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Original Title: Three-Axis Dynamic Modeling of Induction Motor

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Three-Axis Dynamic Modeling of Induction Motor

Three-Axis Dynamic Modeling of Induction Motor

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motor

Abstract— This paper presents a new modeling and simulation II. D AND Q AXIS DYNAMIC MODEL OF INDUCTION MOTOR

method for the three phase asynchronous motor. This model called

In order to achieve mathematical model of the three phase

three-axis dynamic model of induction motor. The dynamic model is

examined by Matlab/Simulink as a rated power of 55 kW asynchronous motor, a direct quadrate (d-q) transformation

asynchronous motor. New three-axis dynamic model is compared dynamic model has been used widely.

with conventional d and q-axis dynamic model. Comparative results Because of its simplicity, which means the reduction of

are shown as the functions of stator and rotor current, angular speed, three quantities into two quantities, the model is a relatively

and torque of the three phase induction motor. The new model is easy to develop.

shown as better results than the d-q model.

General scheme of the two phase induction motor has been

used to design d and q axis dynamic model of the three phase

Keywords— Stator winding, rotor winding, induction motor,

differential equation, dynamic model, simulation. asynchronous motor.

I. INTRODUCTION

A Ө

resources and processing a number of equipments are used.

These equipments are mostly contains electric motor drive UsA

system for example, excavator, ventilator, pump, lifting

equipment, mining combine, drilling machine, conveyer, mill,

crusher and others. The above mentioned equipments have at

UrA

least one and more three phase asynchronous motor. ωr

Because of simple structure and reliable operation the

asynchronous motors have been used widely in the field of UrB B

UsB

industry.

Mathematical modeling of the asynchronous motor is difficult

and some researchers [2-12] have developed the model by

transferring into d and q axis. However, more accurate model

can be derived by using α, β, γ axis. Therefore, this paper is

aimed to obtain dynamic model of the motor which has been

transferred into three-axis. Fig.1 General scheme of two phase induction motor

voltage law for each phase, associated with above scheme, as

This paper is extended version of Dynamic modeling of three phase follows:

asynchronous motor. The article (Dynamic modeling of three phase

asynchronous motor) was published in Proceedings of the 3rd International

Conference on Automatic Control, Soft Computing and Human Interaction Stator circuit:

(ASME ‘15).

dψ sA

Dorjsuren Yandagsuren is with the Geology and Mining Department,

Mongolian University of Science and Technology, Ulaanbaatar, Mongolia

=

usА rsAisA +

(corresponding author to provide phone: 976-89909772; e-mail:

dt

(1)

dorjoo_must@ yahoo.com). dψ sB

Tumenbayar Lkhagvatseren is with the Geology and Mining Department, =

usB rsB isB +

Mongolian University of Science and Technology, Ulaanbaatar, Mongolia (e- dt

mail: tumenbayar@must.edu.mn).

Tsevegmid Jamyankhorloo is with the Geology and Mining Department,

Mongolian University of Science and Technology, Ulaanbaatar, Mongolia (e- Rotor circuit:

mail: tsevegmid_04@yahoo.com).

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

dψ rA dψ rd

=

urА rrAirA + urd =rrd ird + + ωrψ rq

dt dt

(2) (7)

dψ rB dψ rq

=

urB rrB irB + urq =rrq irq + − ωrψ rd

dt dt

Motor mechanical equation:

d ωr ωr – angular velocity

J + Mc =

M (3)

Where :

dt

Transferred magnetic flux of the stator windings can be seen

Magnetic flux of the stator: as follows:

ψ sA LsAisA + LmirA

= ψ

= sd Ls isd + Lmird

(4) (8)

ψ sB LsB isB + LmirB

= ψ

= sq Ls isq + Lmirq

Magnetic flux of the rotor: Accordingly, magnetic flux of the rotor is obtained as shown

ψ rA LrAirA + LmisA

= in equation (5)

(5)

ψ rB LrB irB + LmisB

= ψ

= rd Lr ird + Lmisd

(9)

ψ

= rq Lr irq + Lmisq

Fig. 2 has been derived by transferring the general scheme

which is given by Fig. 1 into d and q-axis, with 900 angle Active and inductive resistances of the phases are equal in

difference. three phase induction motor. Which means can be written as:

