Modeling and Field-Oriented Control of the Dual

Stator Winding Induction Motor in the EMTP-Type

Environment
Tshibain Tshibungu
Abstract--The dual stator winding induction motor supplied by
redundant Variable Frequency Drives (VFDs) finds its
application in ship propulsion, locomotive traction, and
aerospace. The redundancy of VFDs leads to reliability and safety
for a continuous availability of the system even when one VFD
has failed. This paper proposes the modeling in an arbitrary
reference frame of dual stator winding (with an arbitrary
displacement between the two three-phase winding sets) induction
motor with saturation of the main flux for the EMTP-type
solution. The Indirect Field Oriented Control based on the two
axis d-q model of the dual stator winding induction motor is
investigated and can be extended to any number of phases, which
are a multiple of three. The control can be implemented using two
VFDs built as an Active Front End (AFE) Rectifier followed by
Voltage-Sourced Inverters (VSIs) based sinusoidal PWM or
current hysteresis controller. The proposed modeling and control
was simulated by using the Engineering Suite V6 software and
the simulation results show the simplicity of the control scheme.

one or more windings under balanced conditions if for any

reason some of them cannot be supplied. The main focus of
this paper is to develop a dynamic model of the DSIM for any
arbitrary angle of displacement between the two winding sets
for the EMTP-type solution. The d-q model in an arbitrary
reference frame model has been developed and can be used to
analyze the behavior of an induction motor in any reference
frame. A simple IFOC scheme control for an unsaturated
DSIM is implemented using two VFDs built as Active Front
End (AFE) Rectifiers followed by VSIs based hysteresis
current controller. Since the DSIM is not available in standard
library of most electrical software, the validation and proposed
control of the Engineering Suite V6 software model (either in
steady state or transient) were compared with the model built
in the MATLAB/SIMULINK environment. However, only the
results obtained from the Engineering Suite V6 are presented.

Keywords: Dual Stator Induction Motor (DSIM), Indirect

Field Oriented Control (IFOC), Variable Frequency Drive, AFE
Rectifier.

II. MODELING OF DSIM

I. INTRODUCTION

HE concept of multiphase (more than three-phase)

machine modeling and drive is not new. There are already
lots of examples in literature describing multiphase machines
[2][4], which are just a representative sample. Recently, more
attention has been given to modeling and control of a
multiphase motor, especially multiphase induction motors.
Generally, a multiphase induction motor drive has many
advantages over the conventional three-phase drive such as
high power capability by dividing power between multiple
phases, reduced torque pulsations and higher reliability. In
particular, with the loss of one or more stator winding sets, a
multiphase induction motor can continue to operate. The
modeling and drive of a multiphase induction motor can use a
variety of transformations. The symmetrical component theory
and the matrix theory serve as theoretical foundation for these
transformations. As an advantage, by segmenting equally the
applied power in multiphase induction, it is possible to supply
Tshibain Tshibungu is with Simsmart Technologies, Inc., 100-4 Place du
Commerce, Brossard (Qubec), Canada, J4W 3B3.
Engineering Suite V6 is a trademark of Simsmart Technologies, Inc.
Paper submitted to the International Conference on Power Systems
Transients (IPST2015) in Cavtat, Croatia June 15-18, 2015

A. Assumptions
The DSIM is designed as an electromechanical system
composed on the stator side by two wye three-phase windings,
which are grounded through two separate neutral impedances,
referred to as stator 1 and stator 2 and on the rotor side by a
common squirrel cage. The squirrel cage is replaced by an
equivalent three-phase winding. The DSIM is depicted in
Figure 1.
The modeling of this motor uses the following assumptions:

Stator windings are sinusoidally distributed around

the air gap,
The two sets of stator windings are spatially shifted
by an electrical angle ,
The symmetry of the windings and only the saturation
of the main flux are considered,
The magnetic coupling between stator windings 1 and
2 is considered through the main flux; the coupling of
these windings through the leakage flux is neglected,
All the electromagnetic variables and parameters of
the motor are referred to the stator side.

unsat
dr = Lunsat
m ids1 + Lm ids 2 + Lrr idr + md

(16)

