210 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 37, NO.

1, MARCH 2022

Improved Fault-Tolerant Model Predictive Torque

Control of Five-Phase PMSM by Using
Deadbeat Solution
Huanan Wang , Wenxiang Zhao , Senior Member, IEEE, Hongyu Tang , Tao Tao, and Suleman Saeed

Abstract—This paper proposes an improved fault-tolerant ud , uq d-q axis voltage

model predictive torque control (MPTC) for a five-phase perma- ux , uy x-y axis voltage
nent magnet synchronous motor based on deadbeat solution, which Te Electromagnetic torque
offers the reduced computation burden, good steady-state perfor-
mance and simple control structure. Under the open-circuit fault T∗e Electromagnetic torque reference
condition, the virtual voltage vectors (VVV) which can restrain the Ts Control period
harmonics work as the candidate vectors. The deadbeat solution is pn Pole pairs
adopted to predict the reference voltage vector. The optimal VVV ω Rotor angular velocity
can be selected directly and rapidly according to the sector of the
θ Angle of rotor position
reference voltage vector. Hence the computation burden can be
reduced largely because the process of testing all candidate VVVs uref Voltage vector reference
is avoided. In order to reduce the error between the reference uopt Selected vectors
voltage vector and the selected VVV, a null vector is introduced
by a simple geometric principle. Then, the duration of the selected
VVV can be obtained. Therefore, the steady-state performance is
enhanced because of the deadbeat solution and the multi-vectors I. INTRODUCTION
in each control period. The experiments are presented to verify the
OWADAYS, the multi-phase motor has been widely ap-
proposed fault-tolerant MPTC.
Index Terms—Fault-tolerant control, model predictive torque
control, virtual voltage vectors, deadbeat solution, computation
N plied in many areas such as hybrid vehicles, electrical
aircrafts and ship propulsions [1]–[3]. The increased motor
burden, five-phase motor. phases contribute to the additional control degree of freedom.
Therefore, comparing with the conventional three-phase one,
the multi-phase motor has the significant merit of redundancy
NOMENCLATURE for fault tolerance [4], [5]. Consequently, the research on fault-
Ld , Lq d-q axis inductance tolerant control and fault detection [6], [7] of the multi-phase mo-
Rs Stator resistance tor has received a great quantity of attentions [8], [9]. Numerous
ψd , ψq d-q axis flux linkage control schemes have been applied for fault-tolerant operation
ψx , ψy x-y axis flux linkage such as flux oriented control [10], [11] and direct torque con-
ψf Permanent-magnet flux linkage trol [12]. However, the fault-tolerant flux oriented control still
ψ∗ Permanent-magnet flux linkage reference suffers from the complex coordinate transformation and slow
id , iq d-q axis current dynamic response, while the fault-tolerant direct torque control
i x , iy x-y axis current has disadvantages of deteriorated steady-state performance.
Model predictive control (MPC) has received notable con-
Manuscript received November 28, 2020; revised March 9, 2021 and May sideration due to its simple control structure and fast dynamic
20, 2021; accepted July 16, 2021. Date of publication July 26, 2021; date of response [13], [14]. In MPC, the control variables at the next
current version February 15, 2022. This work was supported in part by the interval are predicted according to the sampling stator currents
National Natural Science Foundation of China under Grant 52025073, in part
by the Key Research and Development Program of Jiangsu Province under Grant and each candidate voltage vectors. A cost function is used
BE2018107, in part by the Natural Science Foundation of Jiangsu Province under to select the optimal vector. However, there are some inherit
Grant BK20191225, and in part by the Priority Academic Program Development shortcomings in MPC. The process of testing all vectors causes
of Jiangsu Higher Education Institutions. Paper no. TEC-01186-2020. (Corre-
sponding author: Wenxiang Zhao) heavy computation burden. In addition, the application of sin-
Huanan Wang, Wenxiang Zhao, Tao Tao, and Suleman Saeed are with gle vector in each control period deteriorates the steady-state
the School of Electrical and Information Engineering, Jiangsu University, performance. Moreover, some cost functions are composed of
Zhenjiang 212013, China (e-mail: [email protected]; [email protected];
[email protected]; [email protected]). variables with different dimensions, so it is a tough task to
Hongyu Tang is with the School of Electrical and Information, Zhenjiang tune the weighting factors. Therefore, the research on MPC at
College, Zhenjiang 212028, China (e-mail: [email protected]). normal operation mainly concerns the steady-state performance
Color versions of one or more figures in this article are available at
https://doi.org/10.1109/TEC.2021.3099813. improvement [15], the weighting factor elimination [16] and the
Digital Object Identifier 10.1109/TEC.2021.3099813 computation burden reduction [17]. However, the combination
0885-8969 © 2021 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See https://www.ieee.org/publications/rights/index.html for more information.

