Difense University

Institute of Technology
Modelling and Analysis of Electrical Machines

By: Dr. Milkias B. (Ph.D.)

Adama Science and Technology University
mil_ber2000@astu.edu.et/milkiasber@gmail.com
3/24/2021 Milkias B. 1
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 Part Two: Dynamic Modeling
Modeling of Electrical Machines

By Milkias B. WSEAS, www.wseas.org

 Dynamic Modeling
Doubly-Fed Induction Machines

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 Space-Vector Model
• In developing the IG space-vector model, it is assumed that
• (1) the induction generator is symmetrical in structure and three-phase balanced,
and
• (2) the magnetic core of the stator and rotor is linear with negligible core losses.
• The IG space-vector model is generally composed of three sets of equations:
voltage equations, flux linkage equations, and motion equation.
• The general equations for both SCIG and WRIG are the same with the
exception that the rotor voltage is different from zero in WRIG (DFIG).
• The voltage equations for the stator and rotor of the generator in the arbitrary reference frame are given by

3.1
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 1

3.2

3.3
5
• The above equations constitute the space-vector model of the induction generator, whose equivalent
circuit representation is given in Figure 3-3.
• The generator model is in the arbitrary reference frame, rotating in space at the arbitrary speed ω.
• It is important to note that the IG space-vector model of Figure 3-3 is based on the motor convention in
terms of the direction of the stator current that flows into the stator.
• This convention is widely accepted since most induction machines are used as motors.
• Nevertheless, there is no loss of generality; the space-vector model and its associated equations can be
used to model the induction machine either as a motor or a generator.
• The induction generator model of Figure 3-3 in the arbitrary reference frame can be easily transformed
into the other reference frames.
• For example, a synchronous frame model is very useful for simulation and digital implementation of IG
WECS with advanced control systems.
• Such a model can be obtained by setting the arbitrary speed ωin Equation (3.1) and in Figure 3-3 to the
synchronous speed ws.
• The derived model in the synchronous frame is given in Figure 3-4a, where ωs is the synchronous speed
and ωsi is the angular slip frequency of the generator, given by

3.4
6
 ...

Figure 3-3. Space-vector equivalent circuit of an induction generator in the arbitrary reference
frame.

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• The synchronous speed of the reference frame ωs corresponds to the stator angular frequency, which is
proportional to the stator frequency fs.
• To obtain the IG model in the stationary reference frame, we can set the speed of the arbitrary frame co in
Figure 3-3 to zero since the stationary frame does not rotate in space.
• The resultant equivalent circuit is shown in Figure 3-4b.
• The IG space-vector models in Figures 3-3 and 3-4 are valid for both SCIG and DFIG.
• In the SCIG, the rotor circuit is shorted and, therefore, the rotor voltage is set to zero, whereas for the
DFIG the rotor circuit is connected to a power converter system that controls the speed and torque of the
generator.

Fig. 3-5. Space-vector models for induction generator in the synchronous and stationary reference frames 8
 dq Reference Frame Model
• The dq-axis model of the induction generator can be obtained by decomposing the
space-vectors into their corresponding d- and g-axis components, that is,
Substituting Equation (3.5) into Equation (3.1)
and grouping real and imaginary component
son both sides of the equations, the dq-axis
3.5 voltage equations for the induction
generator are obtained:

Similarly, substituting Equation (3.5) into Equation (3.2), the

dq-axis flux linkages are obtained:
3.6

3.7

9
• The electromagnetic torque Te in Equation (3.3) can be expressed by q-axis flux
linkages and currents as well.
• By mathematical manipulations, several expressions for the torque can be obtained.
• The most commonly used expressions are given by
• Equations (3.6) to (3.8) together with the motion
equation (3.3) represent the dq-axis model of the
induction generator in the arbitrary reference
3.8 frame, and its corresponding dq-axis equivalent
circuits are shown in Figure 3-6.
• To obtain the dq-axis model in the synchronous
and stationary reference frames, the speed of the
arbitrary reference frame w can be set to the
synchronous (stator) frequency ws of the
generator and zero, respectively.

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Figure 3-5. Induction generator dq-ax\% model in the arbitrary reference frame.

• where the derivative operator p in Equation (3.6) is

replaced by the Laplace operator S, and 1/S
represents an integrator.
3.9 • The flux linkage equations of (3./) can be represented
in a matrix form:

3.10

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• The stator and rotor currents in the above equation can be expressed in terms of stator and rotor
flux linkages.
• This can be obtained by applying the inverse inductance matrix on both sides of Equation (3.10),
using the following matrix manipulation:

3.11 From which

3.12 The motion and the torque equations for

the simulation model are given by

3.13

12
• Based on Equations (3.9), (3.12), and (3.13), the block diagram for simulation of an induction generator
in the arbitrary reference frame can be developed and is shown in Figure3-7.
• The input variables of the model include the dq-axis stator voltages vds and vqs, rotor voltages vdr and
vqr, the mechanical torque Tm, and the speed of the arbitrary reference frame w, whereas the output
variables are dq-axis stator currents, ids and iqs, the electromagnetic torque Te, and the mechanical
speed ωm of the generator.
• To simulate the induction generator in the synchronous reference frame or the stationary reference
frame, the speed of the arbitrary reference frame ω can be set to the synchronous speed ωs or zero,
respectively.

