ANALYSIS OF A THREE-PHASE INDUCTION MACHINE INCLUDING TIME AND SPACE HARMONIC EFFECTS: THE A, B, C REFERENCE FRAME.

L.M. Neto, J.R. Camacho, C.H. Salerno

(Non-Member) (Member) (Non-Member) Universidade Federal de Uberlndia Electrical Engineering Department P.O.Box; 593 - e.mail: jrcamacho@ufu.br 38400.902 - UBERLNDIA - MG - Brazil
Keywords: harmonics, induction motor, three-phase model Abstract - This paper presents a mathematical modeling that uses the concept of harmonic inductances to derive voltage and torque equations of a three-phase induction machine using a, b, c and A, B, C formulation. Phase currents and electromagnetic torque are obtained by numerical integration of equations considering any supply voltage waveform. Two cases were studied - operation of induction motor supplied with sinusoidal waveform, and operation of an induction motor supplied by a three-phase inverter.

B.P. Alvarenga
(Non-Member) Universidade Federal de Gois Electrical Engineering Department GOINIA - GO - Brazil a consequence it is common practice the manipulation of coil pitch and distribution factors in the machine design. The objective of this practice is to minimize such distortions. In the case of induction machines fed by nonsinusoidal currents, the harmonic content in time show an interaction with the magnetic field space harmonics content established in the machine produced by coil distribution. From this interaction, it is possible to obtain combined distortions very different from that resulting from a sinusoidal AC source. An important difference is the fact that an amount of such distortions produce desirable effects in the machine, such as constant torque components. However, it is not possible yet to point precisely which harmonics interact with each other in order to produce the desirable effects. But this fact changes the designers practice when working with distribution and coil pitch factors. The question moves from distortion minimization to torque optimization. In this way, a model that allows a more precise evaluation of induction machines electromagnetic torque become an important mathematical tool for the three-phase induction machine designer. This paper presents a mathematical a, b, c (stator) and A, B, C (rotor) modeling that allows the study of time and space harmonics in induction and other machines. This model is made basically by ordinary voltage and current electrical equations that shows the relationships of torque, current and rotational speed. Cases of feeding a three-phase induction machine from sinusoidal and non-sinusoidal AC sources were simulated to emphasize differences in the machine behavior. Theoretical and practical results are compared to validate the model.

I. INTRODUCTION

Some industrial applications require speed control of induction machines, this can be done through electronic converters. A converter-fed electrical machine operates with a high harmonic content of voltage and current. The machine behavior when applied a non-sinusoidal AC source is quite different when applying a sinusoidal one. This question should be handled carefully when defining design philosophies of induction machines and in the development of electronic converters. Induction machines when fed by sinusoidal currents show distortions in the electromagnetic torque, these distortions have its origins from the harmonic content of magnetic flux density spatial distribution produced by its coils along the airgap. Harmonic distortions produce some effects in the machine operation, as for example, torque oscillations with time and space harmonic components. As

II. MODEL DEVELOPMENT

In order to obtain voltage against current electrical equations for the induction machine, firstly should be obtained the spatial distribution of magnetomotive force for only one coil. In sequence is obtained the spatial distribution for a generic phase j of a winding. Using this distribution formulation it is possible to get the harmonic components of magnetic flux linkage between generic

phases i and j. These harmonics of flux linkage create the harmonic inductances. Self inductances are obtained for i=j and mutual inductances for ij. Mathematical equations need the instantaneous expression of electromagnetic torque as function of currents. This equation can be obtained from the variation of magnetic co-energy. A. Spatial Distribution of Magnetomotive Force (MMF) Considering initially only one coil (Nj turns) of a winding for a generic phase j. The distribution of MMF through the machine air-gap () can be described by equation (1) when submitted to a current ij.
N j .i j N 2.i j j MMFb ( ) = 2 N j .i j 2 => b < b j . 2 j .. 2 j . 2 j . 2

2 1 MMFjh () = . Nj .i j . .sin(h. j . ).cos[h( b )] (3) h 2

For any winding of phase j, the harmonic component h of the spatial distribution of MMF in the air-gap (MMFjh) can be obtained by superposition of space harmonics with the same order from the phase coils. Thus, can be obtained equation (3) from equation (2), considering the superposition of harmonic components from qj coils can be obtained the MMF distribution for phase j to the harmonic order h as being:

2 1 j MMFjh = N JiJ . . sin(h. j . )cos[h( b )] (4) 2 b=1 h

q

(1)

where qj is the number of distributed coils in phase j where is flowing current ij.

