A New Two-Motor Drive to Control a Two-Phase

Induction Motor and a DC Motor

Younes Sangsedi, Saleh Ziaeinejad, and Ali Mehrizi-Sani
School of Electrical Engineering and Computer Science
Washington State University
Pullman, WA, 99164
Email: younes.sangsedi@wsu.edu; saleh.ziaeinejad@wsu.edu; mehrizi@eecs.wsu.edu

AbstractA multi-motor drive, which independently controls

multiple motors by a single microcontroller and converter,
reduces the system cost by reducing the drive system parts
count. This paper proposes direct torque control (DTC) of a
two-phase induction motor (as the main motor) and hysteresisbased current control of a permanent magnet DC motor (as
the auxiliary motor) using a four-leg converter. An augmented
switching table is proposed to control both motors. Analytical
equations are also proposed to assess the current ripple and
controllability of the DC motor. The proposed drive system and
presented theories are validated by simulation case studies in
MATLAB/Simulink.
Index TermsCurrent control, DC motors, induction motors,
torque control, variable speed drives,.

I. I NTRODUCTION
Many industries require independent control of multiple
electrical motors. Since the industry primarily shows intreset
in low-cost drives [1], different multiple-motor drives have
been used in the industry as an attempt to reduce the cost.
A multiple-motor drive uses a single microcontroller and
reduced number of power electronic switches and corresponding circuits to control multiple electric motors [2].
Different methods such as 1) series or parallel connection
of motors [3], [4], 2) sharing power electronic switches [5],
3) using the middle point of the DC link of the converter [6],
and 4) connecting the neutral point of one motor to the
terminal of another motor [7] heve been proposed to control
multiple electric motors using a single converter. A multiplemotor drive gives the same priority to the controls of all of
its electric motors when the appropriate control of all electric
motors is critical. However, in some other applications, the
higher priority is given to the control of some electric motors
that play more important roles in the system. These motors
with important roles in the system are known as main motors
while the motors with less important roles are known as
auxiliary motors.
The previously proposed multiple-motor drives [2][7]
focus on the control of three- or multi-phase motors. These
drives are not proposed for two-phase electric motors. Because of having a simple and robust structure, a two-phase
induction motor is advantageous in low-cost variable speed
motor drives [8], [9]. Different structures of a two-phase
voltage-sourced converters (i.e., two-, three-, and four-leg
l-)))

converters [10], [11]) have been proposed to supply a twophase induction motor. Among these structures, the fourleg converter provides larger voltage vectors and maximum
number of generated voltage vectors. This structure shows the
superior performance to control a two-phase induction motor
in variable speed applications [11].
This paper proposes independent control of a two-phase
induction motor (as the main motor) and a DC motor (as
the auxiliary motor) using a single four-leg converter. The
induction motor is controlled via direct torque control (DTC)
method, and the DC motor is controlled by the current
control method. DTC is a reliable and low-cost method to
control the electromagnetic torque and stator ux modulus
of an induction motor without a mechanical sensor, and the
armature current control is a common method to control a
DC motor [12]. In DTC of an induction motor using a fourleg converter, a voltage vector may be generated by different
switching states. Among possible combinations, the controller
selects a switching state that is also useful to control the
DC motor current. A switching table is proposed to control
the stator ux modulus and electromagnetic torque of the
induction motor and the current of DC motor. In the proposed
structure, the control of the induction motor has a higher
priority and is not affected by the DC motor operation.
However, the current ripple of the DC motor increases when
the speed of the induction motor increases. The maximum
current ripple of the DC motor is calculated. In addition,
controllable operating range of the DC motor is derived.
This paper is organized as follows. Section II proposes
the block diagram and switching table of the proposed twomotor drive. Section III determines the current ripple and
controllability of the DC motor as the auxiliary motor. Sections IV gives the simulation case studies. Section V provides
the concluding remarks.
II. B LOCK DIAGRAM AND SWITCHING TABLE OF
PROPOSED TWO - MOTOR DRIVE
A basic two-phase DTC drive system estimates and controls the stator ux modulus |s | and the electromagnetic
torque Te of a two-phase induction motor based on the analysis of the motor variables in the stationary (DQ) reference
frame [11]. Based on the outputs of the hysteresis controllers
of |s | and Te and calculated stator ux sector, this drive



V_


 

+\VWHUHVLV
&RQWUROOHU
+\VWHUHVLV
&RQWUROOHU
+\VWHUHVLV
&RQWUROOHU
6HFWRU
'HWHFWLRQ

V_

V

V

4
Y 

Y 

9'&

6ZLWFKLQJ
7DEOH

'

YL

'&
0RWRU

9'&

,QGXFWLRQ
0RWRU


Y 





L'V &DOFXODWLRQ
L4V

Y 

D
Fig. 1.

