DIgSILENT PowerFactory

Technical Reference Documentation

Asynchronous Machine
ElmAsm, TypAsmo
 DIgSILENT GmbH

Heinrich-Hertz-Str. 9
72810 - Gomaringen
Germany

T: +49 7072 9168 00

F: +49 7072 9168 88

http://www.digsilent.de
info@digsilent.de
r1211

Copyright ©2012, DIgSILENT GmbH. Copyright of this document belongs to DIgSILENT GmbH.
No part of this document may be reproduced, copied, or transmitted in any form, by any means
electronic or mechanical, without the prior written permission of DIgSILENT GmbH.

Asynchronous Machine (ElmAsm, TypAsmo) 1

Contents

Contents

1 General Description 4

1.1 Equivalent Circuit Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.1.1 Single Cage Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.1.2 Single Cage Model with Current Displacement (Squirrel Cage) . . . . . . 5

1.1.3 Double Cage Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1.4 Double Cage Model with Current Displacement . . . . . . . . . . . . . . . 6

1.2 Motor Data Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2.1 Electrical Parameters Option . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2.2 Slip-Torque/Current Characteristic Option . . . . . . . . . . . . . . . . . . 10

1.3 Load Flow Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 Short Circuit Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.5 Harmonic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation) 14

2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.1.1 Single Cage Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.1.2 Squirrel Cage Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.1.3 Double Cage Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.2 EMT Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.3 RMS Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.4 Mechanical Equations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.5 Mechanical Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.6 Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2.7 Dynamic Motor Starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.7.1 Star-Delta Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.7.2 Variable Rotor Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2.7.3 Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.7.4 Auto Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

A Input Parameters for Dynamic Models 22

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Contents

B Parameter Definitions 24

B.1 Asynchronous Machine Type (TypASMO) . . . . . . . . . . . . . . . . . . . . . . 24

C References 25

List of Figures 26

List of Tables 27

Asynchronous Machine (ElmAsm, TypAsmo) 3

1 General Description

1 General Description

1.1 Equivalent Circuit Models

The general asynchronous machine model of DIgSILENT PowerFactory is the so-called Type
2 Asynchronous Machine model (TypAsmo) that has been available since version 12.0. Prior
to this, a different asynchronous machine model (TypAsm) was used, but this model has since
been deprecated and is no longer recommended for use.

The model is represented as the classical asynchronous machine model with a frequency (or
slip) dependent rotor impedance (see the equivalent circuit in Figure 1.1).

Stator voltages and currents in these equivalent circuit diagrams are represented as instanta-
neous phasors in a steady reference frame. Rotor voltages and currents are represented in a
reference frame that rotates with mechanical frequency. Hence, all quantities in these equiva-
lent circuits are represented in their natural reference frame. The machine model is supposed to
be unearthed, which explains why no equations for the zero sequence components are given.
The rotor impedance is referred to the stator side, and thus the rotating transformer in Figure
1.1) does not show any winding ratios.

Figure 1.1: General asynchronous machine equivalent circuit

The stator winding resistance Rs , the stator leakage reactance Xs , the magnetizing reactance
Xm and the rotor impedance Zrot characterise the model.

As mentioned above, Zrot can be frequency dependent, which allows the modelling of asyn-
chronous machines over a wide speed (or slip) range. PowerFactory offers several ways to
model a frequency dependent rotor impedance Zrot . The rotor impedance models vary in de-
tail and complexity and should be carefully selected depending on the types of studies to be
performed and the availability of input data.

The rotor impedance models are described in the following sections:

1.1.1 Single Cage Model

The single cage model is the simplest of the rotor impedance models. The is characterised by
a single R-L branch with a slip dependent rotor resistance (see Figure 1.2. The advantage of
this model is its simplicity, particularly when manufacturer data is incomplete or unavailable.

This model is adequate for describing wound rotor motors, however it is unsuitable for motor
starting studies with squirrel cage motors. This is because the single cage model cannot de-
scribe the torque-speed characteristics of a squirrel cage motor over the full range of slip values

Asynchronous Machine (ElmAsm, TypAsmo) 4

1 General Description

(as a result of the current displacement effect). When applying the single cage model, either the
starting characteristics or the full-load characteristics are modelled accurately, but not both [1].

