Dynamic Model of

Induction Machine
 WHY NEED A DYNAMIC MODEL?

• In an electric drive system, the machine is part

of the control system elements

• To be able to control the dynamics of the drive

system, dynamic behavior of the machine need
to be considered

• Dynamic behavior of IM can be described

using dynamic model of IM
 WHY NEED A DYNAMIC MODEL?,CONTD..

• Dynamic behavior of IM can be described by

differential equations with time varying coefficients

• Dynamic model is complex due to magnetic

coupling between stator phases and rotor phases

• Coupling coefficients vary with rotor position –

rotor position varies with time
 DYNAMIC MODEL, 3-PHASE MODEL
Magnetic axis of
phase B ibs
a

b’
c’ Magnetic axis of
phase A

b ias

c
ics Simplified
a’
equivalent stator
Magnetic axis of winding
phase C
DYNAMIC MODEL – 3-phase model

stator, b

rotor, a
r
rotor, b
stator, a

rotor, c

stator, c
 DYNAMIC MODEL – 3-phase model

Let’s look at phase a

Flux that links phase a is caused by:

• Flux produced by winding a

• Flux produced by winding b

• Flux produced by winding c

 DYNAMIC MODEL – 3-phase model

Let’s look at phase a

The relation between the currents in other phases

and the flux produced by these currents that linked
phase a are related by mutual inductances
• Flux produced by winding b
• Flux produced by winding c
 DYNAMIC MODEL – 3-phase model

Let’s look at phase a

as  as,s  as,r

Mutual induct
between pha
and phase c

L asias  L absibs  L acsics L as,ariar  L as,bribr  L as,cr icr

Mutual inductance
Mutual inductance between phase a of stator
between phase a and and phase b of rotor
Mutual inductance phase c of stator
between phase a and
phase b of stator Mutual inductance
between phase a of
stator and phase a
 DYNAMIC MODEL – 3-phase model

vabcs = Rsiabcs + d(abcs)/dt - stator voltage equation

vabcr = Rrriabcr + d(abcr)/dt - rotor voltage equation

 v as  i as   as 
v abcs   v bs  i abcs  i bs  abcs  bs 
 v cs  i cs   cs 

 v ar  i ar   ar 
v abcr   v br  i abcr  i br  abcr  br 
 v cr  i cr   cr 

• abcs flux (caused by stator and rotor currents) that

links stator windings
• abcr flux (caused by stator and rotor currents) that
links rotor windings
 DYNAMIC MODEL – 3-phase model

abcs  abcs,s  abcs,r

abcr  abcr,r  abcr,s

Flux linking stator winding due to stator current

 L as L abs L acs  i as 
abcs,s  L abs L bs L bcs  i bs 
 L acs L bcs L cs  i cs 

Flux linking stator winding due to rotor current

 L as,ar L as, br L as,cr  i ar 
 
abcs, r  L bs ,ar L bs , br L bs ,cr  i br 
 L cs,ar L cs, br L cs,cr  i cr 

 DYNAMIC MODEL – 3-phase model

Similarly we can write flux linking rotor windings caused by rotor and stator currents:

Flux linking rotor winding due to rotor current

 L ar L abr L acr  i ar 
abcr, r  L abr L br L bcr  i br 
 L acr L bcr L cr  i cr 

Flux linking rotor winding due to stator current

 L ar,as L ar, bs L ar,cs  i as 

 
abcr,s  L br ,as L br , bs L br ,cs  i bs 
 L cr,as L cr, bs L cr,cs  i cs 

 DYNAMIC MODEL – 3-phase model

Combining the stator and rotor voltage equations,

é é ùé
vas ù ê Rs + pLas pLabs pLacs pLas,ar pLas,br pLas,cr
úê ias ù
ê ú ú
ê vbs ú ê pLabs Rs + pLbs pLbcs pLbs,ar pLbs,br pLbs,cr úê ibs ú
ê ú ê úê ú
ê vcs ú ê pLacs pLbcs Rs + pLcs pLcs,ar pLcs,br pLcs,cr úê ics ú
=ê úê
ê var ú pLar,as pLar,bs pLar,bs Rr + pLar pLar,br pLar,cr iar ú
ê ú ê úê ú
ê vbr ú ê pLbr,as pLbr,bs pLbr,cs pLbr,ar Rr + pLbr pLbr,cr úê ibr ú
ê ê úê
ë vbc úû ê pLcr,as pLcr,bs pLcr,cs pLcr,ar pLcr,br Rr + pLcr úûë icr úû
ë