=> b =>

< < b +

b +

< b +

Figure 2 - Coil distribution in a phase j winding.

Considering the centre for phase j located at an angle j as shown in Figure 2, the summation in equation (2) can be solved and finally equation (5) is obtained.

MMF jh =

2 N J . q J . k pjh . k djh .
(5)

1 . i j . .cos[ h ( j )] h
Figure 1 - (a) Generic coil in a winding and (b) its MMF distribution.

A decomposition of MMFb() in its Fourier series gave us the following expression:

2 1 MMF NJiJ . . sin(h. j . ).cos[h( b )] (2) b () = 2 h =1(odd) h

where kpjh and kdjh are the phase j step and distribution factors respectively to the hth harmonic. B. Harmonic Inductance Magnetic field density distribution Bjh produced by MMFjh() is obtained through the application of Ampre law in the air gap only, in our case the magnetic circuit reluctance in the iron parts is neglected. So we have:

where: j - represents generically an induction motor phase, h - odd harmonic index, kpjh - coil pitch factor for the hth harmonic, - angular position which locates any point along the circumference of the air-gap from a fixed reference; b - value for in through the centre of coil b. Each of the qj coils is the origin of an order h harmonic component of MMF which can be extracted from equation (2) as shown in equation (3).

B jh =

0 . MMF jh ( )

(6)

where 0 is the air magnetic permeability and is the air gap length. Substituting (5) in (6), we have:

B jh ( ) =

2 0 1 . N j . q j . k pjh . k djh . i j . .cos[h( j )] h

(7) and:

k ij\ =

8. p. L. R. 0 . Qi . Q j . N i . N j .

To obtain mutual flux between phases i and j initially is necessary to have the magnetic flux of phase j which embraces phase i. When j=i we have the phase i flux and when ij we have the mutual flux for each value of j. Space distribution Bjh() shown in equation (7) gives origin to a component of harmonic order h of the mutual flux in an order b coil for the phase i winding given by:

kwih = kpih . kdih - phase i coil pitch factor, kwjh = kpjh . kdjh - phase j coil pitch factor, i - angular position of phase i ax. The hth order harmonic inductance between two phases i and j is given by equation (9).

ijh =

bjh = 2. p. N i .

i 2 b i 2 b+

ijh ij

(13)

B jh . L. r . d

(8)

Application of equation (12) in equation (13) give: ijh = Lijh . i j .cos[h( i j )] (14) where:

where: p - number of pair of poles for the stator windings, Bjh - harmonic component h of the spatial distribution of magnetic field density produced by phase j, Ni - number of turns for coil b, L - magnetic length for the rotor, r - average radius for the airgap . Considering one phase j producing a spatial distribution of magnetic field density which is linked with one coil b of phase i. A component of harmonic order h for this flux linkage can be computed using equation (8). Also taking in consideration phase i made by a distribution qi of coils, the flux linkage between phases i and j can be obtained by equation (9).
ijh =

Lijh =
or in another form:

k ij\ k wih k wjh h2

(15)

ijh =

k ijh h2

Lij 1 .cos[ h( i j )]

where kijh can be the normalized winding factor with respect to the fundamental frequency. D. Electrical Equations Instantaneous values for voltage in one phase i for the induction machine can be given by equation (16).

qi b =1

bjh

= 2 p. N i . b =1 B jh . L. R . d ab\
qi
\\ ab

vi = Ri ii +
(9)

Integration limits b e b are obtained from the magnetic induction waveform at the airgap, where for every order b coil we have:

where Ri and i are respectively the resistance and total magnetic flux linkage for phase i. The total magnetic flux linkage is obtained according to equation (17).

d i dt

(16)

i = Li ii + h j Lijhi j

(17)

\ b = i (qi 2b + 1). Ri i 2 2
\\ b = i (qi 2b + 1).

