R Ramanujam

UNIT III MODELLING OF POLY PHASE INDUCTION

MACHINES (9 hours)
Induction machines Equivalent circuit Complete speed-torque
characteristics - Voltage and torque equations in static and rotating
reference frames Analysis of steady state and dynamic operations
Induction machine dynamics during starting and braking, accelerating
time, under normal conditions - Computer simulation

REFERENCE:
1. Paul C.Krause, OlegWasyzczuk, Scott D.Sudhoff Analysis of
Electric Machinery and Drive Systems IEEE Press, Second Edition,
2002.





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UNIT 3 except VRM,
UNIT 5
UNIT 5
UNIT 4
UNIT 2
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IM-1



















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For proof see the document
titled Proof of the
inductance for single-phase
dated 16/11/2013 which
follows
Winding
symmetrical
to the left of
the line

Fig.1
Sinusoidally
distributed
winding
n
R Ramanujam


1. Proof of the inductance for single-phase magnetizing inductance
Added 15/11/2013 SIM-1.1
Ref: Ned Mohan, Advanced Course in Electric Drives, 2001
The field intensity, flux density and MMF at any angle from a chosen
reference is given by (See Fig.1)
()

(1)
()

(2)
()

()

(3)
1

where, H, B and F are magnetic field intensity,
flux density and magnetomotive force (MMF).
Definition of single-phase stator magnetizing inductance

(4)

(5)

Note: = L
s,self
= L
asas
etc. L
m1-ph
= L
ms



1
The proofs of expreesions (1), (2) and (3) are given later.
c
b
a
g


g
d
r d
Fig.2
R Ramanujam
SIM 1.2
Expression L
m-1ph

It is obtained by equating energy stored
in the volume shown to

See Fig.2. In this figure r is the mean radius.

Energy density at an angle from
from a-axis

()

()

() (6)
Energy stored in the elemental
volume at is

()

(7)


Using the expression (2) for flux density
energy stored in the elemental
volume

( )

/ (

( )

(8)

Total energy stored in the volume is obtained by integrating Eq.(8)
around the stator periphery:
.

/ (

( )

r
SIM 1.3

(9)

This should be equal to

.

Therefore,

) (10)


2. Stator-to-stator mutual inductance
This is obtained by exciting phase a by i
a
and measuring
b
. Then

(11)

The only flux linking the phase b winding is the flux produced by i
a
. But
the phase b winding is displaced from phase a winding by120.
Therefore

b
due to i
a
=
a-magnetizing
(cos 120)

(16)
But from Eqs.(4) and (5)

(17)


R Ramanujam
SIM 1.4
Therefore, from Eqs.(110, (16) and (17) we see that

(18)

Identical expressions hold good for mutuals between phases b and c and
phases c and a.

3. Per-phase magnetizing inductance L
m
In this case all the three phases carry currents (compare with single-
phase case where only one phase is excited). Therefore,

(19)

If the currents are balanced
i
a
+ i
b
+ i
c
= 0 (20)
Using Eq.(20) in Eq.(19) we get

(21)
Therefore,

) (22)



R Ramanujam
SIM 1.5
Note: The single-phase magnetizing inductance does not include the
effect of mutual coupling from other two phases, whereas per-phase
magnetizing inductance does. This explains the factor 3/2.
4. Stator self inductance when all three phases are excited
Rotor is still open.

(23)

Or

(24)


The proofs for expressions (1), (2) and (3) follow after the introduction
of sinusoidally distributed winding and expression for conductor density.









R Ramanujam
SIM 1.6




















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SIM 1.7




















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SIM 1.8


SIM 1.8

















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SIM1.9




















R Ramanujam
SIM - 2




















R Ramanujam
SIM-3




















L
ms
= (N
s
/N
r
)
2
L
mr
R Ramanujam
SIM - 4




















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R Ramanujam
Page nos. SIM-7 and SIM-8 not required
SIM - 9




















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T
L
is positive for load on
shaft
R Ramanujam





















FOR PROOF OF THESE EXPRESSIONS SEE
DOCUMENT TITLED EXPRESSIONS FOR TORQUE
dated 13/112013 WHICH FOLLOWS
R Ramanujam

EXPRESSIONS FOR TORQUE
13/112013 T1 of 2
Recap: Power flow in a induction motor p.P-1of 1
We will use a simple and intuitive approach given by C.
Concordia
1
to derive the expression for torque developed by the
motor.
Power input to the motor is given by
P
in
= v
as
i
as
+ v
bs
i
bs
+ v
cs
i
cs
(1)

