases of 60 (i.e. = 2/6). As already
noted, the type of the ac machine is irrelevant as long as the
mmf distribution in the air-gap is sinusoidal. Both machines
are for the modeling and experimentation purposes taken here
as induction motors. Spatial displacement between any two
consecutive phases of the three-phase machine is 2 = 120.

The two-motor drive system is realized by connecting in

series with such a six-phase induction machine, the second,
three-phase induction machine. The appropriate series
connection of the stator windings of the two machines should
enable, according to [6], independent and decoupled vector

IAS 2004

CONFIGURATION OF THE TWO-MOTOR DRIVE

639

0-7803-8486-5/04/$20.00 2004 IEEE

Inverter phase-to-neutral voltages are related to individual

machine phase voltages through (Fig. 1)

v A vas1 + vas 2
v + v
v B bs1 bs 2
v vcs1 + vcs 2
= C=
,
v D vds1 + vas 2
v E ves1 + vbs 2

v F v fs1 + vcs 2

v INV

Six-phase VSI

i s1

i s2

where

v = v INV

0 0

Figure 1. A six-phase series-connected two-motor drive system.

compared to the form they take for a single three-phase motor

drive. These sub-matrices are determined with
R s2
L s2
R
L
R s2 ' = s2
L s2 ' = s2

, (7)
R s2 R s2
L s2 L s2
L
L rs 2 ' = [L rs 2 L rs 2 ] = L Tsr 2 L Tsr 2 . (8)
L sr 2 ' = sr 2
L
sr 2

i as 2 i A + i D
= i bs 2 = i B + i E . (2)
i cs 2 iC + i F

i r1 i r 2

Rotor current vector matrices of (3) are

i r1 = iar1 ibr1 icr1 idr1 ier1 i fr1 T

i r 2 = [i ar 2

ibr 2

i cr 2 ] .

].
T

(
(
(
(
(
(

B. Application of the Decoupling Transformation

Let the correlation between original phase variables and
new variables be given with f
= C ( 6) f
, where C(6) is

(4)

(5a)

1
0

(5b)
C ( 6) =

L + L ' L
s1
s2
sr1
d
L r1
+ L rs1
dt

0
L rs 2 '

INV

L sr 2 ' i INV

0 i r1
L r 2 i r 2

2 x 1

6 y 0
0 + 1 2

0 1 2

cos
sin
cos 2
sin 2
1 2
1 2

cos 2
sin 2
cos 4
sin 4
1 2
1 2

cos 3
sin 3
cos 6
sin 6
1 2
1 2

cos 4
sin 4
cos 8
sin 8
1 2
1 2

cos 5
sin 5
cos 10 .

sin 10
1 2

1 2

(11)

The corresponding matrix for the three-phase system is

. (6)

C (3) =

1
2
0
3
0 1 2

cos 2
sin 2
1 2

cos 4
sin 4 .
1 2

(12)

Application of the transformation matrix (11) in

conjunction with the first two rows of (6) and application of
(12) in conjunction with the third row of (6) lead to the

Primed symbol in (6) denotes sub-matrices that have been

modified through the series connection of Fig. 1, when

IAS 2004

abcdef

the power-invariant transformation matrix

i r1
R r 2 i r 2

)
)
)
)
)
)

i Aiar1 + i B ibr1 + iC icr1 + iD idr1 + i E ier1 + i F i fr1 sin 1 +

sin(
5
)
+
+
+
+
+

+
i
i
i
i
i
i
i
i
i
i
i
i

1
F ar1 A br1 B cr1 C dr1 D er1 E fr1

i i + i i + i i + i i + i i + i i sin( 4 ) + (9)
1
E ar1 F br1 A cr1 B dr1 C er1 D fr1

Te1 = P1M 1

sin(
3
)
+
+
+
+
+

+
i
i
i
i
i
i
i
i
i
i
i
i

1
D ar1 E br1 F cr1 A dr1 B er1 C fr1

i i + i i + i i + i i + i i + i i sin( 2 ) +
C
ar
1
D
br
1
E
cr
1
F
dr
1
A
er
1
B
fr
1
1

iB iar1 + iC ibr1 + iD icr1 + iE idr1 + iF ier1 + i Ai fr1 sin(1 )