L=

sd L=

sq Ls

d

L=

rd L=

rq Lr

Usd rsd= rsq= rs

rrd= rrq= rr

ωr u= u= 0

rd rq

Urd

q The currents of the rotor and stator are derived by using

equations 6, 7, 8 and 9, eventually taking Laplace transform:

U rq U sq

Stator currents:

usd

− pTms ird

rs

isd =

1 + pTs

Fig.2 The d and q-axis equivalent scheme of induction motor (10)

usq

Differential equation of the stator winding which is − pTms irq

rs

transferred to d and q-axis is given by below equation: isq =

1 + pTs

dψ sd

=

usd rsd isd +

dt Rotor currents:

(6)

dψ sq pTmr isd + ωr (Tr irq + Tmr isq )

=

usq rsq isq +

dt ird = −

1 + pTr

(11)

Contrarily, differential equations of the rotor are: pTmr isq − ωr (Tr ird + Tmr isd )

irq = −

1 + pTr

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

Where: Ts = – stator time constant pTr+1

rs

isq 1

L Tmr

Tms = m – stator electro-magnetic time constant ωr

pTr+1

rs

L Tr

Tr = r – rotor time constant

rr isq pTmr (-) irq

L pTr+1

Tmr = m – rotor electro-magnetic time constant (-)

rr isd

Tmr 1

pTr+1

ωr

Electromagnetic moment:

m Tr

=M (12)

2 Fig.4 d and q-axis structural diagram of rotor

Where: m - Number of phase. d and q-axis structural diagram of induction motor is built

by Fig. 3 and 4. d and q-axis structural diagram of induction

Angular velocity of the rotor: motor can be shown in Fig. 5.

M − MC

ωr = (13)

pTм

ωr

pTм

d and q-axis structural diagrams of the stator and rotor

1

windings are determined by equations 10-11. d-q structural

(-)

Mc

diagram of stator can be studied as shown in Fig. 3. 3L M

2 m

usd 1 isd

(-)

rs(pTs+1)

(-)

ird pTms

pTs+1

usq isq

ird

(-) irq

1

(-)

rs(pTs+1)

(-)

(-)

irq pTms

pTr+1

pTr+1

1

pTs+1

ωr

ωr

Tr

Tr

pTr+1

pTr+1

pTmr

pTmr

shown in Fig. 4.

Tmr

Tmr

isq

isd

isq

isd

(-)

pTs+1

pTs+1

pTms

pTms

(-)

rs(pTs+1)

rs(pTs+1)

1

1

usq

usd

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

B

The d and q-axis dynamic model of three phase induction

motor is generated by "d and q-axis structural diagram of UB

induction motor" (Fig.5). d and q-axis dynamic model of the

b

induction motor can be shown in Fig.6. ωr

Ub

Ua

a

UA Uc

Ө c UC

A C

Fig.7 General scheme of three phase asynchronous motor

voltage law for each phase, associated with above scheme, as

follows:

Stator circuit:

dψ A

=

u А rAiA +

dt

dψ B

=

uB rB iB + (14)

dt

dψ

=

uC rC iC + C

dt

Rotor circuit:

dψ a

u=

a ra ia +

dt

dψ

u=

b rbib + b (15)

dt

dψ

u=

c rc ic + c

dt

Motor mechanical equation:

d ωr

J + Mc =

M (16)

Fig.6 d and q-axis Matlab/Simulink model of induction motor

dt

III. THREE-AXIS DYNAMIC MODELING OF INDUCTION MOTOR

permanently, and magnetic flux of the one winding depends on

Magnetic field of the stator and rotor of asynchronous motor the magnetic fluxes of rest of the windings.

influences to each other and a quantity of interaction

determines the current which flows trough motor and torque of Magnetic flux of the each phase is:

the motor shaft. In circumstance, a change of one parameter,

the rest of the parameter changes due to, to study transient

ψ A = LAiA + LAB iB + LAC iC + LAa ia + LAbib + LAcic

process of the asynchronous motor is difficult [1]. ψ B = LB iB + LAB iA + LBC iC + LBa ia + LBbib + LBcic (17)

General scheme of the motor has been used to design

dynamic model of the three phase asynchronous motor. To

ψ C = LC iC + LBC iB + LAC iC + LCa ia + LCbib + LCcic

obtain system equation is relatively simple because the

windings of the stator and rotor given by separately in the Equation (17) states that magnetic flux of the each phase

scheme. consists of the sum of other magnetic fluxes. However, in no

ideal case one of magnetic flux of the phase could decrease

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

to taking into account a direction of the magnetic flux. ψ sα =Lsα isα − Lmisβ − Lmisγ +

By dependent on the phase shift of a supply voltage, the

2 2

sequences of the generated magnetic fluxes in the stator 1 1

windings of the asynchronous motor holds А→В→С order,

+ Lm irα − ir β − irγ ;

2 2

and results rotating magnetic field in the stator.

