41

Chapter - 3

Dynamic Modelling of Induction Motor

3.1 Introduction:

AC motors are invading into the application areas of motor drive,

where DC motors have been predominantly used. Advancements of

inverter technique have made AC power supply very controllable.

Variable frequency power supplies have freed AC motors from the fixed

synchronous speed, and they have become adjustable speed motors. It is

evident that the identification of induction motor is of wide importance in

several industrial applications. Among all the types of ac machines, the

cage type induction motor is widely used in industry.

The induction machine is also called as the asynchronous

machine. The induction motor has numerous advantages such as simple

construction and robustness. The name induction refers to the principle

of the machine operation. Most induction motors are of the rotary type

with basically a stationary stator and a rotating rotor. The stator has a

cylindrical magnetic core that is housed inside a metal frame. The stator

magnetic core is formed by stacking thin electrical steel laminations with

uniformly spaced slots stamped in the inner circumference to

accommodate the three distributed stator windings. The stator windings

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are formed by connecting coils of copper or aluminum conductors that

are insulated from the slot walls. The rotor consists of a cylindrical

laminated iron core with uniformly spaced peripheral slots to

accommodate the rotor windings. In this thesis a squirrel cage rotor

induction motor is used.

When the induction motor is connected to the appropriate ac

voltage source, there is a revolving flux in the air-gap. If there is a

difference in between revolving field speed and rotor speed then the

revolving field induces a voltage in the rotor winding. The difference

between the rotor and the revolving field speeds is called the slip speed.

The induced voltage results in a rotor current that generates a flux in the

counter direction to the flux generated by the stator windings.

However, the speed control of the induction motor is not easier

when compared with the dc motors. At light load conditions, the

induction motors take large starting currents and operate at a poor

lagging power factor. The 3-phase induction machine with a balance

input voltage can be evaluated by single-phase equivalent circuit. In the

steady state mode, the per-phase equivalent circuit of the induction

motor is given in fundamental frequency. The simplified per-phase

equivalent circuit model of the machine provides good performance

prediction for steady state operation of the machine with sinusoidal

supply voltages. But, it fails to give a good model for dynamic

performance. In an adjustable speed drives, the machine normally

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constituted as element within a feedback loop, and therefore its transient

behavior has to be taken into consideration. Hence, an accurate dynamic

model of the induction motor is necessary which can explain the

dynamic behavior of the machine under both transient and steady state

conditions. This chapter presents two approaches for developing the

mathematical model of the induction motor.

3.2 Induction Motor Modelling:

A dynamic model of the machine subjected to a control must be

known in order to understand and design the vector controlled drives.

Such a model can be obtained by means of either the two-axis theory or

spiral vector theory of electrical machines. Following are the assumptions

made for the model:

 Each stator winding is distributed so as to produce a sinusoidal

mmf along air gap, i.e. space harmonics are negligible.(Sinusoidal

induction repartition)

 The slotting in stator and rotor produces negligible variation in

respective inductances.

 Mutual inductances are equal

 The harmonics in voltages and currents are neglected.

 Saturation, hysteresis and eddy effects negligible.

3.2.1 Two-axis Theory:

The motor model can be represented by an equivalent two-phase

machine as shown in Fig. 3.1 (b). Though it is some what simple, the
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problem of time varying parameters still remains. To overcome this

problem, the reference frame theory was introduced. Such a model can

be described uniquely in rotor reference frame or stationary reference

frame or synchronously rotating reference frame. As the stationary

reference frame is simple, it is used in variable speed drives to study the

transient and steady state performance of the drive.

The symmetrical three phase induction motor has a three phase

system of coils on the stator and a cage on the rotor which can be

considered to be an equivalent to a three phase winding as shown in Fig.

3.1 (a) [2].

b
r
r b
c
b

a
(a)
qr
r
b
qs

r
b
dr
ds
(b)
Fig. 3.1 (a) coupling effect in three-phase stator and rotor windings
of motor (b) Equivalent two-phase machine
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The mathematical model of three-phase induction motor expressed in

stator reference frame is given by [2-3]

v qs  R s  L s p 0 Lm p 0  i qs 
    
v ds    0 Rs  Ls p o Lm p  ids 
(3.1)
0   Lm p  r Lm R r  Lr p  r Lr  i qr 
    
0   r Lm Lm p r Lr Rr  Lr p  idr 

d d
where r  and p 
dt dt

The dynamic equations of the induction motor in any reference frame

can be represented by using flux linkages as variables. This involves the

reduction of a number of variables in the dynamic equations. Even when

the voltages and currents are discontinuous the flux linkages are

continuous. The flux linkages of the stator and rotor in the stator

reference frame can be expressed as [3]

qs  L s i qs  Lm i qr (3.2)

ds  L s ids  Lm idr (3.3)

qr  Lr i qr  Lm i qs (3.4)

dr  Lr idr  Lm ids (3.5)