(10)

Considering the leakage inductance in phase i (Li) constant, equations (16) and (17) are the origin for equation (18) below.

and

Ri + i 2 2

vi = Ri ii + Li
(11)

di j d ijh dii + [ ijh +ij ] (18) dt dt dt h j

Taking into consideration that MMFjh is the parameter responsible for the magnetic field distribution Bjh on the machines air-gap, equation (9) can be written in a different way. From equations (5), (8) and (9):

E. Electromagnetic torque equation The induction machine electromagnetic torque can be obtained by the magnetic co-energy variation of the system (Wc) relative to the electrical displacement of the rotor (R).

ij =
where:

k ij\ . k wih . k wjh h

2

. i j .cos[ h( i j )]

(12)

T=p

Wc |I R const

(19)

The magnetic co-energy is related with inductance and currents through equation (20):

Wc =

1 ijhii i j 2 h i j

(20)

and a combination of equations (19) and (20) give the electromagnetic torque equation as:

Te (h) =

d ijh p ii h i j i j 4 d R

and R is the rotor electrical angular position relative to a stator fixed reference. [L] is the inductance matrix where the elements for the main diagonal are given by Li + hiih for i = a, b, c, A, B and C. Other elements in the inductance matrix are given by hijh for i = a, b, c, A, B and C with ij.

(21)

Figure 5 - Theoretical result, phase current at the variable frequency inverter(6n1 harmonics, n=9). Figure 3 - Theoretical phase voltage at the variable frequency inverter.

Figure 4 - Phase voltage at the variable frequency inverter.

Figure 6 - Practical result, phase current at the variable frequency inverter(6n1 harmonics, n=9).

F. Dynamic Equations System for a Three-Phase and Symmetrical Induction Machine Taking a, b and c as stator phases and A, B and C as rotor phases (true or equivalent on the squirrel cage rotor case) for a three-phase and symmetrical induction machine. With i and j assuming a, b, c, A, B, C from equation (18) the matrix equation (19) can be obtained. Applying the Newton Law in the machine axis the speed variation in time is given by equation (23).

Matrix [D] in equation (22) is formed by the following mathematical manipulation:

[ D] =

d [ L] + [ R] dt

(25)

where [R] is the resistance diagonal matrix in each stator and rotor phases.

d[ I ] = [ L]1 ([V ] [ D][ I ]) dt dw R p = (T TL ) dt J d R = wR dt

(22) (23) (24)

Figure 7 - Theoretical result, phase current at the variable frequency inverter(6n1 harmonics, n=0).

where [I] and [V] are respectively column vectors of currents and voltages of phases a, b, c, and A, B and C; J is the moment of inertia for the rotative parts; T is the electromagnetic torque obtained from equation (21) and TL is the load torque; wR is the rotor electrical angular speed

Formation of matrix [L] requires the calculation of harmonic inductances from equation (15). The reference used in this case is the axis for phase a, values of i - j are calculated from the resulting angles: a = 0; b = 2/3; c = -2/3; A = R; B = R+2/3 and C = R-2/3.

With the knowledge of machine parameters, load characteristics, source voltages (Va, Vb, Vc) and the fact that VA = VB = VC = 0 it will be easier to solve numerically the differential equations system given by equations (22), (23) and (24). A digital computer program accomplishes this task simulating a three-phase induction machine.

when time and space harmonics are not taken into consideration.

III. INDUCTION MOTOR DATA AND LOAD CHARACTERISTIC

The three-phase induction motor used for this simulation in the experimental tests presented the following characteristics: squirrel cage type, two pairs of poles, 60 Hz, 3 HP, 220/380 Volts, -Y connection and rotating magnetic field at nominal speed of 1800 rpm. Through tests the following parameters were obtained: magnetizing inductance of 266.0 mH, stator and rotor leakage inductances represented in the stator were both equal 23.94 mH, stator phase resistance equal 6.8 and the rotor phase resistance represented in the stator is 4.845 .

Figure 9 - Torque with sinusoidal source considering up to the 55th harmonic order (6n1 harmonics, n=9).

Figure 10 - Torque with inverter source considering only up to the first harmonic order (6n1 harmonics, n=0).

Figure 8 - Torque with sinusoidal source considering only up to the first harmonic order (6n1 harmonics, n=0).

Load in this case has a formulation depending on the square of the rotating speed as can be seen in equation (26).

T = A + B. w 2

With the purpose of showing better torque oscillations with interaction of time and space harmonics of magnetic field Figures 8 to 11 show the induction machine torque in its steady-state and starting periods, taking into consideration different cases. Figure 8 assumes a balanced three-phase sinusoidal source at 60 Hz, only with the 1st spatial harmonic considered. Figure 9 has the same source as in Figure 8, but with harmonic content up to 55th order. In Figures 10 and 11 our machine has a variable frequency inverter as a source, at 60 Hz, considering respectively up to the 1st and up to the 55th spatial and time harmonics.