((i A + i D )iar 2 + (iB + i E )ibr 2 + (iC + i F )icr 2 )sin 2 +

(10)
Te 2 = P2 M 2 + ((iC + iF )iar 2 + (i A + iD )ibr 2 + (iB + i E )icr 2 )sin( 2 4 ) +
+ ((i + i )i + (i + i )i + (i + i )i )sin( 2 )
B
E ar 2
C
F br 2
A
D cr 2
2

Matrix equation (3) can be given as

v INV R + R '
s2
s1

R r1
0 =
0

The resistance and inductance sub-matrices without the prime

symbol have the usual meaning. Torque equations of the two
machines, in terms of source currents, are

(3)

i = i INV

fs1

cs2

es1

A. Phase-Variable Model
The electrical sub-systems model of the drive in Fig. 1 is
of the 15th order. It can be given in matrix form with
d (Li )
dt

ds1

MODELING OF THE TWO- MOTOR DRIVE

v = Ri +

bs2

cs1

It is assumed that the standard modelling assumptions apply,

including the one related to the sinusoidal distribution of the
field in the machine. Rotor winding of the six-phase machine
is taken as six-phase as well, for the sake of generality.
III.

as2

bs1

(1)

Machine 2:
Three-phase IM
as1

where indices 1 and 2 identify the two machines in Fig. 1 and

index s stands for stator. Relationship between source currents
and individual stator phase currents of the two motors is
governed with (Fig. 1):

ias1 i A
i
bs1 i B
ics1 i
= = C = i INV ;
ids1 i D
ies1 i
E
i fs1 iF

Machine 1:
Six-phase IM

640

0-7803-8486-5/04/$20.00 2004 IEEE

decoupled model of the six-phase two-motor drive system.

Rotor voltage equations of the six-phase machine become:
0 = Rr1ir1 + Lr1
0 = Rr1ir1 + Lr1

dir1 d
+ Lm1 cos1iINV + sin 1iINV
dt
dt
dir1
dt

components, while the flux/torque producing stator currents of

the three-phase machine are the inverter x-y current
components. This indicates the possibility of independent
vector control of two machines, as predicted in [6]. Inverter
voltage equations (15) can be given in terms of axis voltage
components of the two machines as

d
Lm1 sin 1iINV + cos1iINV . (13)
dt

vINV
vs1

vas1 + vas 2
INV

v
v
v
+
s1
v

bs1 bs 2
v INV
vcs1 + vcs 2 v xs1 + 2vs 2
x
INV = C ( 6)
.
=
v y
vds1 + vas 2 v ys1 + 2v s 2
INV
v + v v
+ 2 v0 s 2
v 0 +

es1 bs 2 0 + s1
v0INV

v0 s1

v fs1 + vcs 2

dik
k = xr1, yr1, 0 + r1, 0 r1
dt
Similarly, for the rotor of the three-phase machine one obtains
0 = Rr1ik + Llr1

0 = Rr 2ir 2 + Lr 2
0 = Rr 2 i r 2 + L r 2
0 = Rr 2i0r 2 + Llr 2

dir 2 d
+
2 Lm 2 cos 2 i xINV + sin 2i yINV
dt
dt
dir 2

dt

)
)

d
2 Lm 2 sin 2i xINV + cos 2i yINV . (14)
dt

Similarly, individual flux/torque producing currents of the

two machines are related with the inverter current axis
components by

di0r 2
dt

iINV = is1

Source voltage equations, which include equations of the

two stator windings connected in series, can be given as:
vINV = Rs1iINV + Ls1
v INV = Rs1iINV + Ls1

v xINV = Rs1i xINV

diINV
d
cos 1ir1 sin 1ir1
+ Lm1
dt
dt

diINV

dt

di INV
+ Lls1 x
dt

v yINV = Rs1i yINV + Lls1

di yINV
dt

d 2i yINV
INV
R
2
i
L
+
+
y
s2
s2
dt
+ 2
+ Lm 2 d sin 2 ir 2 + cos 2ir 2
dt

INV
v0INV
+ = Rs1i0 + + Lls1

di0INV
d 2i0INV
+
+
L
+ 2 Rs 2 2i0INV
+
ls 2
+

dt
dt

INV
v0INV
= Rs1i0 + Lls1

di0INV

dt

= i0 + s1 = i0 s 2

0 = Rr1idr1 + Lm1

L s1 , L s 2 , L r1 , L r 2 are stator and rotor self-inductances.

