106 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL 21.

NO I , J A N U A R Y / F E B R U A R Y 198R

Digital Computer Simulation of Three-phase

Induction Machine Dynamics-A
Generalized Approach
SAYEED NURUL GHANI

Abstract-A new unified and universally applicable method is pro-
posed for simulating the dynamic behavior of a large, interconnected,
nonlinear, time-varying physical system containing one or more three-
phase induction machines as subsystems. The total system may also
contain static power conversion, conditioning, or control equipment in
which switching is achieved by devices of one kind or another. The
procedure is simple yet accurate and independent of any specific system.
A new time-domain static network model of a three-phase induction
motor of wound rotor variety is presented. The model can account for
unbalance on both sides of the airgap provided the structure of the
windings remains unaltered. It has inherent capability for accounting iron
losses as well. Similar network models can also be derived to represent a
machine with asymmetrical internal faults that split one or more phases,
on either or both sides of the airgap, into multiple sections with or
without interconnections. A previously published model of a triac has
also been extended.
I. INTRODUCTION
P OWER electronic equipment containing solid-state
switching devices is nowadays almost universally used for
controlling the speed of induction machines [I]. Development
of a new product or a system often involves expensive trial-
and-error experimentation with costly prototypes. The less is
known about a device or a system the greater is the number of
prototypes required. Hence implementation of a fresh idea into
a useful new product is usually an expensive, long, tedious,
and involved process. A scientifically sound approach to models, b) analogue computer simulation of dynamic models,
accurate simulation of expensive prototypes, using advanced c j dynamic models for small perturbations and transfer
applied mathematical modeling techniques and solution proce- functions, and d j solutions for dynamic behavior in closed
dures, allows realization of preferred designs with minimum symbolic form.
time, expenditure, and effort.
To determine the ratings of the components used in power
electronic equipment it is essential to know, amongst other
things, the worst-case instantaneous voltages and currents at large interconnected physical system containing one or more
various parts of the system. They should be evaluated for both induction machines. The system may contain, among other
Paper IPCSD 87-22, approved by the Electric Machines Committee of the
IEEE Industry Applications Society for publication in this TRANSACTIONS.
This work supported by Lucas Research Centre, Solihull, West Midlands,
B90 4JJ U.K. Manuscript released for publication May 1, 1987.
The author is with the Department of Electrical and Electronic Engineering,
Newcastle Upon Tyne Polytechnic, Newcastle Upon Tyne, NE1 8ST, U.K.
IEEE Log Number 8716205.
normal and faulty operation, ideally by simulating the entire
system. Also the effects of control loops on the transient and
steady-state performance of the total system can be rapidly
evaluated from the results of simulation. If the performance is
unsatisfactory then the feedback may be readjusted or totally
different structures used until satisfactory behavior is
achieved. This is specially true for adaptive control systems,
which are essentially nonlinear time-varying systems. A large
family of adaptation laws (for continuous-time systems) and
algorithms (for discrete-time systems) exist which guarantee
global asymptotic stability of the system. It is only through
efficient and accurate simulation techniques that the most
appropriate control structure according to a specific index of
performance can be economically chosen. Furthermore, if the
open-loop system is unstable then experimental adjustment o f
the closed-loop system for stability may not be feasible for
safety reasons, and simulation would be the only alternative
left. This is also true for those nonlinear feedback systems that
are stable with no reference input but that lose stability under
such an input, and vice-versa.
11. THEPROPOSED METHOD FOR SIMULATION
Time-domain analyses have so far advanced in basically
four directions. They are: a) digital computer solution of state
The new simulation procedure proposed in this paper is an
addition to this list. It is the most sophisticated and advanced
technique for simulation of the nonlinear dynamics of any
items, static power electronic equipment as well. Time-
domain static network models of thyristors [ 2 ] , triacs [ 3 ] ,and
bipolar transistors [4], [SI exist. Simple modifications to these
models allow switching characteristics or diodes, GTO’s, and
power MOSFETs to be simulated. Time-domain static net-
work models of dc machines have also been published [6]-[8].
Furthermore, the well-known Electronic Circuit Analysis

