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Article history: In this work, complex vector modelling technique is utilized to develop and simulate a dual stator-
Received 3 March 2017 winding induction machine with squirrel-cage rotor. The transient and dynamic performances of the
Revised 14 March 2018 machine under two cases of input conditions are analysed and presented both at no load and when a con-
Accepted 24 March 2018
stant load torque is applied. The modelling and simulation has been carried out in a step-wise procedure
Available online 30 March 2018
that clearly set forth for the complex vector Simulink implementation in a MATLAB-Simulink environ-
ment. The approach presented in this work can easily be applied to other types and configurations of
Keywords:
electric machines and drives.
Complex vector
Modelling
Ó 2018 Karabuk University. Publishing services by Elsevier B.V. This is an open access article under the CC
Simulation BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
Dual stator
Induction machine
MATLAB-Simulink
1. Introduction waves [7]. Fig. 1 shows the dual stator winding distributions of a
typical induction machine [6].
The concept of dual-stator-winding machines and its applica- This design eliminates the circulating harmonic currents and
tions has gained prominence in recent years [1–4]. Two categories the net magnetic coupling between the two windings of the stator.
of these machines have been identified [5]. The first is the split- It has been shown that the best configuration is 2poles 6poles
wound dual-stator winding machine designed to increase power structure. The output torque is the algebraic sum of two indepen-
capabilities of large synchronous generator. The second category dent torques developed by the independent interaction of each sta-
is the brushless doubly fed machine (BDFM), also known as self- tor current with the rotor flux. With these two independent
cascaded machine, is made up of 3-phase windings embedded in torques, the machine can be easily operated at high/medium speed
a common stator structure and a special rotor structure which and at low speed, when the torques are added and subtracted
allow the effects of cascade connection through the nested loops respectively. Such dual stator machine behaves like two indepen-
on the rotor. dent induction machines mechanically coupled through the shaft,
The dual stator machines find applications in several systems, due to the decoupling effect produced by the dissimilar pole pairs,
ranging from synchronous machines with AC and DC outputs to whereupon all the control schemes for induction machine can also
large pumps, compressors and rolling mills driven by induction be applied to the dual stator winding machine [6].
motors. A new dual-stator-winding squirrel cage induction Some work have been presented on the dual stator-winding
machine was proposed in [6]. It consists of two separate symmet- machines in the literature: Pienkowski [8] developed mathemati-
rical 3-phase windings embedded in the same stator structure but cal models of dual stator squirrel-cage induction motor, formu-
wound to have unequal number of poles in the ratio 1 : 3: The rotor lated in phase coordinate system. The author considered the
structure is a standard squirrel cage rotor with skewed rotor bars, control systems of field-oriented control and direct torque control
which is intended to reduce the magnitude of harmonic torques for the induction motor. Similarly, Dehghanzadeh and Behjat [9]
due to the harmonic content of the magneto motive force ðMMFÞ have developed a dynamic model of a dual-stator permanent mag-
net synchronous generator using a technique that could transform
two stator winding sets to two winding couples on the d-q axes of
⇑ Corresponding author.
the rotor reference frame. Bu et al. [10] have presented slip fre-
E-mail addresses: a.ogunjuyigbe@ui.edu.ng (A.S.O. Ogunjuyigbe), tr.ayodele@ui.
quency control strategy and its experimental implementation of
edu.ng (T.R. Ayodele).
dual-stator-winding induction generator for variable frequency
Peer review under responsibility of Karabuk University.
https://doi.org/10.1016/j.jestch.2018.03.013
2215-0986/Ó 2018 Karabuk University. Publishing services by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
352 A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363
v s1 ¼ rs1 is1 þ pks1 ð5Þ It can be shown that Lsi in (18) and (19) is [18]:
3
v s2 ¼ rs2 is2 þ pks2 ð6Þ Lsi ¼ Llsi þ Lmsi ð20Þ
2
The complex vector arbitrary variables f s1 and f s2 are given by
n
2 Lsir ¼ Lmi ejpi ðhr þdÞ ð21Þ
f s1 ¼ f þ af bs þ a2 f cs ð7Þ 2
3 as
where
2 4 sin pi d
f s2 ¼ f xs þ af ys þ a2 f zs ð8Þ Lmi ¼ L ð22Þ
3 pNsi msi
2p
where a ¼ ej 3 and f denotes voltage, current and flux linkages. pi is the number of pole pairs for i = 1, 2 and d is half the angle
between two adjacent rotor bars.
