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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 proposed for simulating the dynamic behavior of a large, interconnected, nonlinear, time-varying physical system containing one or more threephase 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

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 trialand-error experimentation with costly prototypes. The less is 11. THEPROPOSED METHOD SIMULATION FOR known about a device or a system the greater is the number of Time-domain analyses have so far advanced in basically prototypes required. Hence implementation of a fresh idea into a useful new product is usually an expensive, long, tedious, four directions. They are: a) digital computer solution of state 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. The new simulation procedure proposed in this paper is an time, expenditure, and effort. addition to this list. It is the most sophisticated and advanced To determine the ratings of the components used in power electronic equipment it is essential to know, amongst other technique for simulation of the nonlinear dynamics of any 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 items, static power electronic equipment as well. Timedomain static network models of thyristors [ 2 ] , triacs [ 3 ] ,and Paper IPCSD 87-22, approved by the Electric Machines Committee of the bipolar transistors [4], [SI exist. Simple modifications to these IEEE Industry Applications Society for publication in this TRANSACTIONS. This work supported by Lucas Research Centre, Solihull, West Midlands, models allow switching characteristics or diodes, GTOs, and B90 4JJ U.K. Manuscript released for publication May 1, 1987. power MOSFETs to be simulated. Time-domain static netThe author is with the Department of Electrical and Electronic Engineering, work models of dc machines have also been published [6]-[8]. Newcastle Upon Tyne Polytechnic, Newcastle Upon Tyne, NE1 8ST, U.K. IEEE Log Number 8716205. Furthermore, the well-known Electronic Circuit Analysis

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.

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 specifically perform numerical analysis of the transient behavior of power inverters. and renamed the Bristol Transient Analysis Package (BTRAP) [9]. In the field of asynchronous machines it has been shown 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 dynamics. Another such time-domain static network model has recently been reported [14]. The method in general requires static network models of the various constituent devices and subsystems. The macromodel of the overall 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 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. 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 of the most difficult internal asymmetrical faults [15], [16] that split one or more phases, on either or both sides of the airgap, into multiple sections, with or without interconnections. 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.
111, TIMF-DOMAIN MATHFM.ATICAL MODEL

2 ) Electromechanical Description: Since the reference frame is holonomic in nature the instantaneous electromagnetic motoring torque can be obtained from

T~~ = ? i T ( & L )

i N . m.

(3)

Extracting L from 2 in (2) and substituting in (3), the expression for the instantaneous electromagnetic motoring torque becomes

Te.m =

-!i d 2 [

[ia(Lda+LuA) or sin

+ ib(LAb+ LbA)sin
+ic(LA,+L,) sin

+iB [i'(LBa+LaB) sin

(or--) :

+ ib(LBb LbB)sin Or +

+('i

LBc+ LcB) sin

+ i c [ia(Lcu+Luc)sin

Based on nswmptions presented elsewhere [IS], the dynamics 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. I ) Electrical De.wiption:
u=zi

+ib(LCb+ LhC)sin

Or--

3
.
(4)

+ ic(Lcc+ Lcc) sin Or

(1)

11
N

or

3 ) Mechanical Description: Instantaneous rotor speed in the anticlockwise direction can be obtained from
T,, -T\=JOr+Kf0,
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 contained 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

pL

b
1

pL

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:

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

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

3 1

. (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 The availability of various second-, third-, and fourthgeneration software for circuit analysis, e.g. SCEPTRE (and 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 or another to be programmed by the user. The nonlinear variation of the machine parameters can be easily obtained directly from the load test data by solving an optimization problem [12] for parameter estimation. The time-domain static network equivalent (Fig. 1) of the electrical description given by (6) is deduced as follows. The

stator A-phase voltage is

UA =R A i A

+pLA i A+p L I ,

= RA i A +pLA ( i A

+ J A ).