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Assignment 2:Deveop a Matlab Simulnk model for the system shown in fig 3.7 and fig 3.8 use MATLAB function block
Eq(3.9) Eq(3.12) Eq(3.13)

Figure 3-7. Block diagram for dynamic

simulation of an induction generator in the
arbitrary reference frame.

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Figure 3-8. Block diagram for dynamic simulation of SCIG with direct grid connection

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Doubly-Fed Induction Machines

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 Overview on Modelling

• For wind turbines (as well as other kinds of complex technical constructions), the time and
development costs can be reduced considerably by using computer simulations, when the
concept and detail design can be thoroughly tested without exposing the physical prototypes
to the influence of destructive full-scale tests.
• The MATLAB-Simulink/PoweSim cab be used having its real parameters obtained from
factory test results and numerical methods in order to analyse, control the active and reactive
power and DC link voltage.
• To investigate issues of grid-connected wind turbines and their interaction with the grid, its
proper model shall be established.

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 Modeling of DFIG
➢ Modelling of DFIG is
very important for
carrying out analysis and
controlling. 1
Pw = ρAv w 3
2
➢ There are different parts
of it to be modelled for Where A is swift area [m2], vw is
over all performance wind speed [m/s]
ρ is air density (kg/m3) =1.225kg/m3
➢ The wind power captured 1 1
by the blade & converted Pw = ρAv w Cp = ρπR 2 v w 3C p
3
into mechanical power 2 2
can be calculated by: A = πR2, R is the length of the blades
Cp is coefficient factor (efficiency of wind
turbine)

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 Dynamic Modeling of DFIG…
αβ Model

➢ In developing the dynamic αβ model of the DFIG, space vector theory is

applied to the basic electric equations of the machine.
➢ Fig. 6 shows the three different rotating reference frames typically utilized to
develop space vector-based models of the DFIG & modelling can be proceed
by using clark, parke and their inverse transformations

Fig. 6. Reference frames

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 ...

In stationary reference frame

In the same way, the stator & rotor flux expressions:
 dψαs
 u αs = r s iαs + dt  ψαs = Lsiαs + L miαr
Stator  
 dψ  ψs   Ls L m  is   ψβs = Lsiβs + L miβr
s s
 u = r i + βs  s  = L  . s  → 
 βs s βs
dt ψr   m L r  i r   ψαr = L miαs + L r iαr
ψ = L mi + L r i
 0 1 dψ r s
s s
v r = [ir ][R r ] +  s
 ωm .ψ r + dt
 βr βs βr
 -1 0 
 dψαr  i ss  1
s
 -L r L m   ψs 
Rotor  vαr = R r iαr + dt + ωm ψβr  s =
2 L  s

vrs =  i r  L m - Ls.L r  m -Ls   ψ r 
dψ
 v = R i + βr - ω ψ
 β r r βr m αr
dt
Torque
3
Stator Active Power Ps = (vαsiαs + v i )
2 βs βs 3 3
Tem = pI m {ψ r ir } = p(ψ i αr - ψαr i ) Vβ
3 2 2 βr βr -1
g = tan ( )
Vα
Stator Reactive Power Qs = 2 (vβsi αs - vαsiβs )

dΩ m
Tem - Tm = J
dt
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Figure 3.8: Model of the DFIM in the reference frame

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The DFIM Model in dq synchronous coordinates .

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Neglecting the losses and saturation, the DFIG model with MSC and
current control loops in a user-defined MATLAB-Simulink tool-box shown in Fig.2.12 is used in the study.

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 dq-model…
➢ The space vector model of the DFIG can be also represented in a synchronously rotating frame by
multiplying the voltage expressions by e−jθs & e−jθr, respectively, the dq voltage equations can be:

 dψ
a  v = R s i + ds - ωs ψqs
a a dψs a  ds ds dt
Stator Voltage Vs = Is R s + + jωs → 
dt  v = R i + dψqs + ω ψ
 qs s qs
dt
s ds

 dψ
dr - ω ψ
a  v = R ri + r qr
Rotor Voltage a a dψ r a  dr dr dt
Vr = I r R r + + jωr → 
dt  v = R i + dψqr + ω ψ


qr r qr
dt
r dr

 ψds = Ls i + L m i
ds dr

Stator & Rotor  ψs a   Ls L m   is a  ψqs = Lsi qs + L m i qr
Flux Linkages  a = L . →
L r   ir a 
ψr   m  ψdr = L mi + L r i
ds dr
ψ = L m i qs + L r iqr
 qr
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 ...
3
Stator Active Power(dq) Ps = (v i + v qs i qs )
2 ds ds

