2014

International Symposium on Power Electronics,

Electrical Drives, Automation and Motion

Analytical Method of a Torque Ripple Calculation for

Two-Phase IM Supplied by Three-Leg SPWM
Inverter

Pavel Záskalický Branislav Dobrucký

Department of Electrotechnics and Mechatronics Department of Mechatronics and Electronics
Technical University (TUKE) 
  
 
Košice, Slovak Republic , Slovak Republic
pavel.zaskalicky@tuke.sk dobrucky@fel.uniza.sk

Abstract—The contribution deals with steady state estimation x The voltage drop and leakage current across the
of a electromagnetic torque ripples and a current waveform of a switches are zero.
two-phase induction motor, which is supplied by an three-leg
IGBT bridge connected inverter. The inverter’s output voltage is x The switches are turned on and off with no rise and fall
controlled by a modified sinusoidal SPWM of the input DC times.
voltage. The complex Fourier series analysis of the inverter’s
output voltage was made, to obtain a spectrum of the harmonic x Sufficiently good size capacity of the inverter’s input
supply voltage. The different voltage harmonics have been voltage capacitors, to can suppose constant converter
applied to the two-phase induction machine model to obtain input DC voltage for any load.
electromagnetic torque and supply current waveforms for These assumptions help us simpler to analyze a motor
various operation states. power supply circuit and help us to build a mathematical model
of invertor at steady state. Fig. 1 shows a two-phase convertor
Keywords—two-phase induction motor, torque ripple
estimation, bridge invertor, Fourier series, sinusoidal PWM control
circuit layout, supplied by a single-phase network.
The inverter of the converter consists of three transistors
I. INTRODUCTION branches (b-, a-, c- ones). The first branch (b) is common
The electrical low-power drives which are supplied by a branch for both other phases.
single phase voltage used in different industrial and domestic Contrary to common analysis method the reference voltage
devices are presently increasingly deployed by two-phase potential is not created by centre tap of DC link as [4] but with
motors. A two-phase motor by their characteristics no differs its negative potential for Fourier series analysis used in the
from the three-phase ones. Their advantage is simpler winding next part of paper.
layout, which is of great importance for automated motor
production [1]-[2].
The two-phase motors are at present manufactured as either
squirrel cage induction or permanents magnets synchronous
motors. They are very often deployed as a pumps drives in a
washing machines and dishwashers, but also in a circulating
pumps for central domestic heating. A permanent magnet in
this case is water and lye resistant, which allows making a
pump with an absolute waterproof.
The stator winding can be configured in either a serial or
parallel two-phase system. Normally, the winding are identical.
The windings which form one phase are connected to induce
opposite magnetic polarity.
II. MATHEMATICAL MODEL OF A SUPPLY CONVERTER
To build a mathematical model of a two-phase inverter’s a
complex Fourier series approach was used. In the model we
consider following idealized conditions:
x Power switch can handle unlimited current and blocks Fig. 1. Supply convertor circuit layout.
unlimited voltage.