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WANG et al.: IMPROVED FAULT-TOLERANT MODEL PREDICTIVE TORQUE CONTROL OF FIVE-PHASE PMSM BY USING DEADBEAT SOLUTION 211

of MPC and fault-tolerant control for multi-phase motors still

has a wide stage.
Recently, the MPC for multi-phase permanent magnet syn-
chronous motor (PMSM) under open-circuit condition has been
investigated [18]–[20]. At the open-circuit fault operation, the
switching combinations decrease from 32 to 16. The problem
of heavy computation burden still exists. The improvement of
control set can reduce the computation burden effectively. In
[21], a fault-tolerant model predictive current control (MPCC)
scheme with simplified control set was reported, which reduced
the number of the candidate vectors by minimizing the volt- Fig. 1. Scheme of five-phase PMSM drive.
age in x-y space. In [22], a pre-selected method was adopted
to reduce the number of the candidate vectors from 15 to 3.
In addition, [23] proposed an enhanced fault-tolerant model
predictive torque control (MPTC), which adopted the quadrant
judgement to improve the control set. Besides the computation
burden, another problem needed to be considered is the harmonic
space in the five-phase PMSM. In [24], a new fault-tolerant
MPTC scheme was reported, which added the limitation of the
harmonic currents in the cost function. However, two weighting
factors were required in the cost function. Thus the difficulty
of tuning increases. In [25], the concept of the virtual voltage
vectors (VVV) was proposed for a six-phase motor drive, which
can eliminate the harmonic voltage in the harmonic space with Fig. 2. Voltage space vectors of five-phase drive. (a) In α-β space. (b) In x-y
space.
the synthesis of two vectors in the fundamental space. Therefore,
the adoption of VVVs offers the advantages of the simple control
structure. In addition, [26] applied VVVs in a five-phase motor five-phase PMSM at the normal and fault-tolerant operation.
drive. However, the VVVs was adopted at the normal operation, The proposed fault-tolerant MPTC is presented in Section III.
rather than the fault-tolerant operation. In [27], a fault-tolerant Section IV provides the experiment results to verify the proposed
direct torque control scheme by using VVVs was reported. It scheme. Finally, the conclusions are presented in Section V.
modified the look-up table according to VVVs. However, the
complexity of the control structure increased and the steady-state II. MODELING AT NORMAL AND FAULT-TOLERANT OPERATION
performance was deteriorated. In [28], a simplified fault-tolerant
A. Normal Operation
MPC scheme was proposed. Six VVVs were used as the control
set and the optimal one was selected according to the cost At the normal operation, the five-phase inverter in Fig. 1 has
function. As a result, the computation burden was reduced and a total of 32 switching combinations. Therefore, the five-phase
the control structure was quite simple. However, the process inverter can output 32 voltage vectors including 30 active vec-
of the cost function evaluation was required. The computa- tors and 2 zero vectors. Active vectors can be divided into 3
tion burden still existed and the steady-state performance was categories according to different amplitudes: large, middle and
not good enough. In [29], the reference voltage vectors was small. The corresponding magnitudes are 0.6472Udc , 0.4Udc
predicted to select the optimal vector. It avoided the process and 0.2472Udc , respectively. Fig. 2 illustrates the voltage vectors
of the cost function evaluation. Hence, the computation cost in the α-β and x-y spaces.
was reduced significantly. However, this method focused on the The switching state of each leg can be defined as gi , where i =
normal operation for a three-phase motor drive. No study had a, b, c, d and e. The switching state and the stator phase voltage
combined this method with fault-tolerant MPTC for five-phase can be described as:
PMSM. ⎡ ⎤ ⎡ ⎤⎡ ⎤
ua 4 −1 −1 −1 −1 ga
The main contribution of this paper is to propose an improved ⎢ ub ⎥ ⎢ −1 4 −1 −1 −1 ⎥ ⎢ gb ⎥
⎢ ⎥ Udc ⎢ ⎥⎢ ⎥
fault-tolerant MPTC based on deadbeat solution. Comparing ⎢ uc ⎥ = ⎢ −1 −1 4 −1 −1 ⎥ ⎢ gc ⎥ (1)
with the previous researches, this paper adopted a simple method ⎢ ⎥ 5 ⎣⎢ ⎥⎢ ⎥
⎣ ud ⎦ −1 −1 −1 4 −1 ⎦ ⎣ gd ⎦
to constrain harmonics, which uses VVVs as the candidate ue −1 −1 −1 −1 4 ge
vectors. Moreover, a reference voltage vector is predicted by
the torque and flux deadbeat solution. Hence, the optimal VVV By using a specific matrix, the motor model can remain
is selected directly and rapidly according to the reference voltage unchanged before and after fault. To simplify the analysis, the
vector. The computation burden is reduced significantly. Then, five-phase PMSM is assumed as an ideal motor and satisfy the
the null vector is introduced by a simple geometric principle, following conditions: negligible core saturation, excluding the
so the duration of the optimal VVV is obtained. The paper eddy current, ignoring the hysteresis loss and the symmetrical
is organized as follows. Section II describes the model of the stator windings with star link. Therefore, the model of the

