Patent Publication Number: US-2022224273-A1

Title: Multiphase induction motor drive for gearless electric vehicles

Description:
FIELD 
     Some example embodiments may generally relate to multiphase induction motor drive systems, devices, and methods. Some example embodiments may relate to a gearless powertrain for electric vehicles with the benefits of multiphase induction motor drives. 
     BACKGROUND 
     In the present century, concern for ecological systems and the scarcity of fossil fuels have accelerated global research and industrial automobile marketing towards Electric Vehicles (EV) over internal combustion vehicles. The electric drive, including motor and power electronic converter, can be consider the backbone of the EVs. The electric drive can be used to attain the controlled speed and torque variations. The speed and torque variations can be selected based on the enhanced range of speed-torque profile with high efficiency, high reliability and high power handling capability with minimal volume. 
     The different machines used for electric vehicles include, for example induction machines (IM), switched reluctance machines (SRMs), permanent-magnet synchronous machines (PMSM), and brushless machines (BLDC). Some of these approaches rely on rare earth magnetic materials or complex construction techniques. 
     IMs have been viewed as more attractive than the other alternatives, because they do not require rare earth magnetic materials and can be simply constructed and controlled. IMs may also be considered rugged and economical. Thus, IMs may be one of the machines for use in EVs. 
     SUMMARY 
     An embodiment may be directed to machine for a drive system of gearless electric vehicle. The machine can include a pole-phase modulation multiphase induction motor. The pole-phase modulation multiphase induction motor can be configured to couple with a drivetrain. The machine can also include a multilevel inverter configured to deliver a plurality of voltages to the pole-phase modulation multiphase induction motor. The machine can further include a controller. The controller can be configured to perform vector control of the multiphase induction motor using indirect field-oriented control. 
     With a single stator winding, the PPM-based MIM drive of certain embodiments may deliver different torques as well as speeds similar to multispeed gear system, but with a reduced motor size. By contrast, in ordinary powertrains of EVs, the motor rated torque is constant. The powertrain with certain embodiments does not require a gearbox, in contrast to single speed or two speed gearboxes in ordinary powertrains. Thus, the weight and volume of the vehicle may be less, both because of a reduced weight of the machine itself, as well as reduced weight of the gearbox. As compared to the Tesla® Model S, for example, the weight of the proposed power train (gear system, motor drive) may be significantly reduced. 
     An m-phase multilevel inverter system for pole-phase modulation (PPM) based multiphase induction motor (MIM) drives with indirect field oriented control (IFOC) vector control can be provided in certain embodiments using a split phase winding concept. Such embodiments may provide the required control structure to achieve optimum performance from the developed circuits. Certain embodiments of the inverter may be realized with 2-switch inverter legs and a single DC source, which may reduce the complexity as well as the cost of the inverter. Because of the reduced torque/power per phase, the MIM drive of certain embodiments may be realized with lesser ratings of the semiconductor switches. Certain embodiments may employ a phase grouping concept for the PPM based NPIM drive, which may minimize torque ripple and obtain a wide speed-torque control range. The PPM based NPIM drive of certain embodiments may have higher fault tolerance with respect to battery and semiconductor switches and machine phase windings. The PPM based NPIM drive may be most suitable for ship propulsion, aerospace, and EVs applications. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For proper understanding of example embodiments, reference should be made to the accompanying drawings, wherein: 
         FIG. 1  illustrates a comparison between an electric vehicle with an ordinary induction motor and an electric vehicle with a pole-phase modulation (PPM) based multiphase induction motor (IM) drive, according to certain embodiments; 
         FIG. 2A  illustrates a PPM based multiphase IM arrangement for 12-phase IM windings for 2-pole and 4-pole operation with q=2, according to certain embodiments; 
         FIG. 2B  illustrates a PPM based multiphase IM arrangement for 24-phase IM windings for 2-pole and 8 pole operation with q=1, according to certain embodiments; 
         FIG. 2C  illustrates a PPM based multiphase IM arrangement for 9-phase IM windings for 2-pole and 6-pole operation with q=2, according to certain embodiments; 
         FIG. 3A  illustrates PPM details of a nine-phase induction motor (NPIM) drive for half of the stator periphery for a 9 phase (PH)-4 pole (PO) mode, according to certain embodiments; 
         FIG. 3B  illustrates PPM details of an NPIM drive for half of the stator periphery for a 3PH-12PO mode, according to certain embodiments; 
         FIG. 4A  illustrates a four-stator winding arrangement with an ordinary arrangement; 
         FIG. 4B  illustrates a four-stator winding arrangement with a disconnected coil arrangement, according to certain embodiments; 
         FIG. 5A  illustrates a power circuit configuration of a multilevel inverter for PPM based NPIM drive, according to certain embodiments; 
         FIG. 5B  illustrates a power circuit configuration of a multilevel inverter PPM based multi-phase (m-phase) IM drive, according to certain embodiments; 
         FIG. 6A  illustrates a torque versus speed characteristics of a drive for an electric vehicle, according to certain embodiments; 
         FIG. 6B  illustrates a torque versus speed characteristic for a vehicle with an internal combustion engine with a gear box; 
         FIG. 7  illustrates indirect field-oriented control (IFOC) of a PPM based NPIM, according to certain embodiments; 
         FIG. 8A  illustrates magnetic flux density and flux line distribution for 9PH-4PO operation, according to certain embodiments; 
         FIG. 8B  illustrates magnetic flux density and flux line distribution for 3PH-12PO operation, according to certain embodiments; 
