Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 93

X

NumericaI SimuIation of Converter Fed
SquirreI Cage Induction Motors

C. Cralner
||cc|ric Dritc Tccnnc|cgics, Aus|rian |ns|i|u|c cf Tccnnc|cgq
Gicfinggassc 2, 1210 Vicnna, Aus|ria

1. Introduction

LIeclricaI drive syslens appIied for very sinpIe induslriaI punp, fan or conpressor
appIicalions require differenl lorque/speed profiIes in differenl operalionaI slales (Heinlze
el aI., 1971). This is oflen reaIized ly rolusl and reIialIe converler-fed squirreI cage
induclion nolors as exenpIarily depicled in Iig.1.

Iig. 1. IaniIy of varialIe speed drive syslens consisling of induclion nolors vilh according
pover converlers
6
Advances in Computer Science and T 94

Iig. 2. Measured (soIid, dashed, dolled Iine) and nunericaI caIcuIaled (quadrales, circIes)
effeclive voIlage (lIue), effeclive currenl (nagenla) and nechanicaI lorque (lrovn) versus
lhe suppIy frequency for lhe sleady-slale S1-duly

The used V/f conlroI lechnoIogy needs lherely a voIlage nagnilude varialion in
dependency on lhe drive frequency as il is exenpIariIy shovn in Iig.2. The seclion vilh
conlinuousIy rising effeclive voIlage up lo lhe naxinun IeveI of 2OO V al 5O Hz pernils in
lhe quasi-sleady operalionaI slale aInosl a conslanl nechanicaI lorque of 4.9 Nn, vhereas
lhe inlervaI vilh conslanl naxinaI effeclive voIlage nagnilude is denoled as fieId
veakening range, characlerized vilh a conslanl nechanicaI pover oulpul of 77O W.

The desired high quaIily of lhe drive syslen is very sensilive lo appearing higher harnonics
in lhe eIeclricaI slalor currenl or in lhe nechanicaI lorque, even fron unsuilalIe nachine
designs or inappropriale pover converler slralegies (Lipo el aI., 1969, Sluarl & Hellar,
1971).

Such undesired currenl harnonics in converler driven nolors can cause unforeseen Iosses
and Iead direclIy lo addilionaI healing effecls inside lhe seniconduclors and lhe vinding
syslen (Heinlrock & Seinsch, 2OO5). MechanicaI prolIens regarding lhe rolaling shafl can
in parlicuIarIy arise vhenever frequencies in lhe generaled nechanicaI lorque speclrun
coincide vilh naluraI resonance frequencies of lhe rolaling shafl (Szalo, 1972).

The appIicalion of differenl connerciaI caIcuIalion looIs vilhin lhe design process of
eIeclricaI drive syslens gains cruciaI inleresl in order lo overcone such prolIens. An
exlended finile eIenenl nelhod vilh direclIy coupIed eIeclricaI circuils for inslance aIIovs
lhe lrealnenl of lhe conpIele drive syslen in lhe line-donain. Therely, lhe converler
Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 95

lopoIogy is incIuded ly discrele eIeclronic devices, vhereas lhe induclion nolor is lasicaIIy
represenled ly iron Ianinalions, insuIalion, slalor vinding and squirreI cage. The procedure
overcones previous insufficiencies and deIivers resuIls in dependency on veII knovn
conlroI slralegies vilh good accuracy.

2. Converter TopoIogy and ControI Unit

The pover conversion fron lhe pulIic lhree-phase ac grid of conslanl frequency and voIlage
anpIilude inlo an arlilrary lhree-phase ac syslen vilh varialIe sellings is perforned ly
neans of lhe pover converler lopoIogy in Iig.3.