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212 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 37, NO. 1, MARCH 2022

TABLE I
SWITCHING STATE OF SPACE VOLTAGE VECTORS

Fig. 3. Voltage space vectors under fault condition. (a) In α-β space. (b) In
x-y space. A reduced decoupling Clark transformation, as expressed in
(6), can be used to transform the current into the α-β and x-y
five-phase surface-mounted PMSM, in which the windings are spaces. By using this transformation, the PMSM model remains
sinusoidal-distributed, in synchronous rotating frame can be unchanged under the fault-tolerant condition.
described as: ⎡ ⎤
⎧ cos(δ) cos(2δ) cos(3δ) cos(4δ)
⎪
⎪ ud = Rs id − ωψq + dt
dψd
2 ⎢ sin(δ) sin(2δ) sin(3δ) sin(4δ) ⎥
⎪
⎨ dψq TC = ⎢ ⎥ (6)
uq = Rs iq + ωψd + dt
(2) 5 ⎣ sin(2δ) sin(4δ) sin(6δ) sin(8δ) ⎦
⎪ ux = Rs ix + dψ
⎪
x
1 1 1 1
⎪
⎩ u = R i + dψy
dt
y s y dt where δ = 2π/5.
ψd = Ld id + ψ f Based on the Clark transformation, (7) can be used to trans-
(3)
ψ q = Lq iq form the variables into the synchronous frame.
⎡ ⎤
Te = 2.5Pn iq ψf (4) cos(θ) sin(θ) 0 0
⎢ − sin(θ) cos(θ) 0 0 ⎥
D(θ) = ⎢ ⎣
⎥ (7)
0 0 1 0⎦
In the five-phase PMSM, the fundamental components of
0 0 01
motor variables with the order of 10n±1 (n is an integer) are
mapped into the α-β space, and the harmonic components with where θ represents the angle of the rotor position.
the order of 10n±3 are mapped into the x-y space. Since the At the open-circuit operation, the degrees of control freedom
windings of the five-phase PMSM are sinusoidal distributed, decreases. The currents in x axis and α axis have the same
the harmonic components with the order of 10n±3 do not magnitude but the opposite phase angle. The x axis current can
participate in electromechanical energy conversion. However, not be controlled independently. Therefore, only the currents in
the amplitudes of harmonic currents are only related to the α-β space and y axis can be controlled.
resistance and the leakage inductance of the motor. Therefore, Based on the matrices introduced above, the decoupling volt-
the voltage harmonics in the x-y space will contribute to a great age in the synchronous rotating frame can be described as:
