IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS VOL. PAS-84, NO.

11 NOVEMBER 1965

Simulation of Symmetrical Induction Machinery

P. C. KRAUSE MEMBER, IEEE, AND C. H. THOMAS, SENIOR MEMBER, IEEE

Abstract-The effectiveness of an analog computer in studying 1) balanced conditions

the performance of induction machinery is demonstrated with 2) unbalanced stator voltages
computer results which show the dynamic behavior of 2-phase and 3) unequal rotor resistors
3-phase machines during balanced and unbalanced operation. The
computer simulation for these various modes of operation is con- 4) a combination of unbalanced stator voltages and un-
veniently obtained from the equations which describe the sym- equal rotor resistors
metrical induction machine in an arbitrary reference frame. 5) opening and reclosing of stator phases.
Of particular interest is the representation which is used to
simulate the opening and closing of a stator phase. This simulation DEFINITIONS AND BASIC EQUATIONS
would be useful in studying the performance of the induction
machine when used in conjunction with electronic switching devices. A symmetrical machine is generally defined as a poly-
The examples which are given can be used directly, or in a slightly phase machine with
modified form, to study various practical problems. Also, these
examples should serve as guideposts in selecting the best reference 1) uniform air gap
frame or the best combination of reference frames to be used in the 2) linear magnetic circuit
computer simulation of systems which have more than one machine. 3) identical stator windings, distributed so as to produce
sinusoidal MMF wave in space with the phases and ar-
a
INTRODUCTION ranged so that only one rotating MM1F wave is estab-
lished by balanced stator currents
IN MANY APPLICATIONS, the dynamic behavior of 4) rotor coils or bars arranged so that, for any fixed time,
the induction machine has an important effect upon the the rotor MMF wave can be considered to be a space
overall performance of the system of which it is a part. sinusoid having the same number of poles as the stator
Two examples of this would be the speed of response of a MMF wave.
2-phase servomotor or the hunting of a doubly excited in-
duction machine. Although induction machines are gen- Although the symmetrial machine is an idealized machine,
erally operated under balanced conditions, various un- it offers a means of predicting the performance of many
balanced or unsymmetrical conditions can occur. For ex- types of polyphase induction machines. Some important
ample, the stator phase voltages may become temporarily factors which effect the performance of the actual machine
unbalanced due to system disturbances, or may be opened but have been neglected in the symmetrical machine are
and reclosed or intentionally reversed; the applied voltages 1) nonlinear magnetic circuit
of a 2-phase servomotor are continuously unbalanced. 2) change in resistance due to temperature and fre-
Furthermore, unequal external rotor resistors may occur quency changes
due to a temporary malfunction in the external rotor cir- 3) harmonic content of the MMF wave.
cuits and, in some cases, switching may occur in the
rotor phases. in establishing the equations which describe the be-
In order to use the analog computer effectively, it is havior of induction machinery, it is generally sufficient to
important to have an induction machine representation consider an elementary 2-pole 2-phase symmetrical ma-
which can easily be arranged to simulate many of these chine This development can then be extended to include
modes of operation. To fulfill this requirement, a computer a machine having any number of poles by simply multiply-
representation is developed which can be conveniently ing the expression for torque by the number of pole pairs.
altered to simulate the symmetrical induction machine in If only balanced conditions are being considered, the modi-
any reference frame. The representation is then modified fications necessary to include 3-phase machines are equally
and extended to allow various unbalanced and unsym- straightforward. If, however, unbalanced or unsymmetrical
metrical conditions to be investigated. In particular, com- operation is to be analyzed, it becomes necessary to con-
puter representations are developed, and computer results sider the 2-phase and 3-phase machines individually.
aregiven forthefollowing modesvof operation: Therefore, instead of limiting this work to either a 2-
phase or 3-phase machine, parallel developments will be
Paper 31 TP 65-120, recommended and approved by the Rotating given.
Machinery Committee of the IEEE Power Group for presentation For the development of the 2-phase machine, the simpli-
at the IEEE Winter Power Meeting, N.ew York,lN. Y., Ja nuary31 fedrpentio shw inFg1wllbemoy.
available for printing December 3, 1964. ' When a stator winding is distributed for the purpose of

mentgo porrtedthrwapeformteP..dged
Smen thiereqiremnt
of the wr re parctrical fuglfill-
thKh..derennelcriasegner
for in producing a sinusoidal MIMF wvave
in space, it is convenient
to portray the winding as an eqivalent single coil and cx-
P. C. Krause is with the University of Wisconsin, Madison, Wisc. press the mutual coupling between it and an equivalenlt
C.iH.aThomasWisc wihteAlsCamr'MnfcuigCmay rotor coil as a vsinusoidal function of the angular displace-
10)38
 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES 1039

ment between their magnetic axes. If the induction ma-

chine has either squirrel-cage rotor or a coil-wound rotor
a
br-axis
bs-axis ~~~with the same number of phases as the stator, the rotor
can be considered as havinig equivalent coils (shown in
Fig. 1). The modifications, which are necessary to include
ar-axis a double-cage rotor or a rotor wound with a different num-
ber of phases than the stator, are straightforwvard and will
br Gr ~~~~~not be considered in this development.
bs ROTOR- - as-axis The stator windings are identical, i.e., both windings
ROTATION have an identical niumber of effective turns ATs, identical
resistance r5,, identical leakage inductance L,,, and identical
or ~~~~~~~self-inductance Ls. Similarly, equivalent rotor windings
are identical which have the same effective turnis N7, resis-
s
~~~~~~~tance r,, leakage inductance Ll,, and self-inductance Lr.
The voltage equationis for the stator phases are written

rs ~~~~~~~rVas = PXas + iazsrs (1)

N5 Nr Nr Vb= PXbs ± ibsrs, (2)

Va
tsN va r In the case of the rotor phases,
lb+ +
~rr ~~~~~~~~~Var
=PXar + iarrr (3)
bst ~~~ ~~~ 'br
~rVbr =PXbr ±
ibrrr (4)
vbs+

~~~~ROTOR where X is the total flux-linkages of a particular winding,

STATOR ~~~~~~~~~~and
p is the operator d/dt.
STATOR

Fig. 1. A 2-pole 2-phase symmetrical machine. The flux-linkage equa-tion can be written
[Xas]
IXbsI
JXarJ
br-axis as' [ s 0 L87 cos Or - Lsr Sin Or Fiasi
L,co L,7si Lsr Sin Or 1O
cos
r b

bi
or-axis L -
Lrsn Or Lsr CoOS 1r0L LibrJ
r ROTATION ~~er(5
STATOR ROTOR as9:..~ where L,r iS the amplitude of the mutual inductance be-
cr
~~~~~tween stator and rotor windinigs and 0, is the angular dis-
br s ~~~~~~~~placement between the stator and rotor axes (Fig. 1).
b s or ~~~~~~~~~~In
most cases, the stator and rotor of a 3-phase induction
machine are connected as 3-wire systems. In the case of
s ~~~~~~~a
squirrel-cage machine, the rotor windings can be consid-
ered equivalent to a 3-wire system. A symmetrical 3-
cs- axisr-OX'iS ~~~~phase machine of this type is shown in Fig. 2. Four-wire
i connections will not be considered.
1bs The line-to-neutral stator voltages are
+
N5 Nr r
br Vas =- PXas + iasrs (6)
N Ns r~ r-PS+'bl
1040 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

Since the stator and the rotor are 3-wire systems, the flux- in which
linkage equations are given in (12). = LS - LSm (13)
Lrr = Lr - Lrm (14)
where Lsm is the mutual between stator phases and Lrm is
the mutual between rotor phases.

L
.D, D, *,~.~e~ D, . TRANSFORMATION TO AN ARBITRARY REFERENCE FRAME
Due to the sinusoidal variation of mutual inductances
W ¢: W :<, with respect to the displacement angle Or, time-varying
N c0+ coefficients will appear in the voltage equations. Fortu-
tnately, this undesirable feature can be eliminated by a
N%_~
.
.-

proper change of variables which, in effect, transforms the

o o K voltages and currents of both the stator and rotor to a com-
mon frame of reference. In most cases, the analysis of an
induction machine is carried out in either a synchronously
rotating reference frame or a stationary reference frame.
kIc"#:> b1 It is, however, unnecessary to consider each reference
+ 0I frame separately in the development of the equations
<,
qb : K :0which describe the behavior of the symmetrical machine.
Instead, it is convenient to develop the equations for an
o 9 o arbitrary reference frame and, from these general equa-
tions, obtain the equations for any specific reference frame.
The equations of transformation are expressions which
b b formulate a change of variables and could be written with-
cs 0 out any physical interpretation. It is helpful, however, to
I+ correlate the change of variables (transformation equa-
,° O 0
C tions) to trigometric relationships which exist between sets
of axes. To illustrate this facility, a third set of axes will be
introduced. Figure 3 shows the angular relation of the
4 4 C
stator and rotor axes of a 2-phase machine with the third
set which is an orthogonal set (d-q axis) rotating at an
arbitrary electrical angular velocity w. It is clear that the
+ I W as-bs set is fixed in the stator. The ar-br set is fixed in the
rotor and hence rotates at an electrical angular velocity
0 o ;" cs 8of Wr. The time-zero angular relationship between the three
o ,44 sets of axes can be selected arbitrarily. However, it is con-
venient to assume that, at time zero, the q, ar, and as axes
coincide.
The equations of transformation, which can be corre-
IsoO W o: lated to the angular relation of the axes in Fig. 3, are
W M + Stator
0~~~ fqs = fas cos 0 + fb, sin a (15)
fd, = fas sin G- fb. cos 0 (16)
Rotor
fqr = far cos , + fb Sill ,B (17)
X + = far sin 13 - fbrcos ,8
whr fdT (18)

o 3 13 = a °r. (19)
,<" <¢ ~~In these equations, the variable f can represent either
L_____________,___________ voltage, current, or flux-linkage. The equations of trans-
11frmto are valid regardless of form of the voltages and
r " ¢"
. < <t< <
K
<
K n
<.
~~~~~currents in either the stator or the rotor. However, the
~~~~equations are restricted in that the instantaneous angular
1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES 1041

br-axis bs-axis @ axis bs-axis

~~~~~~~~~~~~~br-
q-axis q-axis
-

-ar- axis e
er
-.--as- axis

Cs-axis
cr-axis d-axis
d-axis Fig. 4. Axes of 2-pole 3-phase symmetrical machine.
Fig. 3. Axes of 2-pole 2-phase symmetrical machine.

displacement 0 of the arbitrary reference frame must be for = - (far + fbr + fcr). (33)
a continuous finite function.
If the equations of transformation are used to trans- These equations of transformation can be correlated to
form the voltages and currents of both the stator and the the trigometric relationships between the stator and rotor
rotor to the arbitrary reference frame (d-q axis), then axes and the d-q axis which rotates at an arbitrary angular
VqP PXqs + XdsPO + rsiqs
= (20) velocity w (Fig. 4).
The variables fos and for are incorporated since, in gen-
Vds = PXds- XsPO + rsids (21) eral, three independent variables are necessary. If, how-
Vqr = P>qr + XdrP/3 + rriqr (22) ever, only balanced conditions are to be considered, the
three voltages (currents) are defined by any two. Hence,
Vdr = PXdr- XqrPI3 + rridr (23) a third substitute variable is unnecessary. Furthermore,
where since only 3-wire systems are being analyzed, it will be
Xqs = Lsiqs + L7riqr (24) shown that for the types of unbalance considered, the zero
quantities are nonexistent. Therefore, these quantities
Xds = LSidS + LSTidT (25) will be excluded from this equivalent circuit development.
Aqr = Lriqr + Lsriqs (26) If the flux-linkage equations are defined as
Xdr = Lridr + Lsrids. (27) Xqs = Lssiqs + 3 Lsriqr (34)
In the case of a 3-phase machine, the following change of
variables will eliminate the variation of the mutual in- ,3
ductances, Xds LSSid + 22 Lsrid7 (35)
Stator
/ 2 F 27r~~~~~~~~~~
/ ~~~~~Xqr
2\1 = Lrriqr + - Lsriqs(6
fqs = j [fas cOs 0 + ff1 (CO
cos 0 - ) + f cos ( + 2 (36)
(28) Xdr = Lrridr + - Lsrids (37)
fds = [ fas sin 0 + fbs sin ---) + fes sin 0 +- the dq voltage equations for the 3-phase machine can be
3 3 3 expressed in the same form as those for a 2-phase machine
(29) [(20) to (23)].
1 Generally, the machine parameters are measured with
fos (fas + fbs + fLs) (30) respect to the stator windings. Therefore, it is convenient
Rotor Rotor ~~~~~~~~~~~~to
refer
~~~~~~~~~~~the rotor quantities
rotorallvariables referred toto the
thestator
statorwindings.
windingsWith
and
hfr = 3 [far cos +3
+ r cos (, r)~+ fcr cos (+ 21)
with self-inductance separated into a leakage inductance
3 \ ~~~~31 31
component and a magnetizing inductance component,
(1) the voltage equations for either the 2-phase or 3-phase
2 f
F 2~~~\ / 2ir\1 ~machine become
fdr =3[ far sin:3+ fbr sin(j - 3 ) + fcrsin (di + ) q = pX5, + Ayd,p0 + r5iq5 (38)
(32) Vda = PXAda - XAqsp0 + raid, (39)
1042 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

ds
rs+ P`ds9
LIS ~Llr 'A'dr p rr where
pes n is the number of phases and P is the number of
- ~~~~~~~~+ - pls
++
;qs MX ;qr COMPUTER REPRESENTATION OF A SYMMETRICAL
vqs qr MACHINE-ARBITRARY REFERENCE FRAME
.-
q axis-
q- axis
In a computer simulation, it is essential to be able to ob-
serve the important systenm variables and desirable to ful-
fill this requirement with the minimum amount of equip-
A Pe A Poqr , ment. A computer representation which achieves this 2-
L Is rr
rS
qs qr

L XIr fold objective can be developed for the symmetrical ma-

chine by first solving equations (42) to (45) for the cur-
ds M dr rents. Hence,
'ds r r

d-axis
iqs =
Xis
(qs - 4I'mq) (54)
Fig. 5. The d and q equivalent circuits of symmetrical inachine; 1
arbitrary reference frame. ids = ('ds - rmd) (55)
x's
V'qr = PX'qr + X'drP/3 + r'Tifqr (40) it r = 1 -qr-Rmq) (56)
V'dr = PX'dr - X'qrp/3 + r'ri'dr (41) lT

where ildr = (II'dr - ,tmd) (57)

Xqs = Llsiqs + M(iqs + i'qr) (42) where
Xds = LisidS + M(id,, + iVdr) (43) {me = Xm(jqs + i'qr) (58)
X'qr = LIiri'qr + M(iqs + i'qr) (44) id = Xm(ids + i'dT) (59)

Xdr = L'lTi'dr + MIi(ids + iVdr)- (45) In these equations,

For the 2-phase machine, 5tqs
= WeXqs, etc. (60)
Lis L- Lms (46) where We is the base electrical angular velocity correspond-
LI IT LDr -Lms (47) ing to rated frequency.
If (54) to (57) are used to eliminate the currents in (38)
AI -lms (48) to (41), as well as in (58) and (59), and if the resulting
where voltage equations are solved for Vs2 %t'ds, 41' r, and *'dr, the
Ns
following computer equations are obtained:
Lms = Ls,7 L = (49)
sL = W
( ){ >V-)Qd s+ ( q 'qs)] rs -
(61)
For the 3-phase machine,
Ls= L - 2 3ds = LVds + + ('kmd - 4lds)J (62)
s

(50) 'kqs
2
Lisr = L.,s - 2LMS (51) =p CO (x )fd
er- sm - r](3
3 = FdV dr - (W ) dr + r7 (kmd -fdr) (63)
LIir = (3)-Li (51) (45) L \hee / X ir
2
torqu can ber obtainedby applying thdr + (Winciple o ('krd
= 'kdr)1 (64)
MvLins
=ip
2
(52) rldo hich ise / + i

where
An primes
The expression for to
are used thedeiote
instantaneous electromagnetic
rotor quantities referred r / r

to the stator w indis

E t (45) suggest teiq X (s 'k q X (65)
1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRiCAL MACHINES 1043

\q'm
q Xmd Xmq erly developed. If, in the case of a 3-phase machine, the
xa lr - Ir voltages Vas, vb8, and v,, are known, the qs and ds applied
voltages, in a reference frame fixed in the stator, are ob-
Vqsq Xmd Xmq tained by setting 0 0. Thus,
l ble .

The raised indeXxs XIS

IJie vs VasoD -Vdssies (69)

rs
c ~~~2\2 2

We D 4 _ < and Vds = Vbs + Vs O

xFr The raised index s is used to denote variables in the refer-

trary
x
reference frame fixed in the stator. In the case of a 2-phase
I machine, it is clear that
ui ~~~~~~~~~~~~~Vq
(71)
Va

xy ~~~~~~X.l Vds = - Vi,. (72)

htJvarious is convenient to express the applied voltages in (70)

4 4 g ves = vgS Os fle - Vdssin°ea, vs,)
owvr cit. iIt the
Treference frame fixed in the rotor and in the synchronously
Thus,
rotating reference frame as functions of vqs and v 7.
T~j= 2)2))*)COS 0r - Vdr sin 0r (73)
ds ~~ ~~~~~~~~~~~~~~~~~~~~~~~r
ViesHowever,Sin
e r + Vds cOssr (74)
and
V~~~~~
r as~ ~ ~ ~ ~ cos
CO e - Vds sin 0e(75)
e Vd~ ~ ~ ~ ~ = v~ ~ ~ ~ ~ ~sin co e0.
0, + vd CO (76)
Fig. 6. Computer representation of symmetrical machine; arbi- The raised index r denotes variables in a reference frame
trary reference frame. fixed in the rotor, and the raised index e denotes variables
in the synchronously rotating reference frame.
The currents can also be eliminated from the torque For balanced conditions VI eand Vde are constants and
equation. However, it is often desirable to observe the w l ben pted, udesirecly fats rec volts rathe
vot s lteiurrensga rine byasuchlancelimi
various currents. than simulating (75) and (76). Also, for balanced condi-
tion. Therefore, the following equation will be used to ob- tions v and Vds can be obtained more directly by simplify-
t h ring (69) and (70). For balanced conditions (73) and (74),
ln\/P\/1\ which express Vq~~~~ and vd', can either be simulated directly or
T)synchronously rot- tlng(V/reference'h frame Vqs ds
Ta2s2
= qrildr -
rPdri*qr). (68) rearranged and simulated in terms of slip frequency quanti-
indoatiretl
wouldne
ismalemened
However, sycroos direed.voltaeser,ather
it is necessary to simulate a
is given in Fig.ueliin
Thu little galshed]bmysucea
dvariouscrents. and ties. either case
The computer representation 6. It is as- variable frequency oscillator. In such a simulation, it is
sumed that no sign inversion occurs in the multipliers, difficult to prevent erroneous variations at the output of
In this work, saturation will not be considered. How- the integrators, within the oscillator, during the zero fre-
ever, in some applications, it may be necessary to approxi- quency mode of operation. If the slip frequency quantities
mate the effects of saturation. If this is the case, the method are generated, this undesirable feature occurs if the ma-
developed by de Mello and Walsh [11] may be used. chine is allowed to attain synchronous speed. However, this
CONDITIONScan
BALANCED
be overcome either by opening the input to the
BALANCEDCONDITIONS integrators at synchronous speed or by programming a
It is convenient, at this point in the development, to small constant load torque to prevent the machine from
obervae tbe voltages andb cuorrents duri balncd pera- retac sing synchroanos se aed. Ifl oaubryia
the frequency
1044 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

excited machine will not be considered. Hence, unless

otherwise specified, it will be assumed that
VIqr = V dr = 0. (77) 3.0
In order to obtain the dynamic characteristics, it is
necessary to relate torque and speed. Thus, since CY
m 2.0-
0
T ) TL (78)

where TL is the load torque and J is the total inertia, the

necessary computer equation is X

We
r= /\PJ JWTTeP 7) 0.2 0.4 0.6 0.8 1.0
PER UNIT SPEED

Although the equations and computer representation Fig. 7. Steady-state torque vs. speed characteristics.
have been derived by assuming conventional units, it is a
simple task to convert to a per-unit system. This conver-
sion is generally accomplished by selecting the kilovolt-
ampere base and the per-unit voltage to correspond to the ,0
rating of the machine. The machine inertia is then ex-
pressed in per-unit form as
H = 2 3.
Jw,/base torque (80)

where J is in mks units.\ 0*

An induction machine with the following per-unit O 20
parameters was simulated on the analog computer:
z
r. = 0.0453 Xm = 2.0420 r r = 0.0222 ID
XiJ
= 0.0775 H = 1.0 X' r = 0.0322. Xl
The per-unit inertia is the combined inertia of the motor
and load. The steady-state torque vs. speed characteristics 0.2 0.4 0.6 0.8 1.0
are shown in Fig. 7. The torque vs. speed, torque vs. time, PER UNIT SPEED
and speed vs. time characteristics during free acceleration AO
are shown in Fig. 8. Figure 9 shows the variables in the
three reference frames during free acceleration. (a)
In any analog computer simulation, it is preferable to
eliminate sinusoidal quantities whenever possible. There- 4°0
fore, unless it is necessary to retain either the stator or 5.0 PU TORQUE
rotor variables, the simulation in the synchronously 2.0
rotating reference frame is particularly desirable for study-
ing balanced operation.
lo le0.1 SEC.
UNBALANCED STATOR VOLTAGES 0.8
When the stator voltages become unbalanced, sinusoidal 0. PU SPEED
variations will appear in the d and q quantities regardless of 0A
the choice of reference frame. Since sinusoidal quantities P2-
must appear, it is better to select a reference frame which
will allow the simulation to be achieved with the minimum (b)
amount of computing equipment and still retain the iden-
titof thtitY
imotn aibe. Asumn
I thelmporant vrlaDes. ASumln tnattne sator
tha th stato Fig. Free-acceleration
(a)8.Torque characteristics,
vs. speed. (b) balanced
Torque and speed conditions.
vs. time.
variables are to be retained, the above requirements are
satisfied by selecting a reference frame fixed in the stator.
In the case of a 2-phase machine, the dss - qsS and as -
bs variables are simply related. However, the 3-phase case
1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES 1045

10
8 S. i*dse Pu CURRENT
~~~~~~ds
6
4
2

10
8. j e PU CURRENT
6.q
4
2\

-2l
-4/
-8 iqdr PU CURRENT
-10l
-2-
-4-
-6.l PU CURRENT
-s- qr
0 1 -0.I SEC.
(a)
1.0 1

9EEPgIJ%S LTjPVAOLTAGE1
-1.0i
10- r
r 10

-10
10- : S
C

5 -
ds -&s
5 os

-.51dIEM M \AV-RN
-10
5
-10 PU CURRENT

0
PU VOLTAGE
PU CURRENT
-1,*i11001111Y!!Y!YVVV\'5IVIIIIIIIUIIIIIIIIIIII
10] 10-

-5 P~~~~~~~~U
CURRENT -5]
Reeecifaefxebnte
rotor.~~~~~~~~~~~ ttr (c) ~~ ~ ~~
-~~~~~~~~10
0
111111] PU CURRENT

d~~r10.
10
5- ~~~~~~~~~~~~~r 51111dr l

-e 0
-51 PU CURRENT PU CURRENT11
1046 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

warrants further consideration. For this development, the where R'a and R'b are the external rotor resistors of phase
circuit shown in Fig. 10 will be considered. a and b, respectively, and are referred to the stator
From Fig. 10, it is clear that the line-to-neutral voltages windings.
are For the 3-phase development, the circuit shown in Fig.
Va, = ega - 12 will be considered. It is apparent that the line-to-
(8) neutral voltages are
Vbs = egb - vng (82) V ar = V pm - i arR'a (92)
vcs eg, - vng.
= (83) v br = V pm - i
brR'b (93)
Regardless of the form of the source voltages, VIcr = V'pm - iIcrR'c (94)
Vqs = 3 (ega - e-b-2 eg) (84) hence,

Vds =
1 + e)
(-egb + g)
(85)
8)3 = - i rRa +
3
i'brR'b + -3 z'crR c (95)
j1~',-
Also, since only a 3-wire system is being considered, and a ilbrR'b I
dr
R
V dr i/crR/c (96)
linear magnetic circuit is assumed,
Vos = 0. (86) Var = 0,
If e,a, eob, and eg, are generated, the voltages vqS and Vds and
can be developed by simulating (84) and (85). The phase i ar = ilqr (98)
currents are
ias = (87) ibr =- 2 qr 2 i dr (99)
= - 2 iqS 2 s (88) = - (i'ar + ilbr)
icr
.

(100)
Thus, (98) to (100) are applied in obtaining the rotor phase
ics = (ias + ibs). (89) currents and (95) and (96) are employed in making up V'qr
and V'd', respectively. With this particular simulation, the
The free-acceleration characteristics, shown in Fig. 11, rotor phase currents are available on the computer. If it
are for the following unbalanced stator voltages is unnecessary to have these currents available; Vqr and
ega =377t
1.0cos V dr can be expressed in terms of i'qr and i'dr by sub-
stituting (98) to (100) into (95) and (96), yielding
e 0.5 cos 37 - 711)
=.5cos(377-3 qr = -4R6 a+ R'b + R'c) rq (R-b- Rl)i r

ec= 1.0 cos (377t +2) (101)

UNEQUAL ROTOR RIESISTORS V dr

2 (R'b + R'c) itdr
11~~~~~
2 V\/3 (R'b R c)ilqr

If the rotor windings are connected through unequal (102)

external resistors, the rotor phases are no longer sym- The free-acceleration characteristics for the case
metrical. Because of this rotor asymmetry, time varying
resistances will appear in all reference frames except for the Rob =Rc = 0
reference frames fixed in the rotor. It is, therefore, con- RI 0.0333
venient to use this particular reference frame in investi-
gating the effects of unequal rotor resistors upon the per- are shown in Fig. 13. Considering (90) and (91), these
formance of an otherwise balanced machine. same results could also be interpreted as the free-accelera-
Once the machine is represented in a reference frame tion characteristics of a 2-phase machine with
fixed in the rotor (i.e. co = w7), the 2-phase machine with R'
unequal rotor resistors can be simulated by replacing theRb=°
r in the qr axis with R'a =0.0222.
Rr= r'r + R'a (90) SIMULTANEOUS UNBALANCED STATOR VOLTAGES AND
and the r' in the dr axis withUNQARORREITS
Unbalanced stator voltages and unequal rotor resistors
Rr= r'7 ± R'b (91) should seldom occur simultaneously. However, this ab-
1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES 1047

ibs b br

Fig. 10. Stator circuit. Fig. 12. Rotor circuit.

s lo

PU CURRENT
-101

N =

3.0t
~~~~~~~~~~~~~~~~~~PU
CURRENT

i-1.0
~ ~ ~ ~ ~ Ill q

0~~~~~~~~~~1

100 S

5-

0. .
0.4°0.6.8 C

P ER UNIT SPEED °

-'1.0
Fig. 11. Free-acceleration characteristics; unbalanced stator voltages.
1048 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

1.0
r
vd s
0. ~~~~~~~PU
VOLTAGE

-1.0
1*

5-do
PUCURRENT

iX11FllBlllllll I.0.t- ,5X iAAhAAAI; 7IIAA'

I ~ ~ ~-IO

gg:2 64 s QHINHYYYYYYY V'PJ / U VOTPEE

_4,oJil-101 PU CURRENTE o

~~~~~~~~~
0.2~ -04 0.6 0.6C..

Fig. 13. Free-acceleration characteristics; unbalanced rotor resistors.

normal condition serves to illustrate the versatility of the stator phase currents can be obtained by transforming id5
computer setup. and igr either to 'tds and ijq5 and then to las, ij, and ics or
Depending on the variables of particular interest, a directly to the phase currents.
reference frame fixed either in the stator or in the rotor If a reference frame fixed in the stator is selected, the
probably would be selected. If a reference frame fixed in rotor unbalance must be properly transformed. It is neces-
the rotor is to be used, the computer representations sary then to replace V'q and V'dt,(95) and (96), with v'qr and
which have been developed can be employed directly. V'ds. These relations can be obtained by setting ,3 equal to
In particular, for a 3-phase machine, (95), (96), and (98) - Or rather than zero, at the time the rotor phase voltages
to (100) would be used to account for the rotor unbalance; are substituted into the equations of transformation. It is
the voltages vg and Vds would be made from (84) and (85) clear that, with this choice of reference frame, it is neces-
and then transformed to the reference frame fixed in the sary to transform i'dS and i'qS in order to obtain the rotor
rotor by imlplementing (73) and (74). If necessary, the phase currents.
1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES

1.b

-1.0

-1
10.0

g MM \VM V 000 1 00 I V V PU CURRENT

-10

5- ~~~~~~~~~~PU
CURRENT'

-10-

Al.
301 ~~~~~~101 ~
5-~~ ~ ~ ~~~~~~'r PU CURRENT

2S2
w

-r1.0 Fq01SC
PER UNIT SPE ED 04

Fig. 14. Free-acceleration characteristics; simultaneous unbalanced stator voltages and unequal rotor resistors.

The combination of unbalanced stator voltages and mode of operation can be achieved with simple modifica-
unequal rotor resistors, which previously were considered tions of the basic machine setup. Assuming that current
individually, were represented on the computer. A refer- ceases to flow after a normal current zero, the modifica-
ence frame fixed in the rotor was used in this simulation. tions amount to maintaining the current at zero by replac-
The free-acceleration characteristics are shown in Fig. 14.ing, in the simulation, the source voltage with the open
voltage. For exanple, if, at the instant i2S is zero, VQS is re-
DISCONTNUOUS APLIED VLTAGESplaced in the simulation by the voltage which appears
The computer simulations which have been developed across the mutual inductance, the current iqS, which is the
thus far can be used to investigate a variety of operating stator current of phase a referred to the stationary refer-
conditions. However, no provision has been made for ence frame, will be forced to remain zero. Although a sim-
simulating an open phase. Fortunately, simulation of this ilar procedure is possible for the switching of rotor phases,
 NOVEMBER
1050 IEEE TRANSACTIONS ON POWER APPARAT'US ANI) SYS'TEMS

only the switching of stator phases will be coiisidered in vsb

+ -,:
jbs
this development. Therefore, to provide the most simple _

+
relation between ds-qs quantities and the stator phase
quantities, the machine should be simulated in a reference 'SC S N5 5
frame fixed in the stator, when the open circuit voltage of egc g eb +
phase a is VcCNs+
+
+
l
Vas Vqs = -q (103)
We as
However; Fig. 15. Stator circuit with provisions for switching.
qs= Prmq - Xmiqr'. (104)thus,
Therefore, the open-circuit voltage can be written S Vas (113)

Sq = P Xm St/~~ (105) 1
Wes X + r Vds - (-e0b + e..) (114)
Since pi/r" is available at the input to the integrator which
makes up qs', the open-circuit voltage can be obtained and
without performing differentiation. Thus, an opening of 1 1
Vn= (e0b eQC)+ + - Vas (115)
phase a can be simulated by incorporating a relay to switch
VqS from the source voltage to the open-circuit voltage (105)
at the instant iqs becomes zero. Although this type of VSa ega--(eg1 + egb)3--as (116)
devices, 2 2
sinmulation is exact for many solid-state switching
it does not provide for any forcing of a current zero which For the opening of phase b,
night occur with mechanical switches.
The following equations stipulate the applied voltages Vas = ega- Vng (117)
for simulating the opening of either or both phases of a
2-phase machine. Vb
1
2We Xm +m(PX/'qr) (3Xd
+ V P4"dr) (118)
For the opening of phase a,
vcs= egc- Vng (19
/
X7nX ) , s
Vqss= w
( m
/
(106) Thus(
vdS = -eb (source voltage). (107) = 1 1
V55 2 (ega eg.) 2 Vbs(10
For the opening of phase b,
v S = ea (source voltage) (108) S 2 (e egc) + (121)
S pf x \ s
CWe Xm +m X'J) r((109)
Vds = -l and

For an opening of phase a followed by an opening of phase Vng= -(ega + egc) + -vbs (122)
b, it is clear that during the opening phase
of b, the voltage 2 2
Vqss would remain as stipulated by (106). It is apparent that 1 3
the source voltages can be reapplied at any time. VSb= e5b--(ega + e5c)- V11. (123)
In the case of a 3-phase machine, the simulation of an
open phase becomes more involved since id' and i,s need For the openiing of phase c,
not be zero at the time one of the phase currents is zero. (124)
The procedure however is similar to that used in the 2- Vas esa Vnl7
phase case. For the circuit shown in Fig. 15, the following V1. = eeb-pnZ (125)
equations can be obtained and, if properly implemented,X (126)
can be used to simulate the opening of any one or all three v. = - 1 ( m ) (ij4'qs - <V P'k'dr).
stator phases. 2We \Xm + XlT/
For the opening of phase a, Thus

W)e \Xm + X'ir/ Vq0)rs = 2(epfla -eub) -2 s (127)

__
1
Vbs = -g V,80 (1 1 1)

= eec - Vn07 (112) VdS = - 2x/ (ega - e01) + 2 vcs (128)

1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES 1051

e0a PU VOLTAGE

0.

3 vsQ PU VOLTAGE

O.SO Vng PU VOLTAGE

n

Q25

-0.25-
- s PU VOLTAGE

ias PU CURRENT

-5l

as3 PU SPEED=

Fig. 16. Stator~phase opened and reclosed during acceleration.

and
1 1
n-2 ±\8v2 eab) + 22 Vcs
1 3
= ---(ega + e,,)-2- VCS-
These equations are valid regardless of the form of the
source voltages. If, however, the voltages are balanced,
the equations can be expressed more compactly.
The computer recordings in Figs. 16 and 17 show the
effects of switching during free acceleration with balanced
source voltages. In particular, Fig. 16 shows the opening
and reclosing of phase a; Fig. 17 shows the opening of all
three phases followed by simultaneous reclosing of all
phases.
CONCLUSION
The versatility of the electronic analog computer in one
(129) area of application has been demonstrated. The simulation
~~~~~~~~of
induction machines subjected to operating conditions
which are cumbersome to analyze or impractical to dup-
(130) licate experimentally is of practical importance. Although
this capability is more evident, perhaps, in the case of ab-
normal or unbalanced operation, the analog computer is
equally useful in studying the dynamic behavior of singly
or doubly excited induction machines in balanced systems.
The use of the analog computer as an instructional aid to
demonstrate free acceleration, load torque switching,
breakdown, generator action, and other characteristics,
has proved advantageous.
Although it is not practicable to account for all possible
situations, the computer representations are quite general
1052 IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS NOVEMBER

VaS PU VOLTAGE

10- iGS PU CURRENT

__0

V S PU VOLTAGE
1.0

-1.0i
10- tbs PU CURRENT

1.0 IVcs PU VOLTAGE

0.5

10- iCS
LItILjUf! 08
ElHSjVIiSA1
I PU CURRENT

-5l

PU TORQUE
1.0

-2
I .0
0.8
0.6 PU SPEED
0.4
0.2
k +-0.I SEC.
Fig. 17. Stator phases opened and reclosed during free acceleration.

and can be used directly, or modified simply and extended
to simulate many practical problems. For instance, the
cases considered here would be helpful in determining
simulations of complex systems involving several machines
where it may be advantageous to use an approximate corn-
> >
bination of reference frames.
> ~~~~~~~~~~~~~~Bull.,
REFERENCES
[1] C. Concordia, Synchronous Machines. New York: Wiley, 1951.
[2] F. J. Maginniss and N. R. Schultz, "Transient performance of
induction motors," Trans. AIEE, vol. 63, pp. 641-646, Sep-
tember 1944.
[3] P. C. Krause, "Simulation techniques for unbalanced electrical
1961. Ph.D. dissertation, University of Kansas, Law-
machinery,"
rence,
[4] , "Electronic analog computer representations of induction
motors with unbalanced terminal voltages, Kansas State Univ.
vol. 45, pp. 43-82, July 1961.
[5] G. Kron, Equivalent Circuits of Electric Machinery. New York:
Wiley, 1951.
[6] -- A new theory of hunting, Trans. AIEE (Power Apparatus
and Systems), vol. 71, pp. 859-866, October 1952.
[7] R. H. Park, "Two-reaction theory of synchronous machines-
generalized method of analysis-I," Trans. AIEE. vol. 48,
pp. 716-730, July 1929.
 1965 KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES
[81 M. Riaz, "Analogue computer representations of synchronous
generators in voltage-regulation studies," Trans. AIEE (Power
Apparatus and Systems), vol. 75, pp. 1178-1184, December
1956.
[9] Ibid., p. 1182 (Thomas' discussion).
[10] K. G. Black and R. J. Noorda, "Analog computer study of
wind-tunnel drive," AIEE Trans. (Communications and Elec-
tronics), vol. 76, pp. 745-750, January 1958.
[11] F. P. de Mello and G. W. Walsh, "Reclosing transients in
induction motors with terminal capacitors," Trans. AIEE
(Power Apparatus and Systems), vol. 80, pp. 1206-1213,
February 1961.
Discussion
Howard E. Jordan (Reliance Electric, and Engineering Company,
Cleveland, Ohio): The authors are to be complimented for a fine
paper on a timely subject. As the applications of solid-state fre-
quency converters to the terminals of induction machines increases,
there is an increasing need for techniques that can be used to analyze
the transient characteristics of induction machines.
I have several questions, most of which pertain to the application
of this simulation technique to situations where the frequency sup-
plied to the stator terminals varies. The applications discussed in
the paper were concerned primarily with constant frequency cases.
There is a reference to a variable frequency oscillator in the paper.
Would the authors please describe the type of oscillator which they
used and how it is controlled?
Figure 6 is given as valid for any arbitrary reference frame.
Please indicate the input quantities which would have to be varied
to simulate a variable frequency applied to the stator terminals
for the three cases considered, i.e.,
1) synchronously rotating reference frame
2)stationary
reference
frame.fixedin tnot require a variable frequency oscillator.
The quantity we is a constant selected as base frequency conveniient
In addition, what value of cWe would be used for a variable frequency
study?
If the authors have had an opportunity to verify any of their
analog studies with test data, it would be interesting to know what
kind of correlation was obtained.
Manuscript received February 15, 1965.
1053
P. C. Krause and C. H. Thomas: A majority of the questions raised
by Dr. Jordan regarding variable frequency operation are answered
in Mr. Krause's discussion of Dr. Jordan's recent paper [1]. Jn this
discussion, simulation of variable frequency operation is presented
and results of a computer study are given. This material will not be re-
peated in detail. However, brief answers to Dr. Jordan's questions
. .
will be given.
When the reference frame is fixed in the rotor, it is necessary to
simulate a variable frequency oscillator to transform the stator
applied voltages to this frame of reference. The method of simulating
a variable frequency oscillator is given in basic texts on analog
computation [2].
The angular velocity of the synchronously rotating reference
frame is determined by the frequency of the stator applied voltages.
To simulate variable frequency operation in the synchronously
rotating reference frame, the speed of the arbitrary reference frame
w, must be varied to correspond with the frequency of the applied
voltages. If the stator applied voltages are unbalanced, (75) and (76)
may be used directly to transform the applied voltages to the syn-
chronously rotating reference frame. Since the speed of the syn-
chronously rotating reference frame is determined by the frequency
of the stator applied voltages, it would be necessary to simulate a
variable frequency oscillator for this transformation. If, however,
the stator applied voltages vary in frequency but are balanced,
the applied voltages in the synchronously rotating reference frame
are constants. Then, it is unnecessary to simulate the transformation.
With the reference frame fixed in the rotor, the speed of the arbi-
trary reference frame is equal to the speed of the rotor, i.e., w = Wr.
The voltages Vqs and Vd' are described by (73) and (74). Since the
frame of reference is fixed in the rotor, a variable frequency oscillator
would be necessary to perform this transformation.
When the stationary reference frame is used w = 0. Equations
(69) and (70), or (71) and (72), may be used to develop the direct
and quadrature voltages. It is clear that this transformation does
to the per-unit system employed.
REFERENCES
[13 H. E. Jordan, Analysis of induction machines in dynaic sys-
tems," IEEE Trans. on Power Apparatus and Systems, this
issue, pp. 1080-1088.
[2] C. L. Johnson, Analog Computer Techniques. New York:
McGraw-Hill, 1956, p. 91.
Manuscript received March 25, 1965.