3
Stator Reactive Power (dq) Qs = (v qs i
- v i qs )
2 ds ds
➢In DFIG wind energy systems, the stator voltage oriented control is achieved by aligning the
d-axis of the synchronous reference frame with Vs.
➢ The resultant d and q-axis stator voltages are:
Vqs = ds=0 and Vds = Vg ; ωs =2πfs
➢ The stator active and
2Ls Rs
reactive power are calculated, i dr = - Ps - i qs
3Vds L m ωs L m

2Ls Rs Vds
i qr = Qs + i ds -
➢Neglecting the Rs 3Vds L m ωs L m ωs L m

2Ls 2Ls V
i = Ps ; i qr = Qs - ds
dr 3V L m 3V L m ωs L m
ds ds
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 COMPARISON OF INDUCTION GENERATORS WITH OTHER GENERATORS
• The IG may be used for several applications, including high-speed turbines.
• When permanent magnet (PM) and switched reluctance (SR) generator controllers are compared with the IG controller, it
is important to take into account doubly fed induction generator (DFIG) benefits:
• (1) it is not necessary to have special sensors;
• (2) it is possible to achieve very high rotor speeds; and
• (3) it has fractional converter rating, in addition to several other considerations (such as not being dependent on
importation of PMs from countries controlling the market of rare earth materials).
• For example, the slip control of IG requires a precise measurement of speed, which is easy to implement in practice. In
contrast, the control of the SR generator requires very precise measurements of the rotor position involving high
technological, precise, and expensive components.
• For the SR generator, the operating frequency is extremely high, in the range of 6 kHz at 60,000 rpm requiring high-speed
power transistors at very high switching rates.
• On the other hand, the usual operating frequency for the IG is in the range of 1–2 kHz at high speeds depending upon the
generator number of poles allowing the switching rate to be lowered within a reasonable range.10–13

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• In the case of PM generators, the power rating of the converters has to cope with several complexities in
the controller, requiring voltage boost mechanisms due to the wide variation in the output voltage.
• The power electronic components must function at high stress levels. In the SR generator controller,
high change rates of currents and voltages result in high stress levels for the power electronic devices.
In compensation, the IG has naturally a well-regulated sinusoidal output that can be conditioned without
using highly stressed electronic components.
• In Table 5.5 are listed some criteria of comparison between the IG and other generators. These criteria
are classified in economical, technical, and commercial aspects, and they can contribute for the final
selection of the type of generator to be used in some particular application.

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TABLE: Induction Generator versus Other Generators

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 Induction Generator :Project
1. Using Excel or a similar program, plot the following relationships of the IG you have used in the lab
tests:
a. Output power × efficiency
b. Output power × power factor
c. Rotor speed × load frequency
d. Voltage and frequency regulation for 10%, 50%, and the rated load (100%)
2. Calculate the power injected by your IG into the grid for speeds 5%, 10%, and 15% above synchronous
speed. What are the respective efficiencies in each case?
3. Explain why in cases of loads sensitive to frequency variation it is not recommended to connect an IG in
parallel with a synchronous generator of comparable rated output power
4. Calculate the necessary torque of a primary machine and the maximum rated power of an IG fed at 6.0
kV, 60 Hz, 4 poles, R1 = 0.054 Ω, R2 = 0.004 Ω, X1 = 0.852 Ω, and X2 = 0.430 Ω. What is the rated
mechanical power? Calculate the distribution transformer ratings if the subtransmission voltage is 69 kV.
5. Using Excel or any other automatic calculator, plot the turbine torque and the corresponding output
power of the IG according to the mechanical speed variation from 0.0 to 2000 rpm and the data given in
Exercise 4.

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6. A small three-phase IG has the following nameplate data: 110 V, 1.140 rpm, 60 Hz, Y connection, and 1250 W. The
blocked rotor test at 60 Hz yielded the following: I = 69.4 A,
P = 4200 W. The turn ratio between stator and rotor is 1.13, and the rotor resistance referred to the stator is 4.2 Ω. What
are the full load torque and air-gap power?
7. In a small generating system, there are two generators in parallel. One of them is a synchronous generator, and the
other, an IG. The common load is 3.0 kW with a power factor of 0.92. If the IG supplies only 1.0 kW of the total load
at a power factor of 0.85, at what power factor would the synchronous generator be running?
8. There is a three-phase IG of 110 V, 60 Hz, 4 poles, 1900 rpm, Y stator connection, and an equivalent circuit given as R1
= 0.20 Ω, R2 = 0.42 Ω, X1 = 0.15 Ω, and X2 = 0.43 Ω; R2 and X2 refer to the stator. The excitation current is 8.1 A and is
assumed constant at the rated values. Due to a reduced flux density, the excitation current is neglected at starting
conditions. Evaluate
a. The maximum torque in N m
b. The slip factor at the maximum torque
c. The torque to generate the rated voltage
d. Full-load torque

Reference: Modeling and Analysis With Induction Generators, Third Edition

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 Thank Thank
You You

Thank You

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 NEXT SLIDE

SYNCHROUS
MACHINE MODELING
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