Iig. 3. The sinpIified converler nodeI consisls of lhe inpul 6 reclifier vilh diodes D1 lo D6,
lhe dc voIlage Iink, lhree haIf-lridges forned ly seniconduclors T1-T4, T2-T5 and T3-T6
and an eIeclronic conlroI unil

The inpul ac lo dc reclificalion is done ly lhe diodes D1 lo D6. The cIassicaI 6-lridge
causes lherely an unavoidalIe voIlage rippIe. The capacilor snoolhes lhese dislincl
fIuclualions vilhin lhe dc Iink IeveI of 565 V, vhereas lhe induclance reslricls undesired
currenl peaks during unexpecled operalionaI slales (KIeinralh, 198O). The conversion of lhe
dc Iink lo lhree phase oulpul ac pover is excIusiveIy perforned in lhe svilched node.

The conlroI unil in Iig.3 has lhe lask lo generale differenl duly cycIes for lhe seniconduclor
devices T1 lo T6. The nosl videIy used nelhod of puIse-vidlh noduIalion enpIoys carrier
noduIalors in each of lhe lhree phases (uja & Indri, 1977, KIinan & IIunkell, 1979,
Murphy & Lgan, 1983). A sinpIe reaIizalion of lhe nain conlroI parl is shovn in Iig.4. The
according line-dependenl signaI courses in lhe conlroI unil are exenpIarily depicled in
Iig.5 for lhe naxinun oulpul voIlage al lhe frequency of 5O Hz. The phase reference signaI
vilh lhe desired drive frequency 5O Hz is lherely sanpIed ly a singIe sav-loolh carrier
signaIs vilh a rale of 2 kHz. The eIeclronic conlroI unil generales signaIs for lhe
seniconduclors vhenever lhe sine-vave and sav-loolh signaI have lhe sane vaIue.


Advances in Computer Science and T 96

Iig. 4. SanpIing of reference signaIs ly a carrier signaI

Iig. 5. Sav-loolh carrier signaI (lIue) vilh 2 kHz and lhe sinusoidaI reference signaI
(nagenla) vilh 5O Hz










Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 97

Iig. 6. Svilched phase-lo-neulraI voIlage of lhe slar-connecled nolor for a carrier frequency
of 2 kHz

Iig. 7. Measured phase-lo-neulraI voIlage (lIue) of lhe slar-connecled nolor for a carrier
frequency of 2 kHz, vherely one division corresponds lo 4 ns in lhe alscissa and 25O V in
lhe ordinale. The Iourier speclrun (red) is lased on 14O V per ordinale division
Advances in Computer Science and T 98

The uliIized seniconduclors effecluale lenporary conneclions al high repelilion rales vilh
shorl rising lines. The generaled line-dependenl phase-lo-neulraI oulpul voIlage in case of
lhe used conlroI nelhod fron Iig.4 shovs vilhin lhe nunericaI processed course in Iig.6
five dislincl voIlage IeveIs. The fundanenlaI conlenl of lhe effeclive nolor voIlage is lherely
2OO V al 5O Hz, as il vas required for lhal specific sleady operalionaI slale in Iig.2. The
nunericaI caIcuIalion uses ideaIized svilches vilhin lhe pover converler and negIecls lhe
nolor feed calIe in Iig.3.

The neasured courses in Iig.7 Iook sIighlIy differenl lo lhal in Iig.6 lecause of lhe non-ideaI
effecls of lhe nolor feed calIe and addilionaIIy appearing capacilive infIuences of lhe
conpIele slalor vinding syslen. Sone dislincl voIlage peaks are olvious in Iig.7 due lo
voIlage refIeclion al lhe nolor lerninaIs vilhoul using addilionaI fiIlers.

3. FieId-Circuit CoupIing Technique

The IocaI fieId quanlilies of lhe appIied 2D finile eIenenl aIgorilhn nusl le coupIed lo
exlernaI circuils in order lo incIude lhe source voIlage vaveforns of lhe converler (SiIvesler,
1995).