Where
b1
a2

md , mq

d-q magnetizing flux correction terms

Rn , Ln

Neutral resistance and inductance

ar
b2

br
a1

The mechanical equation is given as follows:

cr

d m
= Tem kd m Tload
dt

c1

Tem =

c2

Fig. 1. Windings of DSIM

B. DSIM equations in dq0 Reference Frame

The modeling of the DSIM starts with the classical
approach of modeling the three-phase induction motor. The
DSIM is considered as two independent three-phase motors
coupled through a common rotor winding. The Park
transformations transform abc reference frame voltage and flux
equations into an arbitrary dq0 reference frame. Taking into
account the main flux linkage saturation by adding the d-q
magnetizing flux correction terms [10] to the main flux, the
voltage and flux equations into an arbitrary dq0 reference
frame are as follows:
dqs1
(1)
vqs1 = Rs iqs1 + ds1 +
dt
d
(2)
vds1 = Rs ids1 qs1 + ds1
dt
d
(3)
v0 s1 = ( Rs + 3Rn )i0 s1 + 0 s1
dt
d qs 2
(4)
vqs 2 = Rs iqs 2 + ds 2 +
dt
d
(5)
vds 2 = Rs ids 2 qs 2 + ds 2
dt
d
(6)
v0 s 2 = ( Rs + 3Rn )i0 s 2 + 0 s 2
dt
d
(7)
vdr = Rr idr ( r ) qr + dr
dt
d qr
(8)
vqr = Rr iqr + ( r ) dr +
dt
unsat
qs1 = Lss iqs1 + Lunsat
m iqs 2 + Lm iqr + mq

(9)

unsat
ds1 = Lss ids1 + Lunsat
m ids 2 + Lm idr + md
0 s1 = (l s + 3Ln )i0 s1

(11)

qs 2 = Lss iqs 2 +

+ mq

(12)

unsat
ds 2 = Lss ids 2 + Lunsat
m ids1 + Lm idr + md
0 s 2 = (l s + 3Ln )i0 s 2

(14)

unsat
qr = Lunsat
m iqs1 + Lm iqs 2 + Lrr iqr + mq

(15)

Lunsat
m iqs1

Lunsat
m iqr

(10)

(13)

(17)

3 p Lm
dr iqs1 + iqs 2 qr ( ids1 + ids 2 )

2 2 Lrr
2

m = r

(18)
(19)

Where

Mechanical and electrical speed ( rad/s )

m , r
p, k d

Number of pole and damping factor ( Nm s/rad )

Tload , Tem

Load and electromagnetic torque

C. Transient Modeling
Since vdr = 0 and vqr = 0 , equations (15) and (16) into (7)
and (8) and applying the trapezoidal rule, the matrix form of
rotor d-q currents in an arbitrary reference frame is as follows:

ids1 ( t )

idr ( t )
iqs1 ( t ) histdr ( t T )

= [C ]
+ hist ( t T )
qr
iqr ( t )

ids 2 ( t )
iqs 2 ( t )

Where

(20)

histdr ( t T ) , histqr ( t T )

Rotor d-q history terms

Sample time

[C ]

2-by-4 matrix

Replacing (9) to (14) into (1) to (6) and applying the

trapezoidal rule, we have:

ids1 ( t )

vds1 ( t )
iqs1 ( t ) histds1 ( t T )

i
hist ( t T )
qs1
vqs1 ( t )

ds 2 ( t )

= [Z ]
+
v

i
t
histds 2 ( t T )
qs 2 ( )
ds 2 ( t )

vqs 2 ( t )
idr ( t ) histqs 2 ( t T )
i t
qr ( )

(21)

 v0 s1 ( t ) R0 s

=
v0 s 2 ( t ) 0

0 i0 s1 ( t ) hist0 s1 ( t T )

R0 s i0 s 2 ( t ) hist0 s 2 ( t T )

conductance equation form as follows:

(22)

iabcs1 ( t )
vabcs1 ( t ) ihs1 ( t )

= [G ]
+

iabcs 2 ( t )
vabcs 2 ( t ) ihs 2 ( t )

Where

2(l s + 3Ln )
T
4-by-6 resistance matrix

R0 s = ( Rs + 3Rn ) +

[Z ]

histi ( t T )

Gabc12 Z abcs
=
abc 21 Gabcs Z abc 21
6-by-6 conductance matrix

[G ] == G abcs
Where

Stator dq0 history terms for i = ds1, ds2, qs1,

qs2,0s1,0s2

The elements in matrices [C ] and [ Z ] are a function of the

motor parameters and the speed deviation. Since the speed
changes slowly, in comparison with the electrical quantities,
and speed at time t is unknown, the equations (20) and (21) are
linearized by using the predictor corrector method [8]. The
following prediction is used:

r ( t ) = 2r ( t T ) r ( t 2T )

(23)

The stator and rotor d-q history terms are not only
dependent on previous d-q currents and speed deviation but
also on previous and actual d-q magnetizing flux correction
terms. Since d-q magnetizing flux correction terms at time t are
unknown, the three-point predictor formula will be used (see
saturation modeling).