0093-9994/88/0100-0106$01 .OO O 1988 IEEE

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 GHANI 5IMIJLAIION OF THREE-PHASE INDUCTION DYNAMICS 107

Program (ECAP) has been modified during the last decade to 2 ) Electromechanical Description: Since the reference
specifically perform numerical analysis of the transient behav- frame is holonomic in nature the instantaneous electromag-
ior of power inverters. and renamed the Bristol Transient netic motoring torque can be obtained from
Analysis Package (BTRAP) [9].
In the field of asynchronous machines it has been shown 1
T~~ = ? i T ( & L ) i N . m. (3)
how general-purpose circuit analysis software can be used
together with appropriate time-domain static network models
for simulation of machine [lo]-[12] and total system [I31 Extracting L from 2 in (2) and substituting in (3), the
expression for the instantaneous electromagnetic motoring
dynamics. Another such time-domain static network model
has recently been reported [14]. The method in general torque becomes
requires static network models of the various constituent
devices and subsystems. The macromodel of the overall Te.m= -!
2 [id [ia(Lda+LuA)sin or
system is numerically generated and solved by a digital
computer under the control of a general-purpose circuit
analysis program. Models of different complexity for various + ib(LAb+ LbA)sin
devices and subsystems are stored in the program library. As a
result the simulation technique has the flexibility to call models
of appropriate complexity for a particular problem at hand. +ic(LA,+L,) sin
A new and original time-domain static network model of a
three-phase induction machine with wound rotor is developed
here. The model caters to unbalance of all windings so long as
the topology remains unaltered. The theory presented should
aid easy modeling and simulation in the time domain
+iB [i'(LBa+LaB) sin
(or--):
of the most difficult internal asymmetrical faults [15], [16] that
+ ib(LBb+ LbB)sin Or
split one or more phases, on either or both sides of the airgap,
into multiple sections, with or without interconnections. +('i LBc+ LcB) sin
Modern circuit analysis software like SCEPTRE [I71 can be
used to perform transient analysis of the network and thereby
simulate the dynamic behavior of the machine. + i c [ia(Lcu+Luc)sin
111, TIMF-DOMAIN
MATHFM.ATICAL MODEL
Based on nswmptions presented elsewhere [IS], the dy-
namics of the six coupled windings can be quantified along a
holonomic reference frame containing axes A BC for the stator
and abc for the rotor as follows.
+ib(LCb+LhC)sin
( Or--
3
I ) Electrical De.wiption:
u=zi v (1)
+ ic(Lcc+ Lcc) sin Or 11 . (4)

or 3 ) Mechanical Description: Instantaneous rotor speed in

the anticlockwise direction can be obtained from

T,, -T\=JOr+Kf0, N m. (5)

Equation (5) quantifies the dynamics of an inertia load with
linear viscous friction. A time-domain static network model
that has this mathematical description is simply a series R-L
circuit. The friction coefficient Kf is represented by the
resistance, and the inertia J by the inductance. The circuit
when fed from a voltage source of magnitude (T, - T,)
results in a current that represents the rotor velocity 9,.
The electrical and the electromechanical descriptions con-
tained in ( 2 ) and (4) are completely general. They can be
considerably simplified if the following practical constraints
are introduced: 1) reciprocity of mutual inductances; 2 )
identical winding structures for the stator group and the rotor
group; 3) balanced machine doubly fed through unequal
external impedances with no magnetic coupling between them;
and 4) both stator and rotor neutrals disconnected from the
neutrals of their respective supplies.
The simplified mathematical model then is the following.

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 108 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL 24, NO I . J A N U A R Y I F E B R U A R Y 19RX

Electrical description: i4RLA 2

@RA

R + pL
b b
1 1
R
c
+ pL
c

The various new self-inductances in (6) are

L a' = L an
' - L 'rm L b' = L 'bb - L 'rm Lc'=Lc'c-Lrm. (7)

The electromechanical description is as follows:

) Or
( i ' a i A + i ' b i B + i ' c i C sin

+ ( i ' a i c + i ' b i A + i ' c i B )sin d r + -

( 31 . (8) Fig. 1. Time-domain static network model of three-phase induction machine
with unbalance in self-impedance of all electrical circuits on both sides of
the airgap.

