A Simple and Efficient Method to Simulate Induction Machines with
Rotor Asymmetries
Carla C. Martins Cunha
Universidade Federal do Esphito Santo - UFES
Departamento de Engenbaria Elbmca
CaixaPostal01.9011
Vit6ria, ES 29060-970
BRAZIL
cmlo@cpdee.ufig. br
Absfract - The need for detection of rotor faults at an earUer
stage, so that maintenance can he planned ahead, has pushed the
development of monitoring metho& with increasing sensitivity
and noise immunity. An important issue in snch effort is the
m o d e w of the induetion machine including rotor bar and end-
ring faulb, with a minimum of compntational complexity. In
this paper, it is introduced a new and simpler approach for the
modelling and computer simulation of indnction machines with
rotor wymmetries. This approach is based on the well-known dq
transient model of the sjmmebicd machie, with rotor
nsymmeMes introduced throngh a h e a r transformation of the
extended rotor cnrrent vector. Simulation results previonaly
presented in the literatore are repmdnced to snpport the
proposed approach.
I. INTRODUCTION
Rotor bar and end-ring faults yield asymmetrical operation
of induction machines, causing unbalanced currents, torque
pulsation, increased losses and decreased average torque [l].
The need for detection of rotor faults at an earlier stage, so
that maintenance can be scheduled, has pushed the
development of monitoring methods with increasing
sensitivity and noise immunity. An issue that is an important
part of such effort is the modeling of the induction machine
including rotor bar and end-ring faults to any extent, with a
minimum of c o m p ~ t a t i o complexity.
~l Benefit fiom such
modeling approach is twofold development of monitoring
algorithms and deeper understanding of the rotor faults and
their propagation mecbanism.
The classical model employed in the simulation of faulty
rotor cages, is based on the modeling of individual
conductors in the rotor cage by R-L series circuits, with
current loop defined by two adjacent rotor bars connected by
a portion of the end-ring. So, for a n rotor bars machine, the
classical approach leads to a hansient model with a total of
n+3 coupled simultaneous differential equations [I]. Such a
model is quite complex from both development (dependent
on the number of rotor bars) and computer solution
PefiPectiVES.
In 121, it is proposed an alternative approach based on
coupled magnetic circuit theory and complex space-vector
notation to represent individual rotor bars and end ring
02003 IEEE
0-7803-7817-203617.00
Braz J. Cardoso Filho
Universidade Federal de Minas Gerais - UFMG
Departamento de Engenharia El&trica
AV. Ant6nio Carlos. 6627
Belo Horizoute. MG 31270-010
BRAZIL
cardosob@cpdee.ufing.br
sections in an induction motor. It is shown that it is possible
to develop a model of the induction machine with stluctural
symmeby using only four coupled differential equations, i.e.,
the classical dq model and still be able to compute current
and voltage on each rotor bar and end-ring sections, through a
linear transformation of the rotor current vector. Futher
investigation of this approach suggested the application of its
basis in the modeling and simulation of rotor asymmetries.
In this paper, it is introduced a new and simpler approach
for the modelling and computer simulation of induction
machines with rotor asymmetries. This approach is based on
the well-hown dq model for the symmetrical machine. Rotor
asymmetries are introduced through a linear transformation
of the extended rotor current vector (direct and quadrature
axis components plus n zero-sequence components) to the n-
Iwp rotor space, where the specified asymmetry is included.
The dq components of the rotor current including the
asymmetty are then generated through the inverse
transformation and fed to the induction motor integration
algoritbm. The model is always of fourth order (independent
of the number of rotor bars!) and the rotor current
transformation matrix only depends on the number of rotor
bars and can be computer generated.
A detailed explanation of the model derivation is presented
along with a full set of simulation plots for several rotor fault
situations. Simulation results previously presented in the
literature are reproduced to suppart the proposed approach. It
is also expected some experimental results in future work.
II. THE ASYMMETRIC ROTOR INDUCTION MOTOR
MODEL
A. Symmehic Motor Model
Given the structural symmeity of the rotor, it is convenient
to model the n-bar cage through n identical magnetically
coupled loops. One particular advantage of this approach is
that it is applicable to rotors with both integer and non-integer
number of bars per pole. For simplicity, each loop is defined
by two adjacent rotor bars and the connecting portions of the
end rings between them [I].
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 Fig. I -Rotor cage equivalentc h i t [Z].

For the purpose of analysis, each rotor bar and segment of r, = equivalent stator resistance;
end ring is replaced by a R-L series equivalent circuit r, = equivalent rotor resistance;
representing the resistive and inductive nature of the cage. It Lb = stator leakage inductance ;
is also convenient to cany out the analysis using mesh L,, = stator leakage inductance ;
currents as the independent variables. Such an equivalent L, = mapetizinginductance.
circuit is shown in Fig.1.
Assuming the rotor of a squirrel cage induction machine to
be symmetric, an equivalent model of a wound-rotor machine B. Roior Current Tronformaiion
may be obtained, leading to the following equations, in a In general, all n-loop rotor aments (ir,, i,= ....i,,) are
synchronously rotating dq reference 6ame [3]: mapped into a n-dimensional vector space. new space
vector is defmed by the T transformation (Appendix 1) such
that:
v, = r, .i;, + p . q s + we.& (01)
v, =r,.ik +pJzk,-we4, (02)
vq, = o = rr.i: + p ~ - o,In:,
. + (we (03)
va = 0 = rr.i2+ p.n> - (oe -0, )A> (04)

Where:
i ’ , ~is the real part of the rotor current complex vector @);
i’,I is the imaginary part of the rotor current complex
vector &);
iL ,,,is the zero-sequence componentsof the rotor current
complex vector a).
Thus, i ’ , ~ and ih are the d and q components,
Where: respectively, of the rotor current complex vector a).
If the
P = numberofpoles; rotor cage is symmetric, the zero sequence components of the
or = rotorspeed; vector b vanish. Conversely, in the presence of a rotor
T, = torque; asymmetIy, some zero sequence components are not zero.

704
C. Modelling of Rotor Asymmem'es .
The proposed method to model rotor asymmetries is
straigbtfomard. The motor with rotor asymmetries is still
modelled by the equations (01) - (09), but, in each iteration,
the rotor loop currents (iH)will be determined and modified
to account for the asymmetry.
The rotor current complex vector a) is computed fiom the
symmetric motor model. With & referred to a rotor fixed
reference frame, the n-loop rotor currents (in) are then
computed as (I 1):
The next step is the introduction of the rotor asymmetry.
Without loss of generality, let us assume that the P bar is
broken. The null m t through this bar is obtained by
modifying the n-loop rotor current vector as shown in (12):
1 i:
Finally, the new n-dimension rotor current complex vector
& is detamined (13). and fed back to the induction motor
integration algorithm. Note that only the components t(1)
and g 2 ) (ib and isn mqectively) are used in the symmetric
model. Note also that the zero-sequence components are not
all zero in this case. For the assumed condition (b? bar is
broken). the new n-dimension rotor current complex vector is
given by
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III. SIMULATIONS RESULTS
A. Simplijied Model
Let us assume that rotor equivalent phase currents, in
steady state operation, are symmetric and 1.0 pu of
amplitude. The rotor current complex vector & is given by
I, = ih + j.i, (14)
Assuming the stator phase currents are also symmetiic and
with 1.0 pu amplitude, then
L = ik + j i , (15)
Finally, as in (OS), the torque will be proportional to
Figs. 2 and 3 were obtained assuming the stator current
vector leads the rotor current vector by x/Z. It was assumed a
four-pole machine with a 28 bars rotor cage. Both figures
show plots of the torque deviation (17) and correspond to
faults in bars 8 and in bars 8 and 9, respectively. Note that
rotor bar number 1 is the one at the reference position at t = 0
and bar number increase in the counter clockwise direction,
as shown in Fig.4.
AT = T -T
e e,- e.-
The results shown in Figs. 2 and 3 are similar to the ones
indicated in [4], fiom the Vienna Monitoring Method. The
local mini" in the torque deviation plots versus the
position of the rotor flux space vector indicates tbe location
of the broken bar. Note also the redundant indication of the
bar location, due to the difference between the real rotor
circumference and the electric rotor space [4].

Fig.2 -Torque deviation for steadystate operarion when barnumber 8 is
broken.
Fig.4 - Rcpreotation of broken bars [I].
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B. Induction Motor Model
Figs S(a) to 7(a) show simulation results for a 2.0 cv,
60&, 4 pole, 380V, 3.62A induction machine (parameten
listed in appendix 2). It is assumed in this simulation that the
rotor bar number 8 is broken. Symmetric and asymmetric
rotor operations are compared assuming operation under
constant slip frequency. In this example, the slip frequency is
set at 1.53 Hz (rated slip frequency). This leads to
approximately 8.0 Nm (rated motor torque) for symmetric
rotor operation. On the other hand, Figs. 5 0 ) to 7@) present
simulation results for the same motor described above in the
case of rotor bars number 8 and 9 are at fault. Rotor bar
number 1 is the one at the reference position at t = 0. and bar
numbers increase in the counter clockwise direction, as
shown in Fig.4. The torque deviation is plotted as a function
of the rotor bar number in Fig. 5.
(a)
Fig5 -Torque deviation v- rotor bar number. (a) Bar no. 8 at fault. (a)
Bars no. 8 arrd 9 at fault.
 These plots correspond to the output of the Vienna
Monitoring Method 141, used here to verify the proposed
modelling technique. The local mini" in the torque
deviation indicates the location of the broken bar. Note also
the redundant indication of the bar location, due to the
difference between the real rotor circumference and the
electric rotor space.
Tbe rotor flux space phasor, excited by both stator and
rotor currents, is affected by a double slip frequency
modulation [Ip].This modulation,resultsin distortion of the
stator terminal quantities, which corresponds to the well-
known side-band fiequencies in steady state (Fig. 6).
Fig. 7 shows the current distribution in the rotor for the two
cases described before. As it has been reported previously in
the literature, the current through the bars adjacent to the
faulty one increases. The larger current implies extra stress on
the adjacent bars, potentially propagating the fault. This result
also demonstrates the proper operation of the proposed
simulation method.

.. -...........
......... .
. . ,.

b6 Ili Y $4 bll tu 61 bl h3 w k3 @)
"wimi
Fig.7-Surrmrefdmtabincumnt di&batim.(a)Barno.Sal 1 fault.
(4 @) Bars no. 8 and 9 a1 fault.

. . .
N.CONCLUSIONS
In this paper, it has been presented a method suitable for
computer simulation of induction machines with rotor
asymmetries. The method is based on the classical fourth
order transient model for symmetrical induction machines,
with additional wmputation limited to the transformation of
the rotor current vector to a rotor fixed reference 6ame and
the application of linear transformations the extended rotor
current vector. Proper operation of the proposed method has
been wmborated through simulation of an induction motor
with rotor asymmetry, matching results previously published
in the literature.
Fig6 -Stator m f f"cy spectrum. (a) Bar no. 8 at faull
@) Bars no. 8 and 9 at f a d L

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 APPENDIX 1 - THE TRANSFORMATION T Taking z, =I and z3= z5=...zp0, z,, and zr2 are
determined, and the fourth vector of the null space is
The T transformation is generated for from a very simple
calculated as:
algorithm. The fust two lines correspond to a n phase d,q
transformation,plus a constant. That is
[z4, 242 0 1 '.' 01

Finally, the remaining linearly independent vectors are

determined at the same manner.

APPENDIX2 - MOTORPARAMETERS
Since the vectors formed by the first two lines are linearly
independent, the null space of this 2xn sub-matrix has 2.0 cv, 60Hz,4 pole, 380V, 3.62A
dimension (n-2).A base for the null space is defmed by (n-2)
z
linearly independent vectors , such that Tdg = 0. Taking n = 28
P = 4
J
mm
=
=
0.0045 kg. m2
17541pm
e equal to zero,for simplicity, L, = 254.97mH
4 = 9.92 mH L',, = 9.92mH
r, = 6.615 R r' = 2.065 Cl

Thus: REFERENCES
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TrrmrOerions on En- Cowrrion, vol.10. no. 2, Imc 1995, pp.
241-247.
[2] MuEoz, AR and L i p , TA. "Complex Vactor Modcl of Squirrel-
Cage Induction Machine Including Iostanimeow Rotor Bar clmcnts".
IEEE TrmrroCriom on h d w q Applicaiom, ~01.35,m.6. November/
Dcccmbcr 1999, pp. 1332-1340.
[3] Novoay, D.W.and Lip, T A . Vector Conlml m r d m i c r ofAC
Note that z3, z* ..., zn can be arbitrarily chosen. Making Dive. Oxford University Pnsr Inc.. New York. 1598.
ZFI and z4= z~...z.=O, 23, and z3>are then determined, Kral Cq Wicsa, RS., Pirks, F. and sehaggings, M.."Scqumcco of
resulting in the third vector of the null space [4]
FiddOricnied Control for the Detection of Faulfy RaM B w in
Induction Machines - ?he Vie" MOnirning Mahod". LEEE
Trmmtiiom on Indwrhinl Elcclmnics, voL47, no. 5, octobcr 2000,
[z3, z,* 1 0 ..' 01 (-44) pp. 1042-1050.

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