978-1-4799-4749-2/14/$31.00 ©2014 IEEE

731
A. Two-Phase ‘Modified’ Sinusoidal PWM Technique Ue U
u0  r e sin T ;
This form of voltage control is the classical sinusoidal 2 2
pulse-width-modulation (SPWM) but modified for two-phase (1)
Ue Ue Ue Ue
system [5]. The pulse-width-modulated wave has much lower u01 r cos T ; u02 r cos T
order harmonics than the other waveforms. If the desired 2 2 2 2
inverter’s output voltage is sine-wave, two parameters define To calculate a turn on ( D ) and turn off ( E ) angles we
the control [3]-[4]: compare the DC pulse area with the requested voltage area, as
depicted on the Fig. 4 [7].
x Coefficient of the modulation m - equal to the ratio of
the modulation and reference frequency.
x Voltage control coefficient r - equal to the ratio of the
desired voltage amplitude and DC supply voltage level.
Generally the synchronous modulation is used. In
synchronic modulation a modulation frequency f m is an integer
multiple of the reference frequency f .
Output voltage vectors V AS and V BS are line to line
voltages between the middle leg b and another leg a and leg c,
Fig. 2. From Fig. 2 we can see that the amplitudes of output
voltages are equal, but the complexity of control system
SVPWM is much harder like using the control scheme with
two-phase sinusoidal SPWM [5]-[6]. Fig. 4. Comparison of the voltages area.
Minus cosine VAS
referenced For the left and right crosshatched areas of the first output
voltage for Leg a transistors branch the following equations are valid [10]-[13]:
2S
n
§ Ue · § 2S ·
m
Ue
2S
³ ¨ 2  r 2 sin T ¸dT
§ 1·© ¹
Ue ¨ n
© m
 D 01n ¸
¹
Sine referenced ¨ n ¸
m© 2¹
voltage for Leg b (2)
2S § 1 ·
¨ n ¸
m © 2¹
§ Ue Ue · § 2S ·
Cosine referenced
³S
2
¨ 2  r 2 sin T ¸dT
© ¹
U e ¨ E 01n  n
© m ¹
¸
n
voltage for Leg c m
VBS
After the calculus we obtain for the turn-on and turn-off
Fig. 2. Referenced voltage for each leg of VSI inverter [5]. angles of the first transistors branch the following expressions:
From the figure also can see that the amplitude of voltage S§ 1· r ª 2S S º
D 0n ¨ 2n  ¸  «cos n  cos  2n  1 »
vectors is V DC . Referenced voltages for two-phase SPWM m© 2¹ 2¬ m m ¼
for each leg of VSI inverter are depicted on Fig. 3. (3)
S§ 1· r ª 2S S º
1 E0n ¨ 2n  ¸  «cos n  cos  2n  1 »
Leg A m© 2¹ 2¬ m m ¼
Leg B
0.8
Leg C It will be similarly for the second transistor branch.
0.6
S§ 1 · r ª 2S n S º
D 01n ¨ 2n  ¸  « sin  sin  2n  1 »
0.4 m© 2¹ 2¬ m m ¼
(4)
S§ 1 · r ª 2S n S º
E 01n ¨ 2n  ¸  « sin  sin  2n  1 »
0.2

m© 2¹ 2¬ m m ¼
0
0 0.005 0.01 0.015 0.02

Fig. 3. Referenced voltages of the two-phase sinusoidal PWM technique.

So does for third transistor branch.
S§ 1 · r ª 2S n S º
To inverter output voltage analysis the number of math D 02 n ¨ 2n  ¸  « sin  sin  2n  1 »
methods can be used [7]-[13], one of them based on Fourier m© 2¹ 2¬ m m ¼
(5)
analysis is used. Then, the turn on angle D and turn off angle E S§ 1 · r ª 2S n S º
E 02 n ¨ 2n  ¸  « sin  sin  2n  1 »
for any modulation interval are calculated, based on the m© 2¹ 2¬ m m ¼
reference sine-wave. Then we can write the output voltage of the first branch in
The desired output voltage of the branches has a form: the form of a complex Fourier series [7], [10]:

732
 ­ III. HARMONIC ANALYSIS OF THE SUPPLY VOLTAGES
1
°c0 n j 2kS e
 jkD 0 n

 e  jk E0 n  On the base of Fourier series formulas of the phase supply
f m °°
u0 U e ¦ ¦ c0 n e jkT ; ® for k z 0 (6) voltages, can be made a harmonic analysis of the supply
k f n 1 ° waveforms. Phasor of each of voltage harmonics is given by a
E0n  D 0n
°c0 n for k 0 product of sum of complex Fourier’s coefficient and DC input
°̄ 2S voltage
m
2U e ¦  c0kn  c01n
Similarly for the output voltage of the second transistor
U1ks k
branch: n 1
(10)
­ 1
 
m
2U e ¦  c  c 
 jkD 01 n
°c01n j 2kS e  e  jk E01n U k k k
2s 0n 02 n
f m °° n 1
u01 U e ¦ ¦ c01n e jkT ; ® for k z 0 (7) 250

k f n 1 ° E 01n  D 01n 200

°c01n for k 0
°̄ 2S

Ak (V) o
150

So does for third transistor branch.

1
100

­ 1
°c02 n j 2kS e
 jkD 02 n

 e  jk E02 n  50

f m °° 0
u02 U e ¦ ¦ c02 n e jkT ; ® for k z 0 (8) 0 10 20 30 40 50
harmonics o
60 70 80 90 100

k f n 1 ° E 02 n  D 02 n
°c02 n for k 0 3
°̄ 2S
2
The phase voltages are given by a difference between
1

Pk (rad) o
branch voltages as following.
f m 0

u1S u0  u01 Ue ¦ ¦ c  c01n  e jkT ;

1
0n -1
k f n 1
f m
(9) -2

u2 S u0  u02 Ue ¦ ¦ c
k f n 1
0n  c02 n  e jkT
; -3
0 10 20 30 40 50 60 70 80 90 100
harmonics o
250