(24)

Applying Parks inverse transformations (see appendix), the

voltage equations in abc reference frame are as follows:

vabcs 2 ( t ) = Z abc 21 iabcs1 ( t ) + Z abcs iabcs 2 ( t ) + eabcs 2

[ Z abcs ]
[ Z abcs12 ] , [ Z abcs 21 ]

Mutual resistance matrices

eabcs1 , eabcs 2

Voltages behind resistance

i (t )
e
(t )
ihs ( t ) = hs1 = [G ] abcs1 6-by-1 current history
ihs 2 ( t )
eabcs 2 ( t )
The modeling in a rotor, for a synchronous and stationary
reference frame, are obtained respectively by setting:

( t ) = r ( t ) , ( t ) = s ( t ) , ( t ) = 0
Given a power system network described by the following
nodal equation:

ihn ( t ) = Gn vabcn ( t )

(28)

ihn ( t ) represents the networks history current

sources, Gn denotes the overall conductance matrix without

Here,

interfaced with the above power system network by solving

(27) for the stator currents and then substituting them into
(28). The final linear system of equations in terms of nodal
voltages has the following standard form:
ih ( t ) = Geq vabcn ( t )

Where Rdq 4-by-4 resistance matrix

vabcs1 ( t ) = Z abcs iabcs1 ( t ) + Z abc12 iabcs 2 ( t ) + eabcs1

Z abc12

Z abcs

incorporating the DSIM conductance matrix and

vabcn ( t ) represents the nodal voltages. A single DSIM is

Replacing (20) into (21), we have:

vds1 ( t )
ids1 ( t ) eds1 (t T )

vqs1 ( t )
iqs1 ( t ) eqs1 (t T )

= Rdq
+ e (t T )
vds 2 ( t )
ids 2 ( t ) ds 2

vqs 2 ( t )
iqs 2 ( t ) eqs 2 (t T )

(27)

(29)

Figure 2 illustrates the formulation of (29) where it is shown

that Gn and ihn ( t ) are modified by including the 6-by-6
motor equivalent conductance [G ] and ihs ( t ) 6-by-1 motor
current history terms to the corresponding motor nodes.

(25)
(26)

Self-resistance matrix

D. Interfacing DSIM with EMTP-type network solution

The complete model of the DSIM for the EMTP-type
solution is obtained after combining (25) and (26) in the

Fig. 2. Contribution of the DSIM to the network nodal equation.

E. Saturation Modeling
The characteristics of nonlinear inductance current
dependent can be represented as a multi piecewise linear
inductance with more slopes. Lets assume that the flux versus
magnetizing current is provided (Fig. 3.), which only the first
quadrant is shown, and supposed to be symmetrical.

unsat
dm
( t ) = Lunsat
m idm ( t )
unsat
qm

3.

(t ) =

Lunsat
m iqm

(36)

(t )

(37)

Determine the appropriate piece of saturated line

using im ( t ) and calculate the magnetizing flux
correction term:

m (t ) = munsat ( t ) Li im (t ) + bi
4.

Calculate d-q magnetizing flux correction terms as

follows:

md (t ) = m (t )

mq (t ) = m (t )

Fig. 3. Magnetizing Flux vs current of the DSIM

The magnetizing flux m ( t ) for a given magnetizing current

(t ) =

Lunsat
m im

( t ) + m ( t )

(30)

be:

Since the magnetizing flux versus current can be approximated

Tem =

as a multi piecewise linear curves

as msat

( t ) = Li im (t ) + i ,

where i is the knee point flux, the iterative algorithm for

calculating the d-q flux saturation effect is as follows:
Calculate the magnetizing current im (t ) using the

three-point predictor formula:

5
1
3
ik ( t ) = ik ( t T ) + ik ( t 2T ) ik ( t 3T )
4
2
4
idm ( t ) = ids1 ( t ) + ids 2 ( t ) + idr ( t )

unsat
qm
(t )

(31)
(32)
(33)

im ( t ) = idm ( t ) + iqm ( t )

(34)

3 p Lm
s
dr iqs
2 2 Lrr

(41)

s
Where iqs
= iqs1 + iqs 2

If

dr is constant,

which

implies

that idr = 0 ,

equations (8), (15) and (16) give:

s
Rr iqs
s r =
s
Lrr ids

dr = Lm idss

s
on iqs

the

. Hence,

(42)
(43)

s
Where ids
= ids1 + ids 2

Where

If the magnitude dr has to be changed, (7), (16) and

idm ,iqm

Represent d-q magnetizing current

knowing that qr = 0 , we have:

ik

May be ids1 , ids 2 , iqs1 , iqs 2 , idr , iqr

dr =

Calculate the unsaturated flux (air gap straight line), d

and q mutual flux using the predicted d-q current:

Where r =

2.

