Design and Tests of a Fault-Tolerant

Five-phase Permanent Magnet Motor

Nicola Bianchi, Silverio Bolognani, and Michele Dai Pre

Department of Electrical Engineering, University of Padova,
via Gradenigo 6/A, 1-35131 Padova (ITALY), e-mail: bianchi@die.unipd.it

Abstract-This paper deals with the current control strategies

in case of one-phase or two-phase fault of five-phase permanent
magnet motor. An analytical model has been adopted to ndi-
viduate the more suitable current references, without increasing
the motor or inverter cost. Thanks to the analytical approach a
general result is obtained. Simulations and experimental results
confirm the theoretical predictions.
I. INTRODUCTION
Fault-tolerant capability is more and more required to the
electrical motor drives in many applications, such as automo-
tive [1], aeronautic [2] and so on. Also in industry applications,
breakdown in production process cause an heavy profit loss.
A five-phase permanent magnet (PM) motor exhibits a high wi
fault-tolerant capability [3], [4]: it can be designed so as to
cut down the fault occurrence, as well as to operate even
after a permanent fault [5]. The electric power is divided
Fig.
Fig. 1.
thA e t
5-phase 20-slot sta
h -r\w
tor with double-layer(an
single-
on more inverter legs, reducing the current stress of each
switch [6], [7]. With five independent phases, in case of fault the mutual inductances are almost zero. The flux-linkage is
of one or more of them, the healthy phases provide for the Am 0.203 Vs, self inductance is La 61.930 mH, mutual
motor running, [8]. This paper deals with the analysis of some inductances are Mba, 0.002 mH and Mca, 0.011 mH
faults of the five-phase motor: open-circuit of one phase, between adjacent and non-adjacent phases respectively. The
open-circuit of two phases (that can be adjacent or non- phase resistance is R =l24.6Q at 25m C (R =p32Q at 100tC).
adjacent), short-circuit of one phase. Faulty-mode operations
are analyzed with different current control strategies. It is
shown that the control scheme may be adjusted, without any
requirement for additional redundant components. The paper
effort is to highlight analytical solutions for changing the
current references so as to operate the motor even under the
faulty-mode operation. Simulations and experimental results
confirm the analytical predictions.
II. EXPERIMENTAL FIVE-PHASE MOTORS Fig. 2. 5-phase 20-slot 18-pole PM motor with (a) double- and (b) single-
The motor used for the experimental tests described in this layer winding [10]
papers is a 5-phase 20-slot 18-pole motor. Nominal current
is 0.6 Arms, and the nominal torque is slightly lower thanI
111. to
ant) (1)
6 Nm. A special stator lamination has been used, requiring The model is based on the following assumptions: (i)
a number of slots Q multiple of 5. The external diameter is motor losses are negligible, (ii) mutual coupling among the
120 mm and the stack length is 50 mm. It is characterized by phases is zero (iii) the magnetic circuit is unsaturated. The
a double-layer fractional-slot winding with unity coil throw latter assumption allows the superposition of effects to be
shown on the left hand side of Fig. 1. This winding typDe a-pplied, considering the motor torque as the sum of the torque
where OS is the angular coordinate in the stator reference will be given to the reduction of the torque ripple even under
frame. Similarly, the distribution of the mth phase winding faulty-mode operations.
can be described as Roughly speaking, we can summarize the process to indi-
27 viduate the current references in three steps:
nm 0e)s = d, sin(vdes - km 5 ) (2) the current phasors are chosen so as to achieve E X = 0,
*
the second harmonic of torque is reduced to zero by
where ?d, = 2kw>Ns/(7wD) is the peak value of the vth means of a suitable choice of the current phasor angles,
harmonic of the conductor density distribution, the subscript . the fourth harmonic of torque is reduced to zero by
mn = a, b, c, d, e and ka= 0, kb = 1, kc = 2, kd = 3, ke = 4- means of the injection of the third time-harmonic of the
The mth phase current is current (according to a rearrangement of the angle of the
im(t) I1 COS((m + EC )
= (3) fundamental current phasors).
cPm = t- km 2 (4) V. ONE-PHASE OPEN-CIRCUIT FAULT
where a' is the phase of the current vector in the synchronous In this section, let us suppose that the a-phase remains
reference
f . A s continuously
reference frame. Adopting surface-mounted PMl motor, it is tru sotie
a open due to a fault, i.e. ta 0. The resulting
=