Y'V DQG Y4V

)OX[ DQG
7RUTXH
2EVHUYHU

Y 

Y 

'
Y 
Y 

Y 
Y 

Y 

Proposed two-motor drive; (a) block diagram and (b) generated voltage vectors.

TABLE I
P ROPOSED SWITCHING TABLE FOR DTC OF INDUCTION MOTOR AND CURRENT CONTROL OF DC MOTOR
dTe

dIdc

ds

1
0
1

1
0
1

1
0
1

1
v1
v2
v3
v9
v10
v11
v7
v6
v5

2
v2
v3
v4
v9
v10
v11
v8
v7
v6

3
v3
v4
v5
v9
v10
v11
v1
v8
v7

system selects a voltage vector that can be generated by the

voltage-sourced converter supplying the motor [13].
The conventional method to control a permanent magnet
DC motor is the armature current control [12]. Fig. 1(a) shows
the topology of the proposed two-motor drive which not only
provides DTC of the two-phase induction motor as the main
motor, but also controls the current of the permanent magnet
DC motor as the auxiliary motor. Compared to the fourleg topology introduced in [8], [11] to control a two-phase
induction motor, the proposed two-motor drive additionally
controls a permanent magnet DC motor with no need to add
to the system hardware.
Fig. 1(b) shows that a four-leg VSC can generate eight
active voltage vectors and one zero voltage vector. Among
these voltage vectors, those that do not supply both D- and
Q-windings of the induction motor with active voltage vectors
can be generated in more than one form. For instance, the
voltage vectors 1101 and 0001 apply the same voltatge vector
v2 to the induction motor, which leads to zero and VDC
volts across the D- and Q-windings of the induction motor,
respectively. As another example, all the voltage vectors
0000, 1100, 0011, and 1111 apply zero voltage vector to the
induction motor.
Appropriate selection of the voltage vectors v2 , v4 , v6 , v8 ,
and the zero voltage vector makes it possible to also control
a DC motor. It is proposed to apply v2 , v4 , v6 , v8 in a way
that zero voltage is applied to the DC motor. In addition,

,
based on the deviation of Idc from its reference value Idc
one of the three possible forms of the zero voltage vector

Stator Flux Sector

4
5
6
v4
v5
v6
v5
v6
v7
v6
v7
v8
v9
v9
v9
v10
v10
v10
v11
v11
v11
v2
v3
v4
v1
v2
v3
v8
v1
v2

7
v7
v8
v1
v9
v10
v11
v5
v4
v3

8
v8
v1
v2
v9
v10
v11
v6
v5
v4

(i.e., v9 = 1100, v10 = 0011, and v11 = 1111) is selected

which maximally decreases this deviation. In terms of the
applied voltage across the DC motor armature, there is no
difference between the voltage vectors 1111 and 0000, and
the voltage vector 1111 is only used in this discussion.
Table I shows the proposed switching table of the drive
system. dTe , ds , and dIdc are the outputs of the hysteresis
controllers of the electromagnetic torque Te and stator ux
modulus |s | of the induction motor and the armature current
of the DC motor Idc , respectively. The proposed switching
table, compared to the swiching table proposed in [11], fully
controls Te and |s |, and the operation of the DC motor does
not affect the control of the induction motor. When dTe =
0, based on the value of dIdc , an appropriate selection of
the zero voltage vectors (i.e., v9 , v10 , or v11 ) decreases the

.
deviation of Idc from Idc
III. C URRENT RIPPLE AND CONTROLLABILITY OF THE
DC MOTOR
In the proposed two-motor drive, the induction motor is
always properly controlled. However, the performance of the
DC motor as the auxiliary motor depends on the operation of
the induction motor. This section calculates the current ripple
of the DC motor. In addition, it determines the controllable
operating range of the DC motor.
A. Current Ripple of the DC Motor
This subsection calculates the maximum deviation of Idc

form Idc
based on the operating point of the induction motor.



