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230a PDF
S. S. Murthy
Department of Electrical Engineering
Indian Institute of Technology
New Delhi-110 016. (India)
Abstract. The paper derives a generalised operational windings need special equations. This paper presents a
equivalent circuit for induction machines starting from generalised model with an operational equivalent circuit from
fundamental principles in any arbitrary rotating reference which specific equations for different operating modes can be
frame. Directly measurable parameters are used in this derived by substituting appropriate constraints. The concepts
equivalent circuit From this generalised model, the of generalised rotating field theory and symmetrical
equations for any reference frame are derivable as particular component theory have been used effectively for steady state
cases. The model presented is versatile as it can be used for operation under unbalanced voltages or asymmetrical
any operating condition and any asymmetrical connection or connections [1,2,3]. Mathematically, though not physically,
switching and for both 3-phase and 2-phase wound machines. analogous concepts of instantaneous symmetrical components
The equivalent circuit provides space phase vectors and the and operational equivalent circuits have been shown to be
relevant expressions can be used to develop software for on effective in analysing transients under similar conditions [4-9].
line control of motors through field orientations. Different But these were confined to a stationary reference frame with
possible modes are considered in this paper to derive symmetrical stator and rotor windings.
relevant equation from the general model to illustrate its The concepts of space vectors of voltage, current and
potential. flux-linkages [10,11] used in field orientation and field
acceleration method of control of motors have a direct
1. INTRODUCTION relation to instantaneous symmetrical components
Induction machine modelling has continuously representing dynamically changing complex quantities which
attracted the attention of researchers not only because such can be denoted by voltage, current and flux linkage vectors.
machines are made and used in largest numbers but also due Further, the equivalent circuit is an easily understandable
to their varied modes of operation both under steady and concept for a student working on induction machines, wherein
dynamic states. Increased use of Power Electronic controllers the parameters can be determined by test or design, It is
with such machines makes appropriate modelling and possible to incorporate non linear variation of these
parameter identification crucial both for working control parameters under different operating modes dynamically in a
strategies and performance prediction. program. For example studies on capacitor self excitation
Induction machines operate in both motoring and require simulation of non-linear magnetising reactance. This
generating modes. Till recently motoring operation was is true in any situation involving flux control. It has been
almost universal. But recent exploitation of renewable energy experienced by the author that operational equivalent circuit
systems such as wind and small hydro has led to use of grid leads to model equations under asymmetrical operation more
connected induction generators driven by wind and hydro elegantly compared to alternative methods using direct d-q
turbines. variables.
While steady state operation of 3-phase motors at The generalised operational equivalent circuit
fixed balanced voltage, frequency and load is common, presented in the paper relates to an arbitrary rotating
operations at unbalanced voltages and asymmetrical winding reference frame such that specific equation for any reference
connection (1-phase, 2-phase, 3-phase) are often prevalent frame can be evolved as a particular case. The concept may
needing appropriate models to analyse. The power devices be extended for asymmetrical 2-phase or 3-phase winding
used for motor control often cause asymmetrical switching of configurations, which may also include zero sequence circuit.
windings. Transient studies under run-up, reswitching,
braking, load change and short circuit conditions too require 2. DERIVATION OF GENERALISED
suitable analytical models. Modelling under induction EQUIVALENT CIRCUIT
generator operation driven by wind and hydro turbines has A symmetrical induction machine can be considered
recently assumed importance. Field oriented or vector control to have 3 phase symmetrical stator windings sa, sb, sc and
requires dynamic modelling under different reference frames equivalent short circuited 3 phase symmetrical rotor windings
for real time transformations. Machines with asymmetrical ra, rb, re (Fig. 1) or 2 phase symmetrical windings sa, sb and
0-7803-2795-0 •622
(b)
Fig.1 Winding Orientation of a Symmetrical Transformed Windings on
Induction Machine Arbitrary Rotating Frame
(a) 3-phase (b) 2-phase
ra, rb at quadrature. Let R» R, be resistance of each stator
and rotor winding and L^ L, be self inductances. Let M^, (2)
M,,, be mutual inductance between any two windings in stator
and rotor respectively. Let M be the mutual inductance
where the time derivative operator p=—
between a stator and a rotor winding when they are aligned.
Let the rotor speed be u, elect, rad/s. Let us consider an
arbitrarily rotating reference frame at «o elect, rad/s on If we denote [ V ] , P ' ] , [R«], [L'] as the
which d and q axes at quadrature are fixed (Fig, 2). If 6 is corresponding matrices in the transformed plane it is possible
the angle between sa and ra axis at any instant, we may to show that
assume that all inductances expect those between stator and
(3)
rotor windings are independent of e. Neglecting space
harmonics the mutual inductance between stator and rotor where
windings may be considered to be varying sinusoidally with ©.
Transformations are resorted in machine theory to make the
inductance parameters independent of 6 in the transformed
plane. (3a)
cos8- -dnd
(la)
(4b)
JS) -^(6 A -L
3 3 ,/2 (4c)
c«<e.-e)
42
(lb) (4d)
3J
i
Here eo = wo t and © = «, t
Denoting [V], [I], [R], [L] as voltage, current, (4d)
resistance and inductance matrices and [G] as derivative of
[L] with 0, the basic volt-ampere equation is (4Q
623
Following relations on inductances are valid Same holds true for currents and rotor voltages.