The finile eIenenl represenlalion of lhe axiaIIy un-skeved slalor Ianinalion is exenpIariIy
given in Iig.8. The nodeIIing of lhe voIlage-fed slalor vinding syslen in Iig.9 generaIIy
denands a dislincl nunler of series connecled lars in order lo forn one singIe coiI. The
slalor phase resislor and lhe slalor phase induclance in Iig.9 represenl lhe nol nodeIIed 3D
end-vinding effecls vilhin lhe 2D finile eIenenl caIcuIalion (SaIon, 1996). AII lhree slalor
phases are furlher slar-connecled. The suppIied voIlage al lhe exlernaI lerninaIs in Iig.9 can
lherely le arlilrariIy varying ly line.

Iig. 8. Iinile eIenenl nesh of lhe iron slalor Ianinalion vilh 36 sIols, a lolaI sIol heighl of
13nn, an average sIol vidlh of 4nn, a slalor yoke lhickness of 11nn and a lore dianeler
of 75.5nn
Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 99

Iig. 9. A nunler of n-seriaI connecled lars, each consisling of 9O singIe vires inside one sIol,
are forning one slalor coiI vilh 54O vindings inside lhe pIane finile eIenenl donain,
vhereas lolh exlernaI resislive and induclive paranelers are represenling 3D slalor effecls

Iig. 1O. Iinile eIenenl nesh of lhe iron rolor Ianinalion vilh 26 sIols, a lolaI sIol heighl of
9.2nn, an average sIol vidlh of 2.6nn, a lore dianeler of aloul 75nn, a rolor yoke
lhickness of 16nn and a shafl dianeler of aloul 25nn
Advances in Computer Science and T 100

Iig. 11. A nunler of n-paraIIeI connecled coiIs, consisling of aIuninun die casling, luiIl up
lhe squirreI cage rolor inside lhe pIane finile eIenenl donain, vhereas lhe exlernaI resislive
and induclive paranelers are inpIicil represenling 3D end-ring effecls

The exenpIarily depicled line-dependenl voIlage vaveforn in Iig.6 is governed ly very

fasl rising/faIIing voIlage fIanks, vhich have lo le processed vilhin lhe coupIed nunericaI
finile eIenenl anaIysis. UnforlunaleIy, lhe chosen line-slep for soIving such prolIens is
oflen snaIIer lhan 1O ns (Islfan, 1987, iro el aI., 1996).

The used 2D finile eIenenl nodeI of lhe un-skeved rolor depicled in Iig.1O is nol suilalIe lo
accounl for 3D end-ring effecls. The conpIele vinding schena for lhe nol skeved squirreI
cage rolor is shovn in Iig.11, vherely lhe conlined paranelers approxinaleIy lake
accounl of 3D infIuences.

The finile eIenenl approach aIIovs lhe conpulalion of lhe acling nagnelic force on lhe
soIid rolor ly tir|ua| mc|icn as sun over IocaI conlrilulions (DeorloIi, 1992). The rolor
noves on slepvise vilh lhe aid of lhe appIied |an |ccnniquc (Daval el aI., 1985). Thus,
eIenenls vhich are silualed al lhese land donain nay le deforned during nolion since
sone of lheir nodes nay foIIov lhe noving rolor reference frane and sone lhe slalionary
Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 101

slalor one (IaIna, 1989). These eIenenl dislorlions are occurring in dependency on lhe
novenenl. So, lhe conlinuous eIenenl dislorlion enforces a re-neshing of air-gap eIenenls
Iying on lhe land.

Due lo lhe non-Iinear iron naleriaI properlies, as Iisled in TalIe 1, Iinearizalion and line-
discrelizalion nelhods are necessary lo soIve such coupIed eIeclronechanicaI prolIens in
lhe line donain (ins el aI., 1992, alhe, 1996, Schvarz, 1984).

|Tj O O.4 O.8 1.2 1.6 2.O
H |A/nj O 14O 19O 26O 137O 2O5OO
TalIe 1. Non-Iinear iron nagnelizalion characlerislic

4. EIectric Input Current and the MechanicaI Output Torque

The anaIysis of lhe line-dependenl courses of lhe eIeclricaI currenl and lhe nechanicaI
lorque vilhin inverler driven nolors in lhe line-donain is of nain inporlance, lecause il
aIIovs furlher eslinalions aloul addilionaIIy healing effecls as veII as crilicaIIy resonance
frequencies of lhe rolaling shafl.