2.2. Stator Flux-linkage equations The complex vector rotor currents are defined as:
ir1
The flux-linkage of each stator winding may be written as the
ir2
combination of three flux-linkage components as follows: 2 .
iri ¼ 1 bpi b 2pi
b ðn1Þpi ½ .. ; i ¼ 1; 2 ð23Þ
ks1 ¼ ks1s1 þ ks1s2 þ ks1r ð9Þ n
irðn1Þ
Where ks1s1 represents the abc stator-winding flux linkages due
only to the current flowing in it; ks1s2 denotes the flux-linkages due irn
to the current flowing in the xyz stator winding and ks1r r is the where b ¼ expðj2p=nÞ
flux-linkages as a result of the rotor currents. The column vector in the RHS of (23) denotes the instantaneous
Similarly, rotor loop currents.we can thus write (18) and (19) as follows:
ks2 ¼ ks2s2 þ ks2s1 þ ks2r ð10Þ 3 n
ks1 ¼ Lls1 þ Lms1 is1 þ Lm1 ejp1 ðhr þdÞ ir1 ð24Þ
Due to the decoupling effect of the difference in pole number of 2 2
the machine, the mutual inductances between the two windings
are zero, whereupon 3 n
ks2 ¼ Lls2 þ Lms2 is2 þ Lm2 ejp2 ðhr þdnÞ ir2 ð25Þ
2 2
ks1s2 ¼ ks2s1 ¼ 0 ð11Þ
where n is the arbitrary angle of displacement between the two sta-
also, the mutual leakage inductances (and hence flux linkages) has
tor windings, which may be zero.
been clearly shown in [6] to be zero. Thus Eqs. (9) and (10) reduces
We can now substitute (24) and (25) into (5) and (6), and after
to:
differentiation using product rule, we have:
ks1 ¼ ks1s1 þ ks1r ð12Þ
3 n
v s1 ¼ rs1 is1 þ Lls1 þ Lms1 pis1 þ Lm1 ejp1 ðhr þdÞ ðp þ jp1 xr Þir1 ð26Þ
2 2
ks2 ¼ ks2s2 þ ks2r ð13Þ
In matrix form, 3 n
v s1 ¼ rs2 is2 þ Lls2 þ Lms2 pis2 þ Lm2 ejp2 ðhr þdnÞ ðp þ jp2 xr Þir2
ks1 Ls1 0 is1 Ls1r 0 ir1 2 2
¼ þ ð14Þ ð27Þ
ks2 0 Ls2 is2 0 Ls2r ir2
where
2 3 2.3. Rotor voltage equation
Llsi þ Lmsi Lmsi =2 Lmsi =2
6 7
Lsi ¼ 4 Lmsi =2 Llsi þ Lmsi Llsi þ Lmsi 5; for i ¼ 1; 2 ð15Þ The squirrel cage rotor voltage equation in machine variables
Llsi þ Lmsi Lmsi =2 Llsi þ Lmsi may be briefly written in complex vector notation as
0 ¼ r r ir þ pkr ð28Þ
Ls1r and Ls2r are given by [2]
2 3 Where r r is the rotor resistance matrix and kr is the rotor loop
La1 La2 ::: Laðn1Þ Lan
6 flux linkage complex vector. Equation (28) may be writen in matrix
Ls1r ¼ 4 Lb1 Lb2 ::: Lbðn1Þ Lbn 7
5 ð16Þ form as:
Lc1 Lc2 ::: Lcðn1Þ Lcn 2 3 2 32 3 2 3
0 2ðr b þ r e Þ r b r b ir1 kr1
2 3 6 0 7 6 r 2ðr b þ r e Þ 0 76 i 7 6k 7
Lx1 Lx2 ::: Lxðn1Þ Lxn 6 7 6 b 76 r2 7 6 r2 7
6.7¼6 76 . 7 þ p6 . 7
6 7 6.7 6 .. .
