ISdqndSnt Vec Canit oTw itAh FMiv

PM Mts [g by the d Two Arm M,dlaSi,o MlAod M TSUSE Kmmki

IndependentV ecbDr C ontrolof Tw o PM M otors w Th F ive-L eg Inverter

bythe ExpandedTwo-Arm M odulatbnM ethod
YutaK ]M URA ,M otDkiH T7UM E and KoukiM ATSUSE CA eiBUntve2t)
D eptofELecbialand Eectoni Engineeng,M eiiUnivteity
1-1-1,Hifasihita,Tama-ku,Kawasaki24-8S71,ThPAN
Tel: +81-44-934-7298
Fax:+81-44-934-7298
E-M ailTe44027@ i3meipac.p

K eyw ords
Convertrcont:o1 M oduhatbn statgy,Pule W iith M oduatn, Synchinous m otr, V ectDrcntol

Absftact
This paper p2esents an ndependent vectDr ocnthol of tw7 o Perm anent m agnet (PM ) m otDrs w ith
fve-leg invertr by the expanded tw o-am pulJe-w iith m oduhaton (PW M ) m efrcd. This PW M m ethod
can ocntuDl indepndenty both PM m otDrs thatuse the leg connetd in com m on. S -i uatin reslt sow
tfiat the pirposad m ethod is effeclie undervarius dilving condibns.

Intoducion
A tpesentt PM m otDrs are generlly drzven w it a tire-leg inverfr [1]. W ith di-is type of invefter,
there are twT o m ain m etfiods of ocntuDlUng tw7 o PM m otDrs connectd in pa2anTL The fir3t sysban is the
m ethod of ocnnectng each pha- eof two PM motDs t a common rvertr [21-[6]. The s3nd systn
ocnsits of each invertrtD each PM m otDr. ln fDrm er cse, it can be eKpected fnattie num berof devies
beam es f w er, the ostdecma2es, and the instal1ton space is na=nw er since itcnsits of one inverxtr.
But both PM m otDrs perEiTm only the drve by the sam e spe d a2fsces. And, if an unbalanced bad is
added, itis difultt m ake motDz rflw and dave stWly. Thus, thee -is a lim ti fnthe aea tnat can be
used. ln Jatrrcase, each m otDris acntPosed independently; but itaspuies a Jaigernum berof devkies, and
fius gaeatero st and m oa epace frinstaaton.
To solve these prob'em s, a acntol m ethod em pIcying a fhve-leg inveftsr has cacEnt:' been
pioposed V]-[10] .This Equi2sonly one iiverfrand one cointulsystn .Thispaperpsents sin uatbn
s2las. The independentvectDrocntholof tw o PM m otDrs connectd is als deszmded.

Structuie of five-leg nverter

Fig 1 diow s the sbcture of a fhve-leg iverxtr. 0 nly one leg is connectd t both PM m ot rs in
com m on and the otheis aie only connectd t one m otDr. The sw ifhinhg fumncbn aid the msbited
conditbn can be desca±ed by the f lJw ing equatbns.

Sw itchon : Scl= 1 CL)

Sw itchoff : Scl= 0 2)
Resb:ted Cond+hon : Sul+Su2= 1 (3)
where c ,{1,2,3,4} , ,{1,2}

EPE 2005 Desden

Iri4Fr.dYf.t r CmhA :t1b4 Ft41Ak4wzi
wh flY*-LtpwrAw tyW*"1"rd -lb :- ArrnA kUHn1A*.c -E tz M

Vtl= s

te!r1 ter 2 Legr2 Leg 4

FgI: 9tLJfl of fue-hi nrer

Pxpn &d o-am PK4 M m ethod

kr ±pmtntin a2a ays mte v]ag s of te mm mon
o toa i bj ie
empan?eitwoaen m otbim m dird. T1
heatcpam volaJ2 ieksc set to v Uv?ardvIiBy gtig
li VDlag 21ks to a com painras bIws alenJantr-c m ginrrL m dird iap b

1- -4

W Lh lt m 'tcd tud i e maxinum of'v&kg2 1kaL is i/~f lieaas compasaw ih

FMg.2 dxcw s t26 bmuiAw o -am mcdahi±zn m e'tcd. W e ain caatfre'tcLcag ni EVc'¼1

aI

in r-
I ,* I. Icil~
3k.:.
1 9 .......................II .....