         FIG. 9  illustrates torque-speed operating points of a PPM based NPIM, according to certain embodiments; 
         FIG. 10A  illustrates effective voltage over time for 3PH-12PO mode, according to certain embodiments; 
         FIG. 10B  illustrates a harmonic spectrum of effective Phase-R voltage for 3PH-12PO mode, according to certain embodiments; 
         FIG. 11  A illustrates a torque ripple profile of a PPM based NPIM drive with 2-level voltage, according to certain embodiments; 
         FIG. 11B  illustrates a torque ripple profile of a PPM based NPIM drive with an inverter excitation, according to certain embodiments; 
         FIG. 12A  illustrates experimental results under IFOC vector control with respect to and voltage, according to certain embodiments; and 
         FIG. 12B  illustrates experimental results under IFOC vector control with respect to currents, according to certain embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     It will be readily understood that the components of certain example embodiments, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of some example embodiments of a pole-phase modulation based multiphase induction motor and associated control systems thereof, is not intended to limit the scope of certain embodiments but is representative of selected example embodiments. 
     The features, structures, or characteristics of example embodiments described throughout this specification may be combined in any suitable manner in one or more example embodiments. For example, the usage of the phrases “certain embodiments,” “some embodiments,” or other similar language, throughout this specification refers to the fact that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment. Thus, appearances of the phrases “in certain embodiments,” “in some embodiments,” “in other embodiments,” or other similar language, throughout this specification do not necessarily all refer to the same group of embodiments, and the described features, structures, or characteristics may be combined in any suitable manner in one or more example embodiments. 
     Certain embodiments may have various aspects and features. These aspects and features may be applied alone or in any desired combination with one another. Other features, procedures, and elements may also be applied in combination with some or all of the aspects and features disclosed herein. 
     Additionally, if desired, the different functions or procedures discussed below may be performed in a different order and/or concurrently with each other. Furthermore, if desired, one or more of the described functions or procedures may be optional or may be combined. As such, the following description should be considered as illustrative of the principles and teachings of certain example embodiments, and not in limitation thereof 
     A Pole Phase Modulated (PPM) nine-phase induction motor drive according to certain embodiments may be used in gearless electric vehicle applications. With the help of pole changing techniques (like using multiple auxiliary windings or dual stator windings), variable speed and torques can be achieved. Poor copper utilization, de-energization of the windings, and multiple auxiliary windings may still impose significant limitations. In certain embodiments, a single stator winding multiphase induction motor can deliver variable speed-torques by varying the number of phases and poles with respect to the multiphase power converter. Moreover, certain embodiments of the drive may offer high fault-tolerant capability, the ability to handle high power with reduced voltage ratings of power electronic devices, better torque/power distribution, improved efficiency with a lesser magnitude of space harmonics, and other benefits. Certain embodiments of the drive may provide similar speed torque characteristics to internal combustion (IC)-based vehicles, which can help in the elimination of the gearbox system in the EVs. This elimination of the gearbox may also help to minimize the cost, size, weight and volume of the vehicle. A multilevel inverter controlled with carrier phase shifted space vector pulse width modulation (PWM) may help to achieve better performance of the PPM based MIM drive with respect to efficiency, torque ripple, and DC link utilization. This inverter may be realized with 2-switch inverter legs and one DC source, which may reduce the control complexity as well as the cost of the drive. To operate the PPM based MIM drive smoothly in different pole phase combinations, the indirect field oriented vector control is provided in certain embodiments. 
     The power semiconductor devices of multiphase induction motors (MIMs) may have better power/torque distribution per phase, better fault tolerant capability, higher efficiency and minimized ratings compared with 3-phase IMs. Thus, MIMs may be a useful alternative to 3-phase IMs. 
     The extended speed-torque profile of drive in MIMs can be achieved by pole-changing techniques, where the stator windings of the IM can be reconfigured in, for example, series-star, parallel-star, parallel-delta, or parallel-series. These pole-changing techniques may require the mechanical re-connection of the windings and de-energization during the transition of one pole to another pole and may result in the under-utilization of copper. These issues may affect the continuity of machine torque and power. 
     With the enhancement in the power semiconductor technology and micro-controllers, the pole-changing techniques may become cost-effective and efficient solutions for achieving the wider range of speed and torque. 
     Continuously changing the number of poles may be performed various ways. For example, the number of poles may be continuously changed by varying the supply voltage excitation to respective windings with the help of power electronic converters. This process may be referred to as Pole-Phase Modulation (PPM). PPM can avoid the need to perform winding re-arrangement and de-energization while changing the number of poles. 
     Certain embodiments relate to the design and implementation of the pole phase-modulated MIM drive for obtaining gearless vehicle operation. 
       FIG. 1  illustrates a comparison between an electric vehicle with an ordinary IM and an electric vehicle with a PPM-based multiphase IM drive. As shown in  FIG. 1  the EV with the ordinary IM  110  can include a battery, a power converter, an electric motor, and a gear box. The EV with the PPM-based based IM drive  120  may likewise have a battery and a power converter. However, the EV with the PPM-based IM drive  120  may include a PPMIM with a clutch. 