p is the derivative operator , i.e. p = d/dt

DYNAMIC MODEL – 3-phase model
Magnetic axis of
winding y
x
y
Windings x and y, with Nx and Ny
Magnetic axis of
number of turns, separated by α
winding x
y’

x’

It can be shown that the mutual inductance between winding x and y is

y xy æ rl öæ p ö
Lxy = = mo N x N y ç ÷ç ÷ cos a
Ix è g øè 4 ø
DYNAMIC MODEL – 3-phase model

y xy æ rl öæ p ö
Lxy = = mo N x N y ç ÷ç ÷ cos a
Ix è g øè 4 ø
• To get self inductance for phase a of the stator let Nx = Ny = Ns and α = 0
æ rl öæ p ö
Lam = mo N ç ÷ç ÷
2
s
è g øè 4 ø
• If we consider the leakage flux, we can write the self inductance of phase a of the
stator Las = Lam + Lls

Las Self inductance of phase a

Lam Magnetizing inductance of phase a
Lls Leakage inductance of phase a
DYNAMIC MODEL – 3-phase model

Due to the symmetry of the windings, Lam = Lbm = Lcm ,

Hence
Las = Lbs = Lcs = Lms + Lls

• The magnetizing inductance Lms, accounts for the flux produce by the
respective phases, crosses the airgap and links other windings

• The leakage inductance Lls, accounts for the flux produce by the
respective phases, but does not cross the airgap and links only itself
DYNAMIC MODEL – 3-phase model

• It can be shown that the mutual inductance between stator

phases is given by:

2  rl 
L abs  L bcs  L acs   oNs    cos 120 o
 g  4 

2  rl   Lms
L abs  Lbcs  L acs   oNs     
 g  8  2
DYNAMIC MODEL – 3-phase model

The mutual inductances between stator phases can be written in

terms of magnetising inductances

 L ms L ms 
L ms  L ls 
2

2  ias 
 L 
L  
abcs,s    ms L ms  L ls  ms  ibs 
 2 2 
 L ms L ms  ics 
  2  L ms  L ls 
 2 
DYNAMIC MODEL – 3-phase model

y xy æ rl öæ p ö
Lxy = = mo N x N y ç ÷ç ÷ cos a
Ix è g øè 4 ø
Self inductance between rotor windings is when Nx = Ny = Nr and α = 0
æ rl öæ p ö æ N 2 ö æ ö æ ö æ ö
2

Lmr = mo N ç ÷ç ÷ = ç r ÷ mo N s2 ç rl ÷ç p ÷ = ç N r ÷ Lms
2
r
è g øè 4 ø è N s2 ø è g øè 4 ø è N s ø
• The mutual inductances between rotor phases can be written in
terms of stator magnetising inductances
é ù
æ ö æ ö æ ö
2 2 2
ê N N L N L ú
ç r
÷ Lms + Lls - ç r ÷ ms - ç r ÷ ms
ê èN ø è Ns ø 2 è Ns ø 2 ú
ê s
úé i ù
ê æ N r ö Lms
2
æ Nr ö
2
æ N r ö Lms
2
úê as ú
Y abcr,r = ê -ç ÷ ç ÷ Lms + Lls -ç ÷ úê ibs ú
ê N
è sø 2 N
è sø è Ns ø 2 úê ú
ê úêë ics úû
æ ö æ ö æ ö
2 2 2
ê N L N L N ú
ê -ç N ÷ 2 - ç r ÷ ms ç r ÷ Lms + Lls
r ms
ú
êë è sø è Ns ø 2 è Ns ø úû
 DYNAMIC MODEL – 3-phase model

The mutual inductances between the stator and rotor

windings depends on rotor position

y xy æ rl öæ p ö
Lxy = = mo N x N y ç ÷ç ÷ cos a
Ix è g øè 4 ø

Self inductance between phase a of rotor and phase a of stator is when

Nx = Ns , Ny = Nr and α = θr

æ rl öæ p ö æ Nr ö æ ö
2 rl æ p ö
æ Nr ö
Las,ar = mo N s N r ç ÷ç ÷ cosq r = ç ÷ mo N s ç ÷ç ÷ cosq r = ç ÷ Lms cosq r
è g øè 4 ø è Ns ø è g øè 4 ø è Ns ø
 DYNAMIC MODEL – 3-phase model

The mutual inductances between the stator and rotor

windings depends on rotor position

 cos r


cos r  2
3
 
cos r  2
3
 i 
    i
ar
Nr 
abcs ,r  L ms cos r  2 cos r cos r  2 br 
3 3
Ns 

cos r  2 3  
cos   2
r 3
 cos r  i cr 

 cos r


cos r  2
3
 
cos r  2
3
 i 
    i
as
Nr 
abcr ,s  L ms cos r  2 cos r cos r  2 bs 
3 3
Ns 

cos r  2 3  
cos   2r 3
 cos r  i cs 
 DYNAMIC MODEL – 3-phase model

 cos r


cos r  2
3
 
cos r  2
3
 i 
    i
ar
Nr 
abcs ,r  L ms cos r  2 cos r cos r  2 br 
3 3
Ns 

cos r  2 3  
cos   2
r 3
 cos r  i cr 
 DYNAMIC MODEL – 3-phase model

 cos r


cos r  2
3
 
cos r  2
3
 i 
    i
ar
Nr 
abcs ,r  L ms cos r  2 cos r cos r  2 br 
3 3
Ns 

cos r  2 3  
cos   2
r 3
 cos r  i cr 

stator, b

rotor, a
r
rotor, b
stator, a

rotor, c

stator, c
 Park’s Transformation
The Park’s transformation is a three-phase to two-phase transformation for
synchronous machine analysis. It is used to transform the stator variables of a
synchronous machine onto a dq reference frame that is fixed to the rotor.

The +ve d-axis is aligned with the magnetic axis of the field winding and the +ve q-axis
is defined as leading the +ve d-axis by /2.
 DYNAMIC MODEL, 2-PHASE MODEL

• It is easier to look on dynamic of IM using two-phase

model. This can be constructed from the 3-phase
model using Park’s transformation

Three-phase Two-phase equivalent

There is magnetic coupling There is NO magnetic

between phases coupling between phases
 DYNAMIC MODEL – 2-phase model

• It is easier to look on dynamic of IM using two-phase

model. This can be constructed from the 3-phase
model using Parks transformation

stator, b
stator, q
r
r rotating rotating

rotor, 
rotor, a
r
rotor, b rotor,  r
stator, a stator, d

rotor, c

stator, c
Three-phase Two-phase equivalent
 DYNAMIC MODEL – 2-phase model

• It is easier to look on dynamic of IM using two-phase

model. This can be constructed from the 3-phase
model using Parks transformation

stator, q
r
However coupling still exists between rotating
stator and rotor windings
rotor, 

rotor,  r
stator, d

Two-phase equivalent
 DYNAMIC MODEL – 2-phase model

• All the 3-phase quantities have to be transformed to 2-

phase quantities

• In general if xa, xb, and xc are the three phase quantities, the
space phasor of the 3 phase systems is defined as:

2

x  x a  ax b  a 2 x c
3
 , where a = ej2/3

x  x d  jx q

2
  2 1 1 
x d  Re x   Re  x a  ax b  a 2 x c    x a  x b  x c 
3  3 2 2 
2
 
 1
x q  Imx   Im  x a  ax b  a 2 x c   x b  x c 
3  3
 DYNAMIC MODEL – 2-phase model

• All the 3-phase quantities have to be transformed into

2-phase quantities

is 
2
3

i a  ai b  a 2 i c  is  i ds  ji qs

ai b 2
ai b q
2 3
ia
3 ids d
ia

2 2 i qs is
a ic
is 3

2
a ic

ids  Re is  Re  ia  aib  a 2ic    ia  ib  ic 
2  2 1 1 
3  3 2 2 


iqs  Im is  Im ia  aib  a 2ic  
2
3
 1
ib  ic 
  3
 DYNAMIC MODEL – 2-phase model

• The transformation is given by:

i
 d  2
3  1
3  13  ia 
i   0 1 1  
 3  i b  For isolated neutral,
 q  3 ia + ib + ic = 0,
io   13 1
3
1  
3  ic 
i.e. io =0

idqo = Tabc iabc

The inverse transform is given by:

iabc = Tabc-1 idqo

 DYNAMIC MODEL – 2-phase model

IM equations :
3-phase 2-phase
vabcs = Rsiabcs + d(abcs)/dt vdq = Rsidq + d(dq)/dt

vabcr = Rrriabcr + d(abr)/dt v = Rrri  + d( )/dt

stator, q
r
rotating

rotor, 

rotor,  r
stator, d
 DYNAMIC MODEL – 2-phase model

vdq = Rsidq + d(dq)/dt Express in stationary frame

v = Rri  + d( )/dt Express in rotating frame

where,
dq  dqs,s  dqs,r

   r ,r   r ,s

L dd L dq  i ds  L d L d  ir 
dqs,s  dqs,r 
L qd L qq  i qs 
L q L q  ir 

L  L   ir  L d L q  ids 
 r ,r   r ,s 
L  L   ir  L  d L q  iqs 
 DYNAMIC MODEL – 2-phase model

Note that:

Ldq = Lqd = 0 L = L = 0

Ldd = Lqq L = L

The mutual inductance between stator and rotor depends on rotor

position:

Ld = Ld = Lsr cos r Lq = Lq = Lsr cos r

Ld = Ld = - Lsr sin r Lq = Lq = Lsr sin r

 DYNAMIC MODEL – 2-phase model

stator, q
r
rotating

rotor, 

rotor,  r
stator, d

Ld = Ld = Lsr cos r Lq = Lq = Lsr cos r

Ld = Ld = - Lsr sin r Lq = Lq = Lsr sin r

 DYNAMIC MODEL – 2-phase model

In matrix form this an be written as:

 v d   R s  sL dd 0 sL sr cos r  sL sr sin r  isd 

    
vq    0 R s  sL dd sL sr sin r sL sr cos r  isq 

v    sL sr cos r sL sr sin r R r  sL  0  ir 
     
 v    L sr sin r sL sr cos r 0 R r  sL  ir 

• The mutual inductance between rotor and stator depends on

rotor position
 DYNAMIC MODEL – 2-phase model

The mutual inductance can be made

independent from rotor position by
expressing both rotor and stator in
stator, q
the same reference frame, e.g. in the
stationary reference frame
rotor, q
rotor, d stator, d r

Both stator and rotor

rotating or stationary

Magnetic path from stator linking the

rotor winding independent of rotor
position  mutual inductance
independent of rotor position
 DYNAMIC MODEL – 2-phase model

How do we express rotor current in stator (stationary) frame?

ir 
2
3

ira  airb  a 2irc  ir is known as the space vector of
the rotor current

In rotating frame this can be written as: i r  i r e jr

 qs In stationary frame it be written as:

ir
r
i rs  i r e jr  
irq 
j
r

 ir e
ird
ds  ird  jirq
 DYNAMIC MODEL – 2-phase model

If the rotor quantities are referred to stator, the following can be

written:
v sd  R s  sL s 0 sL m 0  isd 
     
v sq    0 R s  sL s 0 sL m  isq 

 v rd   sL m r L m R r ' sL r r L r   ird 
     
 v rq    r L m sL m  r L r R r ' sL r   irq 

Lm, Lr are the mutual and rotor self inductances referred to stator, and Rr’ is
the rotor resistance referred to stator

Ls = Ldd is the stator self inductance

Vrd, vrq, ird, irq are the rotor voltage and current referred to stator
 DYNAMIC MODEL – 2-phase model

It can be shown that in a reference frame rotating at g, the

equation can be written as:

v sd   R s  sL s  gL s sLm  gL m  isd 

     
v sq    gL s R s  sL s gL m sL m   isq 
 v rd   sL m  (g  r )L m R r ' sLr  (g  r )L r   ird 
     
 v rq  (g  r )L m sLm (g  r )L r R r ' sL r   irq 
 DYNAMIC MODEL  Space vectors

IM can be compactly written using space vectors:

d  g
v sg  R s isg  s
 j g  sg sg  L s isg  L m i rg
dt

d rg  rg  L r i rg  L m isg
0  R r i rg   j(g  r ) rg
dt

All quantities are written in general

reference frame
 DYNAMIC MODEL  Torque equation

Product of voltage and current conjugate space vectors:

vs is* 
2
3

v as  av bs  a 2 v cs
2
3
 
i as  a 2i bs  aics 

It can be shown that for ias + ibs + ics = 0,

 
2
Re v i  v as i as  v bs i bs  v cs i cs 
*
s s
3

Re[ vs is* ]
3
Pin = ( v as ias + v bs ibs + v cs ics ) =
2
 DYNAMIC MODEL  Torque equation

Pin = Re[ vs is ] = Re[ (v d + jv q )(id - jiq )] = [ v d id + vq iq ]

3 * 3 3
2 2 2
v d  i d 
If v  and i 
v q  i q 

3 t
Pin  i v
2
Re[ vs is* ]
3
Pin = ( v as ias + v bs ibs + v cs ics ) =
2
 DYNAMIC MODEL  Torque equation

The IM equation can be written as:

[] [] [ ] []
v = R i+ L si+ G wr i+ F w g i

The input power is given by:

i V = [ it [ R] i + it [ L]si + it [G ] w r i + it [ F] w g i]
3 t 3
pi =
2 2

Power
Power
Rate of change Mech power associated with
Losses in winding g – upon
of stored expansion gives
resistance
magnetic energy zero
 DYNAMIC MODEL  Torque equation

3 t
p mech = w m Te = i [G ] w r i
2

v sd   R s  sL s  gL s sLm  gL m  isd 

     
v sq    gL s R s  sL s gL m sL m   isq 
 v rd   sL m  (g  r )L m R r ' sLr  (g  r )L r   ird 
     
 v rq  (g  r )L m sLm (g  r )L r R r ' sL r   irq 

 0 0 0 0  isd 
 0  
 0 0 0  isq 

 0 r L m 0 r L r   ird 
   
 r L m 0  r L r 0   irq 
 DYNAMIC MODEL  Torque equation

3 t
p mech = w m Te = i [G ] w r i
2
t
i sd   0 
   
3 i sq  0
m Te   
2  ird   L misq  L r irq  r
   
 irq   L i 
 m sd r rd L i

We know that m = r / (p/2),

L m ( isq ird - isd irq )

3p
Te =
22
 DYNAMIC MODEL  Torque equation

Te =
3p
22
( )
L m Im is ir'*

but s  L s is  L m ir  L m ir  s  L s is

Te =
3p
22
(
Im is ( y*s - L s i*s ) )

\ Te =
3p
22
Im is ys
Te =
*
( )
3 p
L m ( sq rd
i i - T
i e i=
3p
sd rq ) 2 2
ys ´ is
22
 DYNAMIC MODEL
Simulation

Re-arranging with stator and rotor currents as state space

variables:

isd   Rs Lr  r L2misq  Rr Lm  r Lm Lr  isd   Lr 0 

       0
isq   1  r Lm
2
Rs Lr r Lm Lr  Rr Lm  isq  1   Lr  vsd 
  2  
ird  L2m  Lr Ls   Rs Lm r Lm Ls Rr Ls r Lr Ls  ird  Lm  Lr Ls  Lm 0  vsq 
       
irq   r Lm Ls  Rs Lm  r Lr Ls Rr Ls  irq   0 Lm 

The torque can be expressed in terms of stator and rotor currents:

dw m
L m [ isq ird - isd irq ]
3p
Te = Te - TL = J
22 dt