This analysis assumes the clockwise rotation of the induction

motor; however, its results are valid even for counterclockwise rotation. In clockwise rotation of the induction motor,
Te changes between Te Te and Te , where Te is the
reference value of Te and Te is the width of its hysteresis
controller. Based on Fig. 1 and Table I, v1 , v3 , v5 , and v7 can
increase Te but do not have control over Idc . To calculate the

, the maximum needed

maximum deviation of Idc form Idc

time t1 to change Te from Te Te to Te using one of

these four voltage vectors should be derived.
The minimum tangent component of v1 , v3 , v5 , and v7 ,
which leads to slowest compensation of Te , equals the DC
link voltage VDC . In this case, stator ux rotating speed
. 0 is dened as the corresponding load
equals s,min = V|DC
s|
angle for Te = Te Te . Therefore, based on [11],
Te Te = A sin(0 ),

(1)

where A is a constant that depends on the parameters of the

induction motor, and
Te

= A sin (0 + (s,min syn ) t1 )





VDC
syn t1 ,
= A sin 0 +
|s |

(2)

where syn is the rotating speed of the rotor ux vector. Te

and hence t1 are small quantities; therefore,
sin ((s,min syn )t1 )
= (s,min syn )t1 .

(3)

From (1)(3), t1 can be calculated as

t1 =

A cos 0

T
 e

VDC
|s |

syn

.

(4)

The parameters of the DC motor determine the deviation

during t1 . The resistance, inductance, and

of Idc form Idc
back-EMF of the DC motor are considered as rdc , Ldc , and
Edc = kdc , where dc is the rotating speed of the DC motor.
Based on the equivalent model of a DC motor
 [12], if the
initial value of the DC motor current is idc (t)t=0 = idc , its
time domain equation during t [0, t1 ] can be derived as

 r
Vt,dc kdc
Vt,dc + kdc
dc t

,
e Ldc +
idc (t) = Idc +
rdc
rdc
(5)
where Vt,dc is the terminal voltage of the DC motor. To
calculate the maximum positive and negative deviations of

, which are considered as Idc+ and Idc ,

Idc form Idc
Vt,dc is assumed VDC and +VDC , respectively. Since t1
is a small quantity, (4) and (5) give Idc+ and Idc as


rdc
VDC kdc

Idc+ =
t1 Idc
+
(6)
Ldc
rdc


rdc
VDC + kdc

t1 Idc
+
.
(7)
Idc =
Ldc
rdc
Therefore, the total deviation Idc can be calculated as
Idc = Idc+ + Idc =

2VDC t1
.
Ldc

(8)

TABLE II
PARAMETERS OF THE TWO - PHASE INDUCTION MOTOR AND DC MOTOR

Induction
motor

DC motor

Stator resistance, rs
Rotor resistance, rr
Stator leakage inductance, Ls
Rotor leakage inductance, Lr
Magnetizing inductance, Lm
Poles, P
Stator resistance, rdc
Stator inductance, Ldc
Back EMF constant, k

2.6
1
7.3 mH
7.3 mH
238.5 mH
2 pairs
2.8
41 mH
1.23 Vrads

From (4) and (8),

Idc =

2VDC Te

.
Ldc A cos 0 V|DC

syn
|
s

(9)

Based on (9), Idc not only depends on VDC , but also

depends on the parameters and operating variables of the
induction motor including A, 0 , Te , |s |, and syn .
B. Controllability of the DC Motor
This subsection calculates the controllable region for the
operation of the DC motor based on the operating point
of the induction motor. Based on (9), when syn increases,
Idc increases. If syn keeps increasing, after a critical speed
syn,crit , the DC motor becomes uncontrollable.
Using a zero voltage vector, Te decreases from Te to

Te Te . In this period, the deviation of Idc form Idc

can be compensated using appropriate selection of the zero
voltage vector. Similar to Subsection III-A, the time interval
of applying zero voltage vector t2 and, consequently, the
posssible increase and decrease in Idc can be calculated as
Te
,
A cos 1 syn


rdc
VDC kdc

t2 Idc +
Idc,inc =
Ldc
rdc


rdc
VDC + kdc

t2 Idc +
Idc,dec =
Ldc
rdc
t2 =

(10)
(11)
(12)

The DC motor is controllable if Idc,inc > Idc and

Idc,dec > Idc+ . This is because t2 is large enough to
compensate the deviation caused by applying a voltage vector
with no control over Idc . Thus, if the induction motor speed
is less than a specic value (i.e., syn < syn,crit ), the DC
motor is controllable. To calculate syn,crit , Idc,inc = Idc
and Idc,dec = Idc+ lead to the same result. From (4)(7)
and (10)(12), syn,crit can be expressed as
syn,crit =

|
VDC k|dc | rdc |Idc
2|s |

(13)

If syn > syn,crit , the DC motor is uncontrollable.