4.1 Time dependent eIectricaI current courses and their harmonic spectrum
The nunericaI anaIysis of lhe conpIele voIlage-fed drive syslen vilh respecl lo lhe course
depicled in Iig.6 for a carrier frequency of 2 kHz deIivers lhe line-dependenl eIeclricaI
slalor currenl as depicled in Iig.12. The appIicalion of lhe series-expansion
( ) ( )
K K
K
e
I T ) SIN KF T

=
= t o
_
(1)
deIivers severaI harnonic conponenls. Therely, lhe dislincl fundanenlaI conponenl al lhe
frequency of 5O Hz, and addilionaIIy lhe undesired firsl side pair harnonics al 195O Hz and
2O5O Hz as veII as lhe second side pair harnonics al 395O Hz and 4O5O Hz can le found in
lhe conpIele speclrun of Iig.13. Higher harnonic conlrilulions shov reIaliveIy snaII
nagniludes and are lherefore onIy of secondary inleresl.

The neasured eIeclricaI currenl course and lhe according harnonic anaIysis are depicled in
Iig.14. Nol onIy lhe conparison of lhe line-courses vilh lhose in Iig.12, even lhough lhe
harnonic nagniludes received fron (1) shov a good confornily.

In spile of sone differences lelveen lhe nunericaI processed voIlage shape in Iig.6 and lhe
neasured voIlage in Iig.7, in parlicuIar during lhe svilching on/off slale, no significanl
discrepancy lelveen lhe nunericaI caIcuIaled and lhe neasured line-dependenl currenl
dislrilulion in Iig.12 and Iig.14, respecliveIy, can le found due lo lhe dislincl induclive
lehaviour of lhe squirreI cage induclion nolor.





Advances in Computer Science and T 102

Iig. 12. CaIcuIaled eIeclricaI nolor currenl for a carrier frequency of 2 kHz

Iig. 13. Iourier speclrun of caIcuIaled nolor currenl for a carrier frequency of 2 kHz




Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 103

Iig. 14. Measured nolor currenl (lIue) for a carrier frequency of 2 kHz, vherely one
division corresponds lo 4 ns in lhe alscissa and 2 A in lhe ordinale. The Iourier speclrun
(red) is lased on O.6 A per ordinale division

Iig. 15. CaIcuIaled eIeclricaI nolor currenl for a carrier frequency of 4.5 kHz


Advances in Computer Science and T 104

Iig. 16. Iourier speclrun of caIcuIaled nolor currenl for a carrier frequency of 4.5 kHz

Iig. 17. Measured nolor currenl (lIue) for a carrier frequency of 4.5 kHz, vherely one
division corresponds lo 4 ns in lhe alscissa and 2 A in lhe ordinale. The Iourier speclrun
(red) is lased on O.6 A per ordinale division


Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 105

Iig. 18. CaIcuIaled nechanicaI lorque for a carrier frequency of 2 kHz

Iig. 19. Iourier speclrun of caIcuIaled nechanicaI lorque for a carrier frequency of 2 kHz

Advances in Computer Science and T 106

Iig. 2O. CaIcuIaled nechanicaI lorque for a carrier frequency of 4.5 kHz

Iig. 21. Iourier speclrun of caIcuIaled nechanicaI lorque for a carrier frequency of 4.5 kHz

Numerical Simulation of Converter Fed Squirrel Cage nduction Motors 107

In order lo snoolh lhe overIaid currenl rippIe vilhin lhe dislrilulion in Iig.12, lhe firsl
harnonic pair in Iig.13 caused ly lhe carrier frequency of 2 kHz has lo le eIininaled ly
increasing lhe frequency lo 4.5 kHz.

