SIMULATION OF SATURATED DEEP BAR INDUCTION

MOTORS IN THE PRESENCE OF IRON LOSS

M. Bakhtiari, A. Jalilian
Iran University of Science and Technology, Iran

ABSTRACT
The investigation of the performance of 3-phase induction motors requires reconsideration in their modeling. In this paper
two different models have been studied and three influential parameters on motor performance have been considered
altogether for the first time. The first model uses variable rotor parameters for modeling the skin effect while the second
model applies constant parameters in a more complicated manner. Simulation results confirmed that both models have been
in good agreement. The skin effect, core losses and saturation have also been investigated and presented in this paper.

Keywords: Induction Motor Modeling, Iron Loss, Skin Effect, Saturation.

1. INTRODUCTION obtained by multiplying the modification factors of Kr and
K, in rotor dc resistance and inductance values as:
Different models have been introduced for induction
motor in the literature. Those who were interested in the Rac Kr Rdc (1)
dynamic behavior of the induction motor have paid more L
ac
K L
x dc
(2)
attention to the skin effect [1]. However, there has been a
group who has considered the motor core losses in order
to predict the quality of the control system's performance These coefficients for rectangular bars are as follows [1]:
[2, 3]. But it should be noted that any kind of partial view
and simplification in the induction motor models may lead
to unpredictable errors in the final results.
k_ = sinh23 +sin
cosh 2, - cos 2,
()
3 sinh 2, - sin 2 4
This paper is an attempt to achieve an accurate model of
induction motor which may have the characteristics of
24 cosh 24 - cos 24 (4)
both outlooks mentioned above simultaneously. where:
Therefore, at first, two approaches for the modeling of
skin effect have been introduced to which the way of
incorporating the core losses and saturation phenomenon
4-h 0
p
(5)
have been added. In these equations,
h is the height of rotor bar, f is
The choice of each method depends on the model's
frequency and s is fundamental slip and p is the resistivity
oftebrmeia.Tehgtofoorarcne
pefrmne In no-aroi
performance. non-harmonic or low-voltage THD
or lo-otg of the bar s material. The height of rotor bar can be
cluae
conditions the first model is preferred but in harmonic calculated as:
conditions the second model is easier to deal with. h(c_m) - 2(P(kW)/1O)/55 (6)
2. MODELING OF SKIN EFFECT where P denotes for motor power rating [4].
Skin effect or deep bar effect is one of the most effective
phenomena on the variation of induction motor's 1.8
parameters. Investigation of two different methods of 1.6
considering skin effect in motor models is considered
here. 1.4
2.1 Modeling of skin effect using the modification
factor
In this method coefficients for studying the changes of 0
rotor resistance and inductance can be obtained using the 0i : ' . 1 i 1 yol0.
mathematical relations and bar and slots forms. Therefore, sl
in this method there is no need for experimental tests to Figure 1. Variation of rotor impedance modification
determine these changes. The desirable variations can be factors (kr,kx) with slip, (1): Resistance, (2): Inductancee

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 The profile of the mentioned coefficients against slip is The motor core loss is the sum of stator and rotor core
presented in Figure 1. losses. Even, the rotor core loss is negligible in the
sinusoidal voltage supplies, it is included for generality as:
2.2 Modeling of skin effect using a multi-branch rotor
In this the method, the skin effect is modeled by adding s 02
2( \ 222 2
some resistive-inductive branches to the rotor as shown in Piron 7= mke e+khoe)- e (10)
Figure 2. ike Rm

iron 4n(ke52W2 +khsw 2)s2w22

t w)21~2
Ll L2 L
pr s2t)2 khste - em em (1 1)
A (7. Af~Y>~ ~Y~~ i/ke Rms2
where kh and ke are hysteresis
and eddy-current loss
R R R3 coefficients, s and r subscripts stand for the stator and
rotor respectively. Since 03e2m denotes the air gap voltage,
B the dimension like ratio is resistive and therefore it is
Figure 2. A Multi-branch rotor modeling represented by R*m.
Using equations (10) and (I1) the motor iron losses can be
In this method, practical test results are required to obtain modeled with an equivalent resistance R, as:
the changes of rotor parameters with frequency. The R R* // R,1 Rm (12)
values for rotor branch parameters can be calculated using m m 52 s2 +I
the laboratory results and minimizing the following
function [5]: It should be noted that considering iron losses in both
N single-branch and multi-branch rotor modeling leads to
=
F
F [( ) [K2
)]2
+ ( ) K )]2 (7) adding
1,[K, ( fs )- state-space
one more variable and consequently to
K, ( I; )] +[Kx(
mathematical complex I;(7)a|)]1;) - K
model.more