deal of harmonic currents. On the other side, it can be seen from ⎡ ⎤ ⎡ ⎤ ⎡ ⎤
(3) and (4) that the flux and torque of the five-phase PMSM is not ud Ld 0 0 0 id
⎢ uq ⎥ Udc ⎢ 0 Lq 0 0 ⎥ d ⎢ iq ⎥
related to the current in the x-y space directly. The flux and torque ⎢ ⎥= ⎢ ⎥ ⎢ ⎥
⎣ ux ⎦ 4 ⎣ 0 0 Lx 0 ⎦ dt ⎣ ix ⎦
are completely determined by the voltage in the α-β space. It
means that the torque and harmonics both can be controlled by uy 0 0 0 Ly iy
⎡ ⎤ ⎡ ⎤
selecting the appropriate voltage vector. id −Lq iq
⎢ iq ⎥ ⎢ L d id + ψ f ⎥
B. Open-Circuit Fault Operation + Rs ⎢ ⎥ ⎢
⎣ ix ⎦ + ωe ⎣ −3Ly iy
⎥
⎦ (8)
When the open-circuit fault occurs in phase-A, the quantity iy 3(Ld id + ψf 3 )
of the switching combinations decreases from 32 to 16. Fig. 3
shows the 16 voltage space vectors in the α-β and x-y spaces, III. PROPOSED FAULT-TOLERANT CONTROL
respectively. Also, the switching states are presented in Table I. Fig. 4 shows the control diagram of the proposed fault-tolerant
And the stator phase voltage can be modified as: control, which includes one step delay compensation, torque
⎡ ⎤ ⎡ ⎤⎡ ⎤
ub 3 −1 −1 −1 gb and flux prediction, reference voltage vector prediction, optimal
⎢ uc ⎥ Udc ⎢ −1 3 −1 −1 ⎥ ⎢ gc ⎥ vector selection and duration calculation, and pulse generation.
⎢ ⎥= ⎢ ⎥⎢ ⎥ (5)
⎣ ud ⎦ 4 ⎣ −1 −1 3 −1 ⎦ ⎣ gd ⎦ The reference torque is obtained from the output of the PI
ue −1 −1 −1 3 ge regulator. And the reference flux is the permanent magnet flux
linkage.

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WANG et al.: IMPROVED FAULT-TOLERANT MODEL PREDICTIVE TORQUE CONTROL OF FIVE-PHASE PMSM BY USING DEADBEAT SOLUTION 213

Fig. 5. VVVs in the α-β space. (a) Before selection. (b) After selection.

the control set. All of the remaining VVVs can be used as the
Fig. 4. Control diagram of proposed scheme.
candidate vectors. The final control set is shown in Fig. 5(b).
TABLE II
SYNTHESIS OF VVVS
B. Delay Compensation
In the real time system, the predicted voltage vector on cur-
rent interval will be applied in the next interval. The control
performance of the system will be disturbed due to this one step
delay. The effect of one step delay will be more serious when the
sampling frequency is low. Therefore, the delay compensation
is necessary.