IV. TIME-DOMAIN
STATIC
NETWORK
MODEL stator A-phase voltage is
The availability of various second-, third-, and fourth-
generation software for circuit analysis, e.g. SCEPTRE (and UA =R A i A +pLA i A+p L I,
its variations: SUPER * SCEPTRE, EXTENDED SCEPTRE),
ECAP, PCAP, SPICE, CANDY [3], has reduced the problem
of numerical solution of the time-domain mathematical model
to a relatively simple matter. The software accepts the
topological description of any static network, even with
nonlinear parameters. Facilities exist in ECAP, PCAP, and
SCEPTRE to define these parameters directly as nonlinear
functions due to saturation and hysteresis in the magnetic
circuits, and skin effects in a deep bar rotor. The other
software needs multipliers and function generators of one form = RA i A +pLA ( i A + J A ). (9)
or another to be programmed by the user. The nonlinear
variation of the machine parameters can be easily obtained To avoid "computational delay" [17] (computation at the nth
directly from the load test data by solving an optimization time step begins with independent-variable values valid at the
problem [12] for parameter estimation. (n - 1)th step) the line current i A is referred to as
The time-domain static network equivalent (Fig. 1) of the
electrical description given by (6) is deduced as follows. The i A= i L A - J A (10)
GHANI. SIMULATION OF THREE-PHASE INDUCTION DYNAMICS
where
I, current through the inductor LA and, being a state
variable. has been updated at the start of each time
step.
J time-varying current source across the inductor, and
i’“ cos 8r+i’bcos
+i’ccos
( Or--
231 . (11)
The circuit between nodes 12-2-3-1 shown in Fig. 1, without
the dummy resistance RLA , has the mathematical description
of (9). The six dummy resistances R L A , RLB, RLC, RLD,
RLE, and RLF have been provided to eliminate the two all-
inductor time-varying current source cutsets [ 171 present in the
neighborhood of nodes 1 and 10. They also prevent inadver-
tent generation of such cutsets when an induction motor is a
subsystem of a large total system.
The topological summary of the time-domain static network
model excluding the mechanical load is 14 nodes, 24 branches,
I2 rebistors. 6 inductors, 6 current-controlled current sources,
and 7 function generators, which include multipliers. All
dummy shunt resistances have been assigned a value of 10 kQ.
This time-domain static network model of an induction
machine can be used for simulation of a variety of normal and
abnormal operating conditions.
A doubly fed induction machine supplied by two three-
phase three-wire systems requires four state variables for its
electrical description. This is also true for the time-domain
static network model, provided the six dummy shunt resistors
are removed. Their presence is required, however; otherwise
a general-purpose circuit analysis program would cease
executing and return an error flag. Although the presence of
the dummy resistances gives rise to six state variables with no
redundancy [lo], the possibility exists to account for the iron
losses in the machine core. In this investigation the dummy
resistances are of equal but high value, the upper limit being
dictated by the numerical accuracy required of the solution.
Similar network models can also be derived to represent a
machine with any asymmetrical internal fault that splits one or
more phases on either or both sides of the airgap into multiple
sections with or without interconnections [ 151. This would
require the use of suitable connection matrices [16].
V. DYNAMIC STUDIES
The time-domain static network model shown in Fig. 1 has
been used to study the dynamics of two completely different
balanced three-phase induction machines. I The first machine