Since negative sequence quantities are complex
LK - Msm - L,, + (3/2) L ^ conjugates of positive sequence ones, only the latter would
suffice to define the system.
K - M ra - L,r + (3/2) L ^
Defining operator />'•.£.«—_
where L^, Ljr are stator and rotor leakage inductance
per phase all referred to stator turns, L^ is the mutual
inductance of all windings referred to stator turns. At the p.u. speed of rotor v=—-.
base radian frequency eo, following reactance can be defined
Stator leakage reactance/phase, x,,=<i> L^
Rotor leakage reactance/phase (ref. to stator) xJr"<«>£|r p.u. speed of rotating frame v a =—
Magnetizing reactance x,,, = u> (3/2) L ra
The reactances xb, x,r and x^, are the standard eq. (5) through (6) yields,
parameters of the per phase equivalent circuit of an induction
machine defined at the base frequency. Referring all the (7a)
quantities to stator turns, eq. (4) now simplifies to
x,. x_ x.
(7b)
(5a)
The above equations can be represented by the
operational equation circuit of Fig. 3, with the following
notations
v, i : voltage, current .
R, x : Resistance, reactance
(5b) v, v 0 : p.u. rotor speed and speed of rotating frame
p' : operator, (1/co) (d/dt)
<•> : base radian frequency
X
ls
(5c) Subscripts :
CO s, r : stator, rotor
1, m : leakage, magnetising
(»„-«,) Superscripts :
+ , - : positive, negative sequence.
The general equivalent circuit is derivable from
symmetrical 3-phase or 2-phase machine and only the
<5d) transformation matrices [Cffl] and [CJ of {1) would differ as
also the inductance parameters.
For negative sequence quantities eqs. (7a) & (7b) can
be modified by replacing the superscript " + ' by "-" and the
operator j by -j. Same changes apply for Fig. 3 to obtain the
negative sequence operational circuit.
(<•>.-<•> It is possible to write a zero sequence operational
equivalent circuit using zero sequence voltage equation of
eq. (5) as shown in Fig. 4
624
"Is" »|rP
(9)
3. MODEL WITH PARTICULAR REFERENCE
FRAMES Fig.5 Operational Equivalent Circuit for
In practice we need model equations in different Stator Reference Frame
frames; for example the d-q axes fixed to stator, rotor or
rotating at synchronous speed. The operational equivalent
circuit for each frame can be obtained by simple substitution
illustrated below.
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5. APPLICATION OF THE GENERAL
EQUIVALENT CIRCUIT TO PARTICULAR CASES
The general operational equivalent circuit has been
found to be useful in deriving model equations for almost all
practical cases. Only a few cases are presented here for
illustration.
626
(17)
Further
(18)
v/3
Combining (12,. 17, 18), we get
V = (Z, + + Z>) I,,
Fig.10 3-Phase Motor With 1-Phase Supply leading to the operational circuit of Fig. 13.
There are several practical situations when such a
single-phasing operation occurs such as sudden disconnection
^ - j - ^ . (16) of a supply line and in-line-thyristor switching. The modelling
which can be shown by the equivalent circuit of of such systems using the operational circuits has been
Rg.lL reported[6].
v
sb
which yield
Logically equation (13) & (16) and circuits of Figs.8 5.2.5 3-phase motor with 1-phase supply with phase
& 10 must be same. While stator leakage impedance matches converter
by including the zero sequence impedance, air gap It is possible to operate a 3-phase star or delta
impedances appear to differ. It is important to note that the connected motor with 1-phase supply using a static phase
air gap impedance parameters x,,,, x^ and x,, in Fig. 9 and conyertor, which is normally a capacitor across two of the
Fig.ll are not numerically same, being referred to 2-phase terminals. Dynamic modelling and analysis can be elegantly
and 3-phase systems respectively, The parameters of the 2- handled using operational equivalent circuits.
phase system would be (2/3) times those of the 3-phase If a capacitor of reactance x,. at base frequency is
system, as the transformation matrices of eq. (1) differ. connected across the terminals a, c of Fig. 12, the following
terminal relations hold
5.23 3-phase star connected induction motor with 1- v - VM 1- v* = 0
phase supply across 2-windings
For the connection shown in Fig. 12, where 1-phase
supply is connected across both sa and sb phases.
- 0, vK 0
Methodology of modelling and analysis has
1 been detailed in an earlier paper [7] , using the equivalent
circuit, for both star and delta connected cases.