1 1

Therefore, for the purpose of to consider these equations it ψ sβ =Lsβ isβ − Lmisγ − Lmisα +

is desirable to transfer the equations into axis [3]. 2 2

Fig. 8 has been derived by transferring the general scheme (20)

1 1

which is given by Fig. 7 into α,β,γ-axis, with 1200 angle + Lm ir β − irα − irγ ;

difference. 2 2

β 1 1

ψ sγ =Lsγ isγ − Lmisα − Lmisβ +

U sβ 2 2

1 1

ωr + Lm irγ − irα − ir β ;

U rβ 2 2

Usα

Urγ in equation (17)

1 1

α

Usγ

γ ψ rα = Lrα irα + Lm isα − isβ − isγ −

2 2

Fig.8 The α, β, γ-axis equivalent scheme of asynchronous motor

1 1

− Lmir β − Lmirγ

Differential equation of the stator winding which is 2 2

transferred to three-axis is given by below equation:

1 1

dψ sα ψ r=

β Lr β ir β + Lm − isα + isβ − isγ −

=

usα rsα isα + 2 2

dt (21)

1 1

dψ sβ − Lmirγ − Lmirα

=

usβ rsβ isβ + (18) 2 2

dt

1 1

dψ sγ ψ rγ = Lrγ irγ + Lm − isα − isβ + isγ −

=

usγ rsγ isγ + 2 2

dt

1 1

− Lmirα − Lmir β

Contrarily, differential equations of the rotor are: 2 2

dψ rα (ψ r β −ψ rγ ) ωr

−urα = rrα irα + + Active and inductive resistances of the phases are equal in

dt 3 three phase induction motor. Which means can be written as:

−ur β = rr β ir β +

dψ r β

+

(ψ rγ −ψ rα ) ωr

(19)

L=

sα L=

sβ L=

sγ Ls

dt 3 L=

rα L=

rβ L=

rγ Lr

dψ rγ

+

(ψ rα − ψ r β ) ωr rs=

α rs=

β rs=

γ rs

dt 3 rr=

α rr=

β rr=

γ rr

The currents of the rotor and stator are derived by using

Where : ωr – angular velocity equations 18, 19, 20 and 21, eventually taking Laplace

transform:

Transferred magnetic flux of the stator windings can be seen

Stator currents:

as follows:

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

u sα Ls

Where: Ts = – stator time constant

rs rs

=isα +

1 + pTs Lm

Tms = – stator electro-magnetic time constant

pTms

1 i + 1 i − i − 1 i − 1 i rs

rα rγ

2 2

sβ sγ rβ

+

2 2 L

; Tr = r – rotor time constant

1 + pTs rr

usβ L

Tmr = m – rotor electro-magnetic time constant

rs rr

=is β +

1 + pTs

(22) Whereas, electromagnetic energy of the induction motor:

1 1

pTms isγ + isα

1 1

− ir β − irγ − irα 1

+

2 2 2 2

; W=

э (ψ sα isα +ψ sβ isβ +ψ sγ isγ +ψ rα irα +

1 + pTs

2 (24)

+ψ r β ir β +ψ rγ irγ )

u sγ

rs Electromagnetic moment:

=isγ +

1 + pTs

Lm [( isα irγ + isβ irα + isγ ir β ) −

3

=M pn

pTms

1 isα +

1

is β − irγ −

1

irα −

1 2 (25)

ir β

+

2 2 2 2 ; − ( isα ir β + isβ irγ + isγ irα )]

1 + pTs

Angular velocity of the rotor:

Rotor currents:

M − MC

1 1 1 1 ωr = (26)

− pTmr isα − is β − isγ − ir β − irγ pTм

irα

2 2 2 2

−

1 + pTr

Where: Tм = J – mechanical time constant

T i − i + T 3 i − 3 i − 1 i + 1 i ω

r ( r β rγ ) mr sβ rβ

2 2

sγ rγ r

2 2 IV. MATLAB/SIMULINK MODEL OF INDUCTION MOTOR

3 The three-axis structural diagrams of the stator and rotor

− ;

1 + pTr windings are determined by equations 22-26.