with 4. MODELING OF SATURATION

Kr' ( fi) =e ] (8) The saturation is an effective phenomenon in the

Rdc induction motor performance and to ignore it may lead to
considerable error particularly in motor loss estimation.
Kr (f) = Im[ZAB] (9) The errors are usually due to the decrease in rotor leakage
x dc
2xTxfx inductance which leads to increased copper loss [8].
Since the rotor inductance saturation is a rare phenomenon
Recently, finite element method has been recommended and usually occurs in harmonic conditions, so in this paper
for calculating Kr and Kx instead of using experimental
using
~~~wehave been satisfied with considering the magnetizing
results [6]. In this paper, the use of equations (3) and (4) is i ane sation. in orderito ahe th rig
recommended.fo mor simplicity........ inductance saturation. In order to achieve the right
rcmendedlicatn ofo fmolti-breaslci dynamic response, the magnetizing inductance should be
used and corrected continuously. Fr purpzose,
istdante no-loated curvei(Figus. For3) this
The pplcaton mltibrach mdelfortherotr
model for the hs a
hasa rotor
an
weakness that for each branch, an additional state variable s uldbe,ue
for simulating the induction motor performance is needed. insteof rm-bad value whicare useful fo the
instead of rms-based values whlch are useful for the
This makes the process of computer simulation more
complex and time-consuming. However, this method has y- pop
some merits in harmonic conditions where constant simple multiplying of VE into rms values is not sufficient
parameters can be used for a wide range of frequencies for this purpose. The method of calculating the
[7]. instantaneous curve from rms curve is reported in [9].
3. MODELING OF IRON LOSSES

The iron losses in induction motors consist of three groups
of hystersis losses, eddy current losses and stray losses. In
this paper only the first two groups are considered and the
modeling of stray losses is neglected.
Considering iron losses in single-branch and multi-branch
rotor models are the same and can be carried out by
paralleling the iron loss equivalent resistance (Rm) with
motor's magnetizing inductance. Therefore, the major
problem is the calculation of Rm and its variations.
5. DYNAMIC EQUIVALENT CIRCUIT
The dynamic performance of an induction motor is
generally studied by means of the equivalent circuits in
the dq (direct and quadrate) reference frame. In this
section the same approach has been used for motor
models with single and multi-branch rotors.

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 20C
kqs kqsw
Vqs - Cekds LRs
(14)
(14)
150 -lIS
'- /Xdr (°)e -O)r )Xqr -Rr (dr dm (15)

qr qm (16)
-50 -qr Lir
-100 ~~ ~ ~ ~ ~ ~ (cew)XrRrA -
-lao (~ ~ ~ ~ ~ ~ ~ ~ ~ kd kXdm~
-150 -dm LIS Lir LM)(7
-200 lll
-0.8 -0.6 -0.4 -0.2 0 O.2 04 06 . A0.8
Current(A) qs qr _ dm
Figure 3. Instantaneous no-load curve for an induction qm Lir LM (
motor obtained from rms values where:

5.1 Single-branch rotor 1 = 1 1 + 1 (19)

An induction motor dynamic model with single-branch LM LIS Lir Lm
rotor has been presented in Figure 4: As it can be seen, Rm
and Lm are chosen as variable parameters to show the loss The mechanical equation of the induction motor can be
dependency (on slip) and magnetizing inductance changes given as:
with saturation. It must be mentioned that the model is 2A
presented in synchronous rotating frame. Ten TL K J dr (20)
(f)g00))qr In this equation Tem is the electromagnetic torque, TL is the
1+ + load torque, J is rotor moment of inertia and P is the
Lj i motor poles. To calculate the electromagnetic torque, the
L
1+1
Liii
~ following equation is used:
a
