Three-phase Induction Motor Dynamic Mathematical Model

Emesto Ruppert Filho and Ronald0 Martins de Souza

DSCE/FEEC/UNICAMP
C.P. 6101 - CEP 13081-970 Campinas-SP, Brasil
E-mail: ruppert@fee.unicamp.br

-
Abstract The induction motor dynamic model, frequently
used in motor dynamic studies, is constituted by four voltage
differential equations and one mechanical differential equation
being very known among the electrical machine researchers.
The main goal of this paper is to present a more comprehensive
three-phase induction motor dynamic mathematical model
including the skin effect, the temperature influence on the
parameters and allowing for the stator and rotor winding and
stator and rotor core average temperature evaluation. This
model is useful for any type of motor dynamic studies mainly
those including fast motor speed changings, intermittent
loading and in case of motors fed from non-sinusoidal voltages
contributing to the energy conservation and power quality
subjects.
if the motor is available, provided by the motor manufacturer
or could be calculated using manufacturer technical
catalog or bulletin data when the former attempts are not
satisfied.
The main goal of this paper is to present a more
comprehensive three-phase induction motor dynamic
mathematical model including the skin effect, the
temperature influence on the parameters, the stator and rotor
winding and stator and rotor core average temperature
evaluation.
11. DYNAMIC MODEL INCLUDING TEMPERATURE
INFLUENCE AND SKTN EFFECT

I. INTRODUCTION
The induction motor dynamic mathematical model,
frequently used in motor dynamic studies like motor control,
drive specifications, electrical protection, Starting high
inertia loads, fast and large load changings, sucessive
startings, locked rotor, etc., is one represented by the
differential equations (1) to (5). It is a model written in
terms Of the winding linkage fluxes per second (Ul-VOlts)
referred to 8 SYnC~OnOUSlYrotating dq reference frame
(angular speed o ).
To take into account the temperature influence on the
winding electrical resistances, equations (6) and (7) are
,
used. In those equations A0 sw and A0 are the stator and
rotor winding temperature rises calculated by performing the
Of the thermal differential equations "Prising
the dynamic thermal mathmatical model (8) to (11) Where
WjI,Wj2,Wcl and Wc2 are the Stator and the rotor winding
and core losses, respectively, calculated at each integration
step by (12) to (15), e, is the motor emf and r, the
magnetic loss resistance.

(4)

This model was developed many years ago and it is de,

presented in many books and papers among them it could be wj2 =c,- +G,C(Q, -0,) (10)
dt
mentioned [l] to [3]. It is very familiar to the researchers
dealing with electrical machine dynamic studies.
The parameters appearing in the equations are the de,
Wc2 +Gwc(O, -0,) =C
, -+G,0, (11)
machine winding electrical resistances (rs ,rr ) , the leakage dt
and magnetizing reactances (Xes,Xk ,X,), included in the 2
linkage fluxes. Those parameters values could be measured Wjl = 3rs@sw )is (12)

0 1997 IEEE.
0~7803~3946-0/97/S10.00 MB1-2.1
 rotor winding (c) and rotor core (d) for a motor starting
followed by continuous operation with rated load during
160 minutes. It is also shown in the paper how the
3e2, experimental job was performed using a data acquisition
w, =-
system.
rm

W,l = Wc2 = 0,5 W, (according [4]) (15)

60
The coefficients C, ,C, ,C, and C , are the thermal
40
capacities of the stator and rotor windings and cores,
respectively, and ,G and ,G are the conductances 20
representing the heat transferred between stator winding
U
and stator core and rotor winding and rotor core,
respectively. It is possible to calculate C’s and G s using -to
0 400 800 TWO I S W TdOU
some statements on motor temperature rises normally
presented in electrical machine standards [ 5 ] , [6].
To include the skin effect two different mathematical Figure 1 : Dynarmc motor torque x speed curves using linear and
models are presented: one based on reference [7] that is a non-linearskin effect model
nonlinear model and other based on [SI that is a linear
model. It is shown in the paper that linear model fits very 35
well the steady-state torque x speed curve for motor NEMA
C class so that, rotor winding resistance and rotor winding JO
leakage reactance can be described as slip (s) functions as
shown in the equations (16) to (19). 20

rr (s) = rro + sArr (16)

Figure 2 : Steady-state torque x speed curves using hear and

non-linear skin effect model

Parameters rm,Xem are referred to rated slip and rrl

and Xerl to unit slip.