     The EV with the PPM-based IM drive  120  may deliver different torques as well as speeds similar to a multispeed gear system. On the other hand, not shown to scale in  FIG. 1 , the EV with the PPM-based IM drive  120  may have a reduced size of the motor. In ordinary powertrains of EVs, the motor rated torque may be constant. 
     The powertrain with the EV with the PPM-based IM drive  120  can avoid the use of a gear box, reducing the size, weight, and maintenance of the vehicle. By contrast, a Nissan LEAF(R) or Tesla Model S (R) may have a single speed gear box and a Porsche Taycan (R) may have a two speed gear box. 
     Certain embodiments provide a mathematical generalization for changing the number of poles and phases of PPM-based multiphase induction motor drives without altering the physical winding. According to such a generalization, pole and phase adjustments may be performed without the need for mechanical reconnection and de-energizing. 
     Certain embodiments employ an optimal single stator frame split phase winding. The winding may achieve the different pole phase combinations for getting a wider range of torque-speed characteristics. The winding may also provide an improved performance by exciting each coil of a pole pair with an inverter leg excitation. 
     With the winding excitation method of certain embodiments, in high pole operation, PPM based MIM drives can supply the high initial torque for fast acceleration and hill-climbing. The rated torque of the motor can be k times greater than the low pole mode, where k=pole ratio, for example 1, 3, 5, or 7. Similarly, in low pole mode the same NPIM drive can supply high speed which is k times greater than the high pole mode. 
     Certain embodiments implement a power supply arrangement that can rely on a specific inverter topology and associated vector control for PPM based MIM drive with improved performance. 
     Certain embodiments relate to a pole phase modulated nine-phase induction motor for gearless electric vehicles with improved performance in terms of torque ripple profile, DC link utilization, and efficiency. Certain embodiments relate to a high-power density multiphase induction motor with reduced size and volume, and with a wider speed-torque range capability. The size and capability comparison is relative to an ordinary 3-phase IM drive. 
     Certain embodiments may be employed in various contexts. For example, certain embodiments may be used in gearless electric vehicles, where certain embodiments can provide different speed and torque capabilities. These capabilities can help to eliminate the need for a transmission system, in particular a gearbox. 
     Certain embodiments may be used in naval ship propulsion. For example, certain embodiments may offer different torque as well as high fault tolerant capability. Certain embodiments may similarly be used in electric trains and in aerospace vehicles. 
     Certain embodiments may be used in renewable energy systems, such as wind generation systems, to eliminate mechanical gear systems. Moreover, certain embodiments may be used in heavy cranes and manufacturing industrial equipment. In such implementations, the variable speed and torque capability of certain embodiments may be particularly helpful. 
     Certain embodiments may have a lower efficiency of the Pole phase modulated NPIM drive during the high pole operation, due to higher magnitude of space harmonics. The efficiency, as well as fault tolerant capability of the drive of certain embodiments, may still be higher than an ordinary 3-phase IM drive. 
     Certain embodiments may provide a pole phase modulated multiphase phase induction motor drive (PPM based MIM) that can be used for gearless electric vehicle applications. With a single stator winding, certain embodiments of the PPM based MIM drive can deliver different torques as well as speeds similar to a multispeed gear system with a reduced size of the motor. By contrast, ordinary powertrains of EVs may have a constant motor rated torque. 
     In contrast to ordinary powertrains, the machine of certain embodiments may omit a gear box. For example, certain conventional EV powertrains may include a single speed gearbox or a two-speed gearbox. So the weight and volume of the vehicle that includes certain embodiments of the powertrain can be lower, because of the lower weight of the machine as well as the absence of a gearbox. For example, as compared to an EV with a two-speed gearbox (including gear system and motor drive), the weight of the power train of certain embodiments can be significantly reduced. 
     Certain embodiments relate to a generalization for a pole phase modulated induction motor drive, which may achieve uniform pole formation. 
     Certain embodiments provide an m-phase multilevel inverter system for PPM based MIM drives with indirect field oriented control (IFOC) vector control. Such inverter systems may use a split phase winding approach. Certain embodiments may provide control structure to achieve optimum performance from the developed circuits. 
     Certain embodiments may be implemented with 2-switch inverter legs and a single DC source. Such an approach may provide a reduced complexity and cost of the inverter. Because of the reduced torque/power per phase, certain embodiments of the MIM drive may be realized with lesser ratings of semiconductor switches. 
     Certain embodiments may apply a phase grouping approach for the PPM based NPIM drive for minimizing the torque ripple and obtaining a wide speed-torque control range. 
     Certain embodiments may provide a PPM-based NPIM drive that has a higher fault tolerant capability with respect to battery and semiconductor switches and machine phase windings. Such embodiments may be suitable for ship propulsion, aerospace, and EV applications. 
     PPM can be an effective way to obtain extended speed-torque characteristics, where the phase belt can be adjusted by changing the excitation of power electronic inverter. In PPM, the number of phases and poles can vary perpetually in a constant ratio, for example slots/pole/phase. If Q is the number of stator slots and m is number of phases and 2p is number of poles, a generalization of PPM can be expressed as follows: 
     