. .. .. 76 . 7 6 . 7
Ls2r ¼ 4 Ly1 Ly2 ::: Lyðn1Þ Lyn 5 ð17Þ 4.5 4 . . . . 54 . 5 4 . 5
Lz1 Lz2 ::: Lzðn1Þ Lzn 0 rb 0 2ðr b þ r e Þ irn krn
where La(x)i is the mutual inductance between the phase a(x) and ð29Þ
the ith rotor loop; Lb(y)i is the mutual inductance between the phase We can thus write the kth rotor loop voltage equation as
b(y) and the ith rotor loop; Lc(z)i is the mutual inductance between
the phase c(z) and the ith rotor loop. 0 ¼ r b irðk1Þ þ 2ðr b þ r e ÞirðkÞ r b irðkþ1Þ þ pkrk ð30Þ
In complex vector variable form, (14) can be written as
ks1 ¼ Ls1 is1 þ Ls1r ir1 ð18Þ 2.4. Rotor Flux-linkage equations
ks2 ¼ Ls2 is2 þ Ls2r ir2 ð19Þ The total rotor flux linkages may be written as the combination
of three components:
354 A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363
i q d s1 i qdr1
3n
v qds1 L'm1 = Lm1 vqdr1 = 0
2
i qds 2 i qdr 2
v qds 2 L'm2 =
3n
Lm2 vqdr 2 = 0
2
kqdr2 L0m2 kqds2 Upon substitution of (60)–(63) into (41)–(44) respectively with
iqdr2 ¼ ð72Þ
Lr2 the flux linkages made the subjects in each equation, we have
Z
Each current in the LHS of Eqs. (56)–(59) can be expressed in
kqds1 ¼ v qds1 þ rs1 D1 L0m1 kqdr1 ½rs1 D1 Lr1 þ jp1 x1 kqds1 dt ð79Þ
terms of the flux linkages by making substitutions for the other
current in the RHS of each equation. Thus, Z
Lr1 L0m1 kqds2 ¼ v qds2 þ rs2 D2 L0m2 kqdr2 ½rs2 D2 Lr2 þ jp2 x2 kqds2 dt ð80Þ
iqds1 ¼ kqds1 kqdr1
Lr1 Ls1 L02
Lr1 Ls1
m1 L02
m1
0
Z
¼ D1 Lr1 kqds1 Lm1 kqdr1 ð73Þ
kqdr1 ¼ v qdr1 þ rr1 D1 L0m1 kqds1 ½rr1 D1 Ls1 þ jp1 ðx1 xr Þkqdr1 dt
Lr2 L0m2 ð81Þ
iqds2 ¼ kqds2 kqdr2
Lr2 Ls2 L02
m2 Lr2 Ls2 L02
m2 Z
¼ D2 Lr2 kqds2 L0m2 kqdr2 ð74Þ kqdr2 ¼ v qdr2 þ rr2 D2 L0m2 kqds2 ½rr2 D2 Ls2 þ jp2 ðx2 xr Þkqdr2 dt
Clock1
Vas 2/3
Clk Vbs
Gain5
Vcs
a
Vabcs1 Product3
Constant
1
1 Vqds1
1
s u Product4
e
Wref1
Integrator1
a^2 Math
Product2
Product1 Function1
Constant1
-j
Constant2
Vas 2/3
Clk Vbs
Gain1
Clock1
Vcs
a
Vabcs2 Product7
Constant3
2
1 Vqds2
2
s u Product8
e
Wref2
Integrator2
a^2 Math
Product6
Product5 Function2
Constant4
-j
Constant5
Vm*cos(u(1)) 1
Vas
implements equations (79) and (80) and the complex rotor flux ings. The details of the parameters used for the simulation are
linkage subsystem named ‘‘LamdaQDr” which implements Eqs. provided in [7].