The inprovenenl vilhin lhe eIeclricaI currenl quaIily is shovn in Iig.15. The course is very
siniIar lo lhe desired sinusoidaI one. Thal circunslances are aIso olvious fron lhe
associaled speclrun (1) depicled in Iig.16. eside lhe desired fundanenlaI conponenl, onIy
a firsl sideland frequency al 44OO Hz and 46OO Hz exisls. Iron a conparison of lhe
nunericaI caIcuIaled resuIls fron Iig.15 and Iig.16 vilh lhe neasured quanlilies in Iig.17 il
is olvious, lhal a good agreenenl couId le achieved ly lhe proposed nunericaI nodeIIing
and caIcuIalion nelhod.

4.2 Time dependent mechanicaI torque courses and their harmonic spectrum
The nunericaI caIcuIaled line-dependenl nechanicaI lorque is depicled in Iig.18 for a
conlroI slralegy lased on lhe carrier frequency of 2 kHz. The series-expansion
( ) ( )
K K
K
e
M T - SIN KF T

=
= t
_

(2)
Ieads lo lhe harnonic lorque nagniludes, vhich are furlher shovn in Iig.19. eside lhe
desired conslanl conlrilulion, a very dislincl undesired lorque fIuclualion due lo lhe
converler lopoIogy of Iig.3 is caused al lhe frequency of 21OO Hz. Olher conlrilulions lo lhe
lorque rippIe are olviousIy suppressed.

A significanl inproved speclrun couId le achieved ly increasing lhe carrier frequency up
lo 4.5 kHz. The anaIysis of lhe nunericaI resuIls fron Iig.2O in lhe frequency donain
deIivers lhe lorque speclrun shovn in Iig.21. The previousIy lorque conponenls are shifled
lo lhe higher ordinaI frequency of 45OO Hz, lul lhe reIevanl nagniludes are significanlIy
reduced. A conparison of Iig.18 vilh Iig.2O shovs lhal effecl inposingIy.

Thus, undesired effecls concerning lhe quaIily of lhe lrue shafl nolion of lhe drive syslen
couId le avoided ly using higher carrier frequencies vilhin lhe used pover converler.

5. ConcIusion

The prediclion of undesired currenl and lorque harnonics inside converler-fed induclion
nolors is of cruciaI inleresl in order lo guaranlee a high quaIily IeveI of lhe drive syslen.
Therely, lhe conpIex inleraclion of lhe converler and lhe squirreI cage induclion nolor has
lo le considered. This is done ly using lhe 2D lransienl eIeclronagnelic-nechanicaI finile
eIenenl nelhod vilh addilionaIIy coupIed exlernaI circuils. IorlunaleIy, lhe generaled
arlilrary line-dependenl oulpul voIlage vaveforns of lhe converler are direclIy processed
vilhin lhe non-Iinear finile eIenenl anaIysis in lhe line-donain. Lffecls of ninor changes in
lhe nechanicaI rolor lrue running due lo lhe lorque rippIe as veII as fIuclualions in lhe
eIeclricaI currenl consunplion are considered. This kind of tir|ua| csign deIivers a very
syslenalicaIIy and deep insighl inlo lhe inleraclion of severaI invoIved drive conponenls,
such as e.g. pover converler lopoIogy, squirreI cage induclion nachine and conlroI slralegy,
Advances in Computer Science and T 108

vilhin lhe overaII design. ConsequenlIy, lhe nelhod encourages a slraighlforvard and
reIialIe induslriaI deveIopnenl process of conpIex eIeclricaI drive syslens.

6. References

alhe K.}. (1996). |ini|c ||cmcn| Prcccurcs, Irenlice HaII, Nev }ersey
ins K.}., Lavrenson I.}. & Trovlridge C.W. (1992). Tnc Ana|q|ica| an Numcrica| Sc|u|icn cf
||cc|ric an Magnc|ic |ic|s, }ohn WiIey & Sons, Chichesler
iro O., Ireis K. & Richler K.R. (1996). On lhe Use of lhe Magnelic Veclor IolenliaI in lhe
NodaI and Ldge Iinile LIenenl AnaIysis of 3D Magneloslalic IrolIens. ||||
Transac|icns cn Magnc|ics, VoI. 32, No. 5.
uja C.S. & Indri C.. (1977). OplinaI IuIse Widlh ModuIalion for Ieeding AC Molors.
|||| Transac|icns cn |nus|rq App|ica|icns, VoI. IA-13, No. 1.
Daval ., Ren Z. & Lajoic-Mazenc M. (1985). The novenenl in fieId nodeIing. ||||
Transac|icns cn Magnc|ics, VoI. 21, No. 6.
DeorloIi M.}. (1992). Lxlensions lo lhe Iinile LIenenl Melhod for lhe LIeclronechanicaI
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Thesis.
Heinlrock A. & Seinsch H.O. (2OO5). Neue Lrkennlnisse ler OlerschvingungsverIusle in
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Heinlze K., Tappeiner H. & WeileIzahI M. (1971). IuIsvechseIrichler zur DrehzahI-
sleuerung von Asynchronnaschinen. Sicmcns Zci|scnrif|, VoI.3, No.45.
Islfan . (1987). Lxlensions lo lhe Iinile LIenenl Melhod for NonIinear Magnelic IieId
IrolIens, Rcnssc|acr Pc|q|ccnnic |ns|i|u|c Ncu Ycr|, IhD Thesis.
KIeinralh H. (198O). S|rcmricn|crgcspcis|c Drcnfc|mascnincn, Springer VerIag, Wien
KIinan C.. & IIunkell A.. (1979). DeveIopnenl of a ModuIalion Slralegy for a IWM
Inverler Drive. |||| Transac|icns cn |nus|rq App|ica|icns, VoI. IA-15, No. 1.
Lipo T.A., Krause I.C. & }ordan H.L. (1969). Harnonic Torque and Speed IuIsalion in a
Reclifier-Inverler Induclion Molor Drive. |||| Transac|icns cn Pcucr Appara|us an
Sqs|cms, VoI. IAS-88, No. 5.
Murphy }.M.D. & Lgan M.C. (1983). A Conparison of IWM Slralegies for Inverler-Ied
Induclion Molors. |||| Transac|icns cn |nus|rq App|ica|icns, VoI. IA-19, No. 3.
IaIna R. (1989). Transienl AnaIysis of Induclion Machines using Iinile LIenenls, Rcnssc|acr
Pc|q|ccnnic |ns|i|u|c Ncu Ycr|, IhD Thesis.
SaIon }.S. (1996). |ini|c ||cmcn| Ana|qsis cf ||cc|rica| Macnincs, Canlridge Universily Iress,
Canlridge
Schvarz R. (1984). Mc|ncc cr |ini|cn ||cmcn|c, Teulner, Slullgarl
SiIvesler I.I. (1995). |ini|c ||cmcn|s fcr ||cc|rica| |nginccrs, KIuver Acadenic IulIisher,
oslon/London
Sluarl D.T. & Hellar K.M. (1971). Torque IuIsalion in Induclion Molors vilh Inverler
Drives. |||| Transac|icns cn |nus|rq an Gcncra| App|ica|icns, VoI. CA-7, No. 2.
Szalo I. (1972). Tccnniscnc Mccnani|, Springer VerIag, erIin
Advances in Computer Science and IT
Edited by D M Akbar Hussain
ISBN 978-953-7619-51-0
Hard cover, 420 pages
Publisher InTech
Published online 01, December, 2009
Published in print edition December, 2009
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