has a wound rotor that is short-circuited. It is rotating at a
constant speed but suddenly switches on to balanced three-
phase three-wire supplies of the following descriptions: a)
sinusoidal voltage waveform, and b) six-step line-to-neutral
voltage waveform as produced by some static thyristor
’ Two internal reports on this topic, comprehensive in nature and containing
on application from either the author or the
data tiles. are obtainable
Libmrian. Newcastle Upon Tyne Polytechnic, Newcastle Upon Tyne, NE1
XST. U . K .
109
inverters. Study c) involved the second machine with cage
rotor supplied as in a), but through triac-controlled soft-start
equipment. The circuit is as shown in Fig. 1 of [19] except that
the inverse parallel in-line thyristors were considered to be
triacs. Such a controller provides a very effective form of
voltage control and has wide commercial acceptance. The
procedure for the calculation of steady-state performance is
known [19]. The present paper contains the results of
simulation, verified by measurement, of the transients that
exist during the first cycle. Machine dynamics with a similar
controller have been simulated (Fig. 4 in [20]), but under
different operating conditions, and the results of simulation
have not been experimentally checked. Computer simulation
requires validation because accumulated roundoff and approx-
imation errors may cause the reality to be completely
different. Dynamic study c) and the operating conditions were
selected for thorough verification of the procedure, device,
and the machine models. To focus purely on the electrical
aspects, measurements were taken with the rotor locked.
The full-load power output of the first machine is 5 bhp at
1440 r/min when supplied with the rated line voltage of 110 V
at 50 Hz. The machine parameters are
RA= Rs= Rc= Rs= 0.08 15 Q
LA = Lg= Lc= Ls = L6 = LL
= L i = Lr‘ = (19.55 + 0.8754) mH
r 0.13 Q
R ’a = R ’b= R ’ c= R ’ = Llr=13.03 mH.
A voltage of 81.65-V peak line-to-neutral is used for a). The
corresponding value for b) is 85.5 V so that the peak value of
the fundamental component remains unaltered at 81.65-V line-
to-neutral. Figs. 2(a) and 2(b) show the predicted instantaneous
current in the stator A-phase and torque with sinusoidal
supply of 50 Hz suddenly connected. The operating conditions
are zero slip and 90” switching angle. The zero-degree angle
is defined to be the instant when the A-phase line-to-neutral
voltage becomes zero with positive rate of change. Figs. 3(a)
and 3(b) are those obtained with the six-step line-to-neutral
supply voltage at 50 Hz with zero slip and zero-degree
switching angle. Fig. 4(a) shows the oscillograms of the line
voltage and current at the input terminals of the inverter-fed
machine. Fig. 4(b) gives the corresponding simulated current.
The error in calculation for the electromagnetic motoring
torque is entirely numerical in origin. The torque is evaluated
from the difference between large quantities, and small
round-off errors in these have considerable effect on the torque
figure. For the six-step supply voltage waveform, maximum
errors occur during the instants when the current peaks occur,
and the rate of change of current becomes discontinuous. The
calculation for torque can be conducted at a greater accuracy
than that presented, at the expense of central processing unit
(CPU) time, by demanding more accurate calculations for the
various currents. The largest CPU time encountered on an
IBM 370/168 computer was 337 s for seven cycles of stator
current waveform. The calculation was conducted for six-step
line-to-neutral voltage input, 10-percent slip, and 30” switch-
ing delay.
110 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. VOL 24 NO I J A h U A K Y / F F B R U A R Y I Y X X