111. RESULTS

Experimental and simulation results presented are related 0 20 40 M 80 100 120 140 1W
to a three-phase, 3HP, 220V, 4 poles, NEMA C class
motor. 6)

Figure 1 shows simulated dynamic motor torque x motor 120 1

speed curves for linear and non-linear skin effect models

while figure 2 shows the simulated steady-state motor
torque x motor speed curves for linear and non-linear skin
effect models. It can be seen that linear skin effect model
produces a torque depression between starting and
breakdown torques.
Figure 3 and 4 shows the simulated temperature rise
curves (continuous trace) and experimental temperature rise Figure 3 : Simulated (curve 1) and experimental (curve 2) temperature rise -
curves (dotted trace) in the stator winding (a), stator core (b), a) stator-winding, b) stator-core.

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Figure 4 : Simulated (curve 1) and experimental (curve 2) temperature rises
c) rotor-winding, d) rotorare.
Figure 5 presents dynamic torque x speed curves when
temperature and skin effect are considered (curve 1) and not
considered (curve 2) in the simulation showing the necessity
to add those effects in the motor dynamic mathematical
model.
-20 '
0 600 1000 1400
Figure 5 : Simulated dynamic torque x speed curves -
1) consideringtemperature and linear skin effect,
2) rot consideringthase effects.
The complete paper will also present another results for
sucessive startings and locked rotor operation.
IV. ADDITIONAL COMMENTS
The dynamic model presented in this paper has shown
1 very accurated simulation results. Besides electrical and
mechanical quantities it permits the average temperature
rises in the stator and rotor windings and in stator and rotor
cores evaluation.
It is useful for any type of motor dynamic studies mainly
those including fast motor speed changings like startings,
brakings, stoppings and large load changings. It is addressed
mainly to people who needs to spec@ motors for any drive
or to perform transient studies in electrical energy systems or
in electrical industrial systems and also, to motor designers
who need to have a fast dynamic evaluation of the motor
average temperature rises, while improving motor efficiency
and power factor, during the design time, because those
values optimization depend on the temperatures. The authors
understand that this paper, this way, is also a contribution to
the energy conservation and power quality subjects.
- Researches are going on to analyze, with this model, the
intermittent motor loading according to different duties and
also to analyze motor performance under non-sinusoidal
voltage.
ACKNOWLEDGEMENTS
The authors would like to thank to FAPESP for the
financial support of this research.
REFERENCES
[11 P.C. Krause, 'Xnalysis ofElec?ricMachiner", McG~aw-Hill,1986.
[2] P.K Kovics, "Transient Pl"ena in Electrical Machines", Ekevier,
1984.
[3] T.A Lip0 and P.C. Krause, "Stability Analysis of a Rectifier-Inverter
Induction Motor Drive", IHZE Trans. on Power Apparatus and Sysrems, vol.
PAS-88, 1969, pp. 55-66.
[4] D.S. Zhu, G. Champenois and C. GNszqnski., "Coupling of Electrical
1800
I and Thermal Models of an Induction Motor for Performance Predictions",
Proc. Znt. Conf on Elecmcal Machines, ICEM.90, Mass., USA, 1990, pp.
281-286.
-
[5] NEMA Standard MG1,1978, patt 20.
-
[6] IEC standard IEC 34-1, part 1,1983.
[7] Kostenko, M. and Piotrovsky, L., ''Electrical Machines", MZR Publishers,
Moscow, Russia, 1969.
[SI M. Akbaba and S.Q.Fakhro, "New Model for Singleunit Representation
of Induction Motor Loads, Including Skin Effect, for Power System
Transient Stability Studies", IEE Proceedings-B, vol. 6, nQ139, November
1992.
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