Ts uk
ik+1
d = (1 − Ld )id
Rs Ts k
+ Ts ωikq + Ld
d

Ts uk Ts ωψf (10)
ik+1
q = −Ts ωikd + (1 − Lq )iq + Lq
Rs Ts k q
− Lq

ψdk+1 = Ld ik+1
d + ψf
A. Control Set of Virtual Voltage Vectors (11)
ψqk+1 = Lq ik+1
q
At the open-circuit fault operation, only the y axis current
can be controlled in the harmonic space. Thus, the harmonic
currents can be restrained by the elimination of y-axis voltage in
Tek+1 = 2.5Pn ik+1
q ψf (12)
x-y space. It can be seen from Fig. 3 that the y components
of u8 and u13 in the x-y space are in opposite direction. In
order to eliminate the y-axis voltage in the x-y space, u8 and
Equ. (10) is obtained according to discretizing (2). It can be
u13 can be synthesized with certain ratio in the α-β space. The
noticed from (10) that the d-q axis current at (k+1)th interval can
other vector combinations can be obtained according to same
be predicted by measuring the d-q axis current and voltage at
principle. Therefore, (9) can be used to synthesize VVVs:
(k)th interval. Therefore, the d-q axis flux and electromagnetic
VVVi (uM , uL ) = K × uM + (1 − K) × uL (9) torque at (k+1)th interval can be predicted by (11) and (12).
Then, the d-q axis flux and electromagnetic torque at (k+1)th
where uM and uL are the two vectors in the α-β space and K is interval are used to predict the reference voltage vector.
the synthesizing ratio. The synthesizing principle of 8 VVVs is
illustrated in Table II.
Fig. 5 shows the VVVs in the α-β space. It can be seen from C. Prediction of Reference Voltage Vector
Fig. 5(a) that there are three types of VVVs. VVV2 , VVV4 , In order to reduce the computation burden and improve
VVV6 and VVV8 has the magnitude of 0.3944Udc , while the the steady-state performance, the proposed scheme adopts the
magnitude of VVV1 and VVV5 is 0.4472Udc . In addition, the torque and flux deadbeat solution to predict the reference voltage
magnitude of VVV3 and VVV7 is 0.7608Udc . vector. VVVs are selected to track the reference voltage vector.
In the real time system, the PWM wave should be cen- Moreover, the cost function is replaced by the sector judgement.
trosymmetric. However, the switching sequence of VVV3 and Firstly, by discretizing (2) and substituting the d-q axis current
VVV7 cannot be rearranged to realize the centrosymmetric at (k+1)th interval into it, the d-q axis flux at (k+2)th interval can
wave. Therefore, VVV3 and VVV7 should be removed from be obtained. The d-q axis flux at (k+2)th interval can be described

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214 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 37, NO. 1, MARCH 2022

as:
ψdk+2 = ψdk+1 + uk+1
d Ts + ωTs ψqk+1 − Ld (ψd
Rs Ts k+1
− ψf )
ψqk+2 = ψqk+1 + uk+1
q Ts − ωTs ψdk+1 − Rs Ts k+1
Lq ψ q
(13)
Then, substituting the q axis flux into (4), it can be obtained:
5 ψq
Te = pn ψ f (14)
2 Lq
Next, by taking time derivative, (14) can be written as:
 k+2 
5 ψq − ψqk+1
Te − Te
k+2 k+1
= pn ψ f (15) Fig. 6. Principle of optimal VVV selection.
2 Lq
Afterwards, substituting (14) into (15), it can be obtained:
 
5 pn ψ f Rs Ts k+1
Te −Te =
k+2 k+1
uq Ts − ωTs ψd −
k+1 k+1
ψ
2 Lq Lq q
(16)
In addition, since the voltage drop of resistance is much
smaller than the voltage of stator, items related to resistance
in (13) can be ignored. Therefore, (ψ k+2 )2 can be described as: Fig. 7. Principle of vector duration calculation.

 k+2 2  k+2 2  k+2 2

ψ = ψd + ψq the error between the optimal VVV and the reference vector
 k+1 2 minimal.
= ψd + uk+1 d Ts + ωTs ψqk+1
 2
+ ψqk+1 + uk+1q Ts − ωTs ψdk+1 (17) C. Vector Duration Calculation
In the method of torque and flux deadbeat, it is desirable Fig. 7 shows the principle of VVV duration calculation. It is
that the actual flux and torque are equal to the reference ones. assumed that VVV1 is the optimal vector. It can be seen that,
Therefore, the flux and the electromagnetic torque at (k+2)th in order to minimize the error between VVV1 and the reference
−−→
interval should be equal to the reference flux and the reference vector, ON will be synthesized for the next interval. The mode
−−→
electromagnetic torque, respectively. of ON can be obtained according to a geometric relation and the
It can be seen from (16) and (17) that the q axis voltage magnitude of VVV1 is 0.4472Udc .
at (k+1)th interval can be calculated according to (16). Then, Therefore, (20) can be used to calculate the duration of VVV1 .
substituting the expression of the q axis voltage at (k+1)th inter- −−→
 
