Estimation of typical squirrel-cage induction motor

parameters for dynamic performance simulation

J. Pedra

Abstract: Whenever the transient behaviour of a squirrel-cage induction motor is studied, double-
cage model parameters are necessary. These parameters are usually hard to obtain. An estimation
of typical double-cage induction parameters with regression-based equations that depend on
mechanical power and line voltage is proposed. The starting current and torque, maximum torque,
full-load slip and efficiency, calculated with the estimated typical parameters, are compared with
the data of 608 low-voltage induction motors obtained from different manufacturers. The features
of different power induction motors are well approximated with the proposed equations.

List of symbols Te motor torque

TFL full-load torque
f frequency TM maximum torque
h voltage sag depth TST starting torque
H inertia constant Tr resistive torque
IFL full load current DTSTs single-cage starting torque error
IST starting current DTMs single-cage maximum torque error
iabc stator line currents Dt voltage-sag duration
isd stator d-axis current in synchronously rotating U line voltage
frame Vs phase voltage
isq stator q-axis current in synchronously rotating vsd stator d-axis voltage in synchronously rotating
frame frame
ir1d inner-cage rotor d-axis current in synchronously vsq stator q-axis voltage in synchronously rotating
rotating frame frame
ir1q inner-cage rotor q-axis current in synchronously Xsd stator leakage reactance per phase
rotating frame Xm magnetising reactance per phase
ir2d outer-cage rotor d-axis current in synchro- Xrd rotor leakage reactance per phase
nously rotating frame Xr1 inner-cage rotor leakage reactance
ir2q outer-cage rotor q-axis current in synchro- Xr2 outer-cage rotor leakage reactance
nously rotating frame Zb impedance base
J total mechanical inertia ZNL no-load test impedance
k0–2 coefficients of the quadratic function represent- ZLR locked-rotor test impedance
ing the resistive torque om mechanical angular speed
P rated mechanical power o rated synchronous angular speed
Pk rated mechanical power expressed in kW
PCU copper losses
PFM iron and mechanical losses
} number of pair of poles 1 Introduction
Q reactive power
Rs stator resistance per phase The study of the three-phase induction motor behaviour
Rr rotor resistance per phase with time-domain simulations is necessary for the detailed
Rr1 inner-cage rotor resistance analysis of the start-up, change of load, effects of different
Rr2 outer-cage rotor resistance faults, etc. The use of induction motors in speed- and
RFM resistance of iron and mechanical losses position-controlled drives also made necessary detailed
s slip models for their simulation and control. A fairly good
estimation of typical double-cage induction parameters is
r IEE, 2006
needed to obtain correct results in the simulation. However,
it is difficult to find typical values of double-cage induction
IEE Proceedings online no. 20045209
motor parameters in the literature. Reference [1] proposes
doi:10.1049/ip-gtd:20045209
typical ranges of parameters for single-cage model motors
Paper first received 11th October 2004 and in final revised form 19th October
2005 and [2] proposes data of motors of different applications.
The author is with the Department of Electrical Engineering, ETSEIB-UPC, The main contribution of this paper is to supply double-
Av. Diagonal 647, 08028 Barcelona, Spain cage induction motor data to the general community and to
E-mail: pedra@ee.upc.es do so in a tractable manner (equation form). The study has

IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006 137
used data from five manufacturers, three European and
two American [3–5]. Data from 608 low-voltage induction
motors has been used with different synchronous speed
(2-pole to 8-pole motors) and power from 2 to 1000 kW.
Induction motors with different low voltages have been
employed (200, 400 and 560 V), too.
2 Dynamic squirrel-cage induction motor models
Load models for dynamic programs are described in depth.
In [2] which also points out that about 57% of US
electricity consumption goes to power motors, mostly three-
phase induction motors. With today’s computer capabilities
and numerical techniques there is little reason to represent
large-motor equivalents with static models or simplified
models (single-cage induction motor model).
Squirrel-cage type induction machines should be mod-
elled with a double-cage model. Deep, narrow rotor bars
have torque–speed characteristics similar to those of a
double-cage rotor. Single-cage rotors usually need to be
modelled with a double-cage model to predict starting
current and torque manufacturer data.
Two different methodologies have been followed to
determine the singe-cage model parameters. Method 1
obtains the parameters using the information of the full-
load point and the maximum torque (more details in
Section 6). Method 2 determines the single-cage parameters
(Fig. 1) with the information of the no-load test and the
locked-rotor test. Both methods give significant errors, the
first at the starting point and the second at the full load and
maximum torque points (Section 6). In short, the single-
cage model does not represent squirrel-cage induction
motors well, and therefore the double-cage model must be
used.
Is
Rs Xsd
Xr 1
Vs
Xm
I1
Rr1/s
a pointed out [8] that only six parameters are independent; the
Is Ir
Rs X sd X rd
Vs
Xm
b
Fig. 1 Steady-state star equivalent circuit for three-phase induction
machine
a Double-cage model
b Single-cage model
In the absence of specific data, it is very important to
have typical data of the squirrel-cage induction motor
consistent with the typical manufacturer’s data. There are
different situations where typical data of squirrel-cage
induction motor parameters can be very useful

previous dynamic simulations at the design stage of the
electrical system
138

studies of a large number of motors, where only average
data are available (aggregate motors)

when it is difficult to obtain accurate parameters in a real
case (it is often impossible to make test on a working
factory)

academic studies, where students must get used to
working with a correct model for the squirrel-cage
induction motor and with correct parameters.
Figure 2 shows the normalised torque curves against slip
that correspond to single-cage induction motors with the
typical data of Table 1 provided in [2]. Figure 2 shows
problems with the provided data

The maximum torque is low in comparison to the usual
range supplied by manufacturers (2 to 4)

Only types 5 and 7 can start the motor with a constant
full-load torque

Types 5, 6 and 7 have a very high maximum torque slip,
which corresponds to very low efficiency motors.
A lack of data on dynamic motor models is suspected to be
the reason for the generalised use of the single-cage model
( fewer parameters to estimate). However, this model is not
correct if motor starting or stalling are involved. The single-
cage induction model can have difficulty in reaccelerating
after faults and can even predict stability problems [6] that
are not real. In the following Sections a simple and robust
methodology to obtain typical squirrel-cage induction
motor parameters is developed.
3 Double-cage model parameters
Figure 1a shows the double-cage model used to simulate the
induction motor behaviour. In [7] the double-cage induction
motor parameters of Fig. 1a have been calculated from the
manufacturer data: rated mechanical power P, reactive
power Q, maximum torque TM/TFL, starting torque TST/
TFL and starting current IST/IFL. This data is obtained from
the motor nameplate, where subscript FL refers to full load,
Xr 2
M to point of maximum torque and ST to starting point.
I2
The electrical parameters of the steady-state equivalent
circuit are Rs, Rr1, Rr2, Xm, Xsd, Xr1 and Xr2. With the inner
Rr2/s cage (subscript 1) represented by parameters Rr1 and Xr1
and the outer cage (subscript 2) by Rr2 and Xr2. It has been
relation Xsd ¼ Xr2 is therefore used. American manufac-
turers usually give the value of the stator resistance Rs [3, 4],
whereas European manufacturers do not give this informa-
tion [5]. Thus an additional restriction like Rs =Rr1 ¼ kr is
necessary [7]. Using the parameter estimation routine from
Rr / s [7] with the American manufacturers’ data (taking in
account that Rs is known), a good estimation of the relation
Rs =Rr1 ¼ kr can be calculated.
Figure 3 shows the relation between the stator resistance
and the outer-cage resistance for 208 American low-voltage
motors. Figure 3 suggests that the value kr ¼ 0:5 is a good
estimation for the European motors.
Finally the motors parameters have been calculated using
the following data:
American motors
P, Q, TM/TFL, TST/TFL, IST/IFL, Rs
European motors
P, Q, TM/TFL, TST/TFL, IST/IFL, kr ¼ 0.5
Figure 4 shows the influence of the rated power P on the
double-cage parameters expressed p.u., rs, rr1, rr2, xm, xr1,
IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006
 4 4
type 1 type 5
3 3