120

Predicted steady state current = 8.80 A rms.

Measured steady state current = 8.60A rms.

Time-s (~0.01)
5 -40 Computer simulation.

-80 (d)
(a)

ff+j---
Computer simubtion. b

Compu7er stmu btion.

Measured value =
Time-s (~0.011

Predicted steady state torque = -0.06 N.m.

Measured steady state torque = 0.0 N.m.

t i
-801 "
20 1
1 1
(b) (b)
Fig. 2. Predicted transients in induction motor suddenly energized from Fig. 4. Induction motor rotating with 1.07-percent slip and fed from a n
source delivering sinusoidal voltage waveform. (a) Stator A-phase current.
inverter delivering six-step line-to-neutral voltage waveforin at SO Hz. l a )
(b) Electromagnetic motoring torque. Top trace: line-to-line voltage: scale 54 V/div. Bottom trace: line current:
scale 14.2 A/div. (b) Prcdicted line current.

t 8011 I Computer simulation.

I
u- 40
I
*
5 0
' -401 Time-s (x0.01i

(a)
Computer simulation

Predicted average
steady state torque = 0.05 N.m.
Measured average
steady state torque = 0.0 N.m.

(b)
Fig. 3 . Predicted transients in induction motor suddenly energized from
inverter delivering six-step line-to-neutral voltage waveform. (a) Stator A -
phase current. (b) Electromagnetic motoring torque.

The second induction motor fed through a soft-start

equipment was at standstill, and the cyclical triggering of the
in-line triacs was delayed by 90". The parameters of the
machine used for this simulation are
(b)
R~=Re=Rc=Rs=O.8970Q Fig. 5 . Induction motor fed through soft-start equipment from 50-Hr power
L ~ = L ~ = L c = L s = ( 1 0 0 . 9 $ 3 . 7 9mH
) supply. The rotor is at standstill and triacs are cyclicully triggered t o r 90g
phase delay. oscillogram^ of first cycle o f ( a ) stator v:dtage betwcen line5 A
and C (vertical scale: 60 Vidiv.: horizontal scale: 5 ins). and i b ~
R 'a= R 'b= R ' =
c
R ' =r 0 . 9 7 7 Q corresponding stator input current in line C (vertical ~ a 5 k0 A / ~ I L,
horizontal scale: 5 msidiv. 1.
L ; = L ; = L ; = L ; =(100.9+3.79) mH
L;,= 67.27 mH. first cycle are shown in Figs. S(a) and 5(b) and the
corresponding simulated waveforms in Figs. 6(a)-h(c). In-
The rating of this machine is 3 kW at 1420 r/min when spection of Figs. S and 6 reveals that the shapes of' actual
supplied with the rated line voltage of 240 V at 50 Hz. waveforms of the stator voltages are similar to those obtained
Oscillograms of instantaneous voltages and currents during the by computer simulation. The magnitudes of the instantaneous
GHANI SIMUI.ATION OF THREE-PHASE INDUCTION DYNAMICS
(c)
Fig. 6. Predicted waveforms in induction motor fed through soft-start
equipment. (a) First cycle of stator voltage between lines A and C. (b) First
cycle cf stator input current in line C. (c) First two cycles of electromag-
netic motoring torque.
voltages at certain instants of time, however, differ considera-
bly, This is due to finite inductances of the supply lines that
have not been accounted for in the computer simulation. At
those instants of time when the triacs are triggered and the rate
of change of current in the corresponding line is high,
significant amounts of voltage drop occur in the supply lines of
the actual system. Investigation in this direction will be
conducted in the near future. This departure diminishes after
the first cycle when all three lines are fully energized. The
small discrepancies in the current waveforms are due solely to
the fact that. because of the analogue nature of the firing
