Modelling of the three-phase Induction Motor using SIMULINK

K. L. Shi, T. F. Chan and Y. K. Wong

Department of Electrical Enginedng Hong Kong Polytechnic University,Hunghom, Kowloon Hong Kong
Telephone:(+0852)27666148 Facsimile: (+0852)23301544

-
Abstract This paper describes a generalid simulation
model of the three-phase induction motor using the
SIMULIMC software package of MATLAB. The model is based
on two-axis theory of revolving frame transformation. The
model takes power source and load torque as inputs and gives
speed and electromagnetic torque as outputs. Internal
resistance of the power supply and magnetic saturation of the
motor may also be accounted for.
INTRODUCTION
A GENERALIZED MODEL OF INDUCTION MOTOR
In this simulation scheme, the model of the induction
motor consists of three-phase to two-phase transformation
equations, electromechanical equation and load dyna"
equation. In Fig.l, the block in dotted line is the induction
motor model which may be used alone when the motor
operates in the current controlled mode. In addition, a power
supply block is included to adapt the model to motor
operation on a voltage source (E) or a current source (0.
T

Simulation of the three-phase induction machine is well

documented in the literature and digital computer solution
can be performed using various methods, such as numeric
programming, symbolic programming and the
electromagnetic transient program em) [1*21. With the
rapid development in computer hardware and software, new
simulation packages which are much faster and more user
friendly are now available. This paper discusses the use of
one such product, the SWZULINK software of MATLAB,in
the dynamic modelling of the induction motor. The dynamic
model is based on the two-axis theory of revolving frame E or I
transformation. The main advantage of the SIMULINK over
other programming sohares is that.,instead of compilation Fig.1 Block diagram for simulation of induction motor

which performing a specific mathematical operation. BASIC EQUATIONS AND THEIR SIMULINK BLO€KS
Programming efforts are drastically reduced and the
debugging Of errors iS easy. shcx the S-INK iS a model m e current block is b& on the w e n t quatiom.
operation programmer, the simulation model can be easily i, =~ ~+ ~ ~ ( d (1)
developed by addition of new sub-models to cater for various
control functions. As a sub-model the induction motor could ibs = dcos(of - 27J3 + 8) (2)
be incorporated in a complete electric motor drive system. = Acos(wt + 2d3 + @
i, (3)
n "e S model described in t h i s paper ~ s ~ representation
The ~ s of one phase supply using the
the following characteristics; SIMULINK blocks is shown in Fig.2.
1. It takes voltage source (E) or current source (I)and load
torque as inputs and gives speed and electromagnetic A
torque as outputs.
2. ~nternal resistance of the power supply may be '
accounted for. m
3. The parameters may be continuously changed.
4. Magnetic saturation level of the motor may be set.
5. The model may be easily expanded and developed. Cbck
6. Good user interface. Fig.:! A SIMULINK block for the power supply of one phase

0 1997 IEEE.
0-7803-3946-0/97/$10.00 WB3-6.l
 The function blocks in Fig.2 may be grouped together to PRODUCT and INTEGMTOR in the SIMULINK library.
create a new subsystem block as shown in Fig.3. These blocks can be easily opened in separate windows for
modification of their m e t e r s . The completed model is
illustrated in FigS.

Fig3 A SIh4ULINK block of the power supply

The 312 transfoxmation block is based on the current

equations for phase transformation.
COS(@ - 2 ~ 3)/ COS(@ + 2 ~3)/

-sin(cot-2~13) -sin(cut,+2~/3)

The repmentation of 312 transformation by the

SlMoLINK blocks is shown in Fig.4.

ianerprodua
Fig5 A SIMULINK block of electromechanicalcalculation
cosine vector
i'm
The stator voltage calculation block is based on Eq. (10)
and (11). The flux n6~=/Zc,,+j.2', andpleR Can be obtained
directly fiom the electromechanical block.
j$' = R8ii + (p +jo)TY (10)

Fig4 A SIh4ULINK block Of312 transform

The load dynamics block is ksed on Eq. (12) and is
The electromechanicalblock configuration is based on the configuredin a similar wdy as shown in Fig.6.
following three equations. With the rotor voltage vector
normally assumed zero, the torque equation in excitation
do
A=_-
cf T-T,
reference -e is expressxi as[41, dt J, @,+ J, + JL

(rr=L,R,is the rotor time constant) Fig.6 A SIMULINK rqpreSentati~nof load djnamics block

To construct a block diagram of the motor, in which

From Eq.(12), the slip frequency w, can be calculated and
components i+DS and ieQSof the stator current vector, i4s ,
fed back into the electromechanical block.
represent the input variables and the torque, T, the output
variable, the rotor flux vector components, A'DR and A'QR ,
P
@,=@--
appearing in Eq. (7)must be expressed in terms of i4Ds and 2 O0
~+QS using Eq. (8) and (9).
Eq. (7), (8) and (9) describe the dynamic block diagram of
an induction motor shown in Fig.5. The diagram illustrates SIMULATION RESILTS
the major difi'iculty encountered in the control of induction
motors. The four multipliers make the motor a nonlinear Following are the parameters of the induction motor
system, and there are two crosscouplings between the D and chosen for the simulation studies.
Q paths. Type: three-phase, wyeannected, squirrelcage induction
Configuring the eledromechanicalblock in the SIMULINK motor
only requires the standard blocks of SUM, GAIN, Rated power: HPrd= lOhp(7.46kW)

