Electric Power Systems Research, 18 (1990) 235 - 245
Design of a Speed Controller for a Squirrel-Cage Induction Motor Using
Field-Oriented Control
G. DIANA, M. W. PICKERING and R. G. HARLEY
University of Natal, King George V Avenue, Durban 4001 (South Africa)
(Received October 23, 1989)
ABSTRACT
Field-oriented control (FOC) is a technique
whereby the complex non-linear structure of a
squirrel-cage induction machine (SCIM) can be
controlled to behave in a linear fashion, essen-
tially very similar in behaviour to a DC ma-
chine. This then allows controllers, such as the
speed control loop designed in this paper, to be
applied easily to the machine. A method of
functional block representation is used to dis-
play the process by which FOC is applied to the
SCIM, as well as the design of the speed control
loop. This greatly adds to the understanding of
FOC as well as the design process and is in-
tended to assist readers with only a formal
background in asynchronous machines and con-
trol theory to understand a technique which is
gaining increasing importance in the area of
motion control. The simulated results serve to
demonstrate the power of this technique in re-
placing conventional DC machine drive with the
more preferable field-oriented controlled SCIM.
1. INTRODUCTION
The principle of field-oriented control
(FOC), originally proposed by Blaschke [1],
has become widely accepted as a viable
method of achieving a degree of dynamic per-
formance with a squirrel-cage induction ma-
chine (SCIM) that was previously only
possible with a DC machine. With the inher-
ent advantages of the SCIM, such as its design
simplicity, high reliability, minimum mainte-
nance requirements and high overload capa-
bility, this has meant that considerable atten-
tion has been focused on applying FOC-
SCIMs in motion control applications [2-5].
Whilst the method of FOC has been under-
stood, and its application successfully realized
0378-7796/90/$3.50
235
through the utilization of the high speed mi-
croprocessors available today, it is commonly
recognized that this understanding is held by
a limited few. This is mainly due to the com-
plex nature of the internal dynamics of the
SCIM, entailing non-linear and cross-coupling
terms, which prevents a simple understanding
of the operation of the machine. Furthermore,
in the world's technical literature the SCIM is
analysed by a variety of methods, all using
different conventions and generally of a
highly mathematical nature [6]. This diversity
in approach to the understanding of the con-
trol problem has led to a corresponding diver-
sity in the notations and conventions of the
solution--namely, FOC or, as it is also known,
vector control or coordinate control. This is in
stark contrast to the DC machine which has a
simple decoupled orthogonal structure permit-
ting easy conceptualization of the process of
controlling the machine's torque in order to
effect speed or position control. This easy un-
derstanding of the DC machine control prob-
lem has promoted its use in industry and
accounts primarily for its popularity, despite
its many disadvantages when compared with
the SCIM, such as higher cost, lower reliabil-
ity and regular maintenance requirements.
In an attempt to alleviate this theoretical
stumbling block and spread the understanding
of FOC beyond the arena of the academic
journal a method has been developed [7] of
replacing the mathematical equations which
describe the SCIM by a block diagram or
functional form equivalent representation.
Through this and the choice of appropriate
state variables for the SCIM a simplified
approach to understanding the aims of FOC
is realized, thereby permitting the control con-
cepts to be rapidly understood by someone
with only a basic knowledge of machine and
control theory.
© Elsevier Sequoia/Printed in The Netherlands
236
This paper extends the block diagram ap-
proach contained in ref. 7. It uses the same
conventions and comprehensively works
through the design of the actual controllers
necessary for the implementation of FOC on
a particular SCIM. The necessary internal
control of the SCIM is effected by means
of applying fast control to the input phase
currents. The resulting linearization and de-
coupling of the internal machine structure is
demonstrated.
Once the reduced linear structure is avail-
able, in a form very similar to t h a t of the DC
machine, it becomes a simple matter to apply
speed and position control to the machine,
much as would be the case with a DC ma-
chine. The resulting control structure has
been simulated and the results are presented
and discussed.
2. DESIGN OF CONTROLLERS
The SCIM is represented in its block dia-
gram or functional form in Fig. 1.
Vds
VUs 4-
i r
4,'
Fig. 1. Block diagram representation of the hybrid model of the SCIM.
2.1. Slip control
References 7 and 8 have shown that in
order to achieve FOC it is necessary to hold
the q-axis rotor flux linkage ~qr equal to zero
at point A in Fig. 1; for this to be true the
inputs at points C and D must be equal at all
times. If the inputs at C and D are equated to
one another, then
Lm
,~dr(W -- Wr) = ~ R2iq~
or slip speed
Zoo = LmR2iqs (1)
L22'~dr
where o) is the synchronous speed and cot the
rotor speed. In other words, if the slip speed
Sw can be held at the value determined by
eqn. (1), this will ensure that 2qr is zero, which
in turn ensures the correct field orientation;
under these conditions, the bold lines in Fig. 1
may be removed as they no longer contribute
to the internal dynamics of the motor; the
resulting block diagram appears in Fig. 2.
Lm2
LI i L22
! ¢
C B A tqr

Vds o
Vqs c
+.J
vM
_1
:" "1
Fig. 2. Reduced block diagram when the q-axis flux 2qr is zero.
2.2. Precompensation
Non-linear interaction exists between the d-
and q-axis stator paths in Fig. 2; for example iq8
multiplied by o~aLll is added to the d-axis
voltage Vds. This non-linear interaction compli-
cates the design of feedback controllers for
either ia~ or iq~. A simple way of removing this
non-linear interaction is to precompensate for
it within the controller itself (i.e. at the ma-
chine terminals). To accomplish this, appropri-
ate terms of equal magnitude but opposite sign
are added to the input of Vd~and Vq~within the
controller, as shown in Fig. 3. These additional
terms have the effect of cancelling out the
corresponding cross-coupling terms in the sta-
tor of the machine, thus allowing the bold lines
in Fig. 3 to be omitted and resulting in the
block diagram shown in Fig. 4 which shows
that the d and q stator paths have been effec-
tively decoupled so that the stator current
controllers for id8 and iq~ may be designed
separately.
The next step is to design those stator cur-
rent controllers which will manipulate the
stator voltages Vd~ and Vq, to force id, and iq8 to
follow their respective reference values i~, and
"'k
~q~ as closely as possible, as shown in Fig. 5.
237
Fq
1 I _lLm Rz I._.1 .. 22 I
q L2z I [pOLzz+R2 I
i0s
, I
] L/ -0L I
3Lzz
v oT
+,, I
I
iqs
2.3. Direct-axis current controller
The d-axis stator current ida is analogous to
the field current if of a separately excited DC
machine. In order to achieve a completely
linear structure it is still necessary to ensure
that the rotor d-axis flux linkage ~d~ remains
constant. This requires very fast control of the
stator current ida using a PI controller with
the resulting control structure of Fig. 6, which
in turn can be reorganized into the structure
of Fig. 7.
The inner loop of Fig. 7 can be simplified to
Fig. 8(a) in order to find its closed-loop trans-
fer function. In Fig. 8(a) the forward transfer
function of the loop has two zeros, one at the
inverse of the rotor time constant and the
other at the inverse of the integrator time
constant; it also has three poles, one at the
origin and two at the roots of the quadratic.
Substitution of the machine parameters
(which appear in the Appendix) into Fig. 8(a)
yields Fig. 8(b). The forward loop therefore
has two poles, Pl and P2, such that Pl = -5.895
and P 2 - - - 2 5 7 . 8 . The zero of this loop lies
at zl = -R2/L22= - 8 . 8 3 and results in a near
pole-zero cancellation of pl and z~. We there-
fore choose the integrator constant Kid to
238

IL221 --

Vds +f, , 1 1 It ~ R~ "- :~ ~'dr

• L22 I ]PaLzz+Rz

~ 9
lds

r .~ T e
=13L221
iqs

Fig. 3. Reduced block d i a g r a m w h e n the q-axis r o t o r flux 2qr is zero with p r e c o m p e n s a t i o n to cancel cross-coupling in t h e
s t a t o r circuits.

position the i n t e g r a t o r zero to cancel with the = 1. Thus,

m a c h i n e pole at P2, t h u s l e a v i n g the f o r w a r d
2~o n = 5.895 + 1955Kpd (2)
loop t r a n s f e r f u n c t i o n s h o w n in Fig. 9. U n d e r
these c o n d i t i o n s the overall closed-loop trans- e)n2 = 17265Kpd (3)
fer f u n c t i o n is given in Fig. 10.
This shows t h a t b o t h the d a m p i n g f a c t o r So Kpd can h a v e two values. Choosing the
and the n a t u r a l f r e q u e n c y of this c o n t r o l loop l a r g e r we get
are a f u n c t i o n of the c o n t r o l l e r p r o p o r t i o n a l
Kpd = 0.001122, Kid = 257.8
gain. L e t us assume t h a t we r e q u i r e a non-
o s c i l l a t o r y r e s p o n s e and t h e r e f o r e c h o o s e c~n = 13.92, ~= 1

Vds ¢
_1 1 I
~'dr
t -IL22
]ds

o j 1 I
Vqs [ a L I IP+RI ] _ ,, _] 3L22

Fig. 4. Reduced block d i a g r a m form of Fig. 3.

 239

.J 1 I~
Adr
- ~:"It -IC°°"°"~'l ~.['~ "l °LIIP+RI -I p + R=/Lzz I -

Currcnt I % _I , I j 2~0Lm
I
Controller I I °LtlP+Rt I 7~ ~ I 3Lzz
Fig. 5. Addition of stator current controllers to Fig. 4.

, PI Controller
ids ~
~'--~~
[K_~(p+
Pa
v "'
-~ K i d ) ~
I i~J~L~ IJ , I IAdr
+ Rl111 ~2 I 1 " n/~l
Ids[ 'I'
Fig. 6. Block diagram of d-axis with current controller.

ids
~ds
~-~Kpd(P. + Kid)~
H1 aLllP + }£1 I
ILm ~2 U

Fig. 7. Simplified block diagram of d-axis with current controller.

Fi
I ' b +R~ l
id~
It

Kpd(P+Kid)P II p2+IR2 + R 1 +[Lm 12R2 IP + R2 RI

(a)
I i
1959(p+S.833), I "d~
p%2~.3p+z523.~

lds I
(b)
Fig. 8. Simplified block diagram of d-axis (a) with current controller, and (b) with current controller with machine
parameters inserted.
240

'ds+.~~Kpd 1955.2 (p+8.83)~.

~ds[ P(P + 5.895) [ [

Fig. 12. Block diagram of q-axis with pole-zero cancella-

Fig. 9. Block diagram of d-axis with Kid = 257.8. tion.

ids

t
1955.2 Kpd(P+8.83)
p2 + (5.895+1955.2 Kpd)P+ 17265 Kpd
Fig. 10. Closed-loop transfer function of d-axis with cur-
rent controller.
The reference value for this control loop is
determined by the rated flux for the machine.
From
): = V/~o
the rated flux must occur at the rated voltage
and speed, hence, in per unit,
1
)*d . . . . t e d = = 0.003 p.u.
(DnO
At steady state the required stator d-axis
current to create this flux is
Adr
id8 = Lm = 0.637 p.u.
2.4. Q u a d r a t u r e - a x i s c u r r e n t controller
With the stator voltages precompensated
and the slip held at the value which ensures
that the q-axis rotor flux ~q~ is zero, the q-axis
loop (redrawn from Fig. 5) takes the form
shown in Fig. 11 when a PI controller is imple-
mented. The open-loop time constant of the
rotor, ~r, is given in the Appendix. By setting
the controller integral time Kiq equal to the
inverse of rr,
giq = R1/aL11 = 172.4
we again achieve a pole-zero cancellation
which allows Fig. 11 to reduce to Fig. 12.
[ lds
iqs*
iqs* I Ka~ll
p +K_
I " iqs
Fig. 13. Closed-loop transfer function of q-axis with cur-
rent controller.
Under these conditions the closed-loop trans-
fer function of the q-axis loop appears in Fig.
(4) 13. Choosing, for example, the closed-loop
time constant to be 1 ms, which is five times
faseer than the open-loop time constant, the
value for the proportional gain becomes
(5) K ~ = 0 . 5 1 1 4 . Thus the closed-loop transfer
function becomes
iq~ 1000
., (8)
~q~ p + 1000
This corresponds to a bandwidth
(6)
BW = 1000/2n = 160 Hz (9)
The machine structure with the d- and q-
axis current controllers, precompensated sta-
tor voltages and slip control now assumes the
form given in Fig. 14. This structure is very
similar to that of a DC machine, where id8 is
analogous to the field current if of a sepa-
rately excited DC machine and iq~ is
analogous to its armature current i,.
2.5. S p e e d controller
(7) In most, if not all, instances the d- and
q-axis stator current controllers may be
designed such that their closed-loop time

P1 Cont~on~ ~-'L-T1 ]i
~ K p q (p + Kiq) ][
p P + R'i' ~'~
~-I~11 iqs(ia) Tern

Fig. 11. Block diagram of q-axis with PI current con- Fig. 14. Block diagram of SCIM with current control
troller. loops.

iqsJ2. Lm A ITem
Fig. 15. Reduced block diagram of Fig. 14 with constant
d-axis rotor flux ~ .
constants are as much as ten times smaller
than t h a t of the rotor or mechanical time
constant. Under these conditions the d- and
q-axis stator current controllers act so rapidly
t h a t they may be neglected for all practical
purposes and the SCIM may be considered to
be fed from a current source. The speed loop
may then be designed in exactly the same way
as for a separately excited DC machine.
If id~ is held constant by its current con-
troller, then ~dr in Fig. 14 is also constant, in
which case it can be included simply as a
constant term in the simplified block diagram
of Fig. 15 in which the motor or electrical
torque is determined only by the current iqs.
The mechanical model of the machine in-
cludes the load torque TL, the load inertia J
and the friction constant ft. All these effects,
together with a PI-type speed controller, are
added to Fig. 15 to form Fig. 16.
The speed control loop bandwidth of a
SCIM is usually much less t h a n t h a t of its
current controllers. Hence the current control
loops can be regarded as practically instanta-
neous and the current controller in Fig. 16
can be omitted for the purpose of designing
the speed controller. If, in addition, the load
torque is assumed to be zero for the purpose of
this paper, Fig. 16 reduces to Fig. 17 where Kt
is an amalgamation of the constants given in
the Appendix. The closed-loop transfer func-
tion of the system in Fig. 17 is given in Fig. 18.
It is clear that the transfer function in Fig.
18 is second order with a single zero. It is
possible to achieve a simple second-order sys-
tem by the use of an IP controller instead of a
PI controller, but for this particular case a PI
controller provides a superior step response.
The damping factor and bandwidth of the
speed controlled system will depend on the
T L.
Kps (P + Kis) ~_~ 1000 2• Lm A
p [ [~ ~ noLO22 dr
Fig. 16. Block diagram of speed loop.
241
Wr+•
Kt KP s (P + Kis)Adr
p(pJ + Z)
Fig. 17. Simplified block diagram of speed loop ignoring
delay of current controllers.
~r*J KKp skis ] wr
p2 + p(/~/J+KKps) + KKpsKis
I
Fig. 18. Closed-loop transfer function of speed loop.
dynamic performance required. For the pur-
pose of this paper these parameters are chosen
as w , = 1 0 0 r a d s -1 (15.9Hz) and ~ = 1.3 re-
spectively. Thus, after substituting the ma-
chine parameters into the function in Fig. 18,
the solution for the controller gains becomes
Kp8 = 0.26, Kis = 40
Use of these values creates the following
closed-loop poles and zeros for the speed con-
trolled system:
Pl = -49.9, P2 = -201, zl = - 4 0
2.6. Integrator wind-up
In practice it is necessary to limit the input
currents to the SCIM to reasonable values in
order to protect the inverter and the motor.
Such current limits introduce non-linearities
into the system which can result in severe
integrator wind-up. However, this can be over-
come by halting the integrator action of the
controller as soon as current limiting occurs
and then holding the integrator state at a
constant value until the current drops below
current limit again. This was achieved in the
simulations by holding the input to the inte-
grator to zero under limiting conditions.
2. 7. Voltage limits
The stator voltage vector v8 in the d,q axes
is composed of two components, Vd8 and Vq~,
242

I Coupling [
Compensation I

idsJ~ ~ d-(l mA,~.A' ,

" ~ is "[Controller, -t:~,/ £ !/abc N ;$~;)N InverterL
Volt 'w

,,j ~ $

+' |[iq+[ I CoJp,ngI

Fig. 19. C o m p l e t e c o n t r o l s c h e m e for F O C s p e e d c o n t r o l .

400 IM Speed Q-axis current

+
300

200
5o 1001

0 i i r i
0.1 0.2 0.3 0.I 0.2 0.3
Time (sec) Time (sec)
IM Torque Actual Stator Current
3

-1 i i -5
0 0.1 0.2 0.3 0 0.l 0.2 0.3
'Time (sec) Time (sec)
Fig. 20. SCIM d i r e c t o n - l i n e start-up.

where three-phase voltage input applied to the SCIM

by an inverter.
Iv~l = (Vds2 + Vqs2)u2 (10)
There are of course limits to the voltage
Vd8 and Vq+ are the outputs of the d- and q-axis that the inverter is able to supply to the
current controllers and, after being passed stator. In line with the per unit system used in
through an inverse Park's transform to derive refs. 6 and 7, the peak value of the rated motor
the equivalent abc components, form the phase voltage is chosen as the base value.
 243

Motor Speed Torque

400 2

300 1.5 ...........................................................................

e.

200

100 0.5
z
0 0 , ,
0 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2

TIME (sec) TIME (sec)

Position Actual Stator C u r r e n t

50 4 i

e~ 2
r~
E-- 0
"e .~
E" -2

0 -4
0 0.05 0.i 0.15 0.2 0 0.05 0.1 0.15 0.2

TIME (sec) T I M E (sec)

Q-axis Current D-axis Current

1.637

1 v" 0 . 6 3 7

-1 i h i
-0.363 i ,

o 0.05 0.1 0.15 0.2 0 0.05 0.1 0.15 0.2

TIME (sec) T I M E (sec)

xlO -19 Q - a x i s Flux D - a x i s Flux

10 1.003

r~ e~
0.003
0

-5 h i i -0.99; i i i

0 0.05 0.1 0.15 0.2 0.05 0.1 0.15 0.2

TIME (sec) T I M E (sec)

Fig. 21, S C I M s t a r t - u p u n d e r FOC.

Using this, with the particular version of
Park's transform used in this study to transfer
three-phase abc quantities into the two-axis
d,q model and vice versa, the relationship for
the maximum magnitude of the stator voltage
vector iv.] is yielded:
iV, I = ( 3 / 2 ) 1/2
The d-axis flux linkage td, must remain
constant at all times in order to maintain the
linearity of the model and keep the machine
fully fluxed. This implies a constant d-axis
current and hence a constant Vd,. Thus, when
the resultant stator voltage magnitude, as cal-
culated by eqn. (10), exceeds the limit of the
inverter's supply capability, only the q-axis
voltage must be limited. The resulting limit
(11)
for the q-axis voltage is thus
Vqmax = ( 3 -- Vds2) 1/2 (12)
244
2.8. O v e r a l l c o n t r o l s c h e m e
The complete speed controller thus takes
the form of Fig. 19. Two transformations are
required as part of the control scheme, from
the three-phase currents to id and iq and from
the reference voltages v~8 and vq* to va, Vb and
vc. This last transformation can be incorpo-
rated into the process of switching the in-
verter in some pulse width modulation (PWM)
method such as space vector modulation
(SVM) [8, 9] in order to generate the desired
three-phase stator voltages. This requires very
fast data processing and transputer micropro-
cessors have proved to provide adequate per-
formance [9].
3. RESULTS
The machine and controller models of §2
were simulated using Matlab, an interactive
matrix handling program, and run on an AT
IBM compatible computer. A fifth-order
Adams-Bashforth predictor-corrector fixed-
step integration routine was used with a time
step of 0.5 ms.
Firstly, for purposes of comparison, the ma-
chine is started directly on-line from the
mains at fixed frequency without voltage con-
trol. This starting response, displayed in Fig.
20, exhibits the well-known torque oscillations
which vary between the extremes of + 2.5 p,u.
and - 0 . 3 p.u., while the actual line currents
reach peaks of 5 p.u.
By contrast, when under FOC and equipped
with the controllers designed in §2, the motor
runs up under a current limit in a linear
fashion, as displayed in Fig. 21. The torque
rises almost instantaneously (as in a DC ma-
chine) and drops to almost zero (no shaft load
except for friction) once the desired speed is
reached. The torque contains no oscillations
and is therefore particularly suitable for posi-
tion control applications. The maximum
torque is limited only by the current limit of
about 2.5 p.u. peak placed upon the stator line
current.
Figure 21 shows how the q-axis current
controls the motor torque directly and how
the q-axis rotor flux linkage is maintained at a
value of practically zero, except for numerical
integration errors. The d-axis current is held
at 0.637 p.u., as calculated in eqn. (6), which
guarantees that the d-axis rotor flux linkage
~dr remains constant at the required rated
value of 0.003 p.u., calculated in eqn. (5).
4. CONCLUSION
This paper has demonstrated the ease with
which controllers can be designed to imple-
ment field-oriented control conditions in a
squirrel-cage induction motor by the use of
ordinary linear design techniques. The use of
the functional block representation of the ma-
chine and the controllers avoids the complex-
ity of the actual system equations and permits
easy understanding of FOC and the necessary
design process for applying it to a SCIM. Once
the conditions of field orientation are met
within the machine the design of speed con-
trollers can be achieved with relative ease.
The simulated results indicate the power of
FOC in decoupling the internal machine paths
and reducing it to a controllable linear struc-
ture. Speed control can be achieved by this
technique for induction machines of all sizes.
The potential for high performance position
control of servo-motors also exists.
This theory has been applied in the devel-
opment of a prototype system using a GTO
voltage source inverter, a 3.3 kW induction
machine, a BBC programmable high speed
controller and transputer microprocessors to
implement the pulse width modulation by
space vector modulation. The prototype has
worked satisfactorily and is at present being
refined.
ACKNOWLEDGEMENTS
The authors gratefully acknowledge finan-
cial support from the CSIR, the National En-
ergy Council (Research Project ELEK24) and
the University of Natal.
REFERENCES
1 F. Blaschke, Das Princip der Feldorientierung, die
Grundlage fur die Transvektor-Regelung von Asyn-
chronmaschienen, Siemens.Z, 45 (1971) 757.
2 R. Gabriel, W. Leonhard and C. Nordby, Microproces-
sor control of induction motors employing fieldcoordi-
nates, IEE 2rid Int. Conf. on Electrical Variable Speed
Drives, London, 1979, Inst. Electr. Eng., London, pp.
146 - 150.
 245

3 R. Gabriel, W. Leonhard and C. Nordby, Microproces- B a s e values for p e r unit system

sor control of the converter fed induction motor, Pro-
cess Autom., (1980) 35- 41. Base time lS
4 T. Ito, T. Yamaguchi, R. Ueda, T. Mochizuki and S. Base speed 1 rad e s-1
Takata, Analysis of field orientation control of con- Base power 3554.2 W
trolled current source inverter drive induction motor Base stator voltage 220 V
systems, IEEE Trans., IA-19 (1983) 206- 209.
5 M. Akamatsu, K. Ikeda, H. Tomei and S. Yano, High Base stator current 5.4 A
performance IM drive by coordinate control using a Base stator impedance 40.6 f l
controlled current inverter, IEEE Trans., IA-18 (1982) Base torque 22.6 N m
382- 392.
6 G. Diana and R. G. Harley, Relationship between the Per unit motor values
real and complex form of the mathematical model for
symmetric induction motor machinery, Electr. Power S t a t o r r e s i s t a n c e R1 0.088 p.u.
Syst. Res., 9 (1985) 233-242. R o t o r r e s i s t a n c e R2 0.046 p.u
7 G. Diana and R. G, Harley, An aid for teaching field S t a t o r r e a c t a n c e X~ 0.097 p.u.
oriented control applied to induction machines, IEEE
R o t o r r e a c t a n c e )/2 0.066 p.u.
Trans., 4 (1989) 1258- 1262.
8 J. Granado, G. Diana and R. G. Harley, Understanding M a g n e t i z i n g r e a c t a n c e Xm 1.570 p.u.
and designing a space vector pulse-width-modulator to Lm 2
control a three-phase inverter, Trans. S. Afr. Inst. a = 1 - - ---0.09618
Electr. Eng., 80 (1989) 29-37. Lll L22
9 M. Webster, G. Diana, R. G. Harley and D. C. Levy, Wn0 = 314.16 r a d s - 1
Space vector modulation--a real time application,
Trans. S. Afr. Inst. Electr. Eng., 80 (1989) 38-42. H=0.1s
2H
J = = O.00006366
APPENDIX (Dn0
= 0.000006366

2.2 k W induction motor parameters 2 Lm

(in p e r unit) K t = g W-o ~-~22= 2 0 1

N a m e plate data K - Kt~'dr -- 10050

J
Rated power 2.2 k W
Line voltage 380 V Rz
zr = ~22 = 8.833
Line current 5.4 A
Number of pole pairs 2 p = differential operator