circuits. the triacs were not gated at precise instants of time.
This resulted in slightly asymmetrical triggering. Electromag-
netic motoring torque (in (8)) is a simple nonlinear algebraic
function of the machine currents. Validity of the currents
therefore implies the same for the torque, provided the space
harmonics of the airgap MMF are negligible. Parasitic torques
amount to only a few percent, and the core loss in the machine
at standstill with reduced supply voltage has virtually no effect
o n the torque developed. The simulated torque (Fig. 6(c)) was
not verified experimentally because the associated problems
would have diverted the research from its present objectives.
For a solution of acceptable degree of accuracy for two cycles
of both current and the torque, a CPU time of 173 s was
rcquircd. To ensure that turn-offs occur at the neighborhood of
the holding current, higher accuracy of solution is required.
This needs an increased CPU time of 630 s due to drastic
reduction of the size of the time step taken by the integration
routine. which is completely unnecessary for the machine
dynamics. The worst-case solution for the voltage waveform
during a turn off can be easily obtained using the procedure
discussed in the Appendix. The CPU times quoted are those
obtained using an AMDAHL 5860 digital computer, which is
approximately three and one-half times faster than an IBM
3701 168 computer. All overvoltage data during turn-off was
111
deleted from the data file used in generating the plot file. The
plot file was then used to draw the waveforms of Fig. 6. The
voltage waveforms of Fig. 6 therefore do not show any
overvoltage transients.
VI. CONCLUSION
A unified and universally applicable method for simulation
of dynamic behavior of a large interconnected nonlinear time-
varying physical system containing one or more three-phase
induction machines as subsystems has been proposed. This
large system may also contain static power conversion,
conditioning, or control equipment in which power switching
is achieved by devices like diodes, transistors, thyristors,
GTOs, triacs, and power MOSFETs. The new procedure is
simple yet accurate and flexible, and results in considerable
savings in highly skilled, hence expensive, manhours required
to achieve a successful simulation. The power of the method
lies in its complete generality, in that it is not specific to any
particular system. Furthermore, the method allows flexible
usage of device and subsystem models of various degrees of
sophistication and complexity with the greatest ease. The only
disadvantage of the method lies in its inherent computing
overheads. Specially designed programs for specific systems
score on this point and are in general faster. However, coding
for use in a design office is not an easy task and may not be
cost effective since maintenance and documentation is expen-
sive. Also, the life span of specialized programs can be rather
limited because of rapid innovation. Research is at present
being directed towards increasing the execution speed of
general-purpose circuit analysis programs. Two approaches
are being used: a) development of better numerical methods,
and b) replacement of those portions of the program that are
repeatedly used in a loop written in high-level language by
their equivalent in the assembler. Approach b) is costly and
becomes economically feasible only for large expensive
 112 lEEE TRANSACTIGINS ON INDUSTRY APPLICATIONS, VOL. 24, NO. 1. JANUARYIFEBRUARY 1988