(40)

msat ( t )

electromagnetic torque will depend only

iqm ( t ) = iqs1 ( t ) + iqs 2 ( t ) + iqr ( t )

2

(39)

msat ( t )

Neglecting saturation and if we choose a new d-q axis

rotating at a synchronous speed and aligned with the rotor
field, that means qr = 0 , and the electromagnetic torque will

Where m ( t ) < 0 is the magnetizing flux correction term.

1.

unsat
dm
(t )

III. INDIRECT FIELD ORIENTED CONTROL

im (t ) is given as follows:

msat

(38)

munsat ( t ) = Lunsat
m im ( t )

(35)

Lm s
ids
1 + s r
Lrr
Rr

(44)

A. VSI Based Hysteresis Current Controller

k ps =

Since the inverter is controlled by a hysteresis current

controller, only the speed and flux controllers should be
designed.
1) Flux PI Controller Design
The following controller will output the d axis current
s*
(reference) ids
. Using (44), the open loop transfer function is

given as follows:

T (s) =

Lm k pf 1 + T s

(1 + r s ) T s

(45)

Where

T and k pf are respectively the time constant and proportional

gain of the flux controller.
For a given , time constant of the flux closed loop transfer

m ( p1 + p2 ) 1
km

r
1
+
Lm Lm s

km k p

m p1 p2

The sum of stators q axis current is obtained by using (41),

where torque and flux are respectively the outputs of speed
and flux controllers. For both stators having equal q axis
current, we have:
*
*
iqs
1 = iqs 2 =

s*
iqs

(49)

B. Variable Frequency Drive and Control

Figures 3, 4 and 5 summarize the implementation of the two
VFDs drive DSIM. Parameters of the DSIM and load models
are given in the appendix. VFDs have been designed in
Engineering Suite V6 with unity power factor AFE rectifiers.
DC voltage controls are based on hysteresis current controller
and voltage controllers are designed using abc Reference
Frame method.

function, the flux controller parameters are calculated using

the Internal Model Control (IMC) and the transfer function is
given as follows:

Gc ( s ) =

Ts =

i ds*

*
iabcs

iqs* = 0

vabcs

(46)

i abcs

Fig. 4. Diagram block of an AFE rectifier DC voltage control

Since both stators must have equal d axis current, d axis

current (reference) for each stator is obtained as follows:
*
*
ids
1 = ids 2 =

s*
ids
2

(47)

2) Speed PI Controller Design

*
The following controller will output a reference torque Tem
.
Using (17) and (41), the open loop transfer function is given
as:
km k ps (1 + Ts s )
(48)
T ( s) =
(1 + m s ) Ts s

IV. SIMULATION PARAMETERS

A. AFE Rectifier Controllers and Design for Unity
Power Factor
Two separate 3-phase voltage sources 460 V, 60 Hz,
R s = 0.15 ,Ls = 8 mH supply two AFE rectifiers that feed the
inverters. The DC reference voltage is set to 1000 Volts. The
IGBT (modeled by ideal switch in parallel with a diode) is
triggered by a hysteresis control which is set to h = 0.1 A .
The diode snubber RC are Csn = 0.1 F and R sn = 500 .The
capacitor is initially charged at 1000 Volts and C = 5000 F .

Where

TABLE I
AFE RECTIFIER VOLTAGE CONTROLLER PARAMETER

Ts and k ps are respectively time constant and proportional gain

of the speed controller.
kt =

k
3 p Lm
J
dr , km = t , m =
kd
kd
2 2 Lrr

Voltage controller

k pv

kiv

0.32

15.45

Where
k pv and kiv are respectively the proportional and integral of

By using the pole placement method, one can place poles at

s = p1 and s = p2 , and it will be assumed that p1 is the
dominant pole. Thus, the speed controller parameters are
calculated as follows:

the rectifier voltage controller.

Fig. 5. Diagram of VFDs drive DSIM

iqs* 2

iqss*

Tem*

*
iabcs
2

ids* 2
iabcs2
3 p Lm

2 2 Lrr

dr*
Lm
1 + s r

i dss *

iqs* 1

dr

idss

iabcs2

*
iabcs
1

ids* 1

iabcs1

iabcs1
i qss

Fig. 6. Diagram block of the DSIM speed control with IFOC

B. DSIM Controllers and Design

The two inverters that control the DSIM are controlled by a
hysteresis current controller. The hysteresis control is set
to h = 0.5 A . Using the formulas developed for speed and
flux controllers, the following table summarizes the PI
Controllers parameters.
TABLE II
DSIM FLUX AND SPEED CONTROLLER PARAMETERS

Flux controller
Speed controller

kp

ki

449.57
23.54

2881.884
107

Where
k p and ki are respectively the proportional and integral of
the flux or speed controller.