In terms of q, d, 0 variables the power input is

P
in
=(3/2)( v
ds
i
ds
+ v
qs
i
qs
+ v
0s
i
0s
) (2)

The relevant voltage equations for the stator quantities in terms
of the transformed variables (similar to balanced transmission
line see p.RTF-7) is given by the phasor diagram (given in same
page):
v
qs
= r
s
i
qs
+ p
qs
+
ds
v
ds
= r
s
i
ds
+ p
ds
-
qs

v
0s
= r
s
i
0s
+ p
0s


(3)
Using Eq.(3) in Eq.(2) and simplifying we get

P
in
=(3/2)[(r
s
i
ds
+p
ds
-
qs
)i
ds
+(r
s
i
qs +
p
qs
+
ds
)i
qs
+(r
0s
i
0s+
p
0s
)i
0s
]


1
C. Concordia, Synchronous Machines, Wiley, New York, 1951
R Ramanujam

T2 of 2
P
in
= (3/2)[(r
s
i
ds
2
+r
s
i
qs
2
+r
os
i
os
2
)+(p
ds
i
ds
+p
qs
i
qs
+p
0s
i
0s
)+(
ds
i
qs
-
qs
i
ds
)]

(4)
Here comes the intuition of Concordia: The interpretation of
above equation is as follows.

The first term on the right hand side represents the stator ohmic
loss.

The second term on the right hand side represents rate of
change of magnetic energy.

The third term should therefore, represent the power converted
from electrical to mechanical, i.e, power transferred across the
air-gap to the rotor. Hence, interpretation of the equation itself
is
Power input = Stator ohmic losses
+ rate of change of stator magnetic energy
+ Power transferred across the air-gap.
Therefore,
Torque developed = Power transferred across air-gap
Mechanical speed

i.e, T
e
= (3/2)(
ds
i
qs
-
qs
i
ds
)/
mech

= (3/2)(P /2) (
ds
i
qs
-
qs
i
ds
) (5)

where
mech
is the speed of the ARF on the mechanical side and
P is the number of poles.
R Ramanujam
Q.E.D


OTHER EXPRESSIONS FOR TORQUE
14/11/2013
OT1 of 4
Other expressions for torque as given by P.C. Krause are:

/ .

) (1)

/ .

/ (

) (2)

The primes in the above expressions denote quantities referred
to the stator.
We will derive these expressions from Eq.(5) of the section
titled EXPRESSION FOR TORQUE dated 13/11/2013.
We will ignore the zero sequence flux linkages and currents.
The flux linkage equations are (change of notation ML
M
)

(3)

(4)

(5)

(6)
Inserting the RHS Eqs.(3) and (4) in the factor (
ds
i
qs
-
qs
i
ds
)
R Ramanujam
OT2 of 4
we see that

ds
i
qs
-
qs
i
ds

= ,(

[(

Expanding the square brackets and simplifying we get

ds
i
qs
-
qs
i
ds
=

) (7)
Inserting Eq.(7) in Eq.(5) of the section titled EXPRESSION
FOR TORQUE dated 13/11/2013, we get Eq.(1).
Eq.(2) is slightly more complicated. The essence of the
derivation is to replace the stator flux linkages and currents in
the factor (
ds
i
qs
-
qs
i
ds
) by corresponding primed rotor
quantities.
Defining

) (8)
we see from Eqs.(3) and (5) that

(9)

(10)
From Eqs.(9) and (10) we get

(11)

R Ramanujam
OT3 of 4

Similarly,

(12)
Hence,

ds
i
qs
-
qs
i
ds

= (

=
dr
i
qs
-
qr

i
ds
-

) (13)
This expression is the result of replacing stator flux linkages by
the corresponding primed rotor flux linkages.
Now let us do the same thing for stator currents.
From Eqs.(5) and (6)

- (14)

] (15)

Consider the factor (
dr
i
qs
-
qr

i
ds
) in Eq.(13). Using the
expressions (14) and (15) for the currents, this factor becomes






R Ramanujam
OT4 of 4

dr
i
qs
-
qr

i
ds

=

-
(16)

The above expression can be simplified as


dr
i
qs
-
qr

i
ds
=
(

)

which can be further simplified as


dr
i
qs
-
qr

i
ds
(

)
(17)

Consider the second term of Eq.(17). Using Eqs.(5) and (6) to
replace the primed rotor flux linkages we get

)]

)-

) (18)

Inserting Eq.(18) in Eq.(17) and the result in Eq.(13) we get


ds
i
qs
-
qs
i
ds
=

(19)
Inserting Eq.(19) in Eq.(5) of of the section titled EXPRESSION
FOR TORQUE dated 13/11/2013, we get Eq.(2).
R Ramanujam
SIM 12
COMPUTER SIMULATION OF INDUCTION MOTOR DYNAMICS
IN ARBITRARY REFERENCE FRAME

Introduction
For computer simulation, the terminal voltages of the stator
and stator-referred rotor voltages are taken as the input.

The computed quantities are currents, flux linkages,
torque developed by the motor and speed of the motor.

Required equations

1. Flux linkage equations:

(CS-1)

(CS-2)

(CS-3)

(CS-4)

(CS-5)

(CS-6)
Eqns.(CS-2) and (CS-5) can be put in the matrix form as

qs
(L
ls
+ L
M
) L
M
i
qs

=

(CS-2A)

qr
L
M
(L
lr
+L
M
) i
qr


R Ramanujam
SIM-12.1
Or in a compact form
[
qsr
] = [L
qsr
] [ i
qsr
] (CS-2A)
Similarly, Eqns.(CS-1) and (CS-4) can be put in the matrix
form as

ds
(L
ls
+ L
M
) L
M
i
ds

=

(CS-1A)

dr
L
M
(L
lr
+L
M
) i
qr


Or in a compact form
[
dsr
] = [L
dsr
] [ i
qsr
] (CS-1A)
Note that [L
qsr
] = [L
dsr
]


2. Voltage equations:
For the purpose of computer simulation the voltage equations
given in p.SIM-5 are re-written as
p
qs
= v
qs
- r
s
i
qs
-
ds
(CS-7)
p
ds
= v
ds
- r
s
i
ds
+
qs
(CS-8)
p
0s
= v
0s
- r
s
i
0s
(CS-9)

p
qr

= v
qr
- r
r
i
qr
- (-
r
)
dr
(CS-10)
p
qr

= v
dr
- r
r
i
dr

+ (-
r
)
qs
(CS-11)
p
0r
= v
0r
- r
r
i
0r
(CS-12)

3. Torque equation (see Eq.(5)of p.T2-2):

T
e
= (3/2)(P /2) (
ds
i
qs
-
qs
i
ds
) (CS-13)

R Ramanujam

SIM-12.2
4. Mechanical (acceleration) equation:

(CS-14)

which can be re-written as

) (CS-14A)
State variables
We will choose the flux linkages
ds
,
qs
etc. and
mr
as state
variables.

Knowns at t = 0
Apart from motor electrical and mechanical data of the motor
The state variables [
qd0s
(0)], [
qd0r
(0)]
The currents [i
qd0s
(0)], [i
qd0r
(0)]
Motor speed
r
(0) (or equivalently slip(0) and position

r
(0)
Speed of the arbitrary reference frame, and position (0)
We can conveniently choose
r
(0) = (0) = 0 which means that
they are aligned along the stationary reference frame initially.

Inputs
Stator and rotor voltages in abc coordinates
Load torque versus speed curve




R Ramanujam
SIM-12.3
Stepwise computations
1. Set t = 0

2. Evaluate the elements of transformation matrices [K
s
] and
[K
r
] which are functions of and = -
r
evaluated at t
respectively.

3. Transform the stator and referred voltages, currents and
flux linkages to arbitrary reference frame.

4. Compute the right-hand side of Eqs.(CS-7) to (CS-12) at
time t. For the first time step the initial values must be
taken for computation.

5. Integrate the first-order differential equations (CS-7) to
(CS-12) using a suitable numerical integration method
(fourth order Runge-Kutta method or modified Euler
method) to obtain the flux linkages [
qd0s
], [
qd0r
]
at time t+t. For the first time step this will give flux
linkages at t. Note that the time is incremented at this step
and also, that the electrical system equations are solved
(this step) before mechanical system equation (Step 9).

6. Compute currents at t+t using Eqns.(CS-1A), (CS-2A),
(CS-3) and (CS-6):




R Ramanujam
SIM-12.4

i
ds
(L
ls
+ L
M
) L
M

-1

ds

=

(CS-1B)
i
dr
L
M
(L
lr
+L
M
)
dr


i
qs
(L
ls
+ L
M
) L
M

-1

qs

=

(CS-2B)
i
qr
L
M
(L
lr
+L
M
)
qr


i
0s
=
0s
/L
ls
(CS-3A)
i
0r
=
0r
/L
lr
(CS-6A)

If necessary for output/plot purposes compute the abcs and
abcr currents using the respective inverse transformation
matrices.

7. Compute the electrical torque developed by the motor T
e

using Eq.(CS-13) with flux linkages from Step 5 and
currents from Step 6.

8. Compute load torque knowing the motor speed
r
at time t

.

9. Using the value of the electrical torque T
e
computed in
Step 7 and load torque computed in Step 8 compute the
right-hand side of Eq.(CS-14A) and integrate the same
using a suitable numerical integration method (fourth order
Runge-Kutta method or modified Euler method) to obtain
the motor speed
r
.

[v
abcs
]
[i
abcs
]
[v
qd0s
]
[v
qd0s
]
[v
qd0r
]
[v
abcr
]
[i
qd0r
] [i
abcr
]

r
T
e
T
L
R Ramanujam
SIM-12.5
10. Increment time: t = t+t

11. Check whether maximum time is reached. If yes stop. Else go to
next step.

12. Compute the latest values of and :
(t+t) = (t) + t
(t+t) = (t) + (
r
)t

13. Go to Step 2.

Simulation Diagram


















[k
s
]

[k
s
]
-1

Computation of
Flux linkages
(Step 5)
Currents (Step 6)
Torque(Step 7)
[k
r
]

[k
r
]
-1

Solution of
mechanical
system equation
for speed (Step 9)
PAGES SIM-13 AND SIM-14 ARE NOT REQUIRED
AND HENCE, ABSENT
R Ramanujam
SIM-15




















R Ramanujam

SIM-15.1
Typical simulation results and discussions


















Torque-speed
characteristics during
free-acceleration (motor
starting)- 3 h.p motor
Torque-speed
characteristics during
free-acceleration (motor
starting)- 2250 h.p motor
These variations are at stator frequency;
why?
R Ramanujam
SIM-15.2
Observations:

1. 3 hp motor is a high-slip machine rated torque
developed at a speed considerably less than synchronous
speed. 2250 hp motor is low-slip machine rated torque
developed closer to synchronous speed.

2. For the large-hp (2250 hp) machine the rotor speed
overshoots synchronous speed. Speed response is
characterized by decaying oscillations about the final
operating point. In the case low-hp (3 hp) machine speed is
highly damped and final operating point reached is attained
without any oscillations.

Variables observed from different reference frames
Results for free-acceleration characteristics

1. Stationary reference













q axis stator voltage (top) and current; d
axis quantities similar with phase
changed. All in p.u
Torque (top) and speed in p.u.
R Ramanujam
SIM-15.3

2. Reference frame fixed in the rotor 3. Synchronously rotating
ref.frame















The torque and speed curves will be identical to those obtained for
stationary reference frame. Why?








q axis stator voltage (top) and current; d
axis quantities similar with phase
changed. All in p.u. The variations are at
slip frequency which varies from a high
value initially and becomes small as the
rotor speed approaches steady state.
q axis stator voltage (top) and current; d
axis quantities similar with phase
changed. All in p.u. The quantities are
unidirectional.
R Ramanujam
SIM-16 Added 2/2/2014
BALANCED STEADY STATE OPERATION

1. Voltage Equation
Recall stator voltage eqns in ARF:

For balanced steady-state operation in synchronously rotating
reference frame (SRF) zero-sequence quantities are zero and p
terms are also zero. SRF is also sometimes known as Krons
reference frame.

Using upper case for steady-state the voltage eqns become

)+
(20)
i.e

)

Similarly,

)

Forming the phasor

we get

[(

) (

)]

From eqns.(6) and (7) p.T-4 of 13, Unit 1- Part 2 notes for
steady state we see that the above eqn. becomes (after cancelling
2 factor throughout, see Eq.(15) of p.T-8 of 13))
R Ramanujam

SIM-17 Added 2/2/2014

) (21)

The rotor voltage eqns in ARF:

(22)

where s = slip in p.u of

(23)

For balanced steady-state operation in the SRF above eqns.
become

) (24)

) (25)

Forming the phasor and relating it to phasor in SRF we get

)
Or

) (26)


R Ramanujam
SIM-17.1

Note:

To an observer on the stator (stationary reference frame)
the currents, voltages and flux linkages (which are at slip
frequency) in the rotor appear to have a frequency equal to
synchronous frequency.
For example, the rotating mmf produced by slip frequency
rotor currents rotate at slip speed
e

r
w.r.t to rotor. But
rotor carries the rotating mmf at the speed
r
w.r.t
stationary reference frame. Hence, w.r.t to stationary
reference frame the rotating mmf of the rotor rotates at

e
-
r
+
r
=
e


As a corollary, for an observer on the synchronously
rotating reference frame, the rotor quantities appear to be
constants (since w.r.t stationary reference frame they vary
at frequency
e
).

= 0 for balanced
conditions
R Ramanujam
SIM-18
2. Equivalent Circuit
The equivalent circuit for steady-state operation from Eq.(26) is
shown below:







3. Expression for torque in terms of current phasors
In terms of qd0 quantities in synchronously rotating reference
frame (SRF), the instantaneous power is given by

)

For steady-state balanced conditions

) (27)

where * denotes conjugation and

etc.

In SRF we have the following voltage equations (from Unit1-
Part2)
v
qs
e

= r
s
i
qs
e
+ p
qs
e
+
e

ds
e

v
ds
e

= r
s
i
ds
e
+ p
ds
e
-
e

qs
e


R Ramanujam
SIM-19

For steady-state balanced conditions (setting transformer emf
terms to zero) the voltage equations are

V
qs
e

= r
s
I
qs
e
+
e

ds
e
(28)
V
ds
e

= r
s
I
ds
e

e

qs
e
(29)
The flux linkage equations are:


qs
e

= L
ls
I
qs
e
+ M(I
qs
e
+I
qr

e
) (30)

ds
e

= L
ls
I
qs
e
+ M(I
ds
e
+I
dr

e
) (31)
Forming the phasor

we get

)

Substituting for the flux linkages from eqns.(30) and (31) we get

) (32)

where X
M
= j
e
M.

Therefore,

(33)

R Ramanujam
SIM-20

In Eq.(33), the first term is proportional to stator copper loss, the
second term is proportional to reactive power lost in the
magnetic field and the last term is proportional to power
transferred across the air-gap.

Actual power transferred across the air-gap is given by

} (34)

Hence, torque is given by

} (35)

But

and

(36)

(see p.T-8 of 13, Eq.(15))

Using Eq.(36) in Eq.(35) we get

} (37)






P
in,stator
P
cu losses,stator
P
air-gap
P
cu losses,rotor
P
e,rotor
P
losses,friction and windage
P
shaft
a
b
P
air-gap

I
s
Fig.1
Fig. 2
Note: X
s
and
X
r
are leakage
reactances.
I
r
P
in, stator
R Ramanujam

PF-1 of 1

POWER FLOW IN AN INDUCTION MOTOR
19/11/2013

See Fig.1(no-load core losses not included).







The symbols are self-explanatory.

Note: Ignoring friction and windage losses, P
e,rotor
is the power
available at the shaft. Hence,

The per-phase equivalent circuit of a squirrel-cage induction
motor is given in Fig. 2






Note: The rotor electrical parameters and current are referred to stator (prime is absent-sorry!)

R Ramanujam

OR-1 of 2
OPERATING REGIONS OF AN INDUCTION MACHINE
Ref: 1. R Krishnan, Electric Motor Drives, Modelling, Analysis and Control,
Prentice-Hall, 2001
(2) V.Venikov, Transient processes in Electrical Power Systems, MIR Publishers,
Moscow, 1977

















Normal operation: motor, positive slip

Braking: rotor rotates in a direction opposite to that of the stator
(rotating) magnetic field; slip >1. The braking action brings the
motor to standstill.

e
R Ramanujam


OR-2 of 2

Generating: the rotor is driven ahead of stator magnetic field;
slip is <0
direction of induced emf phase reversed
torque slip reversed in sign
breakdown torque much higher (see dashed lines in the
figure) because mutual flux linkages are strengthened due
to reduction in motor impedance (boost in magnetizing
current and hence, an increase in mutual flux linkages and
torque)


















R Ramanujam

ST-1 of 2
EXPRESSION DESCRIBING TORQUE-SLIP
CHARACTERISTIC DURING STEADY-STATE
From Fig.2 (see p.PF-1 of 1)

(per phase) (1)

(per phase) (2)

( )

(3)

Hence, the torque developed is

(4)
where

is the angular speed of the rotor on the mechanical

side. The angular speed on the electrical and mechanical sides
are related as

(5)
But

( )

(6)

Using Eq.(6) in Eq.(5) and the resulting expression in Eq.(4) we
get

( )

(7)

From Eqs.(1), (3), (4) and (7) we get

(8)
R Ramanujam

ST-2 of 2

We will use Eq.(1). To calculate current I
r
we can simplify
matters by applying Thevenins theorem to the to find the
equivalent to the left of the line ab in Fig.2 (p. PF-1 of 1).

Thevenin impedance:

(9a)

(say) (9b)
Thevenin voltage (voltage divider)

,(

(10)
With the circuit to the left of the line ab in Fig.2 replaced by
Thevenin voltage behind Thevenin impedance, we have for the
current

[.

(11)

From Eqs.(1), (8), (10) and (11) we get, considering all the three
phases

( ) .

/ .

[.

],(

-
(12)