(9)

To avoid "computational delay" [17] (computation at the nth time step begins with independent-variable values valid at the (n - 1)th step) the line current i A is referred to as

i A= i L A - J A

(10)

GHANI. SIMULATION OF THREE-PHASE INDUCTION DYNAMICS

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 approximation 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

where
I,

current through the inductor LA and, being a state variable. has been updated at the start of each time step. time-varying current source across the inductor, and

i cos 8r+ibcos
+iccos

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 allinductor time-varying current source cutsets [ 171 present in the neighborhood of nodes 1 and 10. They also prevent inadvertent 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 threephase 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 threephase 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

RA= Rs= Rc= Rs= 0.08 15 Q LA = Lg= Lc= Ls = L6

= LL
= L i = Lr = (19.55

+ 0.8754) mH

R = R b= R c R = 0 . 1 3 Q a = r

Llr=13.03 mH.

Two internal reports on this topic, comprehensive in nature and containing

data tiles. are obtainable

on application from either the author or the Libmrian. Newcastle Upon Tyne Polytechnic, Newcastle Upon Tyne, NE1 XST. U . K .

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 lineto-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 switching delay.

110
120

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

Predicted steady state current = 8.80 A rms. Measured steady state current = 8.60A rms.

5 -40
-80

Time-s

(~0.01) Computer simulation. (d)

ff+j--Time-s

(a)

Computer simubtion.

Compu7er stmu btion. Measured value =

(~0.011

Predicted steady state torque = -0.06 N.m. Measured steady state torque = 0.0 N.m.

t
-801 "
20

1 1

(b) Fig. 2. Predicted transients in induction motor suddenly energized from source delivering sinusoidal voltage waveform. (a) Stator A-phase current. (b) Electromagnetic motoring torque.

(b) Fig. 4. Induction motor rotating with 1.07-percent slip and fed from a n inverter delivering six-step line-to-neutral voltage waveforin at SO Hz. l a ) Top trace: line-to-line voltage: scale 54 V/div. Bottom trace: line current: scale 14.2 A/div. (b) Prcdicted line current.

8011
40

Computer simulation.

u I *

'

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

R~=Re=Rc=Rs=O.8970Q
L~=L~=Lc=Ls=(100.9$3.79) mH

(b)

R ' = R 'b R ' = R ' = 0 . 9 7 7 Q = c a r

L ; = L ; = L ; = L ; =(100.9+3.79) mH L;,= 67.27 mH.
The rating of this machine is 3 kW at 1420 r/min when supplied with the rated line voltage of 240 V at 50 Hz. Oscillograms of instantaneous voltages and currents during the

Fig. 5 . Induction motor fed through soft-start equipment from 50-Hr power 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 ~ corresponding stator input current in line C (vertical ~ a 5 k A / ~ I L 0 , horizontal scale: 5 msidiv. 1.

first cycle are shown in Figs. S(a) and 5(b) and the corresponding simulated waveforms in Figs. 6(a)-h(c). Inspection of Figs. S and 6 reveals that the shapes of' actual waveforms of the stator voltages are similar to those obtained by computer simulation. The magnitudes of the instantaneous

GHANI SIMUI.ATION OF THREE-PHASE INDUCTION DYNAMICS

111

(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 electromagnetic motoring torque.

voltages at certain instants of time, however, differ considerably, 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. Electromagnetic 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

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 timevarying 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 expensive. 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
-1m/

0
Computer simulation. I

I
0.0 0.5 1.0 1.5 2.0 2.5
Time-s

3.0

I ;
3.5

I
4.0

-1501

-200

I
A

1.w

1.05

1.10

1.15 (xO.011

1.M

(~0.01)

Time-r

5.5! 1.0

--\

(a)
t

z 7
I

45;

351
t

' ,
' \

t
Computer simulation
\ '
\

I
I
I
I

-1.0

I
I 0.5 10 15
'

-1.5 0.0

u
1
2.5

'

25, 15 0.5

1
105 110
Time-s

2.0

3.0

3.5

4.0

05L-___100

115

120

Time-s

(~0.01)

(XOOI)

Fig. 7.

(b) Predicted waveforms in single-phase inductive load controlled by triac. (a) Voltage across load. @) Current through load.