WB3-6.2
Rated stator voltage: Vs,,z220V
Rated frequency:f,,=60Hz
Rated speed: nMm= 1164 rpm
Number of poles: -6
Stator resistance: RS=0.294!3ph
Stator leakage reactance:&=0.524Wph
Rotor resistance referred to stator: R,=O. 156Wph
... ... ... ...
Rotor leakage reactance referred to stator: X1,=0.279Wph .. . . . .
Magnetizing reactance:X,= 15.457aph ... ... ... ... ... ... ...
" " " '
"53
Mass moment of inertia of the rotor: J p 0 . 4 kg.m2 0 0.6 1 1.5
Time (second)
2 25 3 o XI
speed (radlsec)
a o w t m i a

Coefficient of friction:' C 0.062

To illustrate the application of the dynamic model of the
induction motor to transient motor operation, a simulation
study of direct-on-line starting is demonstrated. At the initial
instant of time, t = 0, the motor, previously de-energized and
at standstill, is connected to a 220 V, 60Hz supply. The
power source is simulated by a signal generator block in the
SIIWLINK library. The load torque, TL,is assumed to be
50% of the rated torque of the motor, and independent of
speed. The mass moment of inertia, JL , of the load equals . .. .. .. .. .. .. .. .. .. .. .. .. .. I
that ofthe motor. o m o r m m i
m m(
a t
~ d )
4 ~ ~~ 2 ~ ~ 2 8 x 3

The simulation conditions are:

1. Runge-Kutta method Fig8 Simulation results: intemal resistance ofpower supply = 0.05Q.
2. Max step size: 0.01 sec
3. Min step size: 0.0001 sec
4. Tolerance: le-3 CONCLUSION
Fig.7 and 8 show the results of computer simulation using
the SIMULINK model. When the power supply has a large The computer simulation model presented in this paper is
internal resistance, the torque oscillations in the torqudspeed effective for transient analysis of the induction motor. Using
characteristic are r e d u d and damped more rapidly, but the the SIMULINK software, each block of the model may be
run up time of the motor is longer. connected and modified easily. Some limit conditions such
as saturation of magnetic circuit and stator current limit
may be easily inserted in the function blocks. Researchers on
machine drives will find this method convenient to use as
.. .. .. .. .. program compilation is not required. In addition, there are
many toolboxes of signal processing, neural network, fuzzy
logic, identification and control in the SlMuLINK library.
As a subsystem, the model may be easily incorporated into a
.... .... .,.. ....
sophisticated control system of the induction motor.
o a5 t 1.5 2 26 5
Time (second) speed (radlsec)

REFERENCES
30- .. .. .. .. .. ..
..
i
..
,
..
.
..
.

...
.

...
.

...
.

.. .. .. . . . I
...........
: -:........:... :"
. ......-:..........-;..........
-..........-.....................
stitac;rratlofi,(1y:,,
.
[l] A D. Jr, Y.Yh,"Single Phase Indudcm Machine Simulation Using
the Electromagnetic Transients Program: Theory and Test Cases," LEET
iliSHliuailv,,,, ,~....
...i : i i i i
....i...".".l.......i
.... Trans. on E n e m Conversion,vol. 9,No.3,pp 535-542,Sept, 1994.
[2] P. C. lkause, "Simulatim of Sy"&oal Induai~ Machinery,'?lEEE
Trans. on Power apparatus and Systems, vol. PAS-84, No. 11, pp.
1038-1053,NOV.,1965.
[3] S. N. G b i , "Digital cornputer Simulation of Threephase Induction
........
"*.." . .
...
. . . ...
...
. . . . . . . ..
... ... ... ...
. . . . . .. .. . .
... ... . .. . .. . ..
Machine Dynamics - A Generalized Approach," IEEE Trans. on Ind.
.. . . ... . . . . . . . . . App., vol. 24,No. 1, JauReb., 1988.
o m o r a l w r U W W l e . 2 P 2 4 2 a 2 8 3 [4] A M . Tnynadlowki, The Field Orientation Principle in Control of
TnQ (semri) Induction Motors, KLUWER ACADEMIC PUElLISHERS,1994.
[SI P. N. Enjeti P. D. Ziagas, J. F. Lindsay and M. H. Rasbid, "A New
Current Control Scheme for ac Motor Drives," IEEE. Trans. on
Fig7 Simulationresults intemalresistance of power supply'=0.2R. Ind. App..,vol. 28,No.4, pp842-849.Jul./Aug., 1992.

WB3-6.3