Where U e -DC inverter input voltage

200
In the Fig. 5 are shown the phase voltages waveforms,
Ak (V) o

150
which were calculated on the base on equations (9).
2

100
300
50
200
(V) o

100 0
0 10 20 30 40 50 60 70 80 90 100
0
harmonics o
1S

-100
u

-200
3
-300
2
0 2 4 6 8 10 12 14 16 18
t (ms) o 1
Pk (rad) o

0
2

-1
300
200 -2
100
(V) o

-3
0 0 10 20 30 40 50 60 70 80 90 100
harmonics o
2S

-100
u

-200 Fig. 6. Harmonic analysis of the PWM controlled output voltage.

-300
With amplitude and phase
Ak abs  U k  ; P k angle  U k  ;
0 2 4 6 8 10 12 14 16 18
t (ms) o (11)
Fig. 5. Waveforms of the phase voltages. The Fig.6 depicts a harmonic analysis of the PWM
controlled output voltage for desired frequency of 50 Hz and
The waveforms were calculated for modulation frequency of 2
modulation frequency of 2 kHz ( m 40 ).
kHz ( ).

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 400
For practical application we are interested only for
significant harmonics. Therefore we neglect the harmonics 200
with amplitude less then 5V .

(V) o
0

1S
IV. MATHEMATICAL MODEL OF A TWO-PHASE INDUCTION

u
-200
MOTOR
For the system which is associated with the rotating magnetic -400
0 2 4 6 8 10 12 14 16 18
field, following equation of a two-phase asynchronous machine t (ms) o
are valid [14].
400
d\ ds
u1s Rs ids   Zs\ qs
dt 200

(V) o
d\ qs
u2 s Rs iqs   Zs\ ds 0

2S
dt

u
(13) -200
d\ dr
u1r Rr idr   Zs  Zm \ qr
dt -400
0 2 4 6 8 10 12 14 16 18

d\ qr t (ms) o

u2 r Rr iqr   Zs  Zm \ dr Fig. 7. Calculated waveforms of supply voltages.

dt
Since homopolar components of the system are zero, the V. EXAMPLES OF SIMULATIONS USING FOURIER METHOD
equation of the machine can be transformed into single axis. The following pictures show waveforms of stator currents
us uds  juqs and electromagnetic torque and in a steady state. The
parameters of a prototype of a two-pole induction motor were
ur udr  juqr
used in a model. The motor has the parameters:
s \ ds  j\ qs
RS51 :; 31 :; RR
r \ dr  j\ qr
Lm 1.181 H ; L1V L2cV 0.15 H ;
is ids  jiqs
The stator and rotor inductance are defined:
ir idr  jiqr
Ls Lm  L1V 1,331H
Equations (11) take a form.
Lr Lm  L2cV 1,331H
d s
u s Rs i s   jZs s The stator and rotor voltages and currents were calculated for
dt each of harmonic. For the waveforms the following equations
(14)
d r are valid.
u r Rr i r   j  Z s  Zm  r 9 9 9 9
dt u1s ¦u k
1s ; u2 s ¦u k
2s ; i1s ¦i k
1s ; i2 s ¦i k
2s ;
With the flux linking components defined as. k 1 k 1 k 1 k 1

Fig. 7 shows of the stator voltages waveform, calculated on

s Ls  s  Lm  r the base of 9 harmonics.
(15)
 r Lm  s  Lr  r Similarly we can write for the torque waveform.
9
After the solving (12) and (13), we obtain for stator and rotor
current phasors.
M em ¦M
k 1
k
em

u s  Rr / s  jZ Lr  Fig. 8 shows the waveforms of the stator current for no

is
 Rs  jZ Ls  .  Rr / s  jZ Lr   Z 2 L2m loaded motor. In the Fig. 10 is the calculated waveform of the
(16) electromagnetic torque for no loaded machine.
jZ Lm
ir 
 Rs  jZ Ls  .  Rr / s  jZ Lr   Z 2 L2m 0.6

0.4

The phase currents is1 ; is 2 ; ir1 ; ir 2 are obtained on the base of 0.2
(A) o

0
current phasors by Fortescou transformation used e.g. in [14].
1s

-0.2
For the electromagnetic torque the following relation is valid.
i

-0.4

M em pLm  is 2 irc1  is1irc2  (17)

0 2 4 6 8 10 12 14 16 18 20
t (ms) o

Fig. 8. Stator current waveform for no-loaded motor.