Figure 1.2: Single cage rotor model

1.1.2 Single Cage Model with Current Displacement (Squirrel Cage)

Squirrel cage rotors exhibit current displacement on starting and at low speeds (i.e. at high slip)
due to the skin effect. The current displacement effect can be modelled by adding an additional
R-L branch in parallel to the single cage rotor (see Figure 1.3). The additional R-L branch is
modelled to represent the squirrel cage rotor on starting, where the rotor leakage reactance
predominates. As the speed increases, the influence of the additional R-L branch decreases.

An additional R-L element (RrA0 and XrA0 in Figure 1.5) represents a user-defined slip-independent
rotor leakage impedance, which provides additional modelling flexibility. By default, the rotor
leakage impedance is set to zero.

Figure 1.3: Squirrel cage (current displacement effect) rotor model

1.1.3 Double Cage Model

The double cage rotor is modelled in a similar way to the squirrel cage rotor with two parallel R-L
branches representing the outer (A) and inner (B) cages (see Figure 1.4). There key difference
is that in the double cage model, a rotor leakage reactance (Xrm) is included in lieu of the
slip-independent impedance (RrA0 and XrA0).

Asynchronous Machine (ElmAsm, TypAsmo) 5

1 General Description

Figure 1.4: Double cage rotor model

1.1.4 Double Cage Model with Current Displacement

A deep bar double cage rotor, where the outer cage exhibits current displacement on starting,
can be modelled by applying a double cage model with current displacement. Altogether, the
frequency dependence of the rotor impedance can be approximated by up to three parallel R-L
branches (see Figure 1.5).

Figure 1.5: Double cage rotor model (with current displacement)

Asynchronous Machine (ElmAsm, TypAsmo) 6

1 General Description

1.2 Motor Data Input

Motor data can be entered into an asynchronous machine type (TypAsmo) either by directly
specifying the resistances and reactances of the equivalent circuit diagrams (”Electrical Param-
eter” option) or by specifying characteristic points on the torque-slip and current-slip curves of
the machine (”Slip-Torque/Current Characteristic” option).

Figure 1.6: Basic data page of asynchronous machine type

On the second page of the load flow tab, there are curves showing the torque-speed or the
current-speed characteristics of the machine (see Figure 1.7). These characteristics are always
calculated from the steady state equations of the equivalent circuit. Hence, they truly represent
the machines characteristics.

1.2.1 Electrical Parameters Option

If you have motor electrical parameter data on hand (e.g. Rs , Xs , Xm , RrA , etc), then by se-
lecting the ”Electrical Parameter” input mode, you can enter this data directly into asynchronous
motor type (in the Load Flow tab).

Sometimes motor manufacturers supply measured test values of the equivalent rotor impedance
according to Figure 1.1 at different motor speeds (or slip-values), typically at no-load (i.e. close
to synchronous speed) and at locked rotor / stand still.

For such cases, PowerFactory offers a pocket calculator to convert these test measurements
into equivalent circuit parameters for two parallel R-L branches (i.e. for rotors with current dis-
placement). The pocket calculator can be accessed when the input mode is ”Electrical Parame-
ters” and the ”Consider Current Displacement (Squirrel Cage Rotor)” options are selected (see
Figure 1.8.

The general formula that relates the equivalent rotor impedance to equivalent circuit parameters

Asynchronous Machine (ElmAsm, TypAsmo) 7

1 General Description

Figure 1.7: Speed-Torque and Speed-Current characteristic for different voltages

Figure 1.8: Pocket calculator for asynchronous machine

Asynchronous Machine (ElmAsm, TypAsmo) 8

1 General Description

of a rotor circuit approximated by two ladder circuits (as in Figure 1.3) is:


RA1 RA2 (RA1 + RA2 ) + s2 RA1 XA2
2 2
+ RA2 XA1
Rr (s) = 2 2 (1)
(RA1 + RA2 ) + s2 (XA1 + XA2 )

2 2
RA1 XA2 + RA2 XA1 + s2 (XA1 + XA2 ) XA1 XA2
Xr (s) = 2 2 (2)
(RA1 + RA2 ) + s2 (XA1 + XA2 )

The slip-independent rotor leakage impedance (RrA0 and XrA0) is assumed to be zero in this
case.