ysbrcig()fo 8,yedn
fixed to 7/2 (i.e. the stator current is supplied only along
the q-axis). The electrical loading, given by nm(1S)im(t), TaO(t) Tn(t)-Ta(t)
becomes E,
S E sin((vlom) cos((om + a') (9)
Km(0,d t)
K
2m' [sin(w.t+vd'+a')-sin(wot-vi'+aQ)]
2 m e

where the loss of the a-phase in the first series expansion

(5) should be noted.
and the torque produced by the mth phase is Since the torque produced by one-phase contains an average
D2Lk / B(t9e,t)Km (i, t)dt. (6) torque
2 and a pulsating value, it is expected a reduction of the average
Tm(t)=- t of about 20% and a peak-to-peak torque ripple of about
JO 400O with respect to the healthy-mode operation (that is a
Only harmonics of flux-density and electrical loading of ripple of 5000 referred to the average torque in faulty-mode
the same order (i.e. ( = v) produce a torque contribution operation). Fig. 3 shows the torque behavior during healthy-
different from zero. This implies that only one sum can be mode operation (Tn, dashed line) and under the open-circuited
considered. After some manipulations, the torque of the mth a-phase fault without any change of the other currents (TaO,
phase becomes dotted line). The simulated average torque results in 79.5% of
Tm(t2 ^ ^ . ~
T [ 4 D JstkJvIlmvj SlflQiYmj COS(Cm +)
e the nominal torque (as expected), and the torque ripple is 4400
(slightly lower than expected due to the presence of the third
(7) harmonic).
where B1 and kmv are the peak value of the flux-density
and the electrical loading harmonics of the vth order. The termi
within the square bracket will be denoted by T,. The values of
5-
torque harmonics T, are obtained by means of finite element __ _ __ _
analysis and the first three terms are: T1= 2.346 Nm, T3= - z4 -
0.330 Nm and T5= 0.041 Nm. The first addendum (v = 1) of 13- -

(7) consists of a constant term plus a term oscillating at an 0

2 ao
electrical speed 2w, the second addendum (v = 3) consists of 1 -----3
two terms oscillating at 2w and 4w, and so on. IC
Pi3
0 5 10 15 20
B. Five-phase torque Angular position (mechanical degrees)
The overall torque can be written as Fig. 3. Torque behavior with a-phase open-circuited (Finite element
Tn(t) 5 5 T, sinf(vlom) cos((om + c') (8) simulation).
m V Let us consider that, when the a-phase is open, the healthy
where, in healthy-mode operation, only torque harmonics phases aremodified as sketchedin Fig. 4. The angles Q, y, ,
of order v = 1 + 10k with k =0,1, 2,.. (v = refer to the phase b, c, d,and erespectively. In the research of
1, 9,11,19, 21, .....
) are different from zero. the more suitable current control, some reasonable constraints
IV. CURRENT STRATEGIES IN FAULTY-MODE OPERATION are fixed:
The~~~~~~~~~
obetv.ftieto
~ stoidvdaetecnrlo 1) the first one is to maintain an equal current amplitude
the urrntsof
hehelth phaes llowng he mtordriv tofor
the urrnts f teealty pase alowig th moor riv to 2) the second one iS phase;
each healthy to maintain the symmetry with respect
continue to operate. The current control strategies are chosenthfal.Ticosrntyed
so as to have a zero-sequence current equal to zero (Z i =0)
and a reasonable value of the average torque. Particular care e =-e = (10)
 3) the third requirement is that E i = 0, that is, a null =7r/5 rad (36 degrees) computed above when the higher order
zero-sequence current. Adopting the constraints 1) and harmonic of flux-density distribution are neglected.
2) it implies The corresponding torque behavior (labelled T) is reported
/3 + ' 7/5 (11) in Fig. 3 using dot-dash line. Although the second harmonic
has been reduced to zero, it is worth noticing that a fourth-
harmonic torque remains. Its amplitude is not negligible, the
Zb(t) Il cos(Ob + ca + /3) torque ripple being about 16.67%
iC(t) =Ii cos(Qo + ca - /3 + )
id(t) =I1 COS(Od + ce +/3- 5 C. Third time-harmonic current injection
iet Icos(Wo, + age - )
The mean to reduce also the fourth-harmonic torque to zero
is to inject a third current time-harmonic. However, since this
Kg1le current harmonic produces a torque harmonic of both second
d\ /dSs e and fourth order, the fundamental current harmonic has to be
modify consequently. The new system of currents (with ia
j\ '>a
-- - -' 0) becomes
\< Cb b ib = I1[COS(Ob + a +/3) + t 3(Ob + 3 +/33)]
il [cos((oc + a' e- / + )+ ty cos 3((oc + a'ie 33 + 5)
ic =