       
         
           
             
               
                 
                   Q 
                   = 
                   
                     
                       2 
                       ⁢ 
                       
                         p 
                         1 
                       
                       ⁢ 
                       
                         q 
                         1 
                       
                       ⁢ 
                       
                         m 
                         1 
                       
                     
                     = 
                     
                       2 
                       ⁢ 
                       
                         p 
                         2 
                       
                       ⁢ 
                       
                         q 
                         2 
                       
                       ⁢ 
                       
                         m 
                         2 
                       
                     
                   
                 
               
               
                 
                   Equation 
                   ⁢ 
                   
                       
                   
                   ⁢ 
                   
                     ( 
                     1 
                     ) 
                   
                 
               
             
             
               
                 
                   k 
                   = 
                   
                     
                       
                         p 
                         2 
                       
                       
                         p 
                         1 
                       
                     
                     = 
                     
                       
                         
                           q 
                           1 
                         
                         ⁢ 
                         
                           m 
                           1 
                         
                       
                       
                         
                           q 
                           2 
                         
                         ⁢ 
                         
                           m 
                           2 
                         
                       
                     
                   
                 
               
               
                 
                   Equation 
                   ⁢ 
                   
                       
                   
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                     2 
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     In equations (1) and (2), p1, m1 and p2, m2 can be the number of pole pairs and the number of phases of the PPM1 (for a synchronous speed) and PPM2 (for another synchronous speed) respectively. The q1 and q2 can be the phase belt of the PPM1 and PPM2 windings, respectively. Equation (2) can provide the pole ratio (k), which can be a positive integer and may always be ≥1 if the windings are wound for low pole mode. 
       FIG. 2A  illustrates a PPM based multiphase IM arrangement for 12-phase IM windings for 2-pole and 4-pole operation with q=2, according to certain embodiments.  FIG. 2B  illustrates a PPM based multiphase IM arrangement for 24-phase IM windings for 2-pole and 8 pole operation with q=1, according to certain embodiments.  FIG. 2C  illustrates a PPM based multiphase IM arrangement for 9-phase IM windings for 2-pole and 6-pole operation with q=2, according to certain embodiments. 
       FIGS. 2A, 2B, and 2C  demonstrate that a 48 slot 12-phase/24-phase and 36 slot 9-phase PPM based IM drives can be characterized by the generalization of PPM equations. 
     From  FIGS. 2A and 2B  it can be seen that the number of poles have either unchanged/non-uniform widths, which can be viewed as unequal pole widths. These unequal pole widths can lead to unequal flux distributions and high torque pulsations. From  FIG. 2C , it can be seen that the 9-phase 36 slot PPM based IM can be characterized by the PPM equations as well. Moreover, using the approach of  FIG. 2C , it can be possible to implement uniform pole distributions practically. Thus, if the machine wound for p 1 number of pole pairs with p1&lt;p2 then the pole ratio (k) can be an odd positive integer and the pole ratio k can always be ≥2n+1 (where n=0, 1, 2, 3 . . . ). With this revised generalization, symmetrical pole formations with continuity in torque can be achieved. Based on the revised generalization, in certain embodiments, a 1:3 speed ratio of PPM based NPIM is implemented for EV. 
       FIG. 3A  illustrates PPM details of an NPIM drive for half of the stator periphery for a 9PH-4PO mode, according to certain embodiments.  FIG. 3B  illustrates PPM details of an NPIM drive for half of the stator periphery for a 3PH-12PO mode, according to certain embodiments. In certain embodiments, based on the generalization of pole-phase modulation (PPM), a 36-slot nine-phase induction motor (NPIM) drive is provided. 
     In the PPM based NPIM drives, with the help of multiphase power converters, the order of poles and phases can be modulated without reconfiguring the stator winding arrangement. The phase voltage excitation angles, current direction, winding arrangement for one pole pair (180 degrees of stator circumference) and slot angle for PPM based NPIM are presented in  FIGS. 3A and 3B . 
     The adjacent phase windings of NPIM can respectively get a 40° and 120° displaced supply in 9PH-4PO mode, as shown in  FIG. 3A , and 3PH-12PO, as illustrated in  FIG. 3B . In certain embodiments, the analysis and design of NPIM are presented as an example model, but the winding design and analysis for the m-phase PPM based IM drive may also be similar to the NPIM. 
       FIG. 4A  illustrates a four-stator winding arrangement with an ordinary arrangement.  FIG. 4B  illustrates a four-stator winding arrangement with a disconnected coil arrangement. 
     The 4-pole stator winding arrangement of NPIM drive for phase-a as given in  FIG. 4A , where each pole pair one coil, for example A 1 -A 2  for first pole pair and A 3 -A 3  for second pole pair. On the stator circumference, these two coils (A 1 -A 2  and A 3 -A 4 ) can be connected in series and physically displaced by 360° electrically, as shown in  FIG. 4A . The A 1 -A 2  and A 3 -A 4  windings can receive the same fundamental voltage, so these windings can be referred to as identical voltage profile coils (IVPC). In certain embodiments, as shown in  FIG. 4B , the 2 IVPCs can be separated and excited with the same fundamental voltage. In this case, the machine parameters like resistance, self-inductance, and air-gap flux distribution may be unaltered as compared with the winding shown in  FIG. 4A . 
       FIG. 5A  illustrates a power circuit configuration of a multilevel inverter for PPM based NPIM drive, according to certain embodiments.  FIG. 5B  illustrates a power circuit configuration of a multilevel inverter PPM based m-phase IM drive, according to certain embodiments. 
     With the certain embodiments of the split-winding concept, which can also be referred to as disconnected IVPC windings as illustrated in  FIG. 4B  above, a multilevel inverter arrangement is provided for PPM based NPIM and m-phase IM drives by using conventional 2-switch inverter legs, as shown in  FIGS. 5A and 5B , respectively. The inverter arrangement of certain embodiments may operate using a DC source with a magnitude of Vdc/6. Here Vdc is the rated DC link voltage of 3-phase IM drive, where the voltage applied to each turn can be maintained constant. The effective voltage seen by the effective phase winding can be as follows: 
         V   eff·phase-a   =V   A1-A2   +V   A3-A4    Equation (3)
 
     The space vector pulse width modulation (PWM) (SVPWM) modulated NPIM may give an output voltage of 0.507*Vdc, which can indicate an increment in rotor magnetizing inductance (LMR) is 1.54% only as compared to Sine PWM. In certain embodiments, a phase grouping concept can be used to enhance the DC link utilization of a PPM based NPIM drive. 
     Table 1 illustrates grouping details of a nine-phase induction motor, according to certain embodiments. 
     