(81) and (82). Two cases have been analysed. The first case represents the
Fig. 8 is the implementation of the complex current equations input condition in which both stator windings are motoring, and
given by (73)(76). the second case represents the input condition that allows one of
The inverse transformation subsystem shown in Fig. 9 trans- the stator windings (abc stator winding) to be in the generating
forms the qd complex vector stator and rotor currents into machine mode and the other (xyz stator winding) in the motoring mode.
variables. This subsystem implements (56)–(68). The abc stator The two cases are analysed in what follows.
currents and associated rotor currents are obtained from the sub-
system in Fig. 10. The details of the second subsystem shown in
5.1. Case 1: Both stator windings are in motoring mode
Fig. 9 for the xyz stator current and and associated rotor currents
are similar to those shown in Fig. 10. Figs. 11 and 12 shows the
In the first case, the abc stator winding (2-pole) is supplied with
subsystem that implements the torque and the speed equations.
a line-to-line voltage of 67 V, 30 Hz supply, and the xyz stator
winding (6-pole) with a line-to-line voltage of 202 V, 90 Hz supply.
5. Simulation results This satisfies the constant voltage/hertz condition whereby the
ratio of the voltage and frequency of the abc stator winding (2-
The computer simulation of the dual stator winding induction pole) to those of the xyz stator winding (6-pole) is 1:3.
machine is presented in this section. The parameters of a conven- Figures 13(i)–(iii) shows the dynamic performances of the
tional 3hp induction machine has been used for both stator wind- machine under this supply condition. The no load dynamic perfor-
358 A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363
1
1
Vqds1 Re
3 Rs1*D1*LM1 s Re
Im 1
Integrator Im
Fqdr1 Fqds1
Complex to Real-Imag to
Real-Imag Complex
Gain1
5 1
Wref1 s
Integrator1
j*p1
Product1
Constant
Product2
Rs1*D1*Lr1
Constant1
2
1
Vqds2 Re Re
4 Rs2*D2*LM2 s
Im Im 2
Fqdr2 Integrator2
Complex to Fqds2
Real-Imag to
Real-Imag1 Complex1
Gain2
6 1
Wref2 s
Integrator3
j*p2
Product3
Constant2
Product4
Rs2*D2*Lr2
Constant3
1
1
Vqdr1 Re Re
3 Rr1*D1*LM1 s
Im Im
1
Fqds1 Integrator
Complex to Fqdr1
Real-Imag to
Real-Imag Complex
Gain1
1
Rr1*D1*Ls1 s
Integrator1
Constant1
5 Product2
Wref1
7
Wr Product1
j*p1
Constant
2
1
Vqdr2 Re Re
4 Rr2*D2*LM2 s
Im Im 2
Fqds2 Integrator2
Complex to Fqdr2
Real-Imag to
Real-Imag1 Complex1
Gain2
1
Rr2*D2*Ls2 s
Integrator3
Constant3
6 Product4
Wref2
Product3
j*p2
Constant2
mances are shown from 0 to 0.4 s, after which a constant load tor- high starting current for both stator windings and the rotor bars,
que of 20Nm was applied. The dynamic response of the machine with the xyz stator winding current about two times higher than
under the 20Nm load is shown from 0.4 to 1 s. It can be observed the abc stator winding current. The starting current in the rotor
from the Figure traces that there is a smooth starting process. A bar could be very high, but which quickly falls to zero at about
A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363 359
D1*LM1
Gain6
1 D1*Lr1
Fqds1
Gain3 1 3
Iqds1 Iqdr1
3 D1*LM1
Fqdr1
Gain1
D1*Ls1
Gain5
D2*LM2
Gain8
2 D2*Lr2
Fqds2 4
Gain4 2 Iqdr2
Iqds2
4 D2*LM2
Fqdr2
Gain2
D2*Ls2
Gain7
1 Iqds1
Iqds1 Iabcs1 1
3 Iqdr1 Iabcs1
Iqdr1
5 Wref1
Wref1 Ir1-n1 exp(j*pi*P1*1/n) Re(u)
7 Wr
Complex to
Wr 3
Subsystem Gain Real-Imag
Irb1
exp(j*pi*P1*0/n) Re(u)
2 Iqds2 Complex to
Iqds2 Iabcs2 2 Gain1 Real-Imag1
4 Iqdr2 Iabcs2
Iqdr2 exp(j*pi*P1*7/n) Re(u)
6 Wref2
Wref2 Complex to
Ir1-n2
Wr Gain2 Real-Imag2 4
Terminator
Irb7
Subsystem1
exp(j*pi*P1*6/n) Re(u)
Complex to
Gain3 Real-Imag3
exp(j*pi*P1*14/n) Re(u)
Complex to
Gain4 Real-Imag4 5
Irb14
exp(j*pi*P1*13/n) Re(u)
Complex to
Gain5 Real-Imag5