IV. S IMULATION RESULTS
To validate the proposed two-motor drive system, an integrated system including a two-phase induction motor and a
DC motor with the parameters shown in Table I is simulated
in MATLAB/Simulink.



10

7H >1P@

7H >1P@

10

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.05

0.1

0.15
0.2
7LPHV
D

0.25

0.3

0.35

0.05

0.1

0.15
0.2
7LPHV
E

0.25

0.3

0.35

7LPHV
D
8

,GF >$@

,GF >$@

4
0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

7LPHV
E

,GF >$@

,GF >$@

8
7.8

7.4
0.256

0.2562

0.2564

0.2566

0.2568

0.257

0.104

7LPHV
F
Fig. 2. Simulation results of (a) electromagnetic torque of the induction
motor Te , (b) current of the DC motor Idc , and (c) magnied Idc in the
case of controllable operation of the DC motor.

A. Controllable Operation of DC Motor

This subsection studies the performance of the proposed
drive system in the case of controllable operation of the DC

motor. In the simulated system, Te , Te , |s | , s , Idc

,
IDC , and VDC are set to 10 Nm, 2 N.m, 1 wb, 0.01 wb,
8 A, 0.01 A, and 400 V. The torque-speed characteristics
of the loads of the induction and DC motors are such that
rad
syn = 105 rad
s and dc = 90 s . Therefore, based on (13),
syn,crit can be calculated as 134 rad
s .
Fig. 2 shows the performance of the drive system. As
expected, the electromagnetic torque of the induction motor
Te is under control because its control is the priority for the
rad
control system. Since syn = 105 rad
s < syn,crit = 134 s ,
the current of the DC motor Idc is also under control and
its maximum negative deviation Idc , positive deviation

are 0.56 A, 0.32 A,

Idc+ , and total deviation Idc from Idc
and 0.88 A. Based on (6), (7), (9), Idc , Idc+ , and Idc
can be calculated as 0.65 A, 0.33 A, and 0.98 A, which shows
good agreement with simulation results.
B. Uncontrollable Operation of DC Motor
This subsection studies the performance of the proposed
drive system in the case of uncontrollable operation of the
DC the motor. The torque-speed characteristics of the load of
the induction motor is such that syn = 297 rad
s > syn,crit =
134 rad
.
Fig.
3
shows
the
performance
of
the
drive system.
s

0.108

0.112
7LPHV
F

0.116

Fig. 3. Simulation results of (a) Te , (b) Idc , and (c) magnied Idc in the
case of uncontrollable operation of the DC motor.

Te is under control. However, as expected, a decrease in Idc

is not compensated in the next switching command, i.e., Idc
is not under control. This conrms equation (13) to calculate
the controllable region of the DC motor operation.
C. Torque Reversal Operation of Induction Motor
This subsection studies the performance of the proposed
drive system in the case of torque reversal operation of the induction motor. In this case study, Te decreases in a step from
+10 Nm to 10 Nm at t = 0.1 s. It then increases to +10 Nm
in a step at t = 0.4 s. The torque-speed characteristics of the
load of the induction motor is modied such that in the steady

state, syn = 90 rad

s when Te = 10 Nm. Fig. 4 shows the
performance of the drive system. Te is always under control
rad
and since |syn | = 90 rad
s < syn,crit = 134 s , Idc is under
control in the steady state. When Te changes, Idc is not under
control for a short while until Te reaches Te . Idc then returns

in 0.6 ms after some switching commands.

to Idc
D. Current Reversal Operation of DC Motor
This subsection studies the performance of the proposed
drive system in the case of current reversal operation of the

decreases in a step from

DC motor. In this case study, Idc
+8 A to 8 A at t = 0.1 s. It then increases to +8 Nm
in a step at t = 0.4 s. Fig. 5 shows the performance of the
drive system. Te is under control. syn < syn,crit , and hence

changes, Te is not affected.

Idc is under control. When Idc

In addtition, Idc tracks Idc in less than 2 ms.



10

7H >1P@

7H >1P@

10
0
-5

-10
0

0.1

0.2

0.3
0.4
7LPHV
D

0.5

0.6

0.7

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.5

0.6

0.7

7LPHV
D
10

,GF >$@

,GF >$@

0
-5

0.1

0.2

0.3

0.4

0.5

0.6

-10

0.7

0.1

0.2

7LPHV
E

10

10

,GF >$@

,GF >$@

,GF >$@

0.4

7LPHV
E

0.396

0.3

-5

-5

0.398

0.4

0.402

-10
0.095

0.404

7LPHV
F

0.1

7LPHV

0.105

-10
0.395

0.4

0.405

7LPHV

Fig. 4. Simulation results of (a) Te , (b) Idc , and (c) magnied Idc in the
case of torque reversal operation of the induction motor.