The values at stand-still (s=1) and synchronous speed (s=0) are:

RA1 RA2
Rr (0) = 2 (3)
(RA1 + RA2 )

2 2
RA1 XA2 RA2 XA1
Xr (0) = 2 (4)
(RA1 + RA2 )

2 2


RA1 RA2 (RA1 + RA2 ) + RA1 XA2 + RA2 XA1
Rr (s) = 2 2 (5)
(RA1 + RA2 ) + (XA1 + XA2 )

2 2
RA1 XA2 + RA2 XA1 + (XA1 + XA2 ) XA1 XA2
Xr (s) = 2 2 (6)
(RA1 + RA2 ) + (XA1 + XA2 )

This set of non-linear equations can be solved by an iterative procedure. In the pocket calculator,
these equations are solved using a Newton-Raphson algorithm.

The problem is highly simplified using the following substitution:

RA1 Rr (0)
RA2 = (7)
(RA1 − Rr (0))

XA1 Xx
XA2 = (8)
(XA1 − Xx )

The auxiliary variable Xx can directly be calculated from the given values for Zrot and is defined
by:
2
Xr (1)2 − (Rr (1) − Rr (0))
Xx = (9)
Xr (0) − Xr (1)

The Newton-Rahpson algorithm in the pocket calculator uses the following initial values:
1
RA1 = RA2 (10)
5

5
XA1 = XA2 (11)
2

Asynchronous Machine (ElmAsm, TypAsmo) 9

1 General Description

1.2.2 Slip-Torque/Current Characteristic Option

If the input mode is set to slip-torque/current characteristic, the parameters of the equivalent cir-
cuit diagram are estimated (using an in-built parameter estimation algorithm) from the following
set of motor performance parameters:

• Nominal operating point

• Torque at stalling point (maximum or breakdown torque)
• Starting torque (for double cage or squirrel cage models)
• Starting current (for double cage or squirrel cage models)

The rated mechanical power, the rated power factor, the efficiency at nominal operation and the
nominal speed of the machine specify the nominal operating point.

Figure 1.9: Load flow page of asynchronous machine type

Pressing the Calculate button starts the parameter estimation algorithm (which converts the
performance parameters to equivalent circuit electrical parameters). The algorithm aims to
solve for the following parameters:

• Single cage model: Rs , Xm , RrA , XrA

• Squirrel cage model: Rs , Xm , RrA1 , XrA1 , RrA2 , XrA2
• Double cage model: Rs , Xm , RrA , XrA , RrB , XrB
• Double cage model with current displacement: Rs , Xm , RrA1 , XrA1 , RrB , XrB

The following parameters are input parameters and therefore assumed to be known:

• Single cage model: Xs

Asynchronous Machine (ElmAsm, TypAsmo) 10

1 General Description

• Squirrel cage model: Xs , RrA0 , XrA0

• Double cage model: Xs , Xrm

• Double cage model with current displacement: Xs , RrA0 , XrA0 , RrA2 , XrA2

Table 1.1 below presents the default input parameters:

Table 1.1: Default input parameters

Parameter Unit Description Default Value

Xs p.u. Stator reactance 0.01
Xrm p.u. Rotor leakage reactance 0
RrA0 p.u. Slip independent rotor resistance 0
XrA0 p.u. Slip independent rotor reactance 0
RrA2 p.u. Second cage resistance 0.1
XrA2 p.u. Second cage reactance 0.1

The parameter estimation algorithm solves a non-linear least squares problem using the Newton
Raphson method. For single cage models, the problem formulation is as per the four equations
below:

f1 (x) = cos φ − Re(S(sf )) = 0 (12)

f2 (x) = sin φ − Im(S(sf )) = 0 (13)
f3 (x) = Tb − T (smax ) = 0 (14)
f4 (x) = ηf l − η(sf ) = 0 (15)