val into (17), the d axis voltage at (k+1)th interval is obtained. ON  |Uref | cos(δ)
Therefore, the reference voltage can be expressed as: Topt = Ts = Ts (20)
|V V V1 | 0.4472Udc
⎧
⎨ uk+1 (Te∗ −Tek+1 ) R ψ k+1
q = 2Ld5P n ψ f Ts
+ ωψdk+1 + sLdq where Topt represents the duration of VVV1 and (Ts -Topt ) means

⎩ (ψf )2 −(uk+1 Ts +ψqk+1 −ωTs ψdk+1 )
2
ψdk+1
the duration of the null vector. In addition, when the duration
uk+1 = −ωψqk+1 −
q
d Ts Ts time is larger than the control period, the following equation can
(18) be used:
The voltage in d-q frame can be easily transformed into the
α-β frame as: Topt = Ts Topt ≥ Ts (21)
 k+1     k+1 
uα cos θ − sin θ ud The same principle can be used to calculate the duration of
uref = = (19)
uk+1
β sin θ cos θ uk+1
q other VVVs. It is noted that different types of VVVs have the
different voltage magnitude.
Therefore, the sector in which the reference voltage is located
can be determined according to (19). Fig. 6 shows the principle of
D. Pulse Generation
selecting the optimal VVV. The sectors can be divided according
to the angle bisector between the VVVs. In order to ensure the pulse centrosymmetric, the switching
It is assumed that the reference vector is located in the sector sequence should be rearranged. It is assumed that VVV2 is the
one, in which d1 , d2 and d3 represent the distance from the optimal vector. The switching sequence can be rearranged as
end point of the reference vector to VVV1 , VVV2 and VVV8 , Fig. 8. It is unnecessary to introduce u15 (1111) for the constant
respectively. The d1 is clearly less than d2 or d3 . Therefore, switching frequency because the duration time will be equal to
VVV1 can be selected as the optimal vector. Then, the following the control period at some moment. Therefore, the switching
vector duration calculation in the next section can guarantee frequency is inconstant in the proposed scheme.

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WANG et al.: IMPROVED FAULT-TOLERANT MODEL PREDICTIVE TORQUE CONTROL OF FIVE-PHASE PMSM BY USING DEADBEAT SOLUTION 215

Fig. 8. Switching sequence with duty ratio. (a) Before modification. (b) After
modification.

Fig. 9. Experimental platform.

TABLE III
PARAMETERS OF PMSM

Fig. 10. Steady-state performance at speed of 200 r/min. (a) Conventional

scheme (b) Proposed scheme.