Fig. 5. Simulation results of (a) Te , (b) Idc , and (c) magnied Idc in the
case of current reversal operation of the DC motor.

V. C ONCLUSION

[4] M. Jones, S. Vukosavic, and E. Levi, Parallel-connected multiphase

multidrive systems with single inverter supply, IEEE Trans. Ind.
Electron., vol. 56, no. 6, pp. 20472057, Jun. 2009.
[5] C. Lim, E. Levi, M. Jones, N. Abd Rahim, and W.-P. Hew, A faulttolerant two-motor drive with FCS-MP-based ux and torque control,
IEEE Trans. Ind. Electron., vol. 61, no. 12, pp. 66036614, Dec. 2014.
[6] T. Moroi, Y. Kubo, K. Matsuse, K. Rajashekara, and S. Ito, Independent control of two permanent magnet synchronous motors fed by a
four-leg inverter, IEEE Trans. Ind. Appl., 2014.
[7] G. J. Su and J. Hsu, A ve-leg inverter for driving a traction motor
and a compressor motor, IEEE Trans. Power Electron., vol. 21, no. 3,
pp. 687692, May. 2006.
[8] S. Ziaeinejad, Y. Sangsedi, and A. Shoulaie, Performance analysis
of DTC methods of two-phase induction motors with different inverter
topologies, in Power Electron., Drive Syst. Technol. Conf. (PEDSTC),
Feb. 2012, pp. 121126.
[9] Y. Sangsedi, S. Ziaeinejad, A. Mehrizi-Sani, and A. Shoulaie, A
simple algorithm to control two-phase induction motors using a twoleg VSC, in North American Power Symposium (NAPS), Sept 2014,
pp. 16.
[10] M. Bartholet, T. Nussbaumer, and J. Kolar, Comparison of voltagesource inverter topologies for two-phase bearingless slice motors,
IEEE Trans. Ind. Electron., vol. 58, no. 5, pp. 19211925, May 2011.
[11] S. Ziaeinejad, Y. Sangsedi, H. Pairodin-Nabi, and A. Shoulaie, Direct
torque control of two-phase induction and synchronous motors, IEEE
Trans. Power Electron., vol. 28, no. 8, pp. 40414050, Aug. 2013.
[12] R. Silva-Ortigoza, V. Hernandez-Guzman, M. Antonio-Cruz, and
D. Munoz-Carrillo, DC/DC buck power converter as a smooth starter
for a DC motor based on a hierarchical control, IEEE Trans. Power
Electron., vol. 30, no. 2, pp. 10761084, Feb 2015.
[13] Y. Sangsedi, S. Ziaeinejad, A. Mehrizi-Sani, H. Pairodin-Nabi, and
A. Shoulaie, Estimation of stator resistance in direct torque control
synchronous motor drives, IEEE Trans. Energy Convers., accepted for
publication, Oct. 2014.

This paper studies simultaneous control of a two-phase

induction motor as the main motor and a DC motor as the
auxiliary motor in a two-motor drive system. Compared to
a conventional DTC drive, the proposed drive provides the
same performance for the induction motor and additionally
controls a permanent magnet DC motor with no addition
of hardware. The switching table is proposed and the DC
motor performance is analyzed. In the proposed drive system,
the electromagnetic torque of the induction motor is always
under control. However, the DC motor is controllable in
a certain region, which is analytically determined. For the
controllable region of the DC motor operation, the deviation
of the DC motor current from its reference value is calculated.
Simulation results are in good agreement with the proposed
theories and validate them.
R EFERENCES
[1] S. Ziaeinejad, Y. Sangsedi, A. Mehrizi-Sani, and A. Shoulaie, DSPbased sensorless speed control drive system for two-phase synchronous
motors, in 30th Appl. Power Electron. Conf. Expo. (APEC), accepted
for publication, Oct. 2014.
[2] M. Jones, S. Vukosavic, D. Dujic, E. Levi, and P. Wright, Five-leg
inverter PWM technique for reduced switch count two-motor constant
power applications, IET Elect. Power Applicat., vol. 2, no. 5, pp. 275
287, Sept. 2008.
[3] E. Levi, M. Jones, S. Vukosavic, and H. Toliyat, Steady-state modeling
of series-connected ve-phase and six-phase two-motor drives, IEEE
Trans. Ind. Appl., vol. 44, no. 5, pp. 15591568, Sept. 2008.