Steady State Analysis of Brushless Doubly Fed

Induction Machine Taking Core Loss into Account

M. N. Hashemnia* and F. Tahami
Sharif University of Technology, Electrical Engineering Department
Tehran, Iran
*naserhashemnia@ee.sharif.edu

Abstract-

Brushless

doubly

fed

induction

machines

show

promising results for wind power applications. Due to their poor

rotor magnetic coupling and relatively high value of slip, core
loss is an important factor which affects the steady state and
dynamic performance. The core loss effect on performance of
brushless doubly fed induction machines has not been extensively
studied in the literature. In this paper, a steady state equivalent
circuit taking

core

loss

into

account is introduced.

Simple

relationships are derived which show that the brushless doubly

fed induction machine is similar to the cascaded doubly-fed
induction machine in terms of core loss. The energy conservation
principle is applied to derive relations for steady state torque of
the

machine

when

core

loss

exists.

The

steady

state

characteristics of the machine taking core loss into account are

simulated and compared with the model without core loss.

Keywords- Brushless Doubly Fed Machine,

Equivalent circuit, Slip, Steady State, Torque

1.

Core loss,

INTRODUCTION

Wind power is one of the renewable energy sources that

have attracted most attention for a long time. Variable speed
wind turbines are more popular than fixed speed ones due to
advantages such as higher efficiency, less mechanical stress on
the turbine, better power quality, etc. Among various kinds of
variable speed wind turbine technologies, the Doubly Fed
Induction Generator (DFIG) is the most common. DFIGs are
capable of decoupled active and reactive power control in both
sub-synchronous and super-synchronous speed ranges [1, 2].
The associated inverter only needs be rated for a fractional
power of the machine, depending on rotor slip. Another
potential application of the Doubly Fed Induction Machines
(DFlM) is adjustable speed drive (ASD) [3].
The main disadvantages of DFIGs are their brushes and slip
rings which increase maintenance costs and fault rate. Many
studies have been carried out in order to develop a machine
which combines the great advantages of DFIGs with high
reliability and low maintenance. Among other solutions, the
use of the so-called Brushless Doubly Fed Machine (BDFM)
(also known as self-cascaded induction machine) could
overcome this problem.
Although BDFM is slightly larger in size than DFIG due to
poor magnetic coupling of the rotor, the aforementioned

978-1-4673-2421-2/12/$31.00 2012

IEEE

advantage makes it a good candidate for use in wind power

generation [4], particularly in offshore wind turbines as well
as in pump drives [5].
The first attempts of creating such machine can be traced
down to the machine proposed by Hunt (1907) [6] where
wound rotor machines were used. But in 1970's, Broadway
and Burbridge proposed a new squirrel cage rotor for the
BDFIM, the nested loop rotor, which is very similar to the
ones used nowadays [7].
There are a lot of papers considering steady state and
dynamic modeling of the BDFM. Several investigators have
taken a BDFM virtually as the connection of two induction
motors with different pole pairs with their rotors electrically
and mechanically connected [8-13]. Modeling of this system
(known as Cascade Doubly Fed Machine (CDFM can be
undertaken by appropriate connection of two induction motor
equivalent circuits. It should be noted that there are two
simultaneous stator fields in the same airgap at BDFM while
there is one field in each airgap of a CDFM. Modeling of
BDFM in its real form is therefore more complex than
derivation of the model based on separation of the system into
two induction motor subsystems.
Although there are some researches on modeling stator and
rotor core losses of CDFM, the modeling of core losses of
BDFM has not been studied in the literature. Due to existence
of rotor field spatial harmonics, poor magnetic design and
relatively high rotor electrical frequency (it may be as high as
30 Hz), the core loss of BDFM is more than the conventional
induction machines with similar nominal power. Furthermore,
time harmonics of the rotor current increase the rotor copper
loss. It is thus necessary to consider stator and rotor core loss
in equivalent circuit model of BDFM in order to evaluate its
steady state behavior with good precision. Moreover, core loss
also affects flux and torque dynamic responses which should
be taken into account in dynamic modeling if a high
performance control is required. Until now, there has been no
contribution on modeling core loss of BDFM in its steady
state or dynamic equivalent circuit. The goal of this paper is to
take this phenomenon into account and investigate its effect on
steady state characteristics of the machine.

2030

IT.

THEBDFM

The BDFM comprises of two, three-phase winding sets in

the same stator. The winding sets are excited independently
and actively participate in the electro-mechanical energy
conversion process. To avoid direct transformer coupling
between the two windings, their pole pair numbers should be
different:
(1)
where F] is the number of pole pairs of the power winding
and P2 is the number of pole pairs of the control winding.
Furthermore, in order to reduce the unbalanced magnetic pull
on the rotor, their pole pair numbers difference should be
greater than unity [11].
As shown in Fig, 1, the Power Winding (PW) is connected
directly to the grid and therefore works at grid frequency.
Most of the power is transferred between the BDFM and grid
through this winding. The PW produces a field in the air gap
rotating at the grid frequency. The control winding (CW) is
connected to the grid via a bidirectional frequency converter
and controls the rotor speed and reactive power supplied or
absorbed by the machine [14, 15]. The frequency converter
usually consists of two back to back voltage source converters.
The machine side converter controls the CW current and due
to the coupling between the CW and the PW through the rotor
circuit, it also controls the PW current. The other converter is
connected to the grid (grid side converter) and controls the DC
link voltage.
ControlWinding Frequency (f,)

Bidirectional

Converter

J- ', . .,''"ro,,_,
.

p'()=P2()+2nq, q=,I 2,. .

(2)

Hence,
,

P,

P,

(3)

where Nr is the number of rotor bars.

o-/ ?I/

'0 '-...---.----

Fig. 2 The location of rotor bars

Few rotor bars result in a very high rotor slot-leakage

reactance. The large magnitude of unwanted harmonics also
deteriorates the machine's performance [17]. Therefore, q is
set equal to unity and the positive sign in the numerator is
chosen:
(4)
It can also be shown that the slot-leakage reactance
decreases drastically as the number of rotor slots is increased
[17]. Therefore, each rotor nest is distributed in several slots.
The most popular structure is called "nested loop" rotor as
shown in Fig. 3.

ControlWinding
(P2 pole pairs)

PowerWinding
Fre quency Cf,)
Supply Voltage

e--i
\

_'W"",
CP, pole pairs)

\l:)
""

Fig. 1 The BDFM System

The rotor bars are short circuited and there is no brush or

slip ring which is an advantage of BDFM over DFIG. The
number of bars is determined so that an indirect cross coupling
between the PW and the CW is produced. To achieve this, the
rotor should produce a P2 pole pair field in response to the
PI pole pair field produced by the PW; moreover, rotor
should produce a PI pole pair field in response to the P2
pole pair field produced by the CWo To satisfy these
requirements, the electrical distance between two adjacent
bars (as illustrated in Fig. 2) should be equal in PI pole pair
and the P2 pole pair distributions. Therefore it may be written
as [16]:

Fig. 3 Nested loop rotor [7]

Ill.

CORE LOSS MODELING

In an ordinary squirrel cage induction machine under

normal operating conditions the slip is relatively low and
therefore the rotor core loss may be neglected. Stator core loss
is usually included as part of rotational losses. Some
references compensate core loss detuning effect in vector
control of an induction motor by taking it into account by two
resistances in the d-q circuit model [18]. The iron loss of the
machine is modeled as a resistance in parallel with the
magnetizing inductance of each phase.
In [19] the iron losses of the DFIM are taken into account in
its dynamic model. This could be specifically useful if the

2031

control is applied to small power DFTMs where the iron losses

cannot be normally neglected, comparing to higher power
machines. When the deviation from the synchronous speed is
higher, more attention to the power loss should be paid.
Tn [20] a study on core loss of a DFTM with both stator and
rotor fed with variable frequency is carried out. A method for
correct selection of stator and rotor frequency is given in order
to run the motor at an optimum efficiency with different
loading conditions. It is also shown that core losses constitute
a considerable amount of the total losses and hence should not
be neglected in the evaluation of efficiency.
Accurate modeling of core losses is very complicated and a
simple approach is used here which is adequate for a
fundamental frequency equivalent circuit model of core loss in
BDFM.
Neglecting all harmonics, the airgap field due to the two
stators can be expressed in a stationary reference frame as:
B(e,t)

B,Cos(w/ - p,e) + B,Cos(w,t - p,e + If/)

(5)

where subscripts "1" and "2" refer to power and control

windings, respectively, () is the mechanical angle and If/ is a
s
constant phase shift between the two fields. The airgap field as
seen in the rotor reference frame can be simply shown to be as
following [7]:
B, (1fJ) B Cos (w, t + P IfJ) + B , Cos (w, t + P 1fJ + If/)
(6)
,
,
,
where cp is the angle measured from a reference frame fixed
=

in the rotor and OJ.\ is rotor slip frequency.

_
=

dB,(t,lfJ)
=

dt

(7)

Bjw,Sin(w/ + pjlfJ) + B2w,Sin(w/ + P21fJ + If/,)

The eddy current loss in an element of rotor core at time t

and position cp is thus in proportion to:
2 2
2
(t ,1fJ) oc E ,"(t ,1fJ) B j W, Sin (w/ + pjlfJ) +
=

(8)
B:W,2Sin\W/ + P21fJ + If/,)+
2
2B B
j 2w, Sin (w/ + pjlfJ)Sin (w/ + P21fJ + If/,)
The total rotor eddy current loss is calculated by averaging
the above relationship. As the pole pair numbers are chosen
unequal, the third term has zero average. The rotor eddy
current loss becomes:

oc

(BI2OJ +B:OJ)/2

B, (t,1fJ)

(9)

BjCos(m/ + pjlfJ) + B,Cos(m/ + p,lfJ)

BjCos(m/ + pjlfJ) + B,Cos(m/ + PjlfJ + y)

(10)

where:
(11)

Rotor hysteresis loss averaged by time in an element of

rotor core at position cp is thus in proportion to:

p"

oc

w,CB,'

(12)

2B,B,Cosy)

The total rotor hysteresis loss is calculated by averaging the

above relationship. As PI ;;j:. P2 ' the average of the third term
over r will be zero. It is again apparent that BDFM can be

virtually considered as CDFM as long as rotor hysteresis loss

is a matter of interest.

Stator core loss:

The induced voltage in the stator core due to the airgap flux
can be expressed as:
E, (t, e)

Rotor core loss:

As there is a single frequency in the rotor circuit of BDFM
at synchronous mode of operation (neglecting all harmonics),
calculation of core losses in rotor is much simpler than those
in stator. Two major components of core loss are classical
eddy current and hysteresis loss. The Eddy current loss is
proportional to the square of the induced voltage. The induced
voltage in the rotor core by the flux passing the airgap can be
expressed by:
E ,(t, lfJ)

The above relationship deserves more consideration; as long

as calculating rotor eddy current loss is concerned, BDFM
resembles CDFM.
Rotor hysteresis loss is dependent on rotor frequency and
the amplitude of rotor flux density. It has been proven in [21]
that core loss is independent of the constant phase shift (If/ r )
between the two fields. It is chosen zero for the sake of
simplicity. The rotor field can thus be expressed as:

dB (t, e)
'

B,Sin(w/

dt
+

B Sinew t + P e) +
'
"

(13)

p,e + Ijf)

The eddy current loss in an element of stator core at time t and

position () is thus in proportion to:

p" (t, e) oc

'
E, (t, e)

(14)
2B,B,w,w,Sin(w,t + p ,e)Sin(w/

p ,e +

Ijf)

The total stator eddy current loss is calculated by averaging

the above equation. Again, the difference in the number of
stator pole pairs forces the third term to become zero after
averaging over () . The stator eddy current loss becomes:
(15)
It means that the two fields are decoupled in stator eddy
current loss, just as rotor eddy current and hysteresis losses.
Unfortunately, much more complexity arises when stator
hysteresis loss is to be considered; this is mainly due to
existence of two fields with different frequencies in the stator
of BDFM. This subject has been studied in [21] using the
concepts of dissipation and restoring functions. The stator
hysteresis loss due to the two fields can't be decoupled. It this
paper, this fact is neglected and it is supposed that all the
elements of core loss (eddy current and hysteresis losses of
both stator and rotor) can be decoupled with respect to the two
stator fields. It should be emphasized that the circuit is

2032

Fig. 4 Proposed model of BDFM including core loss

nonlinear due to presence of hysteresis effect (otherwise, there

would be no core loss). Therefore, the principle of
superposition can't be generally applied. It is just claimed in
this paper that core loss effects of the two stator fields (which
are themselves decoupled) can be decoupled.
IV.

MODELING CORE

=s

where f and II' are rotor and power winding frequencies

SJ

rotor

=F
= s r l' .....
+1'
=(J-s)m
..... 1'
syn c
!OSS, rotor
CU, rotor
Fe, rotor
ag

(17)

l'

(16)

respectively and

=F
=F
+1'
+1'
=1"m
+1"m
syn c
!oss, rotor
mech
CU, rotor
Fe, rotor
rotor

Loss IN THE EQUIVALENT CIRCUIT

It was shown in the last section that BDFM can be

approximately considered as a CDFM as long as the core loss
is the matter of interest. Therefore, the same circuit elements
as those of CDFM can be used to model stator and rotor core
losses due to power and control windings. In this paper, the
core losses are modeled classically by using resistors in
parallel with magnetizing branch of power and control
windings.
As it was shown in [22], two factors should be taken into
account when dealing with rotor core loss (this
also applies to modeling stator core loss due to control
winding); the first one is the dependence of rotor core loss on
the variable slip and the second one is the scaling needed to
preserve power at the rotor side. For core loss calculation, the
slip of rotor and control winding with respect to power
winding are important.
The derivation for rotor core loss of power winding is
presented hereinafter. The similar procedure can be used for
the case of stator and rotor core loss of control winding. Rotor
core loss is proportional to rotor frequency which is equal to
power winding frequency multiplied by rotor slip:

fr

l'
ag

is rotor slip relative to power winding:

As hysteresis and eddy current losses are proportional to

rotor frequency and the square of rotor frequency,
respectively, the total rotor core loss can be expected to be
approximately in proportion to the absolute value of slip to a
power of an exponent coefficient between unity and two. In
this paper the coefficient is assumed to be l.3 after [22]. It
should be noted that the model is to be referred to the power
winding stator side. Therefore a scaling is necessary to refer
the equivalent core loss resistor to the stator side. For this
purpose, the airgap power relationship is considered:

l'
ag

!OSS, rotor

Sr

The last relationship shows that when the rotor loss is

referred to the stator side it should be multiplied by a factor

of 1/ Sr' Therefore, the rotor copper resistance should be

divided by sr as it is a series element and the rotor core loss

resistance should be multiplied by

Sr

as it is a parallel

element. The complete steady state model is shown in Fig. 4.

A point is worthy of attention regarding the proposed
model; The model gives stator core loss of power winding
directly, but for the other three resistors, part of their power is
transferred to mechanical power while the rest of it shows the
corresponding core loss. Consider rotor core loss of power
winding as an example. The power loss is associated with
resistor

R;. / I Sr 113

Thus there is some amount of electrical

power converted to mechanical power, or vice versa, which is:

p

mech

.pr _

3IE

121 S r 113 -1
(
)
R .Ie
Sr

(18)

PI'

where E is the voltage across the magnetizing reactance of

power winding.
The validity of this model has been verified experimentally
for CDFM in [22] where it has been observed that there is a
small torque component estimated at 2-3 Nm with open rotor
circuits created only due to the existence of the rotor core
losses.
V.

DERIVATION OF TORQUE EQUATION

In this section, we will derive statements for steady state

torque equation of BDFM in consideration of core loss for
stator/rotor of power/control windings. Let's derive the
general torque equation taking stator and rotor core losses
modeled in power and control winding sides.
By applying the principle of power conservation to the
equivalent circuit:

2033

s2
"s 2 " 2
Rr '2
Re(V/ 2* )3Rllfll2+3 lf
3Re(V/l* )+3
r I +3R2lf2 1 +

(19)
'\1
'\ 1
'\1
2
2
2
2
3
3
3
IVr2 1 1 s 1 1
IVr 1
1_+3 IVrl 1 1 s1 ( +3 IVr2 1 1 s1 11 +3 ---,,,3_
Rfeps
Rfecs s
Rfeprsl
Rfecrsl
At the same time, applying the same principle to the
physical system yields:
__

;
s (

<
(

2
) 3 Re(V / ) =3R 1/ 1 +3R 1
3 Re(V/ +
1 1
2
I

IV 12
IV rl 121 I
-r-I -+
3
3
R
R
jeps

jepr

3
+3

IV

2
1 1s

r2
R

jeer

2
1 +3R

+3

IV

r2
R

; II;

2
1 1s

2
1+

IIJ

jees

(20)

+Tw

where T is the torque generated by the machine (positive for

motoring mode) and slips are defined as following:
SI

WI

- plwr
WI

S
--2.
SI

(21)
W

WI

Subtracting (19) from (20) and

manipulation it can be proved that:

after

considerable

)(( II:pJ ) +
'
3P 21 m 2 1m ( ( I -Ilees )(( + II:C,) )

3PILmllm (II

Ilep,

(22)

This equation has an interesting interpretation; the torque is

developed due to the interaction of the two currents the some
of which flow in the magnetizing branch (both for power and
control windings). These currents are namely II - Ifeps and

I ,: - IlePr for the power winding side and I - Ilees and

( + I;cI

for the control winding side.

VI.

SIMULATION AND EXPERIMENTAL RESULTS

The steady state equivalent circuit in Fig. 4 has been

simulated using Matlab Simulink. The stator power and
control windings are both delta connected and have 4 and 8
poles, respectively. Other parameters of the machine are also
the same as the Cambridge university prototype which have
been summarized in Table I.
TABLE L

Resistance

(0)

BDFM ELECTRICAL PARAMETERS

PW

CW

7.28

4.81

30 ,----,----,----,----,----,-----.========;]
-Simua
l ted (No Core Loss)
-Simua
l ted (With Core Loss)

*...E"'E'
.

'"""
m a"' -,--_
me""'

Rotor
(referred to
PW)
5

Self
Inductance

17.1

15.2

99.4

Magnetizing
Inductance

1125

333

(mH)

Tn the foregoing simulations, two resistances out of four,

standing for stator core loss have been assumed in the
equivalent circuit model. There is therefore one constant
resistance at the power winding side and a resistance
dependant on control winding slip relative to the power
winding at the control winding side. The values of these two
resistances have been identified using the experimental results
of the simple induction mode of BDFM operation, where one
winding is energized by supply voltage and frequency and the
other one is left open. The values used for stator power
winding and stator control winding core loss resistances are
1400 and 1800 ohms respectively. Figure 5 shows the
simulated torque speed characteristics of the machine when
the power winding is fed by 200 V150HZ voltage and the
control winding is short circuited. This operating mode is
referred to as cascade induction mode. The circuit has been
simulated with and without taking core loss effect into
account.
It is evident that the developed torque is zero at three rotor
speeds, among which two speeds are totally independent of
the parameters of the equivalent circuit, including core loss.
The highest speed is equal to the synchronous speed of an
induction machine with stator frequency of OJI and stator and
rotor poles equal to PI . The lowest speed is equal to the
synchronous speed of an induction machine with stator
frequency of OJI and stator and rotor poles equal to PI + P2 .
The middle one is generally dependent on equivalent circuit
parameters. It was observed that changing the value of core
loss resistance does not affect this speed. It is also evident that
taking core loss into account results in lower absolute values
for the developed torque of the machine (for the same speed),
in comparison to the same machine without core loss.
The power winding line current and rotor current have also
been simulated with and without taking core loss into account.
The results are depicted in figures 6 and 7, respectively. It is
visible that the core loss effect is generally an increment of
power winding current which is due to its core loss
component. Moreover, the rotor current in the model with core
loss is lower which makes the steady state torque lower in
turn. It should be clarified that no measurements were
available for rotor current and therefore just the simulation
results have been shown.

20

E
:oS
Ql

-:l\

y
,r

f-'

Jj

j:

'. , ..........:ir-=...., ......... + .."-: ... , .......... -1

-10

"

+ +:
:

--------

--------

j j

::::
4
0

200

\... ,....... /1;/.......,...........,.........,.......... '::

-----

400

600

800
1000
Rata r Speed (Rpm)

1200

1400

1600

1800

Fig. 5 Steady state torque-speed characteristic of BDFM at cascade induction

mode with and without core loss

(mH)

2034

[6]

Louis 1. Hunt. A new type of induction motor. Institution of Electrical

Engineers,1907,pages 648.677.

10

[7]

P. C. Roberts, "A Study of Brushless Doubly-Fed (Induction)

Machines," Ph. D. Thesis, University of Cambridge, 2004.

[8]

'"
c

F. Creedy, "Some developments in multispeed cascade induction

motors," Journal TEE (London),Vol. 59,pp. 511-532,1921.

[9]

B. H. Smith, "Synchronous behavior of doubly-fed twin-stator induction

machine," TEEE Trans. Power Apparat. Syst. Vol. PAS-88, 1967, pp.
1227-1236.

12

:5:

8
'6

[10] A R. Broadway and L. Burbidge, "Self-cascaded machine: a low speed

motor or high frequency brushless alternator," Proc. TEF (London), vol.
117(7),1970,pp. 1277-1290.

"-

DO

1800

[11] A Kusko and C. B. Somah, "Speed control of a single frame cascade

induction motor with slip-power pump back," IEEE Trans.Ind. Appl,
vol. 1978,IA-14(2),pp. 97-105.

Fig. 6 Steady state power winding current magnitude at cascade induction

mode with and without core loss

[12] F Shibata and K. Taka, "Speed control system for brushless cascade
induction motors in control range of S I > I and S2 > I," IEEE
Transactions on Energy Conversion,June 1987,pp. 246.
[13] AC. Ferreira, R.M. Stephan, D.B. Lima, F. Lessa, "Operating points of
a doubly fed cascaded induction machine ", Brazilian Power Electronics
Conference,COBEP 2009,Sep/Oct 2009,pp. 124 - 129.
[14] J. Poza, E. Oyarbide, 1. Sarasola, and M. Rodriguez, "Vector control
design and experimental evaluation for the brushless doubly fed
machine", IET Electric Power Applications, Vol. 3, No. 4, Ju12009. pp.
247-256.
[15] S. Shao, E. Abdi, F. Barati, and R. McMahon, "Stator-Flux-Oriented
Vector Control for Brushless Doubly Fed Induction Generator", IEEE
Trans Industrial Electronics,Vol. 56,No. 10,Oct 2009,pp. 4220-4228.
[16] S. Williamson, A C. Ferreira, and A K. Wallace, "Generalized theory
of the brushless doubly-fed machine. Part 1: Analysis",IEE Proceedings
Electric Power Applications, Vol. 144, No. 2,Mar 1997,pp. 111-122.

Fig. 7 Simulated steady state rotor current magnitude at cascade induction

mode with and without core loss

VII.

[17] A R. W. Broadway and L. Burbridge. Self-cascaded machine: a lowspeed motor or high frequency brushless alternator. Proceedings,
Institution of Electrical Engineers,117: 1277. 1290,1970.

CONCLUSION

In this paper an equivalent circuit of Brushless Doubly Fed

Machine including both stator and rotor core losses was
proposed. It was shown that BDFM is similar to CDFM as
long as core loss is considered. This is mainly due to the
absence of direct coupling between the two stator fields,
which is itself guaranteed by proper choice of pole pair
numbers of the two stator windings. Torque equation was
derived based on the energy conservation principle.
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2035