(b)

Fig. 8. Predicted worst-case turn-off transients in single-phase inductive load controlled by triac. (a) Voltage aross load. (b) Current through load.

general-purpose programs. The possibility of using parallel Although in this investigation machine parameters have processors to provide superior computational speed and power been assumed to be constant quantities, the accounting for this is also under investigation. 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 minicoming transistors, thyristors, triacs, etc. to be connected simulta- puters. neously to both the stator and the rotor electrical circuits. Such NOMENCLATURE a situation, though far-fetched, shows the versatility of the model. The model has been used to simulate machine i, Y Column vectors of instantaneous current, voltdynamics 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 . p 4 d / d t Differentiation operator. [131.

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GHANI: SIMULATION OF THREE-PHASE INDUCTION DYNAMICS

113

J K R

8,

Moment of inertia, current source (kgm*m*,A). Coefficient. Resistance (a). Torque (N-m); when used as superscript indiCates transpose. 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.)

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. REFERENCES
B. L. Jones and J. E. Brown, Electrical variable speed drives, in IEE Proc., Pt. A, vol. 131, no. 7, Sept. 1984, pp. 516-558. S. N. Ghani, Thyristor models for computer aided analysis and design, IEEE Trans. Ind. Elec., vol. IE-33, vol. 3, p. 340, Aug. 1986. S. N. Ghani, Low frequency switching circuit model of a triac, ComputerAidedDesign (CAD), vol. 13, no. I , pp. 7-17, Jan. 1981: Corrigenda, CAD, vol. 13, no. 5, p. 300, Sept. 1981. G. M. Kull et al., A unified circuit model for bipolar transistors including quasi-saturation effects, IEEE Trans. Elec. Dev., vol. ED32, no. 6 , pp. 1103-1113, June 1985. I. Getreu, Modelling the bipolar transistors, Part 1, Electronics, pp. 114-120, Sept. 19, 1974; Part 2, Electronics, pp. 71-75, Oct. 13, 1974; Part 3 , Electronics, pp. 137-143. Nov. 14, 1974. R. S. Rarnshaw and G. Xie, Dual model of a dc machine with gyrators, in IEEProc., Ft. B, vol. 132, no. 1, Jan. 1985, pp. 57-60. A. Yablon and J. Appelbaum, Transient analysis of a dc series motor (linear versus nonlinear models), IEEE Trans. Ind. Elec. Con. Ins., vol. IECI-28, no. 2, pp. 120-125, May 1981. J. F. Lindsay, An electromechanical network model of the dc motor, IEEE Trans. Ind. Appl., vol. IA-14. no. 3, pp. 227-233, MayiJune 1978. S. R. Bowes, J. Clare, and R. R. Clements, Transient performance of inverter systems, in IEE Proc., Pt. B, vol. 129, no. 6, Nov. 1982, pp. 301-314. S. N. Ghani and R. Champaneri, Dynamic models of two phase induction machines along physically existing holonomic two phase reference frame arb1,in Proc. of Int. AMSE Conf. on Modelling and Simulation, July 1-3, 1982, Paris-Sud, vol. 6, no. 6, pp. 6 4 8 6 . S. N. Ghani and R. Champaneri, Dynamic models of two phase induction machines along nonholonomic rotating crossfield reference frame a[p. in Proc. of Int. AMSE Conf. on Modelling and Simulation, July 1-3, 1982, Paris-Sud, vol. 6, no. 6, pp. 87-106. S. N. Ghani, A dynamic model and a frequency domain static network model of two phase induction machines along holonomic complex plane sequence reference frame CY[^^^^," in Proc. of Int. AMSE Conf. on Modelling and Simulation, July 1-3, 1982, ParisSud, vol. supplement, pp. 83-102. A. Shirley, R. Champaneri, and S . N. Ghani, Continuous simulation of power electronic induction motor drives, in 18th Universities Power Engineering Conference, Apr. 11-13, 1983, University of Surrey, Guildford, England, pp. 53-58. P. D. Evans and H. A. AI-Obaidi, Simulation of inverter fed induction motor systems by means of circuit analysis computer packages, in Int. Conf. on Electrical Machines-Design and Applications, July 13-15, 1982, IEE Conf. Pub. no. 213, pp. 114118. A. H. Bonnett, Analysis of winding failures in three phase squirrel cage induction motors, IEEE Trans. Ind. Appl., vol. IA-14. no. 3. pp. 223-226, MayiJune 1978. P. Vas, J. E. Brown, and A. Shirley, The application of N-phase generalized rotating field theory to induction machines with arbitrary stator winding connections, IEEE Trans. Power A??. Syst., vol. PAS-103, pp. 1270-1276, June 1984. J. C. Bowers and S. R. Sedore, SCEPTRE: A Computer Program