..>~ ~ {1 3 .14 .1

4,

Fij. 2:E xpkihdt.woer

aLW M4 medlrd

2)sSErC+.n
EPE
 P1jg,3 hw s the in mg when theeandd t o-am PH M m etd usdV1 2) Eoringal
phae-VoThge refeace of m otorl ( otDIr2). vi <02) i ph&seolige rence bacd on w -
phae of m otrl (n otD2) It show s the sw tthg patterm and output lite-r-line voILages of exh
m otDrw hen the iefames are give

Original phase-voltage reference

vj
vi
Phase-voltage reference based on w-phase

1patve
Sc
*
v
SwzitchinLg patternL
El L HFTI HIHRRn
H III HPFRH7lHI
HHRnn
S21 1771 -]H H1 RH I I H HHHHFWIIIF]HIn R I
F7K
S31 MR DI HHHHHIFH ~ HHF1 FP I I RIFFlI] H I
S41 HHHn nI IRHF1R I H7HHFT- IIn FF HH
St51 HnHn n H nnnH H FInn n nHn R nn

Output line-to- line voltage of motorl

u -V

v -w
line votae H of motTorM2U1I
w -u

ouqiut in e-to-l-line voltage of irotord

uL-V

v -w
IIHFT
I121 I ff-fH IMI l ITFUl
w -u I llpmul Illmll 101II H

Fg 33 Ttin chaitofexpanded tw o-arn PW M m etid

Id t VtS C d do PM Mt N.i
~ Fi m b1ffi. E d, Ar MadfiMthd MAT E K,i

enmfinuattn
Sysbn
Fig A diow the sysbrn cnfuatbn. V ectDr acnol is used w ad sparate altothm tD each m otr in
oidertD ont2ol independent~y, pa2cE'ey, and quickly fDrtw o inductbn m otDs.
The q-axis cuant a2fslmce t1 f q W) is Ca-3iUated by using PI ocntuDl firm the deviatbn betw e'n the
speed afesenle )Im 1 (&)*m 2) and the actual speed a) m 1 ((Dm 2). The d-ax-is cunent1efene
Icdl (d2) is
aiw ays set t 0. The dimee phase cuiments I ,f2,l a-id f , ( ai t2, and f ) is obtbied firm the q-ax-is
caUnnt afle mcE ql Wq2) , the d-ax-is anmt a2fslce dl(I(), and the tDr angle -

( -2). Then
cunsntcntfol rs caid out

com 1*

wrM

FigA:System Confuatbn

Sin ulat:n esauts

Table I diow s the ratngs and param etes of the tw o PM m otDz used in the aim uhatons. The
vales are the sam e fDrthe tw o m otDiz.
Fig. 5 dsw s the calcuated stepw rae dcnge Jn the speed 2japonae. The ]oad tDique is asm ed tD
be no bad fDrm otDrl and m otDr2. The speed merenoe fDrM otrl changes from 500 apm tD 1000 apm;
and DrM otr2, itchangesfnrm 800 apm t 500 apm .Theseae dtsdEmonsate thattheetAomotosc n
tack diffest mped and di2ctbn a2fsences, tiat is,tiatthey can be acnholbd independenty.
Fig4. 6 diow s the cabulatBd stepw ire dcnge n the tDrque jaYponse, amm ng a speed afmoe of
300 ipm fDrboth m otDas. ForM otDrl, the bad tDrque dc nges from no ]oad tD 3.0 N m; and fDrM otDr2,
-t changes firm 3.0 Nm t no bad. These ma2ilts dem onsbate that the tw7o m otDs can als thack the
mfe-rnoe w hen they are aibected tD diffsrent bads.
FP4.7 diaq s the em ple of dime phas cunntswhEn the sin uatn as Fi 7 -is caed out

EPE2005 Desden
Indepe ndent Ve tor Control of Two PM Motors with Five -Leg Inverter by the Expanded Two-Arm Modulation Method MATSISSE Kouki

T able I: R atng and param ees of m otors

Output 15kw R: 1566Q
Poles: 6 Ld: 9.77mH
V o2tage: 180 V Lq: 224mH
Cuasnt 61 A Fhx: 02W b
Speed: 1800Tm Ineitia 0.137kg.m2

1200 OO0
Actual Actuw I
1 ODD C ommarld
Com ma nd soc0
A - acc
IDD
*ni 40C.C
IL
IN ---.WI
;L
-2I? _OZ
4O-WI?ci
-2D Cd
r1] 15 0-. I5
rII rne Ne i] rim re selc]
(a) Spd ofM otrl O) Spedof M otr2

I IC;
ActLal Actua I
I0 Com mand 1c ~ Commarid
r--
_ 5
5-

-K. 1i 0 -

-1
-ID.