Application of the decoupling transformation on the torque
equations (9)-(10) yields

0 = Rr1iqr1 + Lm1

cos 1 ir1iINV i r1iINV

Te1 = P1 Lm1
sin 1 ir1iINV + ir1iINV

.
(16)
INV
INV
cos 2 ir 2 i y ir 2 i x

Te 2 = P2 Lm 2 2
sin 2 ir 2 i xINV + i r 2 i yINV

According to (15)-(16), flux/torque producing stator currents

of the six-phase machine are the inverter - current

IAS 2004

2 . (18)

= i0 s1

Since, according to (13)-(14), rotor equations for x-y and

zero-sequence components are completely decoupled from the
rest of the system and these circuits cannot be excited, these
equations can be omitted from further consideration. Upon
application of the rotational transformation the voltage
equations for the two rotor windings in the stationary common
reference frame become

L m 2 = 1.5M 2 , index l stands for leakage inductances and

(
(

i0INV

cos 1 sin 1

,
(19)
D r1 = sin 1 cos 1

4x4

[I ]
where I is the diagonal 4x4 unity matrix. The transformation
matrix for the three-phase machine is of the same form, except
that the rotor angular position is 2 and the matrix dimensions
are 3x3.

Magnetising inductances in (13)-(15) are L m1 = 3M 1 and

)
)

i yINV = i ys1 = is 2

C. Model in the Stationary Common Reference Frame

Rotational transformation, leading to the d-q system of
equations, is applied next in conjunction with rotor equations.
The matrix is, for the six-phase machine, given with:

(15)

(
(

iINV = is1

i xINV = i xs1 = is 2
i0INV
+

d
sin 1ir1 + cos 1ir1
dt
INV

Rs 2 2i xINV + Ls 2 d 2i x +
dt
+ 2

d
+ Lm 2
cos 2 ir 2 sin 2 ir 2
dt

+ Lm1

(17)

didINV
+ L r1
dt
diqINV
+ L r1
dt

0 = Rr 2idr 2 + 2 Lm 2

)
)

0 = Rr 2iqr 2 + 2 Lm 2

didr1
+ 1 Lm1iqINV + Lr1iqr1
dt
(20)
diqr1
INV
1 Lm1id + Lr1idr1
dt

di
di xINV
+ Lr 2 dr 2 + 2 Lm 2 2i yINV + Lr 2iqr 2
dt
dt

di yINV

dt

+ Lr 2

diqr 2
dt

2 Lm 2 2i xINV + Lr 2 idr 2

(21)
while the source equations are given with

641

0-7803-8486-5/04/$20.00 2004 IEEE

vdINV = Rs1idINV + Ls1 didINV dt + Lm1 didr1 dt

transformation and angular speed using r1 = r1 dt and

vqINV = Rs1iqINV + Ls1 diqINV dt + Lm1 diqr1 dt

r 2 = r 2 dt for the two machines, respectively. Correlation

v xINV

between current and voltage space vectors in the stationary

and in the rotor flux oriented reference frames is determined
with

Rs1i xINV

Lls1 di xINV

dt +

2 Rs 2 2i xINV + Ls 2 d 2i xINV dt + Lm 2 didr 2 dt

v yINV = Rs1i yINV + Lls1 di yINV dt +

2 Rs 2
v0INV
+

Rs1i0INV
+

2i yINV
+

+ Ls 2 d

Lls1 di0INV
+

2i yINV

dt + Lm 2 diqr 2 dt

dt +

INV
dt
2 Rs 2 2i0INV
+ + Lls 2 d 2i0 +

(22)