       
         
           
               
               
               
               
               
               
               
               
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
             
            
               
                   
                 A1- 
                 D1- 
                 G1- 
                 A3- 
                 D3- 
                 G3- 
                 B1- 
                 E1- 
                 H1- 
                 B3- 
               
               
                   
                 A2 
                 D2 
                 G2 
                 A4 
                 D4 
                 G4 
                 B2 
                 E2 
                 H2 
                 B4 
               
            
           
           
               
               
               
            
               
                 Operation 
                 Group-1 
                 Group-2 
               
               
                   
               
            
           
           
               
               
               
               
               
               
               
               
               
               
               
               
            
               
                 9PH- 
                 Reference 
                 0° 
                 120°  
                 240° 
                  0° 
                 120° 
                 240° 
                 40°  
                 160° 
                 280° 
                  40° 
               
               
                 4PO 
                 waves 
               
               
                 mode 
                 Carrier 
                 0° 
                 0° 
                  0° 
                 180° 
                 180° 
                 180° 
                 0° 
                  0° 
                  0° 
                 180° 
               
               
                   
                 waves 
               
               
                 3PH- 
                 Reference 
                 0° 
                 0° 
                  0° 
                  0° 
                  0° 
                  0° 
                 120°  
                 120° 
                 120° 
                 120° 
               
               
                 12PO 
                 waves 
               
               
                 mode 
                 Carrier 
                 0° 
                 60°  
                 120° 
                 180° 
                 240° 
                 300° 
                 0° 
                  60° 
                 120° 
                 180° 
               
               
                   
                 waves 
               
               
                   
               
            
           
           
               
               
               
               
               
               
               
               
               
            
               
                   
                 E3- 
                 H3- 
                 C1- 
                 F1- 
                 I1- 
                 C3- 
                 F3- 
                 I3- 
               
               
                   
                 E4 
                 H4 
                 C2 
                 F2 
                 I2 
                 C4 
                 F4 
                 I4 
               
            
           
           
               
               
               
               
            
               
                   
                 Operation 
                 Group-2 
                 Group-3 
               
               
                   
                   
               
            
           
           
               
               
               
               
               
               
               
               
               
               
               
            
               
                   
                 9PH- 
                 Reference 
                 160° 
                 280° 
                 80°  
                 200° 
                 320° 
                  80° 
                 200° 
                 320° 
               
               
                   
                 4PO 
                 waves 
               
               
                   
                 mode 
                 Carrier 
                 180° 
                 180° 
                 0° 
                  0° 
                  0° 
                 180° 
                 180° 
                 180° 
               
               
                   
                   
                 waves 
               
               
                   
                 3PH- 
                 Reference 
                 120° 
                 120° 
                 240°  
                 240° 
                 240° 
                 240° 
                 240° 
                 240° 
               
               
                   
                 12PO 
                 waves 
               
               
                   
                 mode 
                 Carrier 
                 240° 
                 300° 
                 0° 
                  60° 
                 120° 
                 180° 
                 240° 
                 300° 
               
               
                   
                   
                 waves 
               
               
                   
                   
               
            
           
         
       