(26)

The three-phase induction motor was studied under nominal speed with this data for two different source conditions: A - Sinusoidal and balanced three-phase source. B - Variable frequency inverter at 60 Hz. Our motor was observed in a computer simulation and experimentally in the laboratory for the two conditions.
Figure 11 - Torque with inverter source considering up to the 55th harmonic order (6n1 harmonics, n=9).

IV. RESULTS

Theoretical and experimental graphs for phase voltages and currents are presented respectively in Figures 3 to 7. In the case of computer simulated currents the results in the simulation are obtained considering up to 55th harmonic order. It can also be observed that comparing Figures 5, 6 and 7 the resulting phase current waveshape is different

Results from Figures 8 to 11 were all obtained up to this moment only through digital computer simulation. This is a study that is still under laboratory development and further conclusions for this work will be the subject of another publication.

V. CONCLUSIONS

The main advantages of this formulation are: - the possibility of its use not only for induction machines but also for synchronous, direct current machines and all kinds of variable frequency inverters driving three phase and single phase induction motors; - the possibility of using this model as an aid to the design of machines that will be working under the presence of heavy harmonic sources; - this model is an step further in the modeling not only the induction machines due to the easier implementation of the machine geometry in the a, b, c (stator) and A, B, C (rotor) formulation. Time and spatial harmonic content suggests that our induction machine can be optimized in terms of its geometry to reduce harmonic oscillations in its mechanical torque. Looking at results presented in Figures 5, and 6 anyone can easily conclude that in the developed model, for the same harmonic order, computed phase current waveform shows great similarities with the laboratory waveform. However, in Figure 7, the current waveform is different since the harmonic order used to compute it was restricted to the fundamental waveform, in this case n=0 in 6n1. Electromagnetic torque shows a different pattern when comparing feeding the three-phase induction motor through a sinusoidal source and through an inverter source. This clearly can be seen in Figures 8 to 11. In Figures 10 and 11 can also be observed that torque oscillations in steady state are higher with sinusoidal source than with the use of an inverter as a source, considering the calculations in both cases up to 6n1 (n=9) time and spatial harmonics.
VI. BIOGRAPHY

Zealand, in August 1993. He is a Senior Lecturer at Universidade Federal de Uberlndia where he works since February 1979. Dr. Camacho is a Researcher-Consultant of CNPq (Brazilian National Council for Scientific and Technological Development) and collaborator-member of Brazilian Commitee of CIGR-JWG 11/14-09 (Unit Connection). His areas of interest are Dynamic Simulation, Electrical Machines and HVAC-DC conversion. Carlos Henrique Salerno - Dr. Salerno was born in Uberlndia, MG, Brazil in 31/05/61. Completed his Doctoral degree at UNICAMP - Faculdade de Engenharia Eltrica in December 1992. He is a Senior Lecturer in the Electrical Engineering Department at Universidade Federal de Uberlndia, MG, Brazil where he works since January 1992. His areas of interest are Electrical Machines and Dynamic Simulation. Bernardo Pinheiro de Alvarenga - Mr. Alvarenga was born in Uberaba, MG, Brazil in 12/20/66. Completed his Msc degree at UFU - Electrical Engineering Department in 1993. He is an Assistant Lecturer in the Electrical Engineering Department at Universidade Federal de Gois, GO, Brazil where he works since March 1994. His areas of interest are Electrical Machines and Drives.

VII. REFERENCES

Luciano Martins Neto - Dr. Martins Neto was born in Botucatu, SP, Brazil in 22/05/48. He has a Doctoral degree in Mechanical Engineering from Escola de Engenharia de So Carlos at Universidade de So Paulo (USP), So Carlos, Brazil since 1980. Worked as a lecturer at Faculdade de Engenharia de Lins, Lins, SP, Brazil, at Escola de Engenharia de So Carlos ( USP), So Carlos, Brazil and at the Electrical Engineering Department (UNESP Universidade Estadual Paulista) at Ilha Solteira, SP, Brazil. He is working as a Senior Lecturer at Universidade Federal de Uberlndia, MG, Brazil. His areas of interest are Electrical Machines and Grounding. Jos Roberto Camacho - Dr. Camacho was born in Taquaritinga, SP, Brazil in 03/11/54. Completed his PhD degree in the Electrical and Electronic Engineering Department at Canterbury University, Christchurch, New

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