Fig. 4. Current phasor diagram

Fig. ~~~~~~~~~~~~~~td=il [COS(~O
in case of
Currentopen-circuited a-phase fault id=1 CS(d+ + ae ~) + t cos 3(~Od
t + /3 -5)+tCO i-5)+ ae~ + /33-
(d+0z+-

ie= I1 [cos(&e + a' /3) + L cOs 3((5e + ae /33)]

- -

A. Fundamental harmonic offlux-density distribution (15)

As a first estimation, let us consider only the fundamental
harmonic of flux-density distribution (only (=1 in (1)). The
torque (9) is computed considering the currents (12). The
condition to obtain a zero torque ripple is to equate the time
derivative of the torque to zero, achieving
[cos(/3 - 4 ) + cos(/3 + 7k)]
where t = I3/11. In the following it is assumed that ca',e
wi = a',
and /33 /3.
The torque, say T/3(t), is obtained from (9) in which
currents (15) are used. In this case the degrees of freedom
increase and two torque harmonics can be eliminated. Equating
the second and the fourth torque harmonics to zero, the
0 (13) parameters /3 and t are computed as

that is / 7/5 n7,with 0,1,2, ... Let /

n= 7/5 (36 /3 3w f T3 cos37w/10
0 from (11), and d = 0 and e
arccos
degrees), thus y -5 10 + T cos 7/10
from (10). In Fig. 4(b) the variation of the current phasors is [. cos(/3 + 77/10) cos(3/3 + 7/10) a
represented. The resulting torque is called T,, its average and /3
n+ sin]
ripple values are reported in Table I. (16)
TABLE I and
AVERAGE TORQUE AND RIPPLE CONSIDERING ONLY THE FIRST T3 COS10 cos(/3 + 10)
HARMONIC OF THE FLUX-DENSITY DISTRIBUTION DUE TO THE PM T1 cos 0 cos(3/3 + 2)
(17)

case Tavg (Nm) Tavg/Tr ripple (%) In the case of the motor under test, it results /3=0.551 rad
T4 5.863 1 0.69 (31.6 degrees) and t=0.0806, as shown in Fig. 5. By feeding
T.,
0
T
4.669
4.242
0.795
0.723
49.75
0.85
the healthy phases using these values for /3 and t a smooth
0
torque is obtained as shown in Fig. 3 (solid line). Although
the average torque is slightly reduced, becoming about 73.50
or the nominal torque, the peak-to-peak torque ripple remains
aefr,snuodlcurnlimited to 1.16%. Table II reports the numerical comparison.
B. Copeelxdnst
However, the angle / 7/5 is not appropriate since the
effect of the harmonics in the flux-density distribution can not TABLE II
be negligible. Then the torque is computed again from (9) and AVERAGE TORQUE AND TORQUE RIPPLE WITH DIFFERENT CURRENT
(12), including the harmonics of the flux-density distribution. CONTROL STRATEGIES CORRESPONDING TO FIG.3
From its expression, equating the harmonic terms of second
order to zero, after some manipulations, one obtains case Tavg (Nm) Tavg 7Th ripple(%)