For squirrel cage and double cage models, the following two equations are added to the problem
formulation:

f5 (x) = Tlr − T (s = 1) = 0 (16)

f6 (x) = Ilr − I(s = 1) = 0 (17)
(18)

Where cos φs is the full load power factor (pu)

Ss is the motor complex power at slip s (pu)
sf is the full load slip (pu)
ηf l is the motor full load efficiency (pu)
Ss is the motor complex power at slip s (pu)
Tb is the motor breakdown torque (pu)
Tlr is the motor locked rotor torque (pu)
Ilr is the motor locked rotor current (pu)

If the parameter estimation algorithm fails, one of two corresponding error messages will appear:

• No convergence in iteration, parameter estimation used: This message means that

the Newton Raphson algorithm failed to converge and thus the input data could not be
fully matched during the parameter estimation iterations. An estimate approximating the
entered data is used instead. By analyzing the speed-torque and speed-current char-
acteristics, the user can verify how close the estimated parameters match the entered
performance data (e.g. breakdown torque, locked rotor current, locked rotor torque, etc).

Asynchronous Machine (ElmAsm, TypAsmo) 11

1 General Description

• Estimated parameter inconsistent. Check nominal operating point: Here, no solu-

tion, not even an approximate solution can be found (this can occur, for example, if the
Jacobian matrix is singular). The user should first of all check the data entered on the
basic data page. To achieve convergence, the user should first try to find a solution us-
ing the single cage model. Only if motor start-up simulations are required, it is important
to reproduce the speed-torque characteristic over the full range of slip values. For many
applications, the single cage representation will be sufficient. Otherwise, we recommend
to reduce the starting current, because measured starting currents are very often higher
due to saturation of leakage reactance, which is not represented in the model.

1.3 Load Flow Analysis

For representing asynchronous machines in load flow analysis, the user has the choice between
two representations:

• Slip Iteration (AS)

• Constant P-Q model (PQ)

The ”slip iteration” representation is the more accurate representation and is based on the
equivalent circuit diagrams according to Figure 1.1 to Figure 1.5. Here, the model equations are
evaluated in steady state. The user defines only the (electrical) active power of the machine.
During the load flow iteration, the corresponding slip is calculated from the steady state model
equations and the reactive power (Q) is resulting.

The ”P-Q” representation corresponds to the classical way of representing asynchronous ma-
chines in load flow programs. By assuming that the machine operates at a certain power factor,
independent of the bus bar voltage, the machine can be approximated by a standard P-Q load
model.

The ”slip iteration” is of course the more precise method of representing asynchronous ma-
chines in load flow programs. Since this model is consistent with dynamic models it should
always be used when the load flow is used for initializing a transient analysis. However, it re-
quires the full machine characteristics why it is sometimes more suitable to use the simple P-Q
approach, especially in load flow planning studies, when no transients have be calculated or
when no concrete data are available.

1.4 Short Circuit Analysis

Figure 1.10: Short circuit model

For short circuit analysis, a voltage source behind the subtransient impedance (rs + jx00 ) gen-
erally represents asynchronous machines (see Figure 1.10).

Asynchronous Machine (ElmAsm, TypAsmo) 12

1 General Description

The value of the subtransient impedance is either directly taken from the speed current charac-
teristic (”Consider Transient Parameter”) or it can be entered separately. This is sometimes the
more accurate approach because under short circuit conditions saturation effects of the leakage
reactance that are not represented in the standard model can occur.

Figure 1.11: Short Circuit Input Dialogue Box

The relationship between the locked rotor current ratio and the subtransient impedance is the
following:

Ia Zn
= 00 (19)
In Z

The actual value of the subtransient voltage depends on the short circuit method applied. Also,
the model according to Figure 1.10 is only able to represent the subtransient behaviour cor-
rectly. For calculating DC time constants, transient or permanent short circuit currents, the rules
defined in the individual short circuit standards are applied.