Torque equations (16) become

2 P2 Lm 2 idr 2 i yINV

Te 2 =

i xINV iqr 2

(23)

Equations (17)-(18) remain to be valid in an unchanged form,

with the replacement of indices , with d,q.
Model (20)-(23) in the stationary reference frame shows
that the rotor of the six-phase machine is coupled only with
inverter d-q currents, while rotor of the three-phase machine
couples with inverter x-y currents. Consequently, inverter d-q
currents govern the torque production of the six-phase
machine, while torque production of the three-phase machine
is determined with inverter x-y currents. It therefore follows
that the specific connection of the stator windings, shown in
Fig. 1, can enable independent dynamic control of the two
series-connected machines, using vector control principles.

INV
i dq
= idINV + jiqINV

INV
v INV
+ jv yINV
xy = v x

INV
i INV
+ ji yINV
xy = i x

i r1 = idr1 + jiqr1

Lls1 d i INV
xy

INV
2 Rs 2 2 i INV
dt + Lm 2 d i r 2 dt
xy + Ls 2 d 2 i xy

xy

exp( j r 2 )

(26)

(27)
INV (1)
0 = Rr1 i (r11) + Lm1 d i dq
dt + Lr1 d i (r11) dt +

INV (1)
j ( r1 1 ) Lm1 i dq
+ Lr1 i (r11)

(28)

( 2)
0 = Rr 2 i (r22) + 2 Lm 2 d i INV
dt + Lr 2 d i (r22) dt +
xy

( 2)
j ( r 2 2 ) Lm 2 2 i INV
+ Lr 2 i (r22)
xy

(29)

Torque equations of the two machines (23) essentially do

not change the form,

(24)

(1) INV (1)

(1)
Te1 = P1 L m1 i dr
i dINV (1) i qr
1
1i q

( 2) INV ( 2)
( 2)
Te 2 = 2 P2 L m 2 i dr
i xINV ( 2) i qr
2i y
2

IV.

(30)

VECTOR CONTROL OF THE TWO-MOTOR DRIVE

As the model (27)-(30) indicates, the two series-connected

machines can be controlled independently using rotor flux
oriented control principles. Flux and torque of the six-phase
machine are controllable by inverter d-q axis current
components, while flux and torque of the three-phase machine
can be controlled using inverter x-y current components.
Indirect (feed-forward) rotor flux oriented control is
considered and current control in the stationary reference
frame is assumed, exercised upon the inverter phase currents.
The vector controller is of the same structure for both
machines and is illustrated for the six-phase machine in Fig. 2.

. (25)

Transformation is done next separately for the inverter d-q

equations and rotor equations of the six-phase machine, and
the inverter x-y equations and rotor equations of the threephase machine. This is possible since there exist full
decoupling between the inverter d-q and x-y currents. Rotor
flux oriented reference frames are defined with the angle of

IAS 2004

= f

( 2)
+ 2 Lm 2 i (r22) ]
Lm 2 2 d i (r22) dt + j r 2 [( Lls1 + 2 Ls 2 )i INV
xy

i r 2 = idr 2 + jiqr 2

dt +

( 2)
xy

exp( j r1 )

( 2)
( 2)
( 2)
= ( Rs1 + 2 Rs 2 )i INV
+ ( Lls1 + 2 Ls 2 ) d i INV
v INV
dt +
xy
xy
xy

INV
INV
INV
v dq
= Rs1 i dq
+ Ls1 d i dq
dt + Lm1 d i r1 dt

Rs1 i INV
xy

dq

INV (1)
+ Lm1 i (r11) ]
j r1[ Ls1 i dq

The first four equations of (22) can then be written in compact

form as

v INV
xy

= f

INV (1)
INV (1)
INV (1)
= Rs1 i dq
+ Ls1 d i dq
v dq
dt + Lm1 d i (r11) dt +

D. Model in Rotor Flux Oriented Reference Frames

The simplest way to proceed further is to take the equations
in the stationary reference frame (20)-(22) and define the
following space vectors:
INV
v dq
= vdINV + jv qINV

(1)
dq

Application of (26) in conjunction with the model in the

stationary reference frame (20)-(22) yields the equations in the
rotor flux oriented reference frames. Inverter d-q equations and
rotor equations of the six-phase machine are expressed in the
reference frame fixed to the rotor flux of the six-phase machine
(additional superscript (1)). Similarly, inverter x-y voltage
equations and rotor equations of the three-phase machine are
given in the reference frame attached to the rotor flux of the
three-phase machine (additional superscript (2)). The zerosequence equations remain the same as in (22) and are
therefore not repeated. The final model is given with

INV
INV
v0INV
dt
= Rs1i0 + Lls1 di0

Te1 = P1 Lm1 idr1iqINV idINV iqr1

642

0-7803-8486-5/04/$20.00 2004 IEEE

are passed to the DSPs from a PC, through a dedicated

interface card. The control code is written in C. It performs
closed loop speed control and indirect rotor flux oriented
control according to Fig. 2, in parallel for the two machines.
Phase current references are calculated for the two machines
using (31) and inverter phase current references are finally
generated by means of (32). The six-phase (110 V phase-toneutral, 50 Hz, 6-pole) and the three-phase (325 V line-to-line,
120 Hz, 4-pole) induction machine are equipped with
resolvers and control operates in the speed-sensored mode.
Closed-loop speed control is analyzed in experiments.

Individual phase current references of the two machines are

given with ( k1 = 2 / 6 , k 2 = 2 / 3 ):
*
*
*
ias
1 = k1[ids1 cos r1 iqs1 sin r1 ]
*
*
*
ibs
1 = k1[ids1 cos(r1 ) iqs1 sin(r1 )]

*
*
i*fs1 = k1[ids
1 cos(r1 5 ) iqs1 sin (r1 5 )]

(31)

*
*
*
ias
2 = k 2[ids 2 cos r 2 iqs 2 sin r 2 ]
*
ibs
2

*
k2[ids
2

*
cos(r 2 2 ) iqs
2

Various experimental tests are performed in order to verify

the independence of the control of the two machines. The
results are reported in the following section. Operation in the
base speed region only is considered and the stator d-axis
current references of both machines are constant at all times.
Both machines are running under no-load conditions (except
for the load torque application transient).

sin(r 2 2 )]

*
*
*
ics
2 = k 2 [ids 2 cos(r 2 4 ) iqs 2 sin(r 2 4 )]

Phase current references for the two machines need further to

be summed in order to create overall inverter phase current
references. Since each phase of the three-phase machine is
connected to two phases of the six-phase machine, each
inverter phase current reference has to consist of the sum of
the six-phase machine phase current reference and one half of
the three-phase machine current reference. The inverter phase
current references are hence created with the aid of the
connection diagram of Fig. 1 in the following manner:
*
*
i *A = i as
1 + 0.5i as 2

*
*
i D* = i ds
1 + 0.5i as 2

*
*
i B* = ibs
1 + 0.5i bs 2

*
*
i E* = i es
1 + 0.5i bs 2 .

iC*

*
+ 0.5i cs
2

i F*

V.

EXPERIMENTAL SET-UP

*
i cs
1

i *fs1

VI. EXPERIMENTAL RESULTS

The following approach is adopted in testing, with the idea
of proving the decoupling of control of the two machines.
Both machines are initially brought to a certain steady state
speed. A speed transient is initiated next for either the sixphase or the three-phase machine, while the operating speed of
the other machine remains unchanged. Full decoupling of
control will exist if and only if the speed and, more
importantly, stator q-axis current command of the machine
whose speed reference has not been altered do not change. The
transients examined in experiments are acceleration,
deceleration, reversing (which all take place under no-load
conditions) and step loading transients.

(32)

*
+ 0.5i cs
2

The experimental rig, illustrated in Fig. 3, utilizes two

three-phase inverters with the common dc link, each of which
is equipped with a DSP. The first three-phase inverter supplies
phases A, C and E, while the second inverter supplies phases
B, D and F. All six currents are measured using LEM sensors
and DSPs perform closed loop current control in stationary
reference frame, using ramp-comparison method. Inverter
switching frequency is 10 kHz. The inverter current references
i ds1* = i dsn1

i as1*

1*

i qs1*

i bs1*

jr1

i cs1*

PI

i fs1*

6
K1

r1

sl1
1/p

1
p

P1

Figure 2. Indirect (feed-forward) rotor flux oriented controller for the six*
phase induction machine (K1 = 1 (Tr*1i ds
1 ) , p d/dt).

IAS 2004

Figure 3. Experimental rig: the six-phase voltage source inverter and the sixphase (front) and three-phase (back) machine.

643

0-7803-8486-5/04/$20.00 2004 IEEE

In the first test the six-phase machine runs at 500 rpm (25
Hz) in reverse direction, while the speed reference of the
three-phase machine is initially 0 rpm. The speed reference of
the three-phase machine is at t = 0.2 s stepped to 300 rpm (10
Hz). Fig. 4 illustrates speed responses and stator q-axis current
references of the two machines. Corresponding phase current
reference of the two machines, and a comparison between
inverter current reference created using (32) and the actual
inverter phase current, are shown in Fig. 5. As can be seen in
Fig. 4, initiation of a speed transient for the three-phase
machine has no impact on behaviour of the six-phase machine
since neither the speed nor the stator q-axis current reference
change. This is further confirmed by inspection of the phase
current reference in Fig. 5a for the six-phase machine, which
does not exhibit any change whatsoever during the transient of
the three-phase machine. Inverter current (Fig. 5b) is in the
previous steady state a sinusoidal function of app. 25 Hz
frequency with a dc offset caused by the stator d-axis current
(magnetising current) of the three-phase machine (which is at
standstill). Upon completion of the transient, inverter current
is a sum of two sinusoidal functions of (31), of different
frequencies and magnitudes, obtained using (32). As can be
seen from Fig. 5b, measured and reference inverter current are
in very good agreement.

Six-phase motor phase "a" current reference (A)

-2
4

-4

6-phase motor

2
0
-2

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

0.8

a.
6
4

Inverter phase "e" current (A)

0
-2
-4
-6

6
4

reference

2
0
-2

Inverter phase "e" current reference (A)

measured

-4
0

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

-6
0.8

b.
Figure 5. Stator phase current references for the two machines (a.) and a
comparison of measured and reference inverter phase current (b.). Conditions
of Fig. 4 apply.

400
3-phase motor

200

Hz) to zero speed. Speed responses and stator q-axis current

references for this transient are depicted in Fig. 6.

100
Speed (rpm)

-4

In the second test, the role of the two machines is reversed,

meaning that the transient is initiated for the six-phase
machine. Deceleration is considered this time. Three-phase
machine runs at constant 600 rpm (20 Hz) speed, while the
six-phase machine is decelerated from initial 800 rpm (40

300

Three-phase motor phase "a" current reference (A)

4
3-phase motor

It is evident from Fig. 6 that the speed of the three-phase

machine remains unaffected by the transient of the six-phase
machine. The same observation follows from traces of stator
q-axis current references, where only a minor change in the
ripple frequency (but not in magnitude) of the three-phase
motor q-axis current reference can be observed. This is due to
the change in the inverter noise characteristic, which depends
on the operating frequencies of both machines.

-100
-200
-300
6-phase motor

-400
-500

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

0.8

3
3-phase motor
2
1
0
-1
6-phase motor

-2

1
0

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

Some further reversing tests are conducted next, to further

verify decoupling of the control of the two machines. Fig. 7
displays results for the case when the speed of the three-phase
machine is kept at zero, while the six-phase machine is
reversed from 500 rpm to 500 rpm. Both speed and stator qaxis current reference of the three-phase machine remain
essentially unaffected by the reversing of the six-phase
machine. Identical conclusion follows from Fig. 8, where sixphase machine speed is kept at zero, while the three-phase
machine is reversed from 600 rpm to 600 rpm. On this
occasion, six-phase machine is not affected by the transient of
the three-phase machine, as evidenced from the speed
response and stator q-axis current reference of the six-phase
machine. A comparison of measured and reference inverter
current is included in both figures. These are, once more, in
very good agreement.

Six-phase motor q-axis current reference (A)

Three-phase motor q-axis current reference (A)

-600

-1
0.8

Figure 4. Speed responses and stator qaxis current commands for an

acceleration transient: six-phase machine runs at 500 rpm, while the threephase machine is accelerated from 0 to 300 rpm.

IAS 2004

644

0-7803-8486-5/04/$20.00 2004 IEEE

800

800

6-phase motor

600

600

3-phase motor
400
400

200
Speed (rpm)

Speed (rpm)

6-phase motor
0
-200

200
3-phase motor
0

-400
-200

-600
-400

-800
-600

0.1

0.2

0.4
Time (s)

0.5

0.6

0.7

0.8

2
6-phase motor
1

-1

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

Three-phase motor q-axis current reference (A)

Six-phase motor q-axis current reference (A)

0
-1

0.2

0.3

0.4
Time (s)

0.5

-1

0.6

0.7

3-phase motor

0.8

6-phase motor

2
1
0
-1

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

0.8

6
4

Inverter phase "c" current (A)

The last test consists of the step load torque application on

the three-phase machine, running at 1000 rpm. The six-phase
machine runs at 400 rpm and the load torque applied to the
three-phase machine is around 40 to 45% of the rated torque.
Speed responses and stator q-axis current references are
shown in Fig. 9. No variation whatsoever can be observed in
either the six-phase machine speed trace or the six-phase
machines q-axis current reference. Since the three-phase
machine flux/torque producing currents flow through the
windings of the six-phase machine, this test, which asks for
practically instantaneous change of the three-phase motor
currents, can be taken as an ultimate proof of the true
independent control of the two machines.

0
-2
-4

measured

-6

6
reference

4
2
0
-2
-4

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

-6
0.8

Figure 7. Speed responses, stator q-axis current references, and a comparison

between measured and reference inverter current for a reversing transient:
three-phase machine at standstill, six-phase machine reversed from 500 rpm
to 500 rpm.

An experimental rig is further described. This is followed

by presentation of detailed experimental results for a number
of transients. These include acceleration, deceleration and
reversing, as well as the loading transient, and fully confirm
the possibility of the independent dynamic control of the two
machines by means of the developed algorithm.

CONCLUSION

The paper deals with a novel six-phase series-connected

two motor drive system. Detailed modeling procedure is
presented first. Phase-variable model is initially introduced.
This model is transformed next, using transformations of the
general theory of electrical machines, and the d-q axis model
in the stationary reference frame is developed. Properties of
this model are such that they unambiguously show the
possibility of decoupled vector control of the system, using a
single six-phase VSI. The model is finally transformed into
rotor flux oriented reference frames of the two machines. On
the basis of the resulting model indirect vector control
principles are developed for the two-motor structure, assuming
current control in the stationary reference frame.

IAS 2004

0.1

0.8

Figure 6. Speed responses and stator qaxis current commands for a

deceleration transient: three-phase machine runs at 600 rpm, while the sixphase machine is decelerated from 800 to 0 rpm.

VII.

3-phase motor

1
Three-phase motor q-axis current reference (A)

0.3

Six-phase motor q-axis current reference (A)

Inverter phase "c" current reference (A)

-1000

The novel six-phase series-connected two-motor drive is

seen as well suited for applications where a six-phase motor
drive is used anyway due to high power requirements. In many
such situations there is a need for an auxiliary low-power
motor drive, which has to be controlled independently. In such
cases proposed series connection enables control of the second
machine at no extra cost, since the existing inverter can be
utilized. This would of course require a three-phase machine

645

0-7803-8486-5/04/$20.00 2004 IEEE

of a reasonably low voltage rating. The three-phase machine

has to be of a considerably smaller rating than the six-phase
machine, since the six-phase machines stator winding losses
increase due to the series connection with the three-phase
machine (the three-phase machine is not adversely affected in
any way by the series connection with the six-phase machine).

1200

ACKNOWLEDGMENT
The authors gratefully acknowledge support provided for
the work on this project by the EPSRC, under the standard
research grant number GR/R64452/01, and by Semikron Ltd.
Mr. M. Jones acknowledges financial support provided for his
PhD studies by the IEE, through the IEE Robinson Research
Scholarship.

800
600

400

Three-phase motor speed (rpm)

Six-phase motor speed (rpm)

1000
3-phase motor

6-phase motor

200

0.1

0.2

0.3

0.4

0.5
0.6
Time (s)

0.7

0.8

0.9

600

Three-phase motor q-axis current reference (A)

800

3-phase motor

400

Speed (rpm)

200
6-phase motor
0
-200
-400
-600
-800

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

0.8

3-phase motor

-2

-4
6-phase motor

1
0
-1

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

4
3
2
1

[2]

[3]

0.8

[4]

-2
2
-4
0

reference

-2

Inverter phase "d" current reference (A)

measured

[5]
[6]

[7]

-4

0.1

0.2

0.3

0.4
Time (s)

0.5

0.6

0.7

0.1

0.2

0.3

0.4

0.5
0.6
Time (s)

0.7

0.8

0.9

REFERENCES
[1]

-1

3-phase motor

Figure 9. Speed responses and stator q-axis current references during step
loading of the three-phase motor running at 1000 rpm (six-phase machine runs
at 400 rpm).

Six-phase motor q-axis current reference (A)

Three-phase motor q-axis current reference (A)

Inverter phase "d" current (A)

6-phase motor
5

0
0

-6
0.8

Figure 8. Speed responses, stator q-axis current references, and a comparison

between measured and reference inverter current for a reversing transient: sixphase machine at standstill, three-phase machine reversed from 600 rpm to
600 rpm.

IAS 2004

Six-phase motor q-axis current reference (A)

[8]

646

R.H.Nelson and P.C.Krause, Induction machine analysis for arbitrary

displacement between multiple winding sets, IEEE Trans. on Power
Apparatus and Systems, vol. PAS-93, pp. 841-848, 1974.
R.Bojoi, M.Lazzari, F.Profumo and A.Tenconi, Digital field oriented
control for dual three-phase induction motor drives, in Proc. IEEE Ind.
Appl. Soc. Annual Meeting IAS, Pittsburgh, Pennsylvania, 2002, CDROM Paper 22P1.
D.Hadiouche, H.Razik and A.Rezooug, Design of novel winding
configurations for VSI fed dual-stator induction machines, in Proc.
Electrimacs, Montreal, Canada, 2002, CD-ROM Paper 263.
R.Bojoi, A.Tenconi, F.Profumo, G.Griva and D.Martinello, Complete
analysis and comparative study of digital modulation techniques for
dual three-phase AC motor drives, in Proc. IEEE Power Elec. Spec.
Conf. PESC, Cairns, Australia, 2002, CD-ROM Paper 10159.
R.O.C.Lyra and T.A.Lipo, Torque density improvement in a six-phase
induction motor with third harmonic current injection, IEEE Trans. on
Industry Applications, vol. 38, pp. 1351-1360, 2002.
E.Levi, M.Jones and S.N.Vukosavic, Even-phase multi-motor vector
controlled drive with single inverter supply and series connection of
stator windings, IEE Proc. - Electric Power Applications, vol. 150, pp.
580-590, 2003.
E.Levi, M.Jones, S.N.Vukosavic and H.A.Toliyat, A novel concept of
a multiphase, mulit-motor vector controlled drive system supplied from
a single voltage source inverter, IEEE Trans. Power Electronics, vol.
19, 2004, pp. 320-335.
E.Levi, A.Iqbal, S.N.Vukosavic and H.A.Toliyat, Modelling and
control of a five-phase series-connected two-motor drive, in Proc.
IEEE Ind. Elec. Society Annual Meeting IECON, Roanoke, Virginia,
2003, pp. 208-213.

0-7803-8486-5/04/$20.00 2004 IEEE