Tem = 3P Lm {2Udr(Iqs IqjRm)2uqr(Ids IdRP)}(21)
4 Lm +Lr
A A R, L + where Idph7 and 'qpn are the direct and quadrate
R, Lt R + L components of the current flowing through the Rm.
Vq, R.I Lmj RrX

*- b - - 'b5.2 Multi-branch rotor

Figure 4. Dynamic equivalent circuit of an induction The dynamic model of an induction motor with multi-
motor in a synchronously rotating dq reference frame branch rotor in stationary frame is shown in Figure 5:

The flux equations of this model are as follows: , Lix _

Xds = LlsIds +LmIdm A qs LS iqs +Lml qm Liri L/2

Xdr = LlrIdr +LmIdm Xqr = Ljriqr +LmIqm Rm Litt
X~~~~~~~L
Xdm LmIdm qqm -
qm
Rn Rr2
O -j@%pr~ -Jcopr2
By choosing these fluxes as state-space variables and
using the Kirschoff Laws, the necessary state-space
equations can be obtained to analyze the induction motor Figure 5. Equivalent circuit of a multi-branch
performance: ~~~~~~~~~~~induction motor in a stationary dq frame
As can be viewed the core losses are once again modeled
Xds- Vds + qs qsRS ds -
L1s Vd
(13 as a resistance
inductance. The fluxinequations
parallel forwith the magnetizing
a two-branch rotor are
given as:

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 6. SIMULATION RESULTS
:Pds Llsids + Lmidm (Pqs Ljsiqs + Lmiqm
In this section, the described models have been simulated
(Pdrl =Lmnidm] + Lirli drl (Pqrl = Lmiqm + Llr2'qrl using Matlab-Simulink software to prove their validity.
(Pdr2 Lmldm + Llr2 dr2 (Pqr2 Lmiqm + LJr2Iqr2 This process has been carried out in four stages:

While p chosen as flux instead of X to avoid interference 6.1 Models cornparison

The carried-out simulations show that the results obtained
wquatith
equations prev
the
wrioustequations.
can be
s written as:
Itimd thvlg from even a two-branch rotor model with constant
parameters are in a good agreement with those obtained
dPdS from a single-branch rotor with variable parameters. The
Vds RSids + dt(22) reason could be using equations (3) and (4) as reference of
the second model.
Vqs = Rsiq + dtqs(23) qs sqs (23)
6.2 Skin effect
O = Rrlid1ldrl +ddrl + 0Pl
r qr (24) To study the influence of the skin effect on dynamic
dt performance of an induction motor, the electromagnetic
d(Pqrl torque profile of the motor with and without considering
O= Rr 1qrl dt r (Pdrl (25) the skin effect has been simulated as shown in Figure 6.

O Rr2ldr2 + d +dt r(Pqr2 (26)

O = Rr2iqr2 + d(Pqr2 -
(Pdr2 (27) 15
dt
Now we can deduce the motor state-space equations: D 0

Pds J(Vds- Rsids)dt (28)

(Pqs s -
Rsiqs)dt (29)

(Pdrl J(r°l(Pqrl Rrlidil)dt (30)

0 01 02 03 04 05 06 07 0.8 09 1
Time(s)
(qrPqrl =|0-91-Rr i,j )) dt
JWr(Pdrl - Rriiqri (31)
(31)
Figure 6. Torque
.Tesprofile of an induction motor during
start-up: (l)skin effect not considered (2) skin effect
P dr2 J0)7rPqr2 -Rr2 dr2)dt (32) considered

K( Pds Pdrl Pdr2 As it can be observed the skin effect has caused a
(Pdm JRm + +dm dt (33) considerable increase in the start-up electromagnetic
V LIS L'-1
LJr 2 LM J torque and some decrease in motor start-up time.

FR
(
LIS )qs
Lq- Lqr
L12
q
Pqm
LM
dt (34) 6.3 Core losses
Simulated results show that the core losses have not such
a considerable effect on the motor performance as shown
in which: in Figure 7, even if Rm has significant changes during the
l l l l l start-up (Figure 8).
LMM Lj~ Llrl
L1S L LLr2 Lm (35) Ignoring Rm will cause at least three errors:
* Error in rotor flux estimation
Finally the electromagnetic torque can be calculated from * Error in rotor flux phase angle
the following equation: * Error in electromagnetic torque estimation
Therefore, it's inclusion in the induction motors modeling
Tern= {(Pdslqs - Pqs1ds} (36) is highly recommend.