V. SIMULATION RESULTS
The first scenario was carried out to compare online startup of the saturated (black color) and unsaturated (blue color)

motor driving load model 1. Figures 7 and 8 show the speed

(rad/s) and electromagnetic torque (Nm) of the saturated and
unsaturated motor using the model implemented in the
Engineering Suite V6. Figures 9 and 10 show the stator
currents (A) of both stators (case of unsaturated motor).
The second scenario was carried out using VFDs to drive
the DSIM connected to the load model 2. A reference speed of
120 rad/s and -120 rad/s are applied respectively at t = 0 s and
t = 1.6 s. Figures 11 and 12 show control of electromagnetic
torque and speed. Torque is limited to 500 Nm as requested.
Figures 13 and 14 show transient and steady state of both
stator currents (A). Both currents are equal in magnitude since
d-q current controls are equally shared between both stators.
Figure 15 shows control of the flux (Wb) versus its reference.
The third scenario studies the behavior of losing one of the
inverters when the system is connected to load model 2. A
reference speed of 120 rad/s is applied and inverter 2 is lost at
t = 1.4 s. Figures 16 and 17 show speed (rad/s) and
electromagnetic torque (Nm). As expected at t = 1.4 s when
inverter 2 is disconnected, speed and torque drop. The torque
falls to half of the steady state value before increasing to the
desired value requested by the speed controller in order to

meet the reference speed. As a consequence, Figures 18 and 19

show transient and steady states of both stator currents (A),
where stator 1 current is double the steady state value. Figure
20 shows the transient of flux (Wb).

Fig. 7. Speed for unsaturated vs saturated motor

Fig. 8. Torque for unsaturated vs saturated motor

Fig. 10. Stator 2 current for unsaturated motor

Fig. 11. Electromagnetic vs Load torque

Fig. 13. Transient-DSIM stator 1 current

Fig. 16. Speed vs reference

Fig. 14. Transient-DSIM stator 2 current

Fig. 17. Electromagnetic vs Load torque

Fig. 9. Stator 1 current for unsaturated motor

Fig. 12. Speed vs reference

Fig. 15. Magnetizing flux vs reference

Fig. 18. Transient-DSIM stator 1 current

Fig. 19. Transient-DSIM stator 2 current

Fig. 20. Magnetizing flux vs reference

Load Models

VI. CONCLUSIONS
The modeling of the DSIM for the EMTP-type solution and
a simple approach to the IFOC has been presented. The
validity of the model and control was verified by several
informative simulations. The modeling and control of the
DSIM are based on a two axes d-q model, and can be easily
extended to any number of phases, which are a multiple of
three. The DSIM can be modeled in any reference frame and
any arbitrary angle displacement between the two three-phase
winding sets.
The redundancy of the VFDs improves reliability and
availability of the system even when one VFD has failed.
Within the acceptable limit for the DSIM current, the simple
IFOC presented allows control of the DSIM under balanced
conditions and required torque even when one of the inverters
is out of service.
VII. APPENDIX
The DSIM is a 460 V, 60 Hz, 4 poles and = 300 . The
maximum torque allows is 500 Nm and the motor is
ungrounded through an impedance Rn = 1e5 , Ln = 0 mH .
The DSIM parameters are given in table III.
TABLE III
DSIM PARAMETERS

Stator resistance

Rs

0.087

Rotor resistance

Rr

0.228

Rotor leakage inductance

l r

0.8 mH

Stator leakage inductance l s

0.8 mH

Magnetizing inductance
Moment of Inertia

34.7 mH

Lm
J
*
dr

Rated flux

1.662 kgm 2
1Wb

Saturation curve

(Wb)
0.0347im
0.801 + 0.0069im (Wb)

m =

For im 28.9 A
For im > 28.9 A

Tload 1 = 0.5m , Tload 2 = sign (m ) * 0.0139m2

Parks inverse transformations

sin

f abc = sin 2 3

sin + 2
3

Where

(
(

)
)

cos

( 3)
cos ( + 2 )
3
cos 2

1 f dq 0

For the rotor = r , for the stator 1 = and the stator 2

= .

f : Voltage or current

r : Angle between stator and rotor identical phase

: Angle between q axis and stator phase A
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