i Computer simulation.
0

-1501
I
-1m/

0.0
I
0.5 1.0 1.5 2.0 2.5 3.0
I ;3.5 4.0
-200

1.w 1.05 1.10

I

1.15
A
1.M
Time-s (~0.01) Time-r (xO.011

5.5!
--- \
(a)
t

1.0
z7 45;
351
', '\
Computer simulation
t
I
I
I t \
' I

'
-
25,
\ I

-1.0

-1.5
0.0
I
I--
0.5 10 15 2.0
'

2.5 3.0
u
3.5 4.0
1
15

0.5 1
05L-___-
100 105
Time-s
110
(XOOI)
115
+
,

120
Time-s (~0.01)

(b) (b)
Fig. 7. Predicted waveforms in single-phase inductive load controlled by Fig. 8. Predicted worst-case turn-off transients in single-phase inductive
triac. (a) Voltage across load. @) Current through load. load controlled by triac. (a) Voltage aross load. (b) Current through load.
general-purpose programs. The possibility of using parallel
processors to provide superior computational speed and power Although in this investigation machine parameters have
is also under investigation. been assumed to be constant quantities, the accounting for this
The proposed procedure uses a time-domain static network nonlinearity [12] is intended at a future date. For machines
model of an induction machine. The model has been developed with P poles, all expressions for the electromagnetic motoring
using the physically existing holonomic three-phase reference torque should be multiplied by a factor P / 2 . Experimental
frame, thus allowing for unbalance of all electrical circuits on verification of the model and its applications are also
both sides of the airgap. However, the magnetic circuits of the presented.
machine are considered to be completely balanced. The third The SCEPTRE program automatically selects the optimum
and higher harmonic variations of these stator to rotor mutual time steps for integration in order to meet the user-specified
inductances have been neglected for simplicity. It is possible to accuracy requirement, hence obtaining least CPU time.
account for such variations [2 I]-[23] by simply including Numerical accuracy of this program is extremely high.
them in the space functions defining the stator-to-rotor mutual Referring to Fig. 8 the computer prediction of the peak voltage
inductances. across the triac was 196.74367 V. Using an electronic
The proposed model allows machine dynamics to be studied calculator with ten digits this voltage was calculated, purely
with unbalance in the self-impedances of all electrical circuits. from physical considerations, to be 196.74313 V . The CPU
It is therefore suited for prediction of transient behavior under time required was 55.061 s. A demand for greater accuracy
any conceivable asymmetrical external and internal fault on than this would have required higher CPU time. SCEPTRE is
either or both sides of the airgap as long as the structure of the rather a slow program. This is due solely to the inefficiency of
machine windings remains unaltered. Similar models for the integration routines used [24]. Nevertheless, the validity of
simulation of asymmetrical internal faults, on either or both the simulation technique has been established, and other more
sides of the airgap, that split one or more phases into multiple efficient circuit analysis programs [3], [25] can be used to
sections with or without interconnections [15], [16] can also be overcome the shortcoming. The CPU time becomes a problem
developed based on principles presented in this paper. The only if a general purpose large mainframe computer is used.
time-domain static network models of all other subsystems With a minicomputer dedicated solely for the purpose of
connected to the machine must be developed along axes simulation, the CPU time ceases to become a limiting factor.
compatible with the reference frame used. The model pre- Most circuit analysis programs developed for use on large
sented would allow static-power electronic equipment contain- mainframe computers also have versions suitable for minicom-
ing transistors, thyristors, triacs, etc. to be connected simulta- puters.
neously to both the stator and the rotor electrical circuits. Such
a situation, though far-fetched, shows the versatility of the NOMENCLATURE
model. The model has been used to simulate machine i, Y Column vectors of instantaneous current, volt-
dynamics during a run-up. Successful simulation of a total age (A, V>.
system comprising an inverter feeding an induction motor with L , 2 Inductance, impedance matrices (H, 0).
various types of faults on the inverter has also been achieved i, u , L Elements of i, u , and L .
[131. p 4 d / d t Differentiation operator.