The three-axis structural diagram of stator can be studied as

− pTmr isβ −

1

isα −

1

isγ −

1

irγ −

1

irα − shown in Fig. 9.

ir β =

2 2 2 2

1 + pTr

(23)

T i − i + T 3 i − 3 i − 1 i + 1 i ω

r ( rγ rα ) mr sγ rγ

2 2

sα rα r

2 2

3

− ;

1 + pTr

− pTmr isγ −

1

isα −

1

is β −

1

ir β −

1

irα

irγ

2 2 2 2 −

1 + pTr

3 1

Tr ( irα − ir β ) + Tmr isα − isβ − ir β + irα ωr

3 1

2 2 2 2

3

− ;

1 + pTr

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

rs(pTs+1) (-)

irα (-)

Fig. 9 and 10. Three-axis structural diagram of induction

(+) pTms

irβ 1

(-) (-) pTs+1 motor can be shown in Fig. 11.

(+) (+)

2

irγ 1

2

ωr

isβ 1

2

isγ 1

2

pTм

1

1

rs(pTs+1) (-)

irβ (+) (-) pTms

(-) (-) (+) (+) pTs+1

irγ

(-)

1

2

Mc

irα 1

isγ 2

pn√3 Lm M

1

2

isα 1

2

2

usγ 1 (+) isγ

rs(pTs+1) (-)

irγ (+) (-) pTms

irα (-) (-) (+) pTs+1

(-)

1 (+)

irβ 2

1

2

(+)

isα 1

2

isβ 1

2

shown in Fig. 10.

isβ 1

(-) (-) (-) (-) (1+pTr) (-)

2

isγ 1

2

irβ 1

2

irγ 1

2

irβ Tr

√3(1+pTr) (+)

irγ (-) ωr

isβ 3 Tmr

isγ 3

2 (-) (+) √3(1+pTr)

2 (-)

irγ 1

irβ 2

1

2

irα

irβ

irγ

isβ irβ

-pTmr

isα 1

(-) (-) (-) (-) (1+pTr) (-)

2

isγ 1

irγ 2 1 ротор

2

irα 1

2

irγ Tr

√3(1+pTr) (+)

irα (-) ωr

ωr

isγ 3 Tmr

isα

3

2 (-) (+) √3(1+pTr)

2 (-)

irα 1

2

isα

isγ

isβ

irγ 1

2

статор

isα 1

(-) (-) (-) (-) (1+pTr) (-)

isβ 2

1

2

irβ 1

irα 2

1

irα

irγ

irβ

2

irα Tr

irβ (-) √3(1+pTr) (+)

ωr

isα 3 Tmr

isβ 3

2 (-) (+) √3(1+pTr)

2 (-)

irβ 1

usα

usγ

usβ

2

irα 1

2

ωr

Fig.10 Three-axis structural diagrams of the rotor Fig.11 Three-axis structural diagrams of the induction motor

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

by "Three-axis structural diagram of stator" (Fig.9). The three-

axis simulink model of the stator can be shown in Fig.12.

by "Three-axis structural diagram of rotor" (Fig.10). The

three-axis simulink model of the rotor can be shown in Fig.13.

V. RESULT

In case of study 4А225М4 type motor has been used for

simulation. The technical characteristics are given by in Table

1.

Table 1.

Fig.13 Three-axis rotor Matlab/Simulink model

№ Name of parameter Parameter Data

The three-axis simulink model of the induction motor is 1 Power Pн 55 kW

implemented by "Three-axis structural diagram of the 2 Number of phase m 3

induction motor" (Fig.11). The three-axis simulink model of 3 Number of pole 2p 4

the induction motor can be shown in Fig.14.

4 Frequency f 50 Hz

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

5 Voltage V 220 V

6 Stator inductance Ls 0.0294 H

7 Rotor inductance Lr 0.0297 H

8 Mutual inductance Lm 0.0287 H

9 Stator resistance Rs 0.067 Ω

10 Rotor resistance Rr 0.032 Ом

11 Power factor cos ϕ 0.908

12 Moment of inertia J 0.621 kg∙m2

can be seen in Fig 15 to 20.