734
 0.6
experimental validation, and have been obtain from previous
0.4
autor’s papers [5], [15].
0.2
(A) o

400
0 ub
1r

200
-0.2
i

Ub [V]
0
-0.4
-200
0 2 4 6 8 10 12 14 16 18 20
t (ms) o -400
0.97 0.971 0.972 0.973 0.974 0.975 0.976 0.977 0.978 0.979 0.98
a) t[s]
Fig. 9. To stator recalculated rotor currents waveforms for no-loaded motor

0.4
0.5
0.2
0
m (Nm) o

0 -0.5
i

-0.2 b) 0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19
[]
1.5

Torque [Nm]
-0.4
0 2 4 6 8 10 12 14 16 18 20
t (ms) o 1
Fig. 10. Electromagnetic torque waveform for no-loaded motor
0.5

0.5 0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45

d/s]
Time [s]
(A) o

c)
0
300
0.3
1s

Te (Nm)
i

0.25

-0.5 0.2

0.15

0.1
0 2 4 6 8 10 12 14 16 18 20
t (ms) o 0.05

Fig. 11. Stator currents waveform for loaded motor 0

-0.05
0.2 0.205 0.2123 0.235 0.24

0.6 d)
0.4

0.2 Fig. 14. Switching pulses for phase voltage (a)

(A) o

- time waveform of phase current (b)

0
- electromagnetic torque waveform for loaded motor.
1r

-0.2 - detailed electromagnetic torque ripple.

i

-0.4

0 2 4 6 8 10 12 14 16 18 20
t (ms) o
Fig. 12. To stator recalculated rotor currents waveforms for loaded motor

The Fig. 11 shows the stator current waveforms for loaded

machine. The machine was loaded by a torque of 0.2 Nm and
it works in speed of 286 rad/sek (2731 rpm). In the Fig. 13 is
shown the electromagnetic torque waveform.
0.4

0.2 Fig. 15. Measured time waveforms of phase current (red) and voltage (yellow)
m (Nm) o

Fundamental (50Hz) = 0.8159 , THD= 2.73%

0 1
i

0.8
-0.2
0.6
Mag

-0.4 0.4
0 2 4 6 8 10 12 14 16 18 20
t (ms) o 0.2

0
Fig. 13. Electromagnetic torque waveform for loaded motor. 0 50 100 150 200 250 300 350 400 450 500
Frequency (Hz)
a)
VI. VERIFICATION USING ALTERNATE METHOD
Fig. 16. Fourier analysis and THD of phase current (a)
The verification results are based on state variables method
using for open loop operated induction motor and its

735

b)
Fig. 17. Fourier analysis and THD of phase voltage (b) using modified
sinusoidal PWM (frequency of 0 means fundamental harmonics).
Discussion to verification figures:
Although the direct comparison between calculated-,
simulated- and measured waveforms it is not possible due to
different scale (and some parameters), worked-out figures
show good shape accordance of the waveforms.
   
-Phase Asynchronous Motor - Simulation
E.g. you can see and compare shapes of phase current in Fig. 8
and Fig. 14b, as well as time waveforms of electromagnetic
torque in Fig. 10 or Fig. 13 and those of in Fig. 14c.
Small differences between measured and calculated
waveforms of phase voltages (Fig. 5, 6 and Fig. 15 (yellow)
<>

are caused by smaller number of intended harmonics of the
calculated waveform.
Moreover, there are added and showed two figures (Fig.
14a and Fig. 16a,b) which present the real switched pluses for
modified sinusoidal PWM modulation, and total harmonic
distortion (THD) of phase current in Fig. 16a and phase
voltage Fig. 16b.
CONCLUSION
Modeling, analysis, and simulation of the two-phase
induction motor controlled by two-phase sinusoidal PWM
three-leg inverter using complex Fourier series math method
\^ $ ?
 ' _> 
` 
<>{ 
|`}
were provided and presented in the paper. The developed
equations in the form of a complex Fourier series for each
inverter leg voltage as well as output phase voltage are valid
 $€ \}< ?
for any coefficient of modulation, frequency and voltage
control coefficients.
Advantages of this type of inverter compare to the
precedent half bridge connection is except of —2 higher

out by alternate computation methods in time domain are
presented with good agreement and are discussed in the paper.
ACKNOWLEDGMENT
The financial support of the Slovak Research and Develop-
ment Agency under the contract No: APVV-0138-10 is
acknowledged.
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