A. Steady-State Performance
At the steady-state operation, the load torque is set to 8 Nm
at the speed of 400 r/min. The electromagnetic torque decreases
IV. EXPERIMENTAL RESULTS as the speed decreases.
Fig. 9 shows the experimental platform of the five-phase Fig. 10 shows the steady-state response including the rotor
PMSM drive, which uses a DC motor connected with the resistor speed, torque, flux and stator current of phase-B at 200 r/min.
as the load. The prototype is fed by a five-phase inverter in a con- The details of the waveforms can be seen in the lower part of
trol board with the DSP TMS320F28377 of TI. An incremental Fig. 10. It can be seen that the proposed scheme has much lower
encoder with 2048 pulses is used for the measurement of the torque and flux ripples than the conventional one. Torque ripple
rotor speed. The torque and stator current can be displayed on and flux error can be calculated by (22).
an oscilloscope with a torque sensor and a current probe. ⎧ 
In this section, the proposed scheme will be experimentally ⎪
⎪ n
⎪ (Te_i − Te_av )2
⎨ Te_ripples = n
1
compared with the conventional scheme [28]. In the conven- ⎪
i=1
tional scheme, six VVVs in Fig. 6 serve as the candidate vectors  (22)
⎪
⎪ 
n
and the optimal VVV is selected by the cost function evaluation. ⎪
⎪ ψ = 1
(ψ_i − ψ_av )2
⎩ _ripples n
The steady-state performance, computation burden and dynamic i=1
performance of two schemes will be comparatively analyzed.
For fair comparison, the steady-state and dynamic operation Where n is the number of the data.
performances of the two schemes are analyzed with the same At 200 r/min, torque ripple of conventional scheme evaluated
average switching frequency. The control period of the proposed from (22) is 0.45 Nm, while that of the proposed scheme is
scheme is set to 100 μs while that of the conventional scheme 0.23 Nm. Therefore, the percentage of the torque ripples of
is set to 66.67 μs. Therefore, the average switching frequency the conventional and proposed method are 11% and 5.75%.
of the two schemes can be equal to about 8 kHz. The detailed Moreover, the flux ripple in the proposed scheme is 0.86e-3
parameters of the five-phase PMSM are listed in Table III. Wb whereas that in the conventional scheme is 1.06e-3 Wb.

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216 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 37, NO. 1, MARCH 2022

Fig. 12. Harmonic current. (a) Conventional scheme (b) Proposed scheme.

Fig. 13. VVV selection. (a) Conventional scheme (b) Proposed scheme.
Fig. 11. FFT analysis of the current. (a) Conventional scheme (b) Proposed
TABLE IV
scheme.
COMPARISON OF STEADY-STATE PERFORMANCE OF TWO SCHEMES

Therefore, the percentage of the flux ripples of the conventional

and proposed method are 3.65% and 2.96%.
Furthermore, Fig. 11 shows the FFT analysis of the stator
current in the two schemes at 200 r/min. It is clear that the total
harmonic distortion value (THD = 15.43%) in the proposed
scheme is much less than that (THD = 21.91%) in the con-
ventional scheme. In addition, the y axis currents of the two
schemes are presented in Fig. 12. It can be seen that the y
axis current of the proposed scheme has less ripples and it is can be obtained by calculating the duration of this high level.
smoother than that of the conventional scheme. Therefore, the This section only compares the time of selecting the optimal
third-order harmonics component has been constrained better in VVV because other processes including initialization and A/D
the proposed scheme. However, it cannot be eliminated totally conversion consume almost the same time in two schemes. After
owing to the uncontrollable component of x axis and some the experiment, the time of selecting the optimal VVV in the
non-linear factors. In Fig. 13, the VVV selection is presented. proposed scheme is 4.6 μs while that in the conventional scheme
It can be seen that the proposed scheme can select the VVV is 10.9 μs. The time of selecting the optimal VVV reduced a lot
more precisely, verifying the good steady-state performance in because the proposed scheme avoids the process of testing all
the proposed scheme. candidate VVVs. Therefore, the computation burden is reduced
Next, the time of code implementation is used to evaluate significantly.
the computation burden. At the beginning of the code, a high The contents discussed above are concluded in Table IV. For
level is outputted from an I/O port. Then, at the end of the further verification of the enhancement of the steady-state per-
code, the level becomes low. Therefore, the implementation time formance, the performance at 400 r/min of two schemes is also

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WANG et al.: IMPROVED FAULT-TOLERANT MODEL PREDICTIVE TORQUE CONTROL OF FIVE-PHASE PMSM BY USING DEADBEAT SOLUTION 217

Fig. 14. Switching process.

Fig. 16. Dynamic performance of load disturbance: 4 Nm to 8 Nm to 4 Nm.