Fig.15 Rotor current of 4А225М4 motor (Three-axis)

As mentioned before, simplification of d-q transformation

model there are only two parameters controversially, three axis

model shows each current of the phases. Accordingly, an

overshoot of the current in transient period can be seen more

precisely.

INTERNATIONAL JOURNAL OF MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES Volume 9, 2015

pp. 3942-3951.

[7] Shi K.L., Chan T.F., Wong W.K., Ho.S.L, Modelling and simulation of

the three-phase induction motor using simulink, 1999, Manchester U.P,

Great Britain, pp. 163–172.

[8] Marcel Ionel., Mihail-Florin Stan., Elena-Otilia Virjoghe., Octavian-

Marcel Ionel., Algorithm for exact determination of three-phase

induction machine parameters, Proceedings of the 14th WSEAS

International Conference on SYSTEMS,Vol-2, ISSN: 1792-4235, 2010,

pp. 636-643.

[9] Nikos e. Mastorakis., Cornelia a. Bulucea., Doru a. Nicola., Modeling

of Three-phase Induction Motors in Dynamic Regimes According to an

Ecosystem Pattern, Proceedings of the 13th WSEAS International

Conference on SYSTEMS,Vol-5, ISSN: 1790-2769, 2009, pp. 338-345.

[10] Juri Jatskevich., Mirko Maksimcev., Modelling Multiphase Induction

Motors for Electric Ship Propulsion Systems, WSEAS/IASME Int. Conf.

on Electroscience and Technology for Naval Engineering and All-

Electric Ship, Miami, Florida, USA, 2005, pp. 10-16.

[11] Boonruang Marungsri., Nittaya Meeboon., Anant Oonsivilai., Dynamic

Fig.20 Torque of 4А225М4 motor Model Identification of Induction Motors using Intelligent Search

Techniques with taking Core Loss into Account, Proceedings of the 6th

WSEAS International Conference on Power Systems, Lisbon, Portugal,

In addition, d-q transformation model estimates the Id 2006, pp. 108-115.

current as a function of Iq, which does not allow to simulate [12] http://www.academia.edu/7652729/Mathematical_Modelling_of_an_3_

Phase_Induction_Motor_Using_MATLAB_Simulink

independently.

By transferring into three-axis an accuracy of the transient

process is improving. Response of the parameters of the

analysis can be controlled more precisely.

In practice the currents which flows trough phases are not

equal. The above mentioned two axis model was not able to

reveal the differences of the phase currents.

From the result of the simulation it is obvious that

difference of the phase currents can be seen clearly and gives

us possibility to compared study.

VI. CONCLUSION

In this paper we have obtained dynamic model of the

induction motor which transferred into three-axis.

From the simulated result we can conclude that the derived

dynamic model of the induction motor gives more detailed

transient characteristics which allow us to predict and to

analyze the narrowed behavior of the motor.

REFERENCES

[1] Kopylov I. P., Mathematical modeling of electrical machines. Moscow,

2001, pp. 63.

[2] Aleck W. Leedy., Simulink / MATLAB Dynamic Induction Motor

Model for Use as A Teaching and Research Tool, International Journal

of Soft Computing and Engineering (IJSCE), Vol-3, ISSN: 2231-2307,

2013, pp. 102-107.

[3] Naveed Rahaman., H.V. Govindraju, Modeling & Simulation of a

Three-Phase Electric Traction Induction Motor Using Matlab Simulink.

ISSN (Online): 2347-2820, 2014, pp. 19-25.

[4] Raad S. Fayath., Mostafa M.Ibrahim., Majid A. Alwan., Haroutuon A.

Hairik., Simulation of Indirect Field-Oriented Induction Motor Drive

System Using Matlab/Simulink Software Package. J.Basrah Researches

(Sciences), Vol-31, Part.1, 2005, pp. 83-94.

[5] Sandha K. S., Vivek Pahw, Simulation study of three-phase induction

motor with variations in moment of inertia, ARPN Journal of

Engineering and Applied Sciences, Vol-4, ISSN 1819-6608, 2009, pp.

72-77.

[6] Shakuntla Boora., S.K Agarwal, K.S Sandhu., Dynamic d-q axis

modeling of three-phase asynchronous machine using Matlab,

International Journal of Advanced Research in Electrical, Electronics

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