627
S3 Analysis under capacitor self excitation 'so
Induction machines driven at any speed experience
self-excitation and operate under generating or braking modes
with sufficient terminal capacitors. Under balanced conditions
the operational equivalent circuit of Fig. 3 can be used. It is
important to note that xm in Z, + is a variable parameter
changing from unsaturated to saturated value as the voltage
builds up. The- loop equation
T Z<f
628
5J5 Modelling with rotor unbalance V+ and vr' can be written from Fig. 5 and its
Unbalance in rotor is prevalent mostly in slip ring complement as
motors due to asymmetrical switching or unbalanced external
impedances connected across rotor terminals. Power •xj'a:*o M
electronMTconvertors in rotor circuits for slip energy control
may often result in rotor unbalance. Start-up of slip ring
xwp%+Q (22b)
motor with unbalanced external starter resistors is another
practical case. The modelling through operational circuit in +
Denoting the complex terms i, and i," in terms of
the rotor frame of reference can be effected in such cases real and imaginary parts as
especially under asymmetrical/unbalanced conditions.
•-** Only one case of single-phasing in rotor circuit when (23a)
Z-i.+K
onw of the three star connected rotor phases is open circuited
is considered here, while other cases can be taken up for
further study.
The corresponding rotor circuit is shown in Fig. 17. and substituting in (21) through (20), (22), (23), we get
The operational circuit of Kg. 5 with rotor frame can be
written with voltage sources across rotor terminals as in (24)
Fig.18 writing
6. CONCLUSIONS
The paper presents a generalised operational
equivalent circuit for induction machines for different possible
operating conditions specially when external asymmetries are
involved. The general circuit for an arbitrarily rotating
Fig.18 Equivalent Circuit for Fig.17 reference frame yields specific models for a particular frame
with simple substitution. Several practical cases including
Following relations holds true for Fig. 17 stator and rotor asymmetries can be elegantly handled using
=0 this general circuit as demonstrated in the paper.
(19) Considerable scope exists towards varied applications of the
rt> T, proposed model and also for extending the same for machines
which yield involving internal winding asymmetries. The non-linear
parameters can also be easily accounted for a dynamic
(20a) simulation. The circuit can also be used to explain field
orientation.
7. REFERENCES
(20b) 1. J. B. Brown and C. S. Jha, " Generalised Rotating Field Theory of
V3 Polyphase Induction Motors and its Relationship with Symmetrical
Component Theory ", Proc. IEE, Vol. 109A, pp 59-69, Feb. 1962.
2. J. E. Brown and C S. Jha," The Starting of a 3-phase Induction Motor
Connected to a 1-phase Supply System ", Proc. IEE, Vol. 106A, pp Ig3-
190, April 1959.
629
3. C. S. Jha, " The Starting of Single-phase Induction Motors having Appendix-II
Asymmetrical Stator Windings not in Quadrature ", Proc. IEE, Vol.
_ 109A, pp 47-58, Feb. 1962
In Fig. 5 v, + , i, + , i,+ are complex quantities and can be
4. J. E. Brown, P. Vas and S. S. Murthy, * Instantaneous Operational written as
Equivalent Circuits of 3-phase Motors having Current Displacement
Rotors ", Proc. International Conference on Electrical Machines,
Athens, Sept. 1980.
5. S. S. Murthy, Bhim Singh and A. K. Tandon, " Dynamic Models for Relevant loop equations for and i/ yield the time
Transient Analysis of Induction Machines with Asymmetrical Winding derivative of current as [6,7]
Connections *, Electrical Machines and Elcctromechanics (USA) Vol.
6, No. 6, 1981, pp 479-492.
6. S. & Murthy and GJF. Berg, " A New Approach to Dynamic Modelling
and Transient Analysis of SCR Controlled Induction Motors *, IEEE
Trans, on Power Apparatus & System, No. 9 SepL 1982, pp 3140-3150. where
7. S. S. Morthy G. J. Berg, Bhim Singh, C. S. Jha and B. P. Singh, '
Transient Analysis of a 3-phase Induction Motor with Single-phase
Supply ", (paper No, 82wm 228-5), IEEE Trans, on Power Apparatus
& Systems, VoL 102, Jan. 1983, pp 28-37.
8. S. S. Murthy and G. J. Berg, " Transient Analysis of Induction Motor 0 x, 0 xm
with Plugging, Operation ", Canadian Electrical Engineering Journal, 0 0
VoL 9(1), 1984, pp 22-28. V *r
9. S. S. Murthy and G. J. Berg, " Improved Dynamic Model for the 0 x_ 0 x.
Transient Analysis of SCR Controlled Induction Motors ", J.I.E (India),
VoL 66, Oct. 1985, pp 57-65.
10. Sakae Yama Mura," A.C. Motors for High Performance Applications
", Marcel Deckker, 1986.
11. P. Vas," Vector Control of A . C Machines ", Clarendon Press, Oxford,
1990.
11 S . & Murthy, G. J. Berg, C. S. Jha, and A. K. Tandon, " A Novel
Method of Multistage Dynamic Braking of Three Phass Induction
Motors ", IEEE Trans, on Industry Applications, April 1984. pp. 329-
334.
Appeedis-I
The matrices R ' , L' and G' of eq. (3a) on substitution The time of derivative of speed is [6.7]
yields
R, R, R, Rr 2<*H
where Te is developed electromagnetic torque from eq. 9,
•M^ 0 0 TL is the load torque and H is the inertia constant.
-M Ln-M
0 0
0 0
0 0 0 0
0 0 0 0
0 0 0 0
-M 0
-~M 0 0 -( 0
0 0 0 0
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