0.2 s during the no load condition which lasts up to 0.4 s. The rotor It can also be observed that the torque contribution of the abc
speed rises up to about 186 rad/s during the no load transient and stator winding (2-pole) is very small (4 Nm at steady state) com-
then falls to 175 rad/s after the 20Nm load is applied. pared to that of the xyz stator winding (6-pole) which supplies
360 A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363
1 Iabcs
Re(u)
Iqds1
Product4 Complex to
Real-Imag
u Re(u) Mux 1
e
a^2
Iabcs1
Product3 Complex to
Product2 Math
Constant Real-Imag1
Function1
j
ThetaRef Re(u)
Constant2 a
Product1 Complex to
1
3 Constant1 Real-Imag2
s
Wref1
Integrator1
2
1
4 Iqdr1 1.5*sqrt(n/3) 2
s u
e
Wr Ir1-n1
Integrator Product5
Product8 Math Gain
Function
(2*pi/n)/2
Constant3
Constant6
1 u
Fqds1
Math
Function
Im(u) 1.5*p1 1
Te1
2 Complex to Gain3
Product Real-Imag
Iqds1
3
3 u Te
Fqds2
Math
Function1
Im(u) 1.5*p2 2
Te2
4 Complex to Gain1
Product1 Real-Imag1
Iqds2
5.2. Case 2: Abc stator winding in generating mode & xyz stator
winding in motoring mode
1
1
Te (p1+p2)/J 1
s
Wr
In this case, the abc stator winding (2-pole) is made to operate
2 Integrator in the generating mode by changing the input conditions specified
TL Gain3 in the first case. The frequency of the abc stator winding (2-pole) is
changed to 20 Hz, while other input conditions remain unchanged.
Fig. 12. Rotor Speed Subsystem.
Figures 14(i)–(iii) shows the dynamic performances of the
machine under this case. The no load dynamic performances are
shown from 0 to 0.4 s, after which a constant load torque of
most of the electromagnetic torque (16 Nm at steady state), both of 20Nm was applied. The dynamic response of the machine under
which adds up to meet the load demand of 20Nm. However, the the 20Nm load is shown from 0.4 to 1 s. The rotor speed rises up
two torques can be controlled based on the input control condi- to about 170 rad/s during the no load transient and then falls to
tions such that the abc stator winding can produce a larger torque 155 rad/s after the 20 Nm load is applied.
or even a negative torque, in which case its winding is in the gen- It can be observed that the electromagnetic torque developed
erating mode. by the abc stator winding (2-pole) is negative (-11.6 Nm at steady
A.S.O. Ogunjuyigbe et al. / Engineering Science and Technology, an International Journal 21 (2018) 351–363 361
50
current(A)
abc stator
0
-50
0 0.2 0.4 0.6 0.8 1
100
current (A)
xyz stator
-100
0 0.2 0.4 0.6 0.8 1
&14 current (A)
50
Rotor bar 1,7,
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
(i): Case 1
20
Te1 (Nm)
10
Torque
-10
0 0.2 0.4 0.6 0.8 1
100
Te2 (Nm)
50
Torque
-50
0 0.2 0.4 0.6 0.8 1
100
Torque (Nm)
50
Total
-50
0 0.2 0.4 0.6 0.8 1
(ii): Case 1
25
20
Torque (Nm)
15
Load
10
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
200
150
Rotor Speed
(rad/s)
100
50
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
(iii): Case 1
50
current(A)
abc stator
0
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
100
xyz stator
current(A
0
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
50
& 14 current (A)
Rotor bar 1,7
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
(i): Case 2
50
Te1 (Nm)
Torque
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
100
Te2 (Nm)
50
Torque
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
100
Torque (Nm)
50
Total
-50
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
(ii): Case 2
200
150
Rotor Speed
(rad/s)
100
50
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
25
Load Torque (Nm)
20
15
10
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (sec)
(iii): Case 2
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Low Switching Frequency for Six-Phase VSI-Fed Asymmetrical Dual Stator
itive (31.6 Nm at steady state), which has to account for the nega-
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