     
     A 4-pole NPIM drive can have 18 IVPCs that are grouped as three 3 phase groups, where each 3 phase group has 2 pairs of three 120° displaced windings. For example, Group-1 can have 6 IVPCs namely A 1 -A 2 , D 1 -D 2 , G 1 -G 2 , A 3 -A 4 , D 3 -D 4 , and G 3 -G 4 . Group-2 and Group-3 can be displaced by an angle of 40° with respect to Group-1. Associated phase displacement angle details are presented in  FIGS. 2A, 2B, and 2C  and Table 1. The IVPCs phase windings set forth in each phase group can utilize 120° displaced excitation. Thus, there can be flexibility to modulate the NPIM with 3-phase SVPWM. This arrangement can enhance the DC link utilization of the NPIM drive by 15.4%, as the possible output voltage of the inverter can be 0.577*Vdc. The neutrals of 3 groups can be isolated for suppressing the circulating currents by using the four-quadrant switches B 1  and B 2 , as shown in  FIG. 5A . 
     The torque pulsations of the PPM based NPIM drive in 3PH-12PO operation may be high due to the higher magnitude of spatial harmonics in the air-gap, since the dominant time harmonics can be 5th and 7th for 3-phase operation. In certain embodiment, a carrier phase shifted PWM (CPS-PWM) for PPM based NPIM can be provided for minimizing the torque pulsations. In 3PH-12PO mode, the IVPC windings present in Group-1 may act as an effective phase (Phase-R) to attain the 3-phase rotating magnetic field. Similarly, the IVPCs associated with Group-2 and Group-3 may act as Phase-Y and Phase-B respectively with 120° phase displacement. Without disturbing the fundamental voltage of the phase windings of Group-1, the respective inverter legs may be modulated 60° (360° /6) phase displaced triangular waves for achieving the multilevel voltage across the Phase-R, as a sum of all 6 IVPC voltages. This CPS-PWM may enrich the harmonic profile of the Phase-R voltage by canceling all harmonics at multiples of the triangular carrier wave frequency, except 6th multiples. 
       FIG. 6A  illustrates a torque versus speed characteristics of a drive for an electric vehicle, according to certain embodiments.  FIG. 6B  illustrates a torque versus speed characteristic for a vehicle with an internal combustion (IC) engine (ICE) with a gear box. 
     Thus, the torque-speed and power characteristics of the PPM based NPIM drive of certain embodiments (T 1 , ns &amp; P 1 ) and traditional 2-pole 3-phase IM (T 2 , ns &amp; P 2  ) with the corresponding excitation phase voltages V 1  and V 2 , respectively, are given in  FIG. 6A . In this figure, Trated, Prated and Vrated are the maximum torque, power and voltage ratings of the conservative 2-pole 3-phase IM drive. With the advent of V/f control, 2-pole 3-phase IM facilitates an enhanced range of speed capability but the maximum torque in the entire speed range is unceasing. However, the 36-slot PPM based NPIM drive according to certain embodiments can run at 1:3 speed ratios with the enhanced range of torque characteristics, which may be best suitable for electric vehicles and locomotive applications. The rated torque offered by the PPM based NPIM drive (T 1 ) in 12-pole 3-phase mode, according to certain embodiments, is 3 times higher than the 2-pole 3-phase IM drive (T 2 ), which may assist in meeting high starting prerequisites for traction applications. The voltage rating of the battery (DC link voltage, Vrated) for the drive (V 1 ), according to certain embodiments, can be reduced by 3 times in comparison with 2-pole 3-phase IM drive (V 2 ). 
     As shown in  FIG. 6B , an IC engine based drive can offer high torque in low gear operation, for example in Gear 1, which can be analogous to the 3PH-12PO operation (Mode 1) of the PPM based NPIM drive of certain embodiments. Similarly, Gear 4 can be analogous to the 9PH-4PO mode (Mode 2) of the PPM based NPIM drive of certain embodiments, as observed from  FIGS. 6A and 6B . The intermediate speeds (Mode A) of the vehicle (like Gear 2 and Gear 3 speeds) can be achieved by controlling the NPIM drive with V/f=constant or IFOC vector control. The same principles can be extended for getting a higher number of pole-phase combinations with the available slots, which can enrich the range of speed and torque further. For example, a 5 gear equivalent PPM based 45 phase IM drive can be provided for EVs with 90 stator slots. 
     Certain embodiments of the powertrain may favorably compare to alternative powertrains. For example, in a first example of a powertrain from a 2018 German automobile, the type of machine used was two three-phase permanent synchronous motors. The gear box was a planetary gear design with a single speed transmission in fixed ratio. The transmission in a coaxial arrangement drove the rear axel. The transmission in a parallel arrangement drove the front axle. The approach of this automobile required two motors resulting in a higher size, cost, and weight of the drive. The torque of this automobile was high because of the two motors. High grade permanent magnets were required for this approach. Aging and demagnetization of the permanent magnets will lead to a complete shutdown of this drive. Reliability of this approach is low with respect to the failures of the machine side, due to the three-phase machine, and the battery side. 
     In another example, in the powertrain of a 2012 US automobile, the type of machine used was two three-phase induction motors. A single gear transmission was used. The drive train was a transverse rear motor providing rear wheel drive. Reliability issues are the same as in the previous example because of the three-phase machine and because of the battery. 
     In another example, in the powertrain of a 2010 Japanese automobile, the type of machine used was a three-phase permanent magnet synchronous motor. A single speed constant ratio gear box was used. As with the first example, the automobile required high grade permanent magnets, which can suffer from aging and demagnetization, leading to shutdown. Moreover, the same reliability issues exist with respect to the use of a three-phase machine and battery. 
     In a further example, in the powertrain of a 2016 Korean automobile, the type of machine was a three-phase permanent magnet synchronous motor. A single speed constant ratio gear box was used. Thus, the same issues were present as in the 2010 Japanese automobile. 
     In an example powertrain of a 2019 German automobile, the type of machine was two AC synchronous electric motors. The automobile included two types of transmission systems, a one-speed direct-drive and a two-speed automatic. This approach offered high torque with reduced size of motor. Nevertheless, higher maintenance was required due to two different gear systems. Furthermore, the same aging and demagnetization issues of magnets issues noted above were also present. 