1.5 Harmonic Analysis

The asynchronous machine model for harmonics analysis can directly be derived from the
equivalent circuits according to Figure 1.1 to Figure 1.5.

The value of this impedance is either calculated from the equivalent circuits according to Figure
1.1 to Figure 1.5. For higher frequencies, the asynchronous machine impedance corresponds to
the subtransient value. Only for frequencies around fundamental frequency, the actual slip de-
pendence is important. This accurate representation is especially required for subsynchronous
resonance studies or self-excitation studies of asynchronous machines.

It is possible to neglect the effect of slip dependence by disabling the flag ”consider transient
parameters”.

Asynchronous Machine (ElmAsm, TypAsmo) 13

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

2.1 General

The dynamic models for RMS (stability) and EMT-simulations can be derived from the equivalent
circuits according to Figure 1.1 to Figure 1.5.

Possible state variables of a general asynchronous machine model are either current or flux
variables.

As long as no saturation is considered, the actual choice of state variables doesn’t have any
influence to the results, only the numerical behaviour of the solution algorithm will depend on it.

The PowerFactory model uses stator currents and rotor flux as state variables because this
choice leads to the best decomposition of time frames and has therefore the best numerical
properties.

The voltage equations of an asynchronous machine model with a number of n R-L rotor-loops
are the following:

1 dψ S ωref
uS = rS iS + +j ψ (20)
ωn dt ωn S

1 dΨR ωref − ωR
0 = RR iR + +j ΨR (21)
ωn dt ωn

The equations are expressed in a rotating reference frame common to the stator and the rotor
equations. The dimension of the rotor-flux vector and the rotor-current vector is equal to the
number of rotor-loops.

The flux linkage equations are the following:

ψ S = xSS iS + xTSR iR (22)

ΨR = xRS iS + XRR iR (23)

For formulating the asynchronous machine equations with stator current and rotor flux as state
variables, the flux linkage equations must be solved for the non-state variables, which are stator
flux and rotor currents:

ψ S = x00 iS + kTSR ΨR (24)

iR = −kRS iS + X−1
RR ΨR (25)

The new coefficients are:

x00 = xSS − xTSR X−1

RR xRS (26)

kTSR = xTSR X−1

RR (27)

Asynchronous Machine (ElmAsm, TypAsmo) 14

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

kRS = X−1
RR xRS (28)

With these definitions, the stator-voltage equation results in:

00
x00 diS 1 dψ
 
ωref 00 ωref 00
uS = rS + j x iS +j ψ + (29)
ωn ωn dt ωn ωn dt

The subtransient flux is defined by:

ψ 00 = kTSR ΨR (30)

Main Flux Saturation is not represented in the model.

2.1.1 Single Cage Model

The flux-linkage and the resistance matrices of the single cage model according to Figure 1.1
and Figure 1.2 can be expressed as follows:

xSS = xS + xm (31)

xSR = xm (32)

xRS = xm (33)

xRR = xrA + xm (34)

rR = RrA (35)

2.1.2 Squirrel Cage Model

The flux-linkage and the resistance matrices of the squirrel cage rotor model according to Figure
1.1 and Figure 1.3 are the following:

xSS = xS + xm (36)

xTSR = xm
 
xm (37)

 
x
xRS = m (38)
xm

 
x + xrA0 + xm xrA0 + xm
XRR = rA1 (39)
xrA0 + xm xrA2 + xrA0 + xm

 
RrA0 + RrA1 RrA0
RR = (40)
RrA0 RrA0 + RrA2

Asynchronous Machine (ElmAsm, TypAsmo) 15

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

2.1.3 Double Cage Model

The flux-linkage and resistance matrices of the double cage model with three R-L-rotor loops
according to Figure 1.1 and Figure 1.5 are the following:

xSS = xS + xm (41)

xTSR = xm
 
xm xm (42)

 
xm
xRS = xm  (43)
xm

 
xrA1 + xrA0 + xrm + xm xrA0 + xrm + xm xrm + xm
XRR = xrA0 xrm + xm xrA2 + xrA0 xrm + xm xrm + xm  (44)
xrm + xm xrm + xm xrB + xrm + xm

 
RrA0 + RrA1 RrA0 0
RR =  RrA0 RrA0 + RrA1 0  (45)
0 0 RrB

2.2 EMT Model

In the EMT simulation, PowerFactory uses a steady state reference frame for expressing the
stator equations. The stator-voltage equation in a steady state reference frame is:
00
!
x00 diS ωref 00 1 dψ
uS = rS iS + + j ψ + ejωref t (46)
ωn dt ωn ωn dt

In the EMT-model, the reference frame, in which the rotor equations are expressed, rotates with
nominal frequency, hence:

ωref = ωn (47)

The resulting stator-voltage equation of the EMT model is therefore:

00
!
x00 diS ωn 00 1 dψ
uS = rS iS + + j ψ + ejωn t (48)
ωn dt ωn ωn dt

This equation corresponds exactly to the equivalent circuit according to Figure 1.10, with the
following definition for the subtransient voltage:
00
!
ωn 1 dψ
u00 = j ψ 00 + ejωn t (49)
ωn ωn dt

Asynchronous Machine (ElmAsm, TypAsmo) 16

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

2.3 RMS Model

For stability analysis, the asynchronous machine model has to be reduced. In accordance with
the steady state model of the electrical network that is applied in stability analysis, the stator
equations of the asynchronous machine model are reduced to steady state equations. The
following voltage equation is resulting:
 
ωref 00 ωref 00
uS = rS + j x iS + j ψ (50)
ωn ωn

This is a steady state representation of the equivalent circuit according to Figure 1.10. The
subtransient voltage is here defined as:
ωref 00
u00 = j ψ (51)
ωn

In the stability model, the stator equations are expressed in a reference frame that rotates with
the global system reference that is usually fixed to the rotor of the reference generator (or an
external network or a voltage source, depending on the load flow reference).

Because stator transients are neglected, the choice of the reference frame has actually an
influence to the stator voltage equations. For avoiding any dependence on the actual choice of
the reference machine, the influence of the reference frequency is not considered in subtransient
reactance of the PowerFactory stability model.

The stator voltage equations are therefore:

uS = (rS + jx00 ) iS + jψ 00 (52)

2.4 Mechanical Equations

The model is completed by the mechanical equation:

dωR
Jtot = Me − Mm (53)
dt

Where Jtot is the total inertia

Me is the electrical torque
Mm is the mechanical torque
ωR is the angular velocity of the rotor (mechanical)

The mechanical equation can be rated to the nominal torque:

Pmn
Mm = (54)
(1 − sn ) ωpzn

Resulting in the following, normalized mechanical equation:

Jtot (1 − sn ) ωpzn ωn dn
!
dn
= Tag,tot = me − mm (55)
Pmn pz dt dt

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2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

Where Jtot is the total inertia

ωn is the nominal electrical frequency of the network
sn is the nominal slip
Pmn is the rated mechanical power
pz is the number of pole-pairs
Tag,tot is the total acceleration time constant

The total inertia is calculated by adding the inertia defined in the type and the mechanical load
defined in the machine, as follows:

2
Jtot = Jtype + Jme · gratio (56)

Where Jtot is the total inertia

Jtype is the inertia defined in the type
Jme is the inertia of the mechanical load defined in the machine
gratio is the gearbox ratio

From this, it follows that the total acceleration time constant is:

2
Tag,tot = Tag,type + Tag,me · gratio (57)

Where Tag,tot is the total acceleration time constant

Tag,type is the acceleration time constant from the type
Tag,me is the acceleration time constant associated to the mechanical load in the machine
gratio is the gearbox ratio

2.5 Mechanical Load

Mechanical loads can generally be defined by connecting a so-called mdm-model (motor-driven

machine) to the input xmdm (mm in Eq. 58) of the asynchronous machine. Such an mdm-model
can either be defined by a DSL-model or by one of the built-in models (MDM 1, MDM 3).

If no separate mdm model is defined, the asynchronous machine uses the speed-torque char-
acteristic of the built-in mdm-model:
mm = Ip nex (58)

Where Ip is the proportional factor of the motor-driven machine (parameter mdmlp)

ex is the exponent of mdm-characteristic (parameter mdmex)

2.6 Initialization

All state variables of the model are initialized from a preceding load flow calculation so that a
simulation starts from a steady state condition.

Asynchronous Machine (ElmAsm, TypAsmo) 18

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

If the default orientation of the asynchronous machine is set to ”motor”, the mechanical load
torque xmdm is initialized. In case of ”generator” orientation, the turbine power pt is used for
establishing the active power balance of the model.

In case of a running machine, the proportional factor Ip of the built-in mdm or analogous factors
of separately modelled motor-driven machines are calculated during the initialization process. In
case of a disconnected machine, e.g. if a motor start-up is simulated, the user-defined variable
of the input dialogue is used instead.

2.7 Dynamic Motor Starting

Different starting methods are supported for the Motor Starting command, which require differ-
ent input data. The starting methods are the following:

• Directly Online
• Star-Delta
• Variable Rotor Resistance
• Reactor
• Auto Transformer

The method Directly Online behaves the same as when the option Use Motor Starting Meth-
od is unselected, which means that the motor is turned on and connected directly to the network
by the Motor Starting command.

2.7.1 Star-Delta Method

In the star-delta method, the motor is first connected in star configuration in order to reduce the
voltage across its windings.

While connected in star configuration, the equations for voltage and current are expressed as:

1
um = u : bus1 · √ [p.u.] (59)
3
1
im = i : bus1 · √ [p.u.] (60)
3

After the time specified in Switch to ’D’ after or in Switch to ’D’ at Speed >=, the configuration
is changed to Delta, and so the equations for voltage and current are modified as follows:

um = u : bus1 [p.u.] (61)

im = i : bus1 [p.u.] (62)

2.7.2 Variable Rotor Resistance

With this starting method, a user-specified table determines the additional rotor resistance for
different times or speed values.

Asynchronous Machine (ElmAsm, TypAsmo) 19

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

2.7.3 Reactor

With this method, at the starting time, the by-pass switch is closed and the motor connected to
the network. See Figure 2.1.

Figure 2.1: Additional Stator Reactance

In addition, while the by-pass switch is open, the additional stator reactance, xrea , is connected
in series with the motor reactance, xstr . The total reactance is given by:

x0str = xstr + xrea [p.u.] (63)

The value of the additional stator reactance is calculated in p.u. with reference to the motor
rated power. Given the Reactance value, xrea entered in %, and the Rated Apparent Power,
ratedStr in kV A:

xrea sgn
xrea = · [p.u.] (64)
100 ratedStr

Where sgn is the Rated Apparent Power specified in the motor’s type TypAsmo in kV A.

After the time specified in Bypass after or after the motor speed has reached the value specified
in Bypass at speed >=, depending on the option Triggered by.., the by-pass switch is closed,
thus ignoring the additional reactance.

2.7.4 Auto Transformer

With this starting method, the motor is connected, the star-contactor is closed and the by-pass
switch is open. See Figure 2.2.

Initially, both the star-contactor is closed and the by-pass switch is open. The equations of the
asynchronous machine for voltage and current depend on the selected T ap specified in %, and
the auto transformer reactance, xt , is added to the stator reactance. All these are expressed
as:

Asynchronous Machine (ElmAsm, TypAsmo) 20

2 Stability / Electromagnetic Transients (RMS- and EMT-Simulation)

Figure 2.2: Auto Transformer Starting Method

T ap
um = u : bus1 · [p.u.] (65)
100
T ap
im = i : bus1 · [p.u.] (66)
100
 2
T ap
x0str = xstr + xt · [p.u.] (67)
100

After the specified time in Release Star Contactor after or when the speed is greater than the
value in Relase Star Contactor at speed >=, the star contactor is opened. Since the by-pass
switch is still open, the auto transformer reactance, xt , is still added to the stator reactance, xstr :

um = u : bus1 [p.u.] (68)

im = i : bus1 [p.u.] (69)
x0str = xstr + xt [p.u.] (70)

After the specified time in Bypass after or when the speed is greater than the value in Bypass
at speed >=, the by-pass switch is closed, thus ignoring the additional reactance of the auto
transformer.

The value of the additional reactance is calculated in p.u. with reference to the motor rated
power. Given the Reactance value, xrea entered in %, and the Rated Apparent Power, ratedStr
in kV A:

xrea sgn
xt = · [p.u.] (71)
100 ratedStr

Where sgn is the Rated Apparent Power specified in the motor’s type TypAsmo in kV A.

Asynchronous Machine (ElmAsm, TypAsmo) 21

A Input Parameters for Dynamic Models

A Input Parameters for Dynamic Models

Figure A.1: Input / Output Definition

The following per-unit systems are used:

Rated Apparent Power, Rated Voltage:

Vr2
Sr ; Vr ; Zb = (72)
Sr

Rated (Electrical) Active Power:

Per = Sr cos(φr ) (73)

Rated Mechanical Power:

Pmr = Per ηr (74)

Where ηr is the motor rated efficiency

Rated Mechanical Torque:

Pmr Pmr
Mr = = (75)
ωrn (1 − sr ) ωpzn

Where sr is the rated slip

ωn is the nominal electrical angular velocity
pz is the number of pole-pairs

Asynchronous Machine (ElmAsm, TypAsmo) 22

A Input Parameters for Dynamic Models

Table A.1: Dynamic Model Variables (signals)

Parameter Unit I/O Description Symbol

pt p.u. INPUT Turbine power (rated to mechanical power)
xmdm p.u. INPUT Mechanical load torque (rated to mechanical mm
torque)
rradd p.u. INPUT Additional rotor resistance
xspeed p.u. OUTPUT Mechanical speed n
pgt p.u. OUTPUT Electrical power (rated to electrical active
power)
speed p.u. STATE Mechanical speed n
phi rad STATE Electrical power
psiA1 r p.u. STATE Flux of loop A1, real ψR
psiA1 i p.u. STATE Flux of loop A1, imaginary ψR
psiA2 r p.u. STATE Flux of loop A2, real ψR
psiA2 i p.u. STATE Flux of loop A2, imaginary ψR
psiB r p.u. STATE Flux of loop B, real ψR
psiB i p.u. STATE Flux of loop B, imaginary ψR

Table A.2: Additional parameters (calculation parameters)

Parameter Unit Description

slip p.u. Slip
xme p.u. Electrical torque, based on rated mechanical torque
xmem p.u. Electrical torque (inverted sign), based on rated mechanical torque
xmt p.u. Mechanical Torque, based on rated mechanical torque
xradd p.u. Additional rotor reactance
addmt p.u. Additional mechanical torque, based on rated mechanical toruqe
ccomp p.u. Internal capacitance (for compensating reactive power mismatch in
case of PQ-load flow model)
i star i star=1: Star Operation i star=0: Delta Operation (used for Star-Delta
start-up)

Asynchronous Machine (ElmAsm, TypAsmo) 23

B Parameter Definitions

B Parameter Definitions

B.1 Asynchronous Machine Type (TypASMO)

Table B.1: Asynchronous machine type (TypAsmo) Parameters

Parameter Unit Description

loc name Name
outserv Out of Service
ngnum Number of parallel Machines
i mot Orientation: Generator/Motor
c pmod Model
bustp Bus Type
pgini MW Active Power
qgini Mvar Reactive Power
i rem Remote Control
p cub Controlled Branch (Cubicle) (StaCubic*)
i pset State Estimation: Estimate Active Power
iconfed Static converter-fed drive (short circuit analysis
tstart s Starting Time (protection)
mdmlp p.u. Mechanical Load: Proportional Factor
mdmex Mechanical Load: Exponent

Asynchronous Machine (ElmAsm, TypAsmo) 24

C References

C References
[1] J. Pedra. Estimation of typical squirrel-cage induction motor parameters for dynamic perfor-
mance simulation. IEEE Proceedