IEEE Transactions on Energy Conversion, Vol. 14, No.

3, September 1999 315

SKEW AND LINEAR RISE OF MMF ACROSS SLOT MODELING WINDING -

FUNCTION APPROACH

JoksimoviC M. Gojko, Durovic D.Momir, ObradoviC B. Aleksandar

University of Montenegro, Department of Electrical Engineering
8 1000,Podgorica, Montenegro
Yugoslavia

Abstract: A method of calculation of the inductances of an By this approach all space harmonics are taken into account
induction machine is proposed. The skewing of the rotor bars of the without any restriction concerning symmetry of stator’s or
machine and the resultant linear rise of MMF across the slot, rotor’s windings. Hence, this model has found application in
together with the non-sinusoidal distribution of the stator winding the analysis of asymmetrical and fault conditions in machines,
are taken into account. The method is based on winding function such as broken rotor bars or broken end ring segments and the
approach, which allows for all harmonics of MMF to, be taken into fault conditions in stator windings, Luo et al. [2], Toliyat,
account. The results obtained by proposed method have been Lip0 [3], a detection and analysis of air gap eccentricity,
compared with those obtained by conventional manner, which take Toliyat et al. [4], as well as in design and analysis of the new
into account above phenomena by means of scale factors applied to construction of induction machines, Toliyat et al. [5], [6].
the harmonics. A very good agreement between them is In the recently published papers [2-61, in which
demonstrated. calculation of inductances are based on winding functions
approach, it was assumed that the rotor bars were unskewed.
Keywords: Winding Functions, Induction Machines, Inductances, The linear rise of MMF across the slot
Skew, MMF. the rotating field theory o f electrical ma
MCCM, the effect of skewing and the effect of linear rise of
MMF across the slot are included in the model by means of:
I. INTRODUCTION multiplication factors, [7]. This has to be done for each
harmonic separately.
Transient analysis of induction machines by use of the The method proposed in this paper allows for the effect of
conventional d-q model is based on the well known skewing of rotor bars (or stator slots) and the effect of linear
assumptions. One of them is that the stator windings are rise of MMF across the slot, taking into account all space
sinusoidally distributed. This implies that all harmonics of the harmonics. The results obtained by the proposed method are
stator winding distribution, except the fundamental one, are compared with those obtained in conventional manner, [ 11.
neglected. The multiple coupled circuit model (MCCM), Very good agreement between them is shown.
Fudeh, Ong [l], is more suitable for the analysis of transient
phenomena of electrical machines. In this model, the
simulation of a general rn-n winding machine is done in 11. SYSTEM EQUATIONS
natural frame of reference, i.e. the machine is simulated in
terms o f the actual physical parameters rather than in terms of The following system of equations can be written for the cage
transformed or equivalent variables. Inductances are derived induction machine with m stator circuits and n rotor bars:
on harmonics bases, i.e. the accuracy of analysis depends on
I = [RII[], -1. d P 1
*
number of harmonics which are included in calculation. In a dt (1)
new multiple coupled circuit model (NMCCM), Luo et al.
[2], the winding function ‘theory (WFT) is applied for [OI = [R,IP,l+
d P I (2)
calculation of inductances.
[Y I = [451[1,1
+ [Lh,I[41 (3)
PE-092-EC-0-07-1998 A paper recommended and approved by the
IEEE Electric Machinery Committee of the IEEE Power Engineering [YI= [LlT[41 + [4rI[Irl (4)
Society for publication in the IEEE Transactions on Energy
Conversion. Manuscript submitted October 21, 1997; made available where,
for printing July 2, 1998
[ I , ] = [ i , , i\* ... iJ (5)
[I,] = [i,, i, ... i,J (6)

0885-8969/99/$10.00 0 1998 IEEE

316

As usual, [U is the voltage matrix, [rJ is the current matrix,

[RI is the resistance matrix, [ U ] is the flux linkage matrix and
[L] is the matrix of inductance. Subscripts s and r are
assigned to stator and rotor, respectively.
With this formulation, the currents in the m stator circuits
and n rotor bars are assumed independent. The torque and Fig. I . Winding function of coil k
mechanical equations for the machine are:
Using (11) and (12) it is easy to obtain all the elements of the
above inductance matrices for known winding layout for
particular machine. It is obvious that the winding function.of
the coil defined by (12) and expression for inductances (11),
don't include the effects of skewing and of linear rise of
MMF across the slot.

A. Slot Width Effect

where T, is electromechanical torque of machine, e is the
mechanical angle, TL is load torque, J is the inertia of the When the linear rise of MMF across the slot is taken into
rotor and w is mechanical speed. account, the winding function of coil k will be as shown on
Fig.2.

111. CALCULATION OF INDUCTANCES

The inductances which are the elements of a matrix of

inductances in (3) and (4), could be calculated by means of wk-wk

the winding function method. The general expression for

mutual inductance between any two circuits i and j in any
electrical machine, in the case of constant air gap and
infinitely permeable iron, is given by the following equation,
PI:
Fig.?. Winding function of coil k including effect of linear rise of MMF
across the slot

By inspection of Fig.2. it is easy to obtain the following

analytical expression,
where e is the angular position of the rotor with respect to
some stator reference, cp is a particular angular position along
the stator inner surface, 1 is the length of the stack, r is the ekl- -6s e s e k , +-6
Wk[271(e-ek1)+s(71.-aI,)],
average radius of air-gap and g is the effective length of air I2716 2 2
gap. For i=j, equation (1 1) gives self inductance of circuit i.
N,(cp,B) and N (q,B) are winding functions of circuit i and
J .
circuit j , respectively. Having in mind the above assumptions,
the circuit winding function can be obtained by summing
winding functions of coils which constitute one circuit. The
winding function of coil k, whose sides are placed at €)=ek, a
[-wk$, the restof e
and B=ek2 is defined by, [2]:
(13)
a where 6 is the width of slot opening in radians.
wk-wk> e,, se-<ek2
271 (12)
N , (0) =
B. The Effect of Skewing

Validity of equation (1 1) is restricted on case when rotor

where ak is the pitch of the coil, ak=Bk2-Bkl, and wk is the
bars (stator slots) are unskewed. It may be rewritten as:
number of turns of coil k. This is shown on Fig.l.

where L'tl(B) is the mutual inductance between the stator coil
and the rotor loop, per unit of length, in the case of unskewed
rotor bars. When the rotor bars are skewed uniformly (linear
skewing) the mutual inductance between the stator coil i and
rotor loop j can be defined, per unit of length, in the
following manner,
(15)
where 6 represents the length along the axial direction of the
rotor, {e(O,l), and y is the mechanical angle of skewing in
radians. When 5 increases and the skewing of the rotor bars is
in a positive direction of 8, then the sign in brackets in
equation (15) is positive. Equation (15) can be interpreted as
follows: in any radial cross-section of the machine, mutual
inductance, per unit of length, between stator coil i and rotor
loopj, has the same shape, but is displaced in space, as shown
in Fig. 3.
T L'sr(e)
-(=1
Fig. 3 Radial cross-section for c=O and 5=1 and appropriate curve of mutual
inductances per unit of length, between stator coil 1-6' and rotor loop 1
(between bars 1 and 2)
Total mutual inductance between stator coil i and rotor loopj,
for skewed rotor, is determined when equation (15) is
integrated along the axial axis of the rotor:
-112
It is obvious from (16) that the total mutual inductance
between the stator coil and the rotor loop, obtained by the
described method, becomes a function of one variable.
IV. EXAMPLE OF CALCULATION OF INDUCTANCE
The proposed method is applied to a four pole, three
phase induction machine whose cross-section is shown in
317
Fig.4. The stator phase windings are symmetrical and consist
of eight shorted pitch coils, connected in series. Each coil has
w turns. The stator windings are placed in slots whose mouth
opening is 6 d 2 4 rad. There are 36 bars on the rotor, skewed
for angle y=n/12 rad. This angle of skewing corresponds to
one stator slot pitch, what is common practice. The rotor slot
mouth opening is neglected. The constructional parameters of
analyzed machine are given in the Appendix.
phase A
phase B
phase C
"r"
Fig.4. Cross-section of analyzed machine
The windings of the stator phases are wound according to the
following scheme:
A-1-6'-2-7'-13-8'-12-7'-13-18'-14-19'-1-20'-24-19'-exit
B-5-10'-6-11'-17-12'-16-11'-17-22'-18-23'-5-24'-4-23'-ex1t
C-9-14-10-15'-21-16-20-15'-21-2'-22-3'-9-4'-8-3'-exit
It should be noted that the skewing of the rotor bars has no
influence on the self inductances as well as on the interphase
mutual inductances on the stator side or on the rotor side. The
skewing only effects the mutual inductance between stator
and rotor.
In the considered example it is taken into account the
skewing of the rotor bars and the width of stator slots
opening. Similarly, both effects can be treated for any other
combination. For example, it is easy to consider skewed
stator slots and width of stator andlor rotor slots opening.
A. Calculation of Self and Mutual Inductances of Stator
Windings
The self inductance of stator phase winding A can be written
as, [2]:
8 8
L,, =
,=I ,=I
where L, is the mutual inductance between constituent coils
of winding A. T6e sign in front of L, is determined according
318
to the manner of connection of these coils. Any mutual
inductance L,J in (17) is calculated by means of equation (11)
where winding functions of coils are described by equation
(13). Similarly, self inductance for the other two windings of
the stator may be calculated.
Mutual inductances between the two stator phase windings
would be calculated similarly:
LAB = cc*
8 8
LAiBj
Because the stator of the analyzed machine is symmetrically
wound, LA=LB=Lc and LAB=LAcLBe
The effect of skewing of rotor bars is included when the curve
of mutual inductance, described in Table 1, is integrated
along axial axis of the machine, (15), (16).
V. RESULTS
A. Self and Mutual Inductances of Stator Windings
The self and mutual inductances of stator winding(s) for the
analyzed machine were calculated on the basis of the
proposed method, and then compared with results obtained by
B. Calculation of Mutual Inductances Between Stator
Windings and Rotor Loops
By substitution of the expression for the winding function of
stator coil i and rotor loop j , (13) into ( l l ) , it is possible to
obtain a relation of mutual inductance between them as a
function of 8. Note that for a cage rotor, wj=l. By assuming
that the width of slot mouth is less than the pitch of the rotor
loop, i.e. 6<ar,where is ar=8,,-0,,,
and that the pitch of any
stator coil is greater than pitch of the rotor loop, when the
rotor is moving, then there are eight different relative
positions between the stator coil and the rotor loop.
Therefore, mutual inductance, per unit of length, between
stator coil i and rotor loop j can be written as in Table 1.
harmonic analysis (MCCM). The results obtained by
harmonic analysis take into account the first 14 harmonics
(i.e. all odd harmonics from 1" to 27Ih). Results are shown in
Table 2.
proposed method MCCM
LAW) 0.1189 0.1164
LAB(H) -0.0519 -0.0522

The results are well correlated.
B. Mutual Inductances Between Stator Windings and Rotor
Loops
Having in mind Table 1 it is possible to determine the mutual
inductance between one stator coil and the rotor loop as a
function of angle 8, including the effect of linear rise of MMF
across the slot. The effect of skewing is included by applying
numerical integration of this dependency, (15), (16). Results
for the mutual inductance between stator coil 1-6' and rotor
loop 1 are shown on FigS. The rotor loop 1 consists of the
bar 1 and the bar 2, and the end-ring segments between them.
Other rotor loops are defined in the same manner. For the
sake of clarity, in Fig.5. dependency of mutual inductance for
the case when none of the above mentioned effects were
considered, is included.
I
0 -7
0-
C)
0
I I fI(rad)
0 2 4
FigS. Mutual inductance between stator coil 1-6'and rotor loop 1.
a) skewing and width of slot opening are not taken into account
b) y=rrll? rad. and 6=0 rad.
c) y=O rad. and 6=rrl24 rad.
d) y=rrll2 rad. and 6=W24 rad.
The results given on Fig.5 show that the skewing of rotor bars
produces more significant effect on the shape then on the
magnitude of curve of the mutual inductance. This effect is
more present at the position where the stator flux changes the
direction in relation to the rotor loop. In the case of skewed
rotor bars this change is smooth, while it is sharp for the case
of unskewed rotor bars. By taking into account the linear rise
of MMF across the slot the similar effects have been shown.
These two effects together produce smooth variation of the
curve of the mutual inductance.
These effects are even more present when the angle of
skewing is larger, or when the slot mouth opening is larger.
For example, for machine under test, the zero value of the
mutual inductance is obtained for the hypothetical angle of
skewing of y=n rad. (2n electrical). For this angle of skewing
one half of the rotor loop is under one pole, while another
half of the rotor loop is under another pole of the machine.
Thus, the flux linkage within the rotor loop is zero, and
therefore the mutual inductance has zero value, too.
319
The mutual inductances between other stator coils and the
rotor loop 1 have the same shape as the curves in Fig.5. but
they are displaced in space, since the stator coils are
displaced in space. The resultant mutual inductance between
the winding of stator phase A and the rotor loop 1 is given as
the sum of eight curves which are of the previous shape but
displaced in space for the appropriate angle. The shape of
resultant mutual inductance is shown on Figures 6 , 7 , 8 and 9,
where the thick line represents the curve of mutual inductance
and the thin line the first derivative of the curve of mutual
inductance. It is achieved the very good agreement between
the results obtained by the proposed method and by the
method based on the summation of the harmonics of MMF.
0.5
Lsr(mH)
n 1
0
A
-0.51 U U
/f 0.5
I -0.5
I 0 1 2 3 4 5 6
Rg.6. Mutual inductance of stator phase A and rotor loop 1: y=O, 6=0 rad
, a) WFT approach b) calculated on harmonics bases
-0.5
-'-U
0 Rfmdl
.~.--,
-0.5'
0 1 2 3 4 5 6
Fig.7. Mutual inductance of stator phase A and rotor loop 1: y=rrl12,8=0 rad.
a) WFT approach and proposed method b) calculated on harmonics bases
The mutual inductance between the winding of stator phase A
and the rotor loop 2 has the same shape as the curves on the
Figures 6,7,8 and 9, but it is displaced in the space for one
rotor tooth pitch, i.e. for n/18 rad. The shapes of the mutual
inductance between other stator phases, B and C, and rotor
loops, can be obtained in similar manner. For example, for
the considered machine, the winding of phase B and rotor
320
loop 7 have the same mutual inductance as the winding of
phase A and rotor loop 1, and so on.
Lsr(mH)
0.5 A [I] H.R.Fudeh, C.M.Ong, "Modeling and analysis of induction
0
-0.5 V [2] X.Luo, Y.Liao, H.Toliyat, A.El-Antably, T.Lipo, "Multiple
I I
0 1 2 3 4 5 6 tions on Industry Applications, v01.31, No.Z,March/April 1995.
Fig.8. Mutual inductance of stator phase A and rotor loop I: 'y=0,6=T/24 rad
a) WFT approach and proposed method b) calculated on harmonics bases
0.5
Lsr(mH) A
Lsr(mH)
0.5
Fig.9. Mutual inductance of stator phase A and rotor loop 1: y=T/12 rad,
6 4 2 4 rad.
a) WFT approach and proposed method b) calculated on harmonics bases
VI. CONCLUSIONS
It is clear that the skewing of rotor bars and the linear rise
of MMF across the slot affects the value of the mutual
inductance between the stator and the rotor. The linear rise of
MMF across the slot, affects the value of the self and
interphase mutual inductance, too. The difference between the
method presented in this paper and other methods is obvious.
By this approach all space harmonics are taken into account
without any restriction concerning symmetry of stator's or
rotor's windings, while other methods are applicable for the
given harmonic. In the presented analysis it was treated the
uniformly skewed rotor bars. The method can also be applied
for the analysis of spirally skewed rotor bars. The described
method enables the analysis of any combination of skewing of
stator or rotor slots and slot mouth opening, too. The very
good agreement between results obtained by the proposed
method and by method based on summation of the harmonics
of MMF is shown.
VII. APPENDIX
Machine Parameters: I=0.115m, r;0.066m, w=20 turns per
coil, g=0.0006m, coil pitch/pole pitch =5/6.
VIII. REFERENCES
machines containing space harmonics", Part I, IEEE Transactions
PAS, Vol. PAS-102, No-8, August 1983.
coupled circuit modeling of induction machines", IEEE Trunsuc-
[3] H.A. Toliyat, T.A. Lipo, "Transient analysis of Cage Induction
Machines Under Stator, Rotor Bar and End Ring Faults", IEEE
Transactions on Energy Conversion, Vol. IO, No. 2, June 1995.
[4] H.A. Toliyat, M.S. Arefeen, A.G. Parlos, " A Method for Dy-
namic Simulation and Detection of Air-Gap Eccentricity in Induc-
tion Machines", private communications.
[5] HAToliyat, T.A.Lipo, JCWhite, "Analysis of a Concentrated
Winding Induction Machine for Adjustable Speed Drive Applica-
tions" Pan 1. IEEE Transactions on Energy Conversion, Vo1.6,
No.4, December 1991.
[61 HAToliyat, T.A.Lipo, J.C.White, "Analysis of a Concentrated
Winding Induction Machine for Adjustable Speed Drive Applicn-
tions" Part 11, IEEE Transactions on Energy Conversion, Vo1.6,
No.4, December 1991.
[7] P.L.Alger, Induction machines, Gordon and Breach Science
Publishers, 1970, pp. 227-228.
IX. BIOGRAPHIES
Gojko M. Joksimovlf, was born in Berane, Yugoslavia, in 1967. He
received the B.Sc. (1991) and M.Sc. (1995) in electrical engineering from
University of Montenegro. In 1991 he joined the faculty of University of
Montenegro, Yugoslavia, and is now an Assistant Lecturer of Electrical
Engineering. Currently working toward his Ph.D. degree. His main research
areas include analysis and simulation of induction machines, power
electronics and control. Currently, he is a visiting research fellow at
Department of Engineering, University of Aberdeen, Scotland.
Momir D. DuroviS, D.Sc., M.Sc., DIC, dipling. (1941) is professor of
Electrical machines at Elektrotehnicki fakultet, University of Montenegro,
Yugoslavia. He has been visiting to many universities and he has delivered
invitation lecturers to many institutions and has consulted many companies.
His major fields of interest are: transformers, induction machines and
renewable energy sources. He is member of Montenegrian Academy of
Science.
Aleksandar B. ObradoviC, was born 1972. He has graduated at
Elektrotehnicki fakultet, Podgorica. He is currently research assistant.