-_I -1 F, .I
1 5 "10 C5

Ti cI Ti me[sY c]

(c) Topque of M otrl (d) ToquerofM oti2

Ft 5: S -i ulatin msuas of sped stp change mo nses

EPE 2005 - Dre

EPE 2005 Dresden
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ISBN: 90-7 581l5-08-5

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aoo-
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CL 2rk
IC
L..l
CL-;3IL
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'Ut') 10(

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OC
-I
I2I W0 a5 1.5
ii ne(sec] sec)
T ime [
1

I of 1 ID)V4EdN
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Comma nd 1i C:Om marl d
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I.I
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Time [sec] T me (le])
c) ToqrofM cUrd tW) Toxpeof M oti2
FMg.6. £in u.bt1±m l .bUlsangEw ici d arcjR n- t ril ysam

1;

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Il,dS,dItVctm C,ItaIfrlofT N.
PM Mot i Fi, b1E,t
ffi, ,dedwoArm,Madlatie M,thd MATSUSE Kmki

C onclusitns
enedentvectDront2olof paallel-cnnetd tAw o PM m otDas w ith fhe-leg^ vertr
ln dri-s paper, the i
is piaposed. ln addtbzn, te expanded tw o-am PW M m ethod of the f e-leg invertr is als pirposed.
Sinulatbn reaul ow thatthe piops dm ethodsaie efvfec~eundervauiusdaizfrg cznditbns.

R ef=nces
[11 Y.Takeda,S.Mor ot,K.Ohynma,A.Yamagwa,: "Comparn of Cont lCharatercsof Pemanent
M agnetSynchhenous M oktis with SevenlRotor Confuratons", The TIns. of The Tnsdthu of Eleu=cal
EngneersofJapan,Vo114-D ,no.6,pp.662-667,1994.
[21 Y.Kouno,H.Kawa4S.YokomrooandK.M atsse : "A Speed SensoressVectrContolM ethod of Paniel
Comnectd Dual nducton M otrFed by a S ngle lnvetrdi', n Conf.Rec. EE E-AS A nualM eetng,voL 2,pp.
1218 1223,2001.
[31 K .PM atuse,Y .Kouno,IH .Kawa4,andS.Yokomrno :"A Speed SensorfessVectoCrnt1ielM etiod of Panlel
C omnectl D ual nduct PM otDr Fed by aSSngle lnvertef', EE EITns. on TndusyA ppatons, vol 38,
pp1566 1571,2002.
[41 H .Kawa4Y.Kouno,K.M at use :"Charc riasofSpdSensorlessVectrCont L dDualnducdonM ottr
D=reConectd PnParlelFedbyaSmnge Tnvertei', nConf.Rec.EEE ASAnnualM eetng,CD-ROM ,2002.
[51 FrnooB,Bous2ayrlA.:"Desg andM odel ngofaFre PhaseVolage Soue TnverterfDrTwo Tnducton
M otDs',EPE'99,CD-ROM ,1999.
[61£S.Yokomro,K .M atsse :"ndependentVec:rContolofTTwo TnducUonM otsbyaFive Leg nvertef',
NATIONAL CONVENTDON RECORD IEE .JAPAN,vol4,pp.225 226,2002.
[7] Phl ppe Debrue,A anBousay, and ErB Semail: 'XAenerc Cont lM ethod of M ulejgVolage Souce
Convertrs firFastPracalTmplimentt`on", EEE Trns.On PowerEtBtienics,volI9,no.2,pp.517-526,
M arch 2003.
[81 M . H rume,Y . Kiu ,D . H ayashi, and K .PM atiuse: "lndependentVectrContDlof ParaelConmnected Two
Inducton M ot=s by Five Leg lnvetrdi', The Papers of Jbnt Technral M eetng on Sem ronductr Pow er
Convetrand TndustayE lcttandEB nctmniApplhaton, EE Japan,pp.5 10,November2003.
[91 Y. Takeda, S. M o otD, K. 0 hyam a, A Yan ag:w a,: "C mparn of Contil Chartertcs of Pem anet
M agnet Synchhonous M ot=s with Seveal RotDr Conuratons", The T ns. of The TnstUht of Ele=cal
Engnee=sofJapan,Volll4-D ,no.6,pp.662-667,1994.
[10Y.KY ura,M .Hrnme,K.Matus:"TndependentVectrCont lofTwoPM MotswihFiveLeg nvertrby
theExpandedTwo-A mM oduatonM etod",2005AnnualM etingRemod IEE.Japan,Vol4,no.4-094,pp
147,2005.

EPE2005 Dresden