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 7. CONCLUSION

1In this paper a new attempt has been made to achieve a . 4

12
more accurate induction motor dynamic model. Two
10 different dynamic models of induction motors have been
8 1 < developed. In the first one, the skin effect is modeled as
6 l I|l1\~ l
(2variable
ll l parameters in the rotor side. In the second
E24 approach, the modeling is carried out by adding more
utu
2 branches to the rotor circuit. The magnetizing inductance
saturation and core losses have also been considered in
both models. It is the first time that all three phenomena
-2 l lhave been included in a motor equivalent circuit. The
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 validity of the proposed models and equations are proved
by performing simulations of an induction motor in
Figure 7. Electromagnetic torque profile during start-up Matlab/Simulink environment. The skin effect, core
(1) R. not considered (2) Rm considered losses and saturation have also been investigated in this
5000 paper where the results have been presented and
compared.
4500

8. REFERENCES
4000 i

[1] White, T.J.; Hinton, J.C.; "Improved dynamic performance

p3500 of the 3-phase induction motor using equivalent circuit
parameter correction", Int. Conference on Control, 21-24
3000 March 1994, Volume 2, Page(s): 1210 - 1214.
[2] Levi, E.; "Impact of iron loss on behavior of vector
2500 controlled induction machines", IEEE Trans. on IA, Nov.-
Dec. 1995, Volume 31, Issue 6, Page(s):1287 - 1296.
20001 0.2 04 06 12 14 [3] Jinhwan Jung; Kwanghee Nam; "A vector control scheme
Time(s) for EV induction motors with a series iron loss model",
Figure 8. Motor losses equivalent resistance (Em) IEEE Trans. on IE, Vol 45, No 4, pp. 617 - 624 Aug. 1998.
profile from start-up to steady-state [4] DeBuck et al.; "A simple but reliable loss model for
inverter-supplied induction motors", IEEE Transaction on
Industry Applications, VollA-20, No.1, Jan/Feb 1984.
To Satudyathon
6.4 Saturation
To study the saturation phenomenon, stator' s steady state
phenomenon,stator'ssteadystate
saturation
[5] Alexander C. Smith, Russel C.Healey and Stephen
Williamson;"A Transient Induction Motor Model Including
current has been simulated with and without considering Saturation and Deep Bar Effect", IEEE Transactions on
saturation. The results have been presented in Figure 9. Energy Conversion, Vol. 11, No. 1, March 1996.
[6] Jingchuan Li, Longya Xu, "Investigation of Cross-
Saturation and Deep Bar Effects of Induction Motors by
4 Augmented d-q Modeling Method", IEEE Conference on
S
notCoded
n
Satutio Cosided
IA, Vol. 2, pp. 745-750, 30 Sep.-4 Oct. 2001.
[7] Retiere, N.; Foggia, A.; Roye, D.; Mannevy, P.;"Deep-bar
2 Induction Motor Model for Large Transient Analysis under
Saturated Conditions", IEEE ICEMD, May 1997.
[8] J. C. Clare, et al, "Additional Losses Due to Operation of
co;0 I I\Machines
I I \ from Inverters", IEE Half Day Colloquium on
Testing of Electrical Machines, pages:5/1-5/8, June 1999.
[9] Ong, Chee-Mun, "Dynamic Simulation of Electric
Machinery Using Matlab/Simulink", Prentice Hall PTR,
Chapter 4, 19 Sep. 1997.
APPENDIX 1
-4
0.5 0.51 l
0.52 l
0.53 l
0.54 l
0.55
Time(sec)
l
0.56 0.57
L 0.58
L 0.59
L 0.6

Figure 9. Stator's steady-state current Parameters ofthe simulated motor:

Pn =0.75kW,220V,P= 4, f=50Hz
As it can be seen a considerable decrease in the stator's lO,L1= 43mH, Rr 6.3Q, Lir =40mH
10
current has been occurred because of the saturation. Rm 5 kQ, Lm =.421 H, Tn 5.15 Nm, f .01
h =0.012488 m, p =.02 x 10-6Q.m

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