tan=~~TCOS 10 COS 10 (14) ~ Ta

4.6696ll 0.796 4l4.1462
In the case of the motor under test, it has been computed:
/30.58 1 rad (33.27 degrees). This value is different from
 In the case of the motor under test, from (20) and (19), it has
O\c)\/X)ed.) been computed: -j=0.544 rad (31.15 degrees) and pl=1.287.
--- > [b > corresponding torque behavior is reported in Fig. 6.
>The
Dashed line (Ta) refers to the healthy operating condition,
dotted line (Tboeo) refers to the faulty operating condition with
no variation of the currents: a high second harmonic of the
Fig. 5. Current phasors with /3 -c 31.6 degrees, t=0.0806 and
-d = 4.4 degrees torque is evident. The dot-dash (Tp-) line refers to the current
control strategy presented: the second harmonic of the torque
is reduced to zero and only a fourth torque harmonic remains.
VI. TWO-PHASE OPEN-CIRCUIT FAULT The numerical results are reported in Table IV.
This kind of fault can be subdivided in two categories: It is worth noticing that the currents in the c- and d-phase
. fault of two non-adjacent phases, result 28.7% higher than the nominal value (see factor Pi).
* fault of two adjacent phases. This implies that the Joule losses increase of about 66%,
The choice of the faulty phases is completely arbitrary, how- however this is not critical since it compensates only partially
ever, to the aim of simplify the mathematical notation, b the loss of two faulty phases.
and e- phases are chosen in the first case, while c- and d-
phases are chosen in the second case. Assuming no variations
of the healthy phase currents, the performance of the motor are
reported in Table III. The decrease of average torque results
about 4000 of the nominal torque, consequently to the loss of
two of the five phases. As far as the torque ripple is concerned 3 .
in the first case (non-adjacent faulty phases) it is about 91%0 2 .. bOeO
that can not be accepted. In the second case (adjacent faulty 1------r
phases) a lower ripple occurs but the zero-sequence current 0 Prt
higher
(Io) becomes(Jo)beomes
hgher than
tan the nominal current (In). Therefore,
thenomina 5
0 Angular position 10
(mechanical15degrees)20
a remedy is necessary for both faults.
In the following,the current control strategies are investi- Fig. 6. Torque behavior with b- and e-phase open-circuited (Finite element
gated assuming that the amplitude of the healthy currents can simulation).
be different.
TABLE III TABLE IV
AVERAGE VALUE AND RIPPLE - Two OPEN-CIRCUITED PHASES AVERAGE TORQUE AND TORQUE RIPPLE WITH DIFFERENT CURRENT
CONTROL STRATEGIES CORRESPONDING TO FIG. 6.
case Tavg (Nm) Tavg/T. ripple(%) Io/In
healthy
ib =e 0=
5.863
3.560
1.000
0.607
0.40
91.2
0
0.618
case Tavg (Nm)
5.863
Tavg/T.
1
ripple(%)
0.40
Tn
ic = id = 0 3.499 0.597 37.2 1.618 TbOeO 3.560 0.607 91.21
Tpa 3.758 0.641 13.72
Tpat 3.569 0.609 1.59
VII. Two OPEN-CIRCUITED NON-ADJACENT PHASES
A. Sinusoidal currents of different amplitude B. Third time-harmonic current injection
The new current system (with ib = ie=) becomes As in previous case, a third time-harmonic current is in-
ia(t) = 1 CoS((a 0 + + a) jected to the aim of reducing also the fourth torque harmonic.
iC(t) = 1po cos(Qp + a' + ) (18) The system of the healthy currents becomes
id (t) = II pl cos(5d + +) I1 [COS(y5a + ae
=8 +) +
+L COS 3((Pa +aa3)]

where an equal factor p, has been added to both the currents i =I [P1 cosGoc + c< + ) + tp3 cos 3Qo + ai3 i + 'Y3)1

ic and id, to maintain the symmetry with respect to the faulty 2d I) [P1 cosGod + - ') + tp3 cos 3(9d + ai3-Y3)1
c<
phases. In addition the symmetry implies a 0 and 6 =
,' =
where factor p- has been introduced for the third harmonic.
while theconstraint ~~ i 0 yields In addition,oa,e =agi 'ty3
and = t are fixed. In order to satisfy
P12 -1
2cos(- -5 )
(19) the symmetry with respect to the fault,
while to satisfy the constraint E i =0, (19) and
ag
0 and d -y
Introducing (18) and (19) in (8), with m =a, c,d only, the -1
torque Tpey(t) can be computed. The condition to reduce the P3 2os3 2r ) (22)
second harmonic of the torque to zero, yields hv ob od

tan - (T1 + 713) sin 35sin 5 (20) From (7) the torque Tp6 (t) is achieved. Imposing the second
T1 sin <5 cos t + T3sin-5 cos 35 and the fourth torque harmonics to be zero, two relationships
are obtained that, together that with (19) and (22), form a l- -- n
system of four equations in the unknowns -y, t, P1 and p3. Its 6..cOdO
solution yields 5 -----D
F r T3 sin(7/5)
arc sin(
+ f27F/5) (23)

T1 sin <5 costy -45 ) sin(3'y +s)5 (

Fig. 8. Torque behavior with c- and d-phases open-circuited (Finite element
and then P1 and p3 are achieved from (19) and (22). simulation).
In case of the motor under test, it is -=0.495 rad (28.33 TABLE V
degrees), t=-0.108, pl=1.154, and P3=-0.513, as shown in AVERAGE TORQUE AND TORQUE RIPPLE WITH DIFFERENT CURRENT
Fig. 7. The resulting torque behavior is shown in Fig. 6 (solid CONTROL STRATEGIES CORRESPONDING To FIG. 8.
line, Tp-,,), while the numerical results are reported in Table IV.
case Tavg5.863
(Nm) Tavg /T. ripple(%)
I d\ Tn 1 0.40
TcOdO 3.499 0.597 37.18
Tp3 1.364 0.233 50.88
Tp/3t 0.999 0.170 7.86

Fig. 7. Current phasors with -y=28.33 deg, pl=1.154, p3=-0.513 and =_ where = iS fixed. Factor p3 iS chosen with the
0.108 constraint of having E i= 0, which is

VIII. Two OPEN-CIRCUITED ADJACENT PHASES

P3

'3 2 cos(3/33
-1~ ) _
(9
(29)
A. Sinusoidal currents of different amplitude In the torque equation (8), (28) and (29) are introduced. In
The new current system (with ic = 0 and id = 0) becomes the resulting torque, labelled as Tori33(t), the second and fourth
torque harmonics are forced to be zero. Two relationships are
ta(t) = Il Cos(Ya + 1i~+ 8) found which, together with (26) and (29), form a system of
Zb(t) = IlPl cos(y5b + a' + /3) (25) four equations in the four unknowns /3, t, p1, and p3 (with
ie(t) = Ilp1 COS((,Ye + a' + c) /33 = /3).
However, this system does not give any acceptable solution
The symmetry
whit the falt'= ruirels tsaif/3 - /S
(small variations of the parameters yield high variations in the
torque behavior and high currents). From the physical point of
-1 26 view, effect of the third time-harmonic of the a-phase current
P1 2cos(/3- 21r) (2) tends to decrease the effects of the third time-harmonic of the
b- and e-phase currents, instead of compensating the torque
From the expression of the torque, labelled Tp/ (t), together
with~~~~~~~~~~ thcosrit,tescn.oqehroi
harnicspdue eth sistofdth
harmonics dphens.to
to the loss of the c-c- and d-phases. Tothethe aim
of obviating this limitation, a third time-harmonic currentaimis
due to
with teiped
imoe constra , thelscnd a

be forced to be equaltozero,yieldingsupplied only in the b- and e-phases. To satisfy the constraint

tan 3 (T, + T3) sin sin (27) i= 0, these currents have equal amplitude (p3 will be fixed
to unity) and an opposite phase angle. In this case we should
T, sin cos - T3 sin cos ,
- distinguish the angles /3 for the fundamental current and /33
In the case of the motor under test, it has been computed: /3 f h - 0y
1.419 rad (-81.31 degrees) and p1 = 0.560. The corresponding 4
torque behavior is shown in Fig. 8 using dot-dash line (Tp3). 3/3 + 7(30)
The numerical results are reported in Table V. Average torque 5 2
is low and torque ripple higher that 500.o......... In the following, it is fixed /3 =w1/10. Then, equating the
second and fourth torque harmonics to zero yields
B. Third time-harmonic current injection
By introducing
current the third time-harmonic of the current, the
system becomes /3........
a =-_ - arcsin i,
T....sin....[sin(/3 + 5)+sn
(31)

[eS(5 + c.) +t COS 3Y5a +

Ii~~ that can be computed by an iterative process. At last, t is
-s= [l [cos(y%a +c +/3) + l 0cos3((b +~ (X 3]........
computed as
ie='1 [P1 COS(Y5e + (Ji - /) + t,03 cos 3(Y5e + (23 - /3)1 Ii'...........t=
3 sin 2IF sin /32
(28) .........
1cos
1Ocos(/ - 2IF (3)
and P1 from (26). current phasors. Consequently the amplitude of the opposite
In case of the motor under test, it is /3=-1.696 rad (-97.15 phasors has to be equal. The resulting current system becomes
degrees), t=O. 142, and pl=0.509 and the corresponding current
phasors are shown in Fig. 9. The resulting torque behavior is ta(t) = t,hJ1 sin(cJt - Oshc)
shown in Fig. 8 using solid line. It is worth noticing that the Zb(t) (1 -')I1 COS(pb + ae + - + 47)
torque ripple is minimized besides a high reduction of the
average torque. The numerical values are reported in Table V. (
The main cause of the reduction of the average torque is the id(t) = (1-)I1 COS(yd + a'i + )
constraint E i = 0 (zero-sequence current equal to zero). By ie(t) (1 + )Ii COS((Oe + a' - -()
removing this constraint it can be verified that a current control 5
strategy exists able to achieve a smooth torque behavior but where tshc Ishc/I1 iS the ratio between short-circuit and
with a higher average torque. For this purpose, the adoption nominal currents, , and X used to consider the variation of
of a full-bridge converter appears advantageous: each phase amplitude and phase of the healthy phase currents. It is also
could be supplied independently and a zero-sequence current assumed that 'shc and 475shc are known, since they depend on
is feasible. A smooth torque (torque ripple about 8%) can the motor parameters and the operating speed only.
be achieved, without a high decrease of average torque (that The corresponding torque is labelled T,0(t). To the aim of
remains about 58%). However, this falls out the objective of reducing the torque ripple also under fault-mode operations,
this paper and will be not dealt with. the second torque harmonic is equated to zero, yielding
A-
e = arcsin 1 , [4T3cos cos ( 1 -
4Ti cos 10 0
X 10 I>30>e 1Sh0T 3)CS4sc
- b~~~~~~~~~~~) ~~~~tshc(Tl T13) COS (/shcj
d

+
(35)
from which, the angle is computed as a function of tshc and
Fig. 9. Current phasors with 3-97.15 degrees, t0.142 and P10.509
Fw=shc
from
(it requires an iterative computation). Then i is obtained

_= tshc (T1 + T3) sin

jlshc (36
IX. ONE-PHASE SHORT-CIRCUIT FAULT 4 [Ti cos ' cos 0 -3 cos 70 sin( 37 -()]
In this section, let us suppose that the a-phase is short- Of course tshc and 0shc vary with the frequency, then (35)
circuited. In the computation of the short-circuit current the and (36) vary with the motor speed. Fig. 10 shows the values
mutual inductances can be reasonably neglected with respect of and i as a function of tshc and 0shc
to the self inductances (as verified in the 20-slot 18-pole
motor under test). A limited or null mutual coupling among 0
the phases is essential in fault-tolerant motors: it has to =05_
_ _s_h_
-10I sh__.
_
be avoided that the flux produced by the healthy phases -e SC-5
- ----

may be coupled by the short-circuited phase, sustaining the -20sh

fault. Thus, considering the fundamental components only, the -30 10 20 30 40 50 60 70 80 90
short-circuit current is computed as Oshc
wshc(t) hesin(e(t
sin(wt-shc)
(775shc) (33) ~~~0.4- -
shc
- - -
1shc 5

where e(t) = A sin(wot) is the back EMF, with the flux-
linkage due to the PM, Zshc = NFR2+ (wL)2 is the phase
impedance formed by the series resistance and reactance, Oshc
is the impedance phase (tan Oshc= wL/R). If the resistance
R is negligible with respect to the reactance wL, the short-
circuit current becomes Ishc =-A,/L. Then, from (33) it is
evident that each phase of the fault-tolerantmotor has to be
designed with a suitably high inductance, so as to limit the
short-circuit current.
A. Sinusoidal currents of different amplitude
As for the current control strategies described above, the
currents have to satisfy the constraints of symmetry with
respect to the faulty phase and E i =0. Following the results
of the previous sections, the b- and d-phase current phasors
are chosen wr rad out of phase, as well as the c- and e-phase
0.2G ~~~~shc=.
05
0 10 20 30 40 50 60 70 80 90
Oshc
Fig. 10. X and as a function of Lshc and
, ,shc
Assuming tshc 1 and 6shc=80 degrees to be fixed, from
(35) and (36) it results ,=X~-.83 degrees and =032 Fig. 11
shows the torque behaviors under healthy operating condition
(Ta, dashed line), with the a-phase short-circuited and no
variation of the other healthy current phasors (Tshc, dot-dash
line) and with the proposed control strategy (T,<,g, solid line).
The second torque harmonic is reduced to zero, while the
fourth harmonic still appears. The torque ripple is reduced
from 650% (without current control strategy) to about 180% as
also reported in Table VI.
 8 E
z 0.5-
AL A
6 -I v
---