Superscripts and Subscripts2:

a, b, c e.m.

s
I

rn

r
A, B, C

S
i

Rotor phases. Electromagnetic. Friction. Load. Mutual between two relatively stationary coils. Rotor. Stator phases. Stator. 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 SCEPTREs 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 FUNCTION FR is not required since reverse conduction can never occur. The transients can be calculated with considerable numerical 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.

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Englewood Cliffs, NJ: PrenticeHall, 1971. P. C. Krause and C. H. Thomas, Simulation o f symmetrical induction machinery, IEEE Trans. Power App. Syst., vol. PAS-84, no. 11, pp. 1038-1053, Nov. 1965. L. X. Lee and J . Berg, Steady state performance of analysis SCR controlled induction motors: A closed form of solution, IEEE Trans. Power App. Syst., vol. PAS-103, no. 3, pp. 601-611, Mar. 1984. G. Nath and G. J . Berg, Transient analysis of three-phase SCR controlled induction motors, IEEE Trans. Ind. Appl., vol. IA-17, no. 2, pp. 133-142, Mar./Apr. 1981. H. R. Fudeh and C. M. Ong, Modelling and analysis of induction machines containing space harmonics. Part I: Modelling and transformation, ZEEE Trans. PowerApp. Syst., vol. PAS-102, no. 8, Aug. 1983, pp. 2608-2615. , Part 11: Analysis of asynchronous and synchronous actions, IEEE Trans. PowerApp. Syst., vol. PAS-102, no. 8, Aug. 1983, pp. 26 16-2620. , Part 1 1 Three-phase cage rotor induction machines, IEEE 1: Trans. PowerApp. Syst., vol. PAS-102, no. 8, pp. 2621-2628, Aug. 1983. E. H. Branin et al., ECAP-11: An electronic circuit analysis program. IEEE Spectrum, pp. 14-25, June 1971. G. Kaplan, Computer-aided design, IEEE Spectrum, vol. 12, pp. 40-47, Oct. 1975.
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Sayeed Nurul Ghani is a native of Bangladesh and has been in the United Kingdom since 1963 He received the B Sc. degree in electrical engineering from the University of Peshawar, Pakistan. in 1961 with a Gold Medal and the President of Pakistans Award for meritorious results From 1963 to 1966 he was a postgraduate student at the Imperial College of Science and Technology. University of London, where he received the D I C and Ph D degrees for researching the design of impulsecommutated thyristor inverters for ac variablespeed drives From 1966 to 1970 he was a Lecturer at Kingston Polytechnic, U.K , and is at present a Senior Lecturer at Newcastle upon Tyne Polytechnic, U K He worked with Industrial Instruments Ltd , Bromley, Kent, during 1966, on variable-speed ac machine drives, with Thermal Electronics Ltd , Wimbledon, Surrey, during 1969, on thyristor inverters for induction heating; and with Lucas Research Centre, Solihull, West Midlands. during 1978- 1983. on the simulation of power electronic equipment In 1972 he participated in an Anglo-American teachers exchange scheme and lectured at the State University of New York for a year His fields of interest are power systems, power electronics, control engineering, electrical machines. systems simulation, and optimization He is an author of twelve technical publications. Dr Ghani is a Chartered Electrical Engineer and a Corporate Member of the Institution of Electrical Engineers, U K

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