2 2

1 1

0 0
4 4
type 2 type 6
3 3
full-load torque

2 2

1 1

0 0
4 4
type 3 type 7
3 3

2 2

1 1

0 0
1.0 0.8 0.6 0.4 0.2 0 1.0 0.8 0.6 0.4 0.2 0
slip slip

Fig. 2 Normalised torque curves against slip with typical motor data from [2]

Table 1: Typical induction motor data [2] The stator resistance rs and the inner-cage resistance rr1
have a very clear dependence on the rated power and have
Type rs xsd xm rr xrd little dispersion in their values. The reason is that these
parameters have a great influence on the rated efficiency,
1 0.031 0.1 3.2 0.018 0.18 and in low-power motors this parameter is lower than in
2 0.013 0.067 3.8 0.009 0.17 high-power motors.
3 0.013 0.14 2.4 0.009 0.12 Figure 4c shows with dots the outer-cage resistance rr2. In
4 0.013 0.14 2.4 0.009 0.12 this case there is greater dispersion and shows a mean value
5 0.077 0.107 2.22 0.079 0.098
close to 0.1 p.u. Figure 4e shows with dots the inner-cage
reactance xr1 which has a similar behaviour, with great
6 0.035 0.094 2.8 0.048 0.163
dispersion and a constant mean value. Figure 4d and 4f,
7 0.064 0.091 2.23 0.059 0.071 i.e. the magnetising reactance xm and the outer-cage
reactance xr2 have a similar behaviour, with great disper-
sion, lower values for low-power motors and a trend
1.0 towards a constant value for high-power motors.
Regression-based equations have been obtained from the
0.8
data of Fig. 4, shown in Table 2. The regression curves
0.6 calculated for each parameter are shown as a solid line in
rs /rr 1

0.4
0.2
0 base
0 100 200 300
power, kW
Fig. 3 Relation between stator resistance rs and inner-cage
resistance rr1 depending on mechanical power
xr2. The combined data from both American and European
motors have been used to make Fig. 4. Figure 4a and 4b
show with dots the values of the stator resistance rs and the
inner-cage resistance rr1. In these Figures a great influence
of the rated power on the resistance value is observed. Both
Figures are very similar because in the European motors
these parameters are linked by rs/rr1 ¼ 0.5.
Fig. 4.
The motor parameters can be easily estimated in per unit
values using the equations of Table 2, where Pk is the rated
output power expressed in kW. Then, using the impedance
400 500
Zb ¼ U 2 =P ð1Þ
where U is the line voltage and P the rated mechanical
power expressed in W, the real values of the motor
parameters can be calculated as
Rs ¼ rs Zb ; Rr1 ¼ rr1 Zb ; Rr2 ¼ rr2 Zb ; Xm ¼ xm Zb
ð2Þ
Xsd ¼ xsd Zb ; Xr1 ¼ xr1 Zb ; Xr2 ¼ xr2 Zb
These parameters have been calculated assuming that the
induction motor has a star connection. Therefore the
voltage applied in the circuit of Fig. 1a is the phase to
neutral voltage. Table 3 shows the estimated parameters of

IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006 139
 6
0.03 5

xm , p.u.
rs , p.u.

0.02
3

2
0.01
1

0 0
a d

0.3
0.06

0.2
rr 1, p.u.

xr 1, p.u.
0.04

0.02 0.1

0 0
b e

0.3 0.10

0.08
0.2
xr 2 , p.u.
rr 2, p.u.

0.06

0.04
0.1
0.02

0 0
0 200 400 600 800 1000 0 200 400 600 800 1000
power, kW power, kW
c f

Fig. 4 Influence of rated power on double-cage parameters expressed in p.u., depending on mechanical power in double-cage induction motor
a Stator resistance rs
b Inner-cage resistance rr1
c Outer-cage resistance rr2
d Magnetising reactance xm
e Inner-cage reactance xr1
f Outer-cage reactance xr2

Table 2: Estimated double-cage induction motor para- Table 3: Double-cage parameters for 630, 90 and 11 kW
meters p.u. (rated power Pk in kW) induction motors (parameters of the star equivalent circuit)

rs ¼ 0:0362Pk0:3926 rr1 ¼ 0:0724Pk0:3924 630 kW double-cage model

rr2 ¼ 0:1250Pk0:0829 xm ¼ 1:2609Pk0:1277 Rs ¼ 0.00073 O Rr1 ¼ 0.0015 O Rr2 ¼ 0.0186 O

xsd ¼ 0:0519Pk0:0533 xr1 ¼ 0:1366Pk0:0093 Xm ¼ 0.7293 O Xsd ¼ 0.0186 O Xr1 ¼ 0.0327 O

Xr2 ¼ 0.0186 O
xr2 ¼ xsd rFM ¼ 9:3352Pk0:2446
90 kW double-cage model
Rs ¼ 0.0110 O Rr1 ¼ 0.0220 O Rr2 ¼ 0.1530 O
Xm ¼ 3.9821 O Xsd ¼ 0.1173 O Xr1 ¼ 0.2329 O
double-cage induction motors of 630, 90, 11 kW and 400 V Xr2 ¼ 0.1173 O
line voltage. The relation between the coefficients of
11 kW double-cage model
dynamic equations (Appendix, Section 12) and the steady-
state star equivalent circuit is Rs ¼ 0.2054 O Rr1 ¼ 0.4110 O Rr2 ¼ 1.4904 O
Xm ¼ 24.911 O Xsd ¼ 0.8578 O Xr1 ¼ 1.9431 O
M ¼ Xm =o; Ls ¼ ðXsd þ Xm Þ=o
ð3Þ Xr2 ¼ 0.8578 O
Lr1 ¼ ðXr1 þ Xm Þ=o; Lr2 ¼ ðXr2 þ Xm Þ=o
where o ¼ 2pf is the synchronous speed.
does not include iron and mechanical losses. Including a
4 Iron and mechanical losses resistance RFM in the input of the circuit, the equivalent
circuit can represent the iron and mechanical losses. Using
Rated efficiency has not been used to calculate the the efficiency in this way the iron and mechanical losses can
equivalent circuit parameters because its value includes iron be calculated and included in the resistance RFM.
and mechanical losses. The steady-state equivalent circuit Figure 5a shows with dots the values of resistance rFM
for the double-cage three-phase induction machine Fig. 1a p.u.. It can be observed that the low-power motors have a
140 IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006
 60 lower resistance rFM and therefore greater iron and
50 mechanical losses p.u.
Figure 5b shows the relation between the copper losses
40
and the iron and mechanical losses. It can be seen that in
rFM , p.u.

30 low-power motors the copper losses can be greater than the

20 iron and mechanical losses. For medium- and high-power
motors the copper losses are always lower.
10

0 5 Comparison with catalogue data

a
Figure 6 shows with dots the nameplate data used in this
3
study, obtained from American and European manufac-
turers [3–5], namely full-load efficiency, rated power factor,
2 full-load slip, starting current and torque and maximum
PCU / PFM

torque. This data corresponds to 608 low-voltage induction

motors with rated power between 2 and 1000 kW. These
1 Figures also show as a solid line the same magnitudes
calculated from the steady-state equivalent circuit by means
0 of the estimated parameters obtained with the formulas of
0 200 400 600 800 1000 Table 2.
power, kW Figure 6a shows the predicted efficiency using the
b regression-base parameters as a solid line. The calculated
Fig. 5 Including resistance of rFM in input, equivalent circuit can value includes the iron losses and the mechanical losses. The
represent mechanical losses agreement with the catalogue data is very good. Figure 6b
a Iron loss resistance rFM shows the rated power factor, which has greater dispersion
b Copper loss–iron loss relation PCU/PFM, depending on mechanical power than the efficiency.