04 5 020.5
2 shc
0~~~~~~~' Angular 90position 180 270
(mechanical degrees)
360
(
o 5 10 195 20
Angular position (mechanical degrees) E
z
II. Torque behaviors with Lshc a' 4.55
Fig.
simulation). 1 and h= 80 deg (Finite element CT0 v_4__W_qq_ M
VW
_
H 3.5
TABLE VI 0 90 180 270 360
Angular position (mechanical degrees) (b)

caseTog vge(Nm)Th vgi/Te

Taang i5.863 1
ripple(t )
0.40
Z
4p5
(b) A36 AJanAAAH
Tshc 4.879 0.83 RIPPLTSE
AVEAG TOPRQUEANDTORQU 65.40
INFG.5
~~~~~~~~~~~~~~~~~~~'
CT 4 tests)
TT, cg 4.559 0.78 18.23 H
'IO0 90 180 270 360
Angular position (mechanical degrees) (c)
the_________________
ftebpae 4.5 n -hs.Tecurnsaefre
X. EXPERIMENTAL RESULTS E
A. One open-circuitedphase phase s
The current control strategies computed above have been
tested adopting a 3-phase inverter. The coils of e- and c-phase H 90 10 27 6
are connected together (with opposite polarity) and similarly Angular position (mechanical degrees) (d)
the coils of the b-phase and d-phase. The currents are forced
in the coils as described in Fig.4. The measured torque vs. Fig. 12. One open-circuited phase: torque behaviors measured: (a) cogging
mechanical angle is reported in Fig. 12. torque, (b) /3=36 degrees and the, (c) a333.3 deg and of0, (d) 33i1.6 deg
The cogging torque of Fig. 12(a) is quite low, as expected in and t=0.0806. (Experimental tests)
a 20-slot 18-pole motor. Fig. 12(b) shows the measured torque
behavior simply fixingv3=36 degrees. It is evident a torque 1.5 times higher at 200 rpm (nominal speed). It is shown
ripple about 260o and a decrease of the average torque of 200, in Fig. 15(a) and Fig. 15(b) with and without supplying the
as predicted in the analytical study (see Fig. 3). The highest healthy phases respectively, at rotor speed of 43 rpm. From this
torque harmonics are of 18th and 36th order. Figs. 12(c) and test it is possible to note that (i) the amplitude of the short-
12(d) highlight the favorable effect of the control strategy, in cuprent is limited and (i) it is the same in the two
circuit
fact the torque ripple becomes equal to the cogging torque. operating conditions (due to the absence of mutual coupling).
From Fig. 15 the experimented third harmonic current is
B. Two open-circuited non-adjacent phases about 140 of the fundamental one. This confirms the presence
The currents are forced in the coils as described in section of the third time harmonic of the back EMF, due to the third
VII, achieving Tp- and Tp,,. The measured torques vs. me- harmonic of flux density distribution along the air-gap and the
chanical angle are reported in Fig. 13. As far as the average non-null winding factor of third harmonic.
torque both andiTps t reach the predicted values (3.76 Nm Fig. 16(a) shows the torque behavior with a current phasors
and 3.57 Nm respectively). The torque ripple is as predicted rotated of 6 0 and Q
- -,E =w/5 (see Fig. 4) that
in the first case (it is 160 against the predicted13com), while corresponds toare v and eO in (34). Fig. 16(b) shows the
it is higher than predicted in the second case. torque behavior with cumrent phasors computed according to
thirdTworentcirmonite the proposed strategy, that is, withe andon computed from
adjaentiononphasestorqueripplereduc Fig. 10 at the actual motor speed. Thus, the average torque
The currents are forced in the coils as described in section remains the same but the torque ripple is effectively reduced.

Vinon the
firsttcase and1urN in the measecnd torcopes wit i at icnorer to n igverage

is lower up to a rotor speed of 100 rpm, and it becomes PM motors of any power.
 p 4.5 6
z z

E .0 _________________________0
9 10 2 0
36AnAr 90
psi (180 AnA 270d 360
e(
Angular position (mechanical degrees) (a)) ()
CT 3.5
~~~~~~~~~~~~45 ~ ~ 5V
. ~ ~V VVVvvvv
~ ~ VVv ~ ~ ~ ~ k0 O4
~ ~~~~~~~~~~
z
'I
9030 E 27 6 1
~~~~~~~~~~~z
0
-c 90 180 270 360
a)~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~i
3.5 _ _ _ _ _ _ __4_ __-