(a) Conventional scheme (b) Proposed scheme.

model predictive torque control scheme [26] is applied. At 3s,

an open-circuit fault occurs in phase-A. In the fault condition,
the current of phase A becomes 0 because of the open-circuit.
In addition, the torque ripples become larger. The motor can
run like in the normal condition due to the characteristics of
the motor design. At 4s, in the post-fault condition, the fault-
tolerant control method is applied, the loss of motor is reduced
and the motor efficiency is improved comparing with the fault
condition. Therefore, the amplitude of the current is reduced
slightly. And the torque ripple becomes smaller and the current
becomes better. Therefore, the proposed scheme can realize the
continued operation without downtime.
Fig. 15. Dynamic performance of speed response: 0 to 400 to 200 to 400 r/min.
(a) Conventional scheme (b) Proposed scheme. B. Dynamic Performance
In addition to the steady-state performance, the dynamic
compared in Table IV. Therefore, the reduced torque and flux performances are comparatively evaluated when the reference
ripples, THD and computation burden exhibit the effectiveness speed and load change. The experimental waveforms of the
of the adoption of the deadbeat solution and the application of speed, the electromagnetic torque and the stator current are
multi-vector in one control period. The steady-state performance presented to evaluate the response of two schemes. The lower
has been improved in the proposed scheme. waveforms are the close-ups of the upper waveforms.
Moreover, the switching process is given in Fig. 14. There Fig. 15 illustrates the dynamic response when the reference
are three parts in Fig. 14: pre-fault condition, fault condition and speed changes. First, the reference speed increases from 0 to
post-fault condition. In the pre-fault condition, the conventional 400 r/min. Then, it decreases to 200 r/min and later changes

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218 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 37, NO. 1, MARCH 2022

back to 400 r/min. It can be seen that the motor speed gets back [10] G. Liu, L. Qu, W. Zhao, Q. Chen, and Y. Xie, “Comparison of two
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WANG et al.: IMPROVED FAULT-TOLERANT MODEL PREDICTIVE TORQUE CONTROL OF FIVE-PHASE PMSM BY USING DEADBEAT SOLUTION 219

Huanan Wang received the B.Sc. degree in electrical Hongyu Tang received the B.Sc. degree in electrical
engineering from the Changzhou Institute of Tech- engineering from the Jiangsu University of Science
nology, Changzhou, China, in 2018. He is currently and Technology, Zhenjiang, China, in 1999 and the
working toward the Ph.D. degree in electrical engi- M.Sc. degree in electrical engineering from Jiangsu
neering with Jiangsu University, Zhenjiang, China. University, Zhenjiang, China, in 2005. Since 1999,
His research focuses on the control of multiphase he has been with Zhenjiang College, where he is
permanent-magnet machines. currently a Professor with the School of Electrical
and Information. His current research interests in-
clude analysis and control of permanent-magnet mo-
tor drive systems.

Tao Tao received the B.Sc. degree in electrical engi-

neering from Nanjing Agricultural University, Nan-
jing, China, in 2009 and the Ph.D. degree in electri-
cal engineering from Jiangsu University, Zhenjiang,
Wenxiang Zhao (Senior Member, IEEE) received China, in 2020. Since 2021, he has been with Jiangsu
the B.Sc. and M.Sc. degrees in electrical engineering University, where he is currently a Lecturer with the
from Jiangsu University, Zhenjiang, China, in 1999 School of Electrical Information Engineering. His re-
and 2003, respectively, and the Ph.D. degree in electri- search focuses on control of multi-phase permanent-
cal engineering from Southeast University, Nanjing, magnet machines.
China, in 2010. Since 2003, he has been with Jiangsu
University, where he is currently a Professor with the
School of Electrical Information Engineering. From
2008 to 2009, he was a Research Assistant with the Suleman Saeed received the B.Sc. degree in electri-
Department of Electrical and Electronic Engineering, cal engineering from COMSATS University Islam-
University of Hong Kong, Hong Kong. From 2013 abad, Wah Cantt, Pakistan, in 2018. He is currently
to 2014, he was a Visiting Professor with the Department of Electronic and working toward the M.Sc. degree in electrical engi-
Electrical Engineering, University of Sheffield, Sheffield, U.K. He is the author neering from Jiangsu University, Zhenjiang, China.
or coauthor of more than 110 papers published in various IEEE Transactions. His research interests include control of multiphase
His current research interests include electric machine design, modeling, fault permanent-magnet machines and power electronics.
analysis, and intelligent control.

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