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GHANI: SIMULATION OF THREE-PHASE INDUCTION DYNAMICS
J Moment of inertia, current source (kgm*m*,A).
K Coefficient.
R Resistance (a).
r Torque (N-m); when used as superscript indi-
Cates transpose.
8, Instantaneous angular position of rotor a-axis with
respect to stator A-axis (rad). (For a P pole
machine, distinction should be made between
electrical and mechanical radians.)
Superscripts and Subscripts2:
a, b, c Rotor phases.
e.m. Electromagnetic.
s Friction.
I Load.
rn Mutual between two relatively stationary coils.
r Rotor.
A, B, C Stator phases.
S Stator.
i Referred to stator.
APPENDIX
The network model of a triac is shown in Fig. S of [3]. In
this investigation a subprogram FUNCTION FR was used to
select the high or the low value for the resistances RS and R6
whenever the current through the device model fell below or
exceeded the holding current. The original model contained
data in tabular form for this selection purpose. Appropriate
values for the resistances RS and R6 were obtained from
Tables 1 and 2 of [3], respectively. It was subsequently found
that under certain operating conditions the model failed to turn
off. The problem lies in SCEPTRE’s inability to locate the
precise instant when the current has attained the holding value
and then to operate with sufficiently small time-steps to ensure
a proper turn-off. In fact, the next time step was so large that a
current in the reverse direction of magnitude greater than the
holding value was computed. As a result the model was unable
to pull out from the latched mode. Since the Princeton Circuit
Analysis Program (PCAP) [ 3 ] calculates the precise instant
when the current attains the holding value, and thereafter the
next time step is exceedingly small, such a problem does not
arise. This subprogram FR is not for exclusive use with
SCEPTRE. Modern circuit analysis programs usually have a
similar subprogram capability and FR can be used with all
such software. With the thyristor model [2], use of FUNC-
TION FR is not required since reverse conduction can never
occur.
The transients can be calculated with considerable numeri-
cal accuracy if the computation is allowed to proceed only in
the neighborhood of a transient by stating a START TIME and
a STOP TIME, along with a limit to the MAXIMUM STEP
SIZE. Such a computation for transients would require initial
values of the state variables involved. They can be obtained
easily from the data printed in tabular form from the previous
normal run. The simulated transients in a triac-controlled
‘
Superscripts and subscripts with upper-case letter refer to the stator, with
lower-case letter to the rotor.
113
single-phase inductive load are shown in Figs. 7 and 8. The
voltage transient so simulated by the model is the worst-case
transient. It is obtained by presenting the blocking resistance
of the device to the flow of current when the magnitude has
just decreased below the holding value.
ACKNOWLEDGMENT
This paper is a result of advice and support given by Dr. B.
J. Cory, Reader, Imperial College of Science and Technology,
London, SW7 2AZ; Messrs. L. Barnes, Principal Lecturer,
and A. R. Shirley, Senior Lecturer, and members of the
Computer Unit, Newcastle upon Tyne Polytechnic; and the
anonymous referees.
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for Circuit and Systems Analysis. Englewood Cliffs, NJ: Prentice- Sayeed Nurul Ghani is a native of Bangladesh and
Hall, 1971. has been in the United Kingdom since 1963 He
1181 P. C. Krause and C. H. Thomas, “Simulation o f symmetrical induction received the B Sc. degree in electrical engineering
machinery,” IEEE Trans. Power App. Syst., vol. PAS-84, no. 11, from the University of Peshawar, Pakistan. in 1961
pp. 1038-1053, Nov. 1965. with a Gold Medal and the President of Pakistan‘s
L. X. Lee and J . Berg, “Steady state performance of analysis SCR Award for meritorious results From 1963 to 1966
controlled induction motors: A closed form of solution,” IEEE Trans. he was a postgraduate student at the Imperial
Power App. Syst., vol. PAS-103, no. 3, pp. 601-611, Mar. 1984. College of Science and Technology. University of
1201 G. Nath and G. J . Berg, “Transient analysis of three-phase SCR London, where he received the D I C and Ph D
controlled induction motors,’’ IEEE Trans. Ind. Appl., vol. IA-17, degrees for researching the design of impulse-
no. 2, pp. 133-142, Mar./Apr. 1981. commutated thyristor inverters for ac variable-
r2 11 H. R. Fudeh and C. M. Ong, “Modelling and analysis of induction speed drives
machines containing space harmonics. Part I: Modelling and transfor- From 1966 to 1970 he was a Lecturer at Kingston Polytechnic, U.K , and is
mation,” ZEEE Trans. PowerApp. Syst., vol. PAS-102, no. 8, Aug. at present a Senior Lecturer at Newcastle upon Tyne Polytechnic, U K He
1983, pp. 2608-2615. worked with Industrial Instruments Ltd , Bromley, Kent, during 1966, on
1221 ~~ ~, “Part 11: Analysis of asynchronous and synchronous actions,” variable-speed ac machine drives, with Thermal Electronics Ltd , Wimble-
IEEE Trans. PowerApp. Syst., vol. PAS-102, no. 8, Aug. 1983, pp. don, Surrey, during 1969, on thyristor inverters for induction heating; and
26 16-2620. with Lucas Research Centre, Solihull, West Midlands. during 1978- 1983. on
r231 ~~ , “Part 111: Three-phase cage rotor induction machines,” IEEE the simulation of power electronic equipment In 1972 he participated in an
Trans. PowerApp. Syst., vol. PAS-102, no. 8, pp. 2621-2628, Aug. Anglo-American teacher’s exchange scheme and lectured at the State
1983. University of New York for a year His fields of interest are power systems,
1241 E. H. Branin et al., “ECAP-11: An electronic circuit analysis power electronics, control engineering, electrical machines. systems simula-
program.” IEEE Spectrum, pp. 14-25, June 1971. tion, and optimization He is an author of twelve technical publications.
1251 G. Kaplan, “Computer-aided design,” IEEE Spectrum, vol. 12, pp. Dr Ghani is a Chartered Electrical Engineer and a Corporate Member of
40-47, Oct. 1975. the Institution of Electrical Engineers, U K

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