     By contrast to the above, certain embodiments provide a multiphase induction motor with gearless operation. Thus, certain embodiments may provide a higher reliability with respect to the faults in machine phases, battery cells, and inverter switches. Moreover, certain embodiments may offer high torque with a reduced size of motor. Furthermore, the issues associated with permanent magnets can be avoided, as permanent magnets are not required. Likewise, no transmission system is required. 
       FIG. 7  illustrates indirect field-oriented control (IFOC) of a PPM based NPIM, according to certain embodiments. In this vector control, the mode of operation can be selected based on the speed reference (Nr*). The logic of the control can be, for example, the speed &lt;500 rpm yields the 3PH-12PO operation, for example a=0 and b=1, and speed &gt;500 rpm yields the 9PH-4PO operation, for example a=1 and b=0. In this case, a and b can be two variables that are representing the mode of operation. The transformation matrix (K) can be modeled as a combination of both 9 to 2 transformation in 9PH-4PO mode and 3 to 2 transformation, with three sets of 3 phase windings, in 3PH-12PO mode respectively. For example, K can be modelled this way: K=a*(9 to 2 transformation)+b*(3 to 2 transformation) as shown in  FIG. 7 . However, the transformation matrices for 9 to 2 conversion, 3 to 2 conversion and the detailed modeling of the multiphase machines can also be available. In this IFOC vector control, the Vd and Vq vectors can be attained from the flux component and speed error respectively, which can be transformed into actual modulating vectors of PPM based NPIM drive by taking the inverse transformation of a K matrix. 
     A finite element method (FEM) simulation was performed modeling the PPM based NMI drive in Ansys (R) Maxwell 2D electromagnetic software. The higher number of meshing elements of the Maxwell model may ensure the accurate transient analysis of the FEM simulation.  FIG. 8A  illustrates magnetic flux density and flux line distribution for 9PH-4PO operation, according to certain embodiments.  FIG. 8B  illustrates magnetic flux density and flux line distribution for 3PH-12PO operation, according to certain embodiments. 
       FIGS. 8A and 8B  illustrate that the poles, as well as phases of the PPM based NPIM, can be varied smoothly in accordance with the inverter excitation of certain embodiments. 
       FIG. 9  illustrates torque-speed operating points of a PPM based NPIM, according to certain embodiments. As can be seen from  FIG. 9 , the drive may operate at 480 rpm in a 3PH-12PO mode and may operate at 1460 rpm in a 9PH-4PO mode, for a load torque of 45 Nm and 15 Nm, respectively. 
       FIG. 10A  illustrates effective voltage over time for 3PH-12PO mode, according to certain embodiments. More particularly,  FIG. 10A  illustrates the FEM simulation results in 3PH-12PO mode as to effective Phase-R voltage, as a sum of A 1 -A 2 , A 3 -A 4 , D 1 -D 2 , D 3 -D 4 , G 1 -G 2 , and G 3 -G 4  IVPC windings. Consistent with the discussion above, a 60° phase shifted carrier SVPWM can be used to modulate the NPIM drive, which may help in getting multilevel voltage across the Phase-R.  FIG. 10B  illustrates a harmonic spectrum of effective Phase-R voltage for 3PH-12PO mode, according to certain embodiments. 
     The harmonic spectrum of the Phase-R voltage shown  FIG. 10B  illustrates that the lower order switching harmonics can be suppressed. 
       FIG. 11A  illustrates a torque ripple profile of a PPM based NPIM drive with 2-level voltage, according to certain embodiments.  FIG. 11B  illustrates a torque ripple profile of a PPM based NPIM drive with an inverter excitation, according to certain embodiments. In this example, a 3-level voltage inverter excitation is illustrated. Because of the suppression of lower order harmonics, the torque ripple profile of the PPM based NPIM drive can be improved as compared to an ordinary two-level inverter, as can be seen from the comparison between  FIG. 11A  and  FIG. 11B . 
     A 5 hp PPM based NPIM drive can illustrate the workings of certain embodiments. The machine can be wound according to the winding details given in  FIGS. 3A, 3B, 4A, and 4B . The Power circuit configuration presented in  FIGS. 5A and 5B  can be realized with six 3-phase IGBT inverter modules (CCS050M12CM2) and associated gate drives. A field programmable gate array (FPGA) can be used to generate the SVPWM based switching pulses for controlling the MLI. IFOC vector control results of the PPM based NPIM drive during different modes of operation with smooth transient response are presented in  FIGS. 12A and 12B , where the output is taken from the DAC. 
     More particularly,  FIG. 12A  illustrates experimental results under IFOC vector control with respect to and voltage, for example Vα and Vβ. Thus, the speed response of the drive during both 9PH-4PO mode and 3PH-12PO mode is shown in  FIG. 12A , where the actual speed accurately tracks both steady-state and transient reference speed. 
       FIG. 12B  illustrates experimental results under IFOC vector control with respect to currents, according to certain embodiments. The currents may be Id and Iq actual and reference currents, for example DAC outputs. As discussed earlier, the torque ripple can be high in 3PH-12PO mode due to the lower order of space harmonics in the airgap MMF. This can be observed in  FIG. 12B , because the torque can directly depend on the Iq of the drive. Thus, the Iq ripple can be high for 3PH-12PO mode and low for 9PH-4PO mode. 
     According to certain aspects, a drive system for a gearless electric vehicle can include a battery, a power converter coupled to the battery, and a pole-phase modulation multiphase induction motor configured to receive power from the power converter. The pole-phase modulation multiphase induction motor can be configured to couple with a drivetrain of the gearless electric vehicle via a clutch. An example of such an implementation is illustrated in  FIG. 1B , discussed above, although other implementations are also permitted. 
     The multiphase induction motor can be a nine-phase induction motor. The nine-phase induction motor may be configured to operate in 9PH-4PO mode and in 3PH-12PO mode, as described above. 
     The nine-phase induction motor can include a thirty-six slot nine-phase induction motor. As described above, such a motor may support operation in 9PH-4PO mode and in 3PH-12PO mode, consistent with  FIGS. 3A and 3B . 
     The multiphase induction motor can include a multilevel inverter. For example, the multilevel inverter can be a three-level inverter. Thus, certain embodiments may achieve the benefits illustrated by  FIG. 11B , discussed above. 
     The multiphase induction motor can be configured to deliver a plurality of torques with a single stator winding. The multiphase induction motor may also or alternatively be configured to deliver a plurality of speeds with a single stator winding. Examples of various torques are shown in  FIG. 6A , for example. 
     The multiphase induction motor can be configured to deliver power through a drivetrain that lacks a gearbox. Such an approach may allow the motor and the resultant electric vehicle to be lighter and more energy efficient. 
     The pole-phase modulation multiphase induction motor can be configured to achieve uniform pole formation. The pole-phase modulation multiphase induction motor can also be configured to achieve non-uniform pole formation. These various configurations are illustrated, by way of example, in  FIGS. 2A, 2B, and 2C . 
     The multiphase induction motor can include a split winding. For example, the split winding can be a four-stator winding, as described above with reference to  FIG. 4B . 
     The drive system can also include a controller as illustrated, for example, in  FIG. 7 . The controller can be configured to perform vector control of the multiphase induction motor using indirect field oriented control. For example, the controller can be configured to perform pulse width modulation to control the multiphase induction motor. More particularly, the pulse width modulation can be a carrier phase shifted pulse width modulation. 
     The multiphase induction motor can be free from permanent magnets. Thus, reliance on rare earth materials can be reduced, and demagnetization and similar degradation issues can be avoided. 
     The multiphase induction motor can be configured to operate at a 1:3 speed ratio. In one example, the speed of operation between the two modes of operation, 9PH-4PO mode and in 3PH-12PO mode, can have such a ratio. For example, as illustrated in  FIG. 9 , the drive may operate at 480 rpm in a 3PH-12PO mode and may operate at 1460 rpm in a 9PH-4PO mode, for a load torque of 45 Nm and 15 Nm, respectively. 
     In certain aspects, a gearless electric vehicle can include a battery, a power converter coupled to the battery, a pole-phase modulation multiphase induction motor coupled to the power converter, and a transmissionless drivetrain coupled to the pole-phase modulation multiphase induction motor via a clutch. The transmissionless drivetrain can be a drivetrain that omits any gearbox. 
     The multiphase induction motor can be configured to deliver a plurality of torques and a plurality of speeds with a single stator winding, as described above. 
     In certain aspects, a machine for a drive system of gearless electric vehicle can include a pole-phase modulation multiphase induction motor. The pole-phase modulation multiphase induction motor can be configured to couple with a drivetrain. The machine can also include a multilevel inverter configured to deliver a plurality of voltages to the pole-phase modulation multiphase induction motor. The machine can further include a controller that can be configured to perform vector control of the multiphase induction motor using indirect field oriented control. The machine can be free from permanent magnets. 
     Various embodiments may rely on software, for example for control of PPM based NPIM drive. In some example embodiments, an apparatus may include or be associated with at least one software application, module, unit or entity configured as arithmetic operation(s), or as a program or portions of programs (including an added or updated software routine), which may be executed by at least one operation processor or controller. Programs, also called program products or computer programs, including software routines, applets and macros, may be stored in any apparatus-readable data storage medium and may include program instructions to perform particular tasks. A computer program product may include one or more computer-executable components that, when the program is run, are configured to carry out some example embodiments. The one or more computer-executable components may be at least one software code or portions of code. Modifications and configurations required for implementing the functionality of an example embodiment may be performed as routine(s), which may be implemented as added or updated software routine(s). In one example, software routine(s) may be downloaded into the apparatus. 
     As an example, software or computer program code or portions of code may be in source code form, object code form, or in some intermediate form, and may be stored in some sort of carrier, distribution medium, or computer readable medium, which may be any entity or device capable of carrying the program. Such carriers may include a record medium, computer memory, read-only memory, photoelectrical and/or electrical carrier signal, telecommunications signal, and/or software distribution package, for example. Depending on the processing power needed, the computer program may be executed in a single electronic digital computer or it may be distributed amongst a number of computers. The computer readable medium or computer readable storage medium may be a non-transitory medium. 
     In other example embodiments, the functionality of example embodiments may be performed by hardware or circuitry included in an apparatus, for example through the use of an application specific integrated circuit (ASIC), a programmable gate array (PGA), a field programmable gate array (FPGA), or any other combination of hardware and software. In yet another example embodiment, the functionality of example embodiments may be implemented as a signal, such as a non-tangible means, that can be carried by an electromagnetic signal downloaded from the Internet or other network. 
     According to an example embodiment, an apparatus, such as a node, device, or a corresponding component, may be configured as circuitry, a computer or a microprocessor, such as single-chip computer element, or as a chipset, which may include at least a memory for providing storage capacity used for arithmetic operation(s) and/or an operation processor for executing the arithmetic operation(s). 
     Example embodiments described herein may apply to both singular and plural implementations, regardless of whether singular or plural language is used in connection with describing certain embodiments. For example, an embodiment that describes operations of a single motor may also apply to example embodiments that include multiple instances of the motor, and vice versa. 
     One having ordinary skill in the art will readily understand that the example embodiments as discussed above may be practiced with procedures in a different order, and/or with hardware elements in configurations which are different than those which are disclosed. Therefore, although some embodiments have been described based upon these example embodiments, it would be apparent to those of skill in the art that certain modifications, variations, and alternative constructions would be apparent, while remaining within the spirit and scope of example embodiments.