H 0 90 180 270 360

0J 90 180 270 360 Angular position (mechanical degrees)
(b)
Angular position (mechanical degrees) (b)
4- 1 IV I Fig.
hel0= and Short-circuit
16.in the anlyithe of faltphase:oprain
of one torque behaviors (a) toern
conitins with and
Mr Mose
Fig. 13. Two open-circuited non-adjacent phases: torque behavior (a) (b) adopting proposed strategy:
, and uo computed
from 10 Fig.
without and (b) with third time-harmonic of current (Experimental test). (Experimental test).
l_C l v qFV VV,Y_4Vvl
I0

E1 w * [2]J.A.Theauthors would also thank Eng. Edin Opanovic for his

K2 l l lhelp in the analysis of faulty operating conditions, Nlpr. Mosa
__ _ _ __ _ _ __
Castiello and Eng. Daniele Rizzotti for their help during the
_ _experimental tests of the motor.
0 90 180 270 360
Angular position (mechanical degrees) (a) REFERENCES
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E architecture for induction motor drives in automotive applications." IEEE
lz._ 2 - Transactions on Vehicular Technology, 53(6): 1847-1855, November
a) 2004.
CZ L, r, AA- AAA Ah AA.-AAAAAIAIAA.,, A AMA-AA.A
A A~AA [2] J.A. Haylock, B.C. Mecrow, A.G. Jack, and D.J. Atkinson. "Operation
1 Vof fault- tolerant PM drive for an aerospace fuel pump application." IEE
H 0 90 180 270 360 Proc. Electr Po-wer Appl., 145(5):441-448, Sept. 1998.
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(b) motor drives." Proc. of IEEE Industry Applications Annual Meeting, 3-7
October 2004.
F ig. 14. Two open-circuited adjacent phases: torque behavior (a) without [4] L. Parsa and H.A. Toliyat. "Five-phase permanent-magnet motor
and (b) with third time-harmonic of current (Experimental test). drives." volume 41, pages 30-37, Jan/Feb 2005.
[5] A.G. Jack, B.C. Mecrow, and J.A. Haylock. "A comparative study of
permanent magnet and switched reluctance motors for high-performance
time (s) (a) fault-tolerant applications." IEEE Trans. on Industry Applications, IA-
0.5- 32(4):889-895, July/Aug 1996.
[6] M. Lazzari and P. Ferrari. "Phase number and their related effects on
D 0.5 unthe characteristics of inverter-fed induction motor drives." In Conf Rec.
-0.5 ~~~~~~~~~~~~~~~~of
IEEE Industry Applications Annual Meeting, IAS'83, volume I, pages
494-502, Mexico City, Mexico, October 1983.
0 . 04 06 . [7] T. M. Jahns. "Improved reliability in solid state a.c. drives by means
0 0.2 0.4
time (s) (a)08
(a)
of multiple independent phase-drive units." IEEE Trans. on Industry
Applications, IA-16(3):321-331, May 1980.
~~~~~~~~~~~~~~~[8]
_______________________________
1
G.K. Singh and V. Pant. "Analysis of a multiphase induction machine
:Z 0.5- under fault condition in a phase-redundant ac drive system." Electric
Z< \ 0 / \ I \ f \ / \ /Machines and Power Systems, 28(6):577-590, Dec. 2000.
[9] N. Bianchi and M. Dai Pre. "Use of the star of slots in designing
-0.5- fractional-slot single-layer synchronous motors." IEE Proc. - Electr
-1_ 0 0.2 0.4 0.6 0.8 1
Power Appl., 2006. in press.
[10] N. Bianchi, M. Dai PrM, G. Grezzani, and S.Bolognani. "Design
time (s) (b) considerations on fractional-slot fault-tolerant synchronous motors." In
Proc. of IEEE International Electrical Machines and Drives Conference,
Fig. 15. Measured short circuit current (a) with and (b) without currents in IEMDC'05, 14-18 May 2005.
healthy phases [11] B.C. Mecrow, A.G. Jack, D.J. Atkinson, G.J. Atkinson, A. King, and
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ACKNOWLEDGMENTS [12] N. Bianchi, S.Bolognani, and G. Grezzani. "Fractional-slot IPM
servomotors: analysis and performance comparisons." In Proc. of
International Conference on Electrical Machines, ICEM'04, 5-8 Sept.
This research was supported by Electric Drives Laboratory. 2004.
The authors are grateful to Dr. G. Terruzzi, Saimag S.p.a.,
Pogliano Milanese, Italy, for supplying the permanent mag-
nets, and to Magnetic S.p.a., Montebello Vicentino, Italy, for
manufacturing and assembling the motor.