From (3.1) - (3.5) we get

dds
v ds  R s ids  (3.6)
dt

dqs
v qs  R s i qs  (3.7)
dt
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ddr
0  Rr idr  r qr  (3.8)
dt

dqr
0  Rr i qr  r dr  (3.9)
dt

The d-q dynamic model equivalent circuits of an induction motor that

satisfy (3.6) – (3.9) are shown in Fig. 3.2 [2].

ids idr

Rs Lls Llr Rr
-
v ds ds Lm dr r qr
+

(a)
iqs iqr

Rs Lls Llr Rr

v qs qs Lm qr r dr
-

(b)

Fig. 3.2 (a) d–equivalent circuit (b) q-equivalent circuit

The electromagnetic torque of the induction motor in stator

reference frame can be expressed as [2-3]

T e
3 P 

  ds i qs  qs ids
22
 (3.10)

The electro-mechanical equation of the drive can be given as [2]

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dm 2 dr
Te  T L  J  TL  J (3.11)
dt P dt

By using the equations (3.2) - (3.11), the induction motor model

can be developed in stationary reference frame.

3.2.2 Spiral Vector Theory:

The spiral vector is an exponential function of time with complex

variables, as given below

Y  Ae t ,   -   j ,  ≥ 0 and  ≥ 0 (3.12)

where  is the complex frequency  and  are real numbers and j is

complex operator. As time progress Y depicts as a spiral in the complex

plane as shown Fig. 3.3.

Im

t=0
A
Re

Fig. 3.3 Spiral vector in complex plane

When  = 0 thenY  Ae jt , it becomes a circular vector in the complex

plane and is called circular vector, this represents steady state

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alternating current quantity. When   0 , it becomes Y  Ae -t this

represents steady state DC. Thus the spiral vector can express almost all

kinds of state variables. [2]. Fig 2 shows model of an induction motor.

Vas

θ a ias

m
_
r itr

irr t
m
s c
isr
ibs ics
b
Vbs
Vcs

Fig.3.4 Model of induction motor model

The voltage equations per phase are

Vas  R s ias  Ls pias  Lm pirr (3.13)

0  Rr irr  Lr pirr  Lm pias - jm Lm ias - jm Lr irr (3.14)

From (3.12) and (3.14)

s Lr r Lm
ias = - (3.15)
Ls - Lr - Lm 2 L s - Lr - Lm 2

r L s s Lm
irr = - (3.16)
L s - Lr - Lm 2 L s - Lr - Lm 2

where s  Ls ias  Lm irr , r  Lr irr  Lm ias

The electromagnetic torque equation from spiral vector theory is given by

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3p
Te  Lm imag(ias * irr ) (3.17)
22

The electromechanical equation is obtained as follows

dm
Te  TL  J (3.18)
dt

Induction motor is modeled in stator reference frame using (3.13) to

(3.18), which contains only variables and parameters of a and r which

are segregated of others phases. This approach is called phase

segregation method [11].

3.3 Results and Discussion:

To validate the proposed induction motor modelling approaches,

numerical simulation studies have been carried out by using

Matlab/Simulink. The simulation parameters and specifications of

induction motor used in this thesis are given in Appendix - I. The

induction motor responses (such as speed, currents and torque) using

the stationary reference frame are shown in Fig 3.5. Whereas the

responses of induction motor using spiral vector theory are shown in Fig

3.6. From the simulation results, it can be observed that the results are

almost same for the two approaches. As the d-q modelling approach of

the induction motor is popular, hence used for vector control algorithms.

Also, the real time implementation of spiral vector theory based vector

controlled induction motor drive is complex and hence this thesis focuses

on the d-q modelling approach in the next chapters.

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(a)

(b)

(c)

Fig. 3.5 Responses of induction motor using d-q transformation

(a) Mechanical speed (b) Electromagnetic torque (c) Stator currents
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(a)

(b)

(c)

Fig. 3.6 Responses of induction motor using spiral vector theory

(a) Mechanical speed (b) Electromagnetic torque (c) Stator currents
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3.4 Summary:

In adjustable speed drives, the transient behavior of the induction

motor has to be taken into consideration. Hence, to study the dynamic

behavior of the induction motor under both transient and steady state

conditions, accurate mathematical models of the induction motor have

been developed in the stationary reference frame by using d-q modelling

and spiral vector theory approaches. From the results, it can be observed

that the two approaches give similar results. Moreover, d-q modelling is

popular approach for the practical implementation of vector controlled

induction motor drives when compared with the spiral vector theory

approach.