1.0 10
starting / full-load current

8
full-load efficiency

6
0.9
4

0.8 0
a d

1.0 5
maximum / full-load torque
rated power factor

0.9 4

3
0.8
2
0.7
1

0.6 0
b e

0.06 4
starting / full-load torque

0.05
3
full-load slip

0.04

0.03 2

0.02
1
0.01

0 0
0 200 400 600 800 1000 0 200 400 600 800 1000
power, kW power, kW
c f

Fig. 6 Nameplate data used in study

a Full load efficiency
b Rated power factor
c Full load slip
d Starting-full load current
e Maximum-full load torque
f Starting-full load torque depending on mechanical power

IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006 141
 0.03 5

4
0.02

xm , p.u.
3
rs , p.u.

2
0.01
1

0 0
a c

0.05
0.12
0.04

xr , p.u.
0.03 0.08
rr , p.u.

0.02
0.04
0.01

0 0
0 200 400 600 800 1000 0 200 400 600 800 1000
power, kW power, kW
b d

Fig. 7 Single-cage parameter values p.u., depending on mechanical power in induction motor
a Stator resistance rs
b Rotor resistance rr1
c Magnetising reactance xm
d Rotor reactance xr2

Table 4: Estimated single-cage induction motor parameters 4

p.u. (rated power Pk in kW) 630 kW double cage
3 single cage
rs ¼ 0:0264Pk0:3453 rr ¼ 0:0461Pk0:3255
2
xm ¼ 1:4209Pk0:0829 xsd ¼ 0:0625Pk0:0572

0
1.0
single-cage starting torque error

4
torque/full-load torque

0.8 90 kW
3
0.6
2
0.4
1
0.2
0
0
0 200 400 600 800 1000 4
power, kW 11 kW
3
Fig. 8 Distribution of starting torque error of single-cage model
(method 1) as function of motor power 2

The calculated full-load slip is shown as a solid line in 1

Fig. 6c. The influence of the motor mechanical power on
the calculated full-load slip is in very good agreement with 0
1.0 0.8 0.6 0.4 0.2 0
the full-load slip obtained from the catalogue data, slip
represented by dots. Figure 6d shows how the relation
between the starting current and the full-load current varies Fig. 9 Normalised torque curves against slip for double and single-
with motor power. The manufacturer-data dots show that cage models; single-cage parameters calculated by method 1
this relation has little dependence on motor power, and that
it is well approximated by the double-cage model (solid line)
using the proposed parameter estimation. 6 Parameter estimation of single-cage models
Figure 6e shows the relation between the maximum
torque and the full-load torque. The motor power has little Figure 1b shows the single-cage model commonly used in
influence on this relation. Figure 6f shows the relation the literature to simulate the induction motor. Two different
between the starting torque and the full-load torque. When methods have been used to determine the single-cage model
the power increases this relation tends to 1. parameters.
142 IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006
6.1 Method 1 the equations are slightly different from the double-cage
In [7] the single-cage induction motor parameters of Fig. 1b coefficients of Table 2.
have been calculated from the manufacturer data: rated Figure 8 shows the starting torque error resulting when
mechanical power P, reactive power Q and maximum using method 1 to calculate the parameters of the single-
torque TM/TFL.
The electrical parameters of the steady-state equivalent
circuit are Rs, Rr, Xm, Xsd and Xrd. In [8] it is mentioned that 4
only four parameters are independent; hence the relation 630 kW
Xsd ¼ Xrd is used. The stator resistance has been calculated 3
as that of the double-cage model, that is, using the
catalogue value of Rs in the American motors and the 2

relation kr ¼ 0:5 in the European motors. The single-cage

1
parameters rs, rr, xm, xsd, xrd expressed p.u., have thus been
calculated and also using the algorithm of [7]. In Fig. 7 the 0
calculated parameter values are represented with dots and
4
the regression-based equations depending on the rated

torque/full-load torque
power have also been obtained and represented with a solid 90 kW
3
line. The estimated equations for the single-cage induction
model are shown in Table 4. The single-cage coefficients in 2

1.0 0
single-cage max. torque error

4
0.8
11 kW
0.6 3

0.4 2

0.2 1

0 0
0 200 400 600 800 1000 1.0 0.8 0.6 0.4 0.2 0
power, kW slip

Fig. 10 Distribution of maximum torque error of single-cage Fig. 11 Normalised torque curves against slip for double- and
model (method 2) as function of motor power single-cage models; single-cage parameters calculated by method 2

6 6
torque Te / TFL, p.u.
torque Te / TFL, p.u.

4 4
2 2
0 0
−2 −2
−4 double-cage −4 single-cage
−6 −6

9 9
current iabc / √ 2IFL, p.u.

current iabc / √ 2IFL, p.u.

6 6
3 3
0 0
−3 −3
−6 −6
−9 −9

1.2 1.2
speed
m /
FL, p.u.
speed
m /
FL, p.u.

1.0 1.0
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
time, s time, s

Fig. 12 630 kW motor behaviour using double- and single-cage model

Symmetrical voltage sag, duration Dt ¼ 0:4 s, depth h ¼ 0:2

IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006 143
cage model. The error is defined as
TSTd  TSTs
DTSTs ¼ ð4Þ
TSTd
where TSTd and TSTs are the starting torques for the double-
cage and single-cage models, respectively. The error has
been calculated for 608 motors, the manufacturer data have
been obtained from [3–5] and the double-cage parameters
have been calculated using the algorithm of [7]. Figure 8
shows that the starting torque error resulting from the use
of the single-cage model is very high and increases when the
motor power also increases.
Figure 9 compares the torque–slip and current–slip
behaviour of the double-cage model with the parameters
estimated from Table 2 (solid line) and of the single-cage
model with the parameters estimated from Table 4 (dashed
line). This comparison has been made with three rated
powers, 630, 90 and 11 kW (line voltage 400 V). Taking into
account that the common data used in both regression-
based equations are P, Q and TM/TFL, the agreement of the
predicted values of torque and current in the range from the
maximum slip to the synchronous slip is very good.
However, there are important differences in the predicted
7 Dynamic simulation
The parameters for the dynamic equations (Appendix,
Section 12) can be easily obtained from the steady-state
equivalent circuit parameters (3). Using the dynamic
double-cage induction motor model, any transient situation
can be studied, like start-up, change of load, effects of
different faults, etc.
Figure 12 shows the effects of a symmetrical voltage sag
of depth h ¼ 0:2 and duration Dt ¼ 0:4 s produced on the
speed, torque and current of a 630 kW motor. The steady-
state equivalent circuit parameters of the double-cage model
are in Table 3. The single-cage model parameters are
calculated with the method 1 (Table 4). The inertia of the
motor and load in both motors is H ¼ 1 s, the number of
pole pairs is two and the mechanical torque is constant and
has the rated value. The feed voltage is 400 V.
0.010
0.008
0.006

rs, p.u.
values of the starting torque and current. These differences
0.004
are greater in the starting torque for high-power motors.
The p.u. parameters of double-cage induction motors 0.002
must be different for low-power and high-power motors.
0
Since high rated efficiency is essential in high-power motors,
a
whereas in low-power motors this is not an important
requirement. Single-cage induction motors always have a 0.020
lower starting torque than double-cage models. In double-
cage induction motors the upper part of the curve is very 0.016

flat for small power motors, but in high-power motors the

rr 1, p.u.

0.012
torque–slip curve has a marked peak in the maximum
0.008
torque. The differences in shape of the torque–slip curve
and current–slip curve between low-power and high-power 0.004
motors are well predicted with the parameters calculated
0
with the regression-based equations of Table 2.
b

6.2 Method 2 0.2

Figure 10 shows the maximum torque error resulting when
using method 2 to calculate the parameters of the single-
cage model. Method 2 determines the single-cage para-
rr 2, p.u.

meters with the impedances of the no-load test and the 0.1
locked-rotor test, and the measured stator resistance. Once
the impedances Z NL (no-load test) and Z LR (locked-rotor
test) and the stator resistance Rs have been measured, and
0
using the relation Xsd ¼ Xrd , the single-cage parameters are
c
calculated as
50
jXrd
Rr þ ¼ Z LR  Rs ; Xm ¼ ImðZ NL Þ  Xsd ð5Þ 40
2
rFM , p.u.

30
The error at the maximum torque point is defined as
20
TMd  TMs
DTMs ¼ ð6Þ 10
TMd
0
where TMd and TMs are the maximum torques for the 0 100 200 300 400 500
double-cage and single-cage models, respectively. Figure 10 power, kW
shows that the maximum torque error is very high in this d
case. The starting torque error has also been calculated and Fig. 13 Parameters of 22 medium-voltage three-phase induction
is always lower than 0.07. Figure 11 shows that method 2 motors
predicts the starting torque well, but yields a high error in a Stator resistance rs
the maximum torque and the full-load slip. The shape of the b Inner-cage resistance rr1
torque–speed curve for the single-cage model is very c Outer-cage resistance rr2
different from that of the double-cage model (Fig. 11). d Magnetic and mechanical losses rFM

144 IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006
 5 Hence a double-cage induction model is necessary. Regres-
sion-based equations for estimating typical double-cage
4
parameters have been proposed as functions of mechanical
xm , p.u.
3 power and line voltage. The magnitudes that characterise
a squirrel-cage induction motor, e.g. starting current and
2 torque, maximum torque, etc., have been calculated with
1 the double-cage model and compared with the values of 608
motors. The predicted values are in good agreement with
0 the real characteristics of motors of different power. The
a application of the regression-based equations to medium-
0.30
voltage induction motors has been studied and the results
are satisfactory.
0.25

0.20
xr 1, p.u.

0.15
10 Acknowledgment
0.10 The author acknowledges the financial support of the
0.05 ! Interministerial de Ciencia y Tecnolog!ıa (CI-
‘Comision
0
CYT)’ under project DPI2004-0544.
b

0.16 11 References
1 Novotny, D.W., and Lipo, T.A.: ‘Vector control and dynamics of AC
0.12 drives’ (Oxford University Press, New York, 1996), pp. 186–187
2 IEEE Task Force on Load Representation for Dynamical Performance:
xr 2, p.u.

0.08 ‘Standard load models for power flow and dynamic performance
simulation’, IEEE Trans. Power Syst., 1995, 10, (3), pp. 1302–1313
3 Baldor, CD-ROM 2002 Catalogue
0.04 4 http://www.energy.wsu.edu/software. MotorMaster+ ver. 4.0,
Washington State University Energy Program
5 http://energyefficiency.jrc.cec.eu.int/eurodeem. EuroDEEM 2000,
0 European Database of Efficient Electric Motors
0 200 400 600 800 1000 6 Das, J.C.: ‘Effects of momentary voltage dips on the operation of
power, kW induction and synchronous motors’, IEEE Trans. Ind. Appl., 1990, 26,
c (4), pp. 711–718
7 Pedra, J., and Corcoles, F.: ‘Double-cage induction motor parameters
Fig. 14 Parameters of 22 medium-voltage three-phase induction estimation from manufacturers data’, IEEE Trans. Energy Convers.,
2004, 19, (2), pp. 310–317
motors 8 C!orcoles, F., Pedra, J., Salichs, M., and Sainz, L.: ‘Analysis of the
a Magnetising reactance xm induction machine parameter identification’, IEEE Trans. Energy
b Inner-cage reactance xr1 Convers., 2002, 17, (2), pp. 183–190
c Outer-cage reactance xr2 9 Lesenne, J., Notelet, F., and Seguier, G.: ‘Introduction a l’electro-
technique approfondie’ (Technique & Documentation, Paris, 1981)

Figure 12 shows that the single-cage model predicts that 12 Appendix

the voltage sag makes the motor unstable, and the double-
cage model shows that the motor is stable. Figure 9a shows Park’s equations in the synchronous reference of the
that the torque–slip curves of the single- and double-cage double-cage induction motor are expressed in Fig. 15,
630 kW motor are very different when the speed is lower where p is the derivative operator, Y is the number of pair
than the maximum torque slip. of poles and J is the inertia of the motor and load. The
coefficients Rs, Rr1, Rr2, Lsd, Lr1, Lr2 and M are calculated
from the steady-state parameters with (3).
8 Parameters estimation of medium-voltage 2 3 2
motors vsd R s þ Ls p Ls o Mp
6v 7 6 L o R þ L p Mo
6 sq 7 6 s s s
The parameters of 22 medium-voltage (4160 V) three-phase 6 7 6
6 0 7 6 Mp Mso Rr1 þ Lr1 p
induction motors whose data has been obtained from [3] 6 7 ¼6
6 0 7 6 Mso Mp Lr1 so
and the algorithm of [7] are represented with dots in 6 7 6
6 7 6
Figs. 13 and 14. The parameter values estimated by the 4 0 5 4 Mp Mso Mp
equations of Table 2 are represented with a solid line in
0 Mso Mp Mso
Figs. 13 and 14. Although the regression-based equations of 32 3
Table 2 have been obtained with low-voltage induction Mo Mp Mo isd
motor data, the calculated and estimated induction motor Mp Mo Mp 76 isq 7
76 7
parameters values are in good agreement because the 76 7
Lr1 so Mp Mso 76 ir1d 7
regression-based values (solid line) are within the dispersion 76 7
Rr1 þ Lr1 p Mso Mp 76 i 7
of the calculated parameters from the catalogue data. The 76 r1q 7
parameter with the lowest agreement is the resistance 76 7
Mso Rr2 þ Lr2 p Lr2 so 54 ir2d 5
associated with magnetic and mechanical losses.
Mp Lr2 so Rr2 þ Lr2 p ir2q
9 Conclusions
1
pom ¼ ðTe  Tr Þ
It has been proved that the single-cage model is not a good J
model for representing the squirrel-cage induction motor. Fig. 15 Double-cage induction motor dynamic equations

IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006 145
 The slip is defined by where the coefficients depend on the type of load: constant
s ¼ ðo  }om Þ=o; o ¼ 2pf ð7Þ load k0, linear load k1 and quadratic load k2. The inertia J
usually is defined through the inertia constant H
where om is the speed motor. The motor torque Te is
defined by J ð2pf Þ2
Te ¼ }Mðisq ðir1d þ ir2d Þ  isd ðir1q þ ir2q ÞÞ ð8Þ H ¼ ð10Þ
2}2 P
and the resistive torque is defined by
Note that in (8) a normalised Park’s transformation has
Tr ¼ k0 þ k1 om þ k2 o2m ð9Þ been used [9].

146 IEE Proc.-Gener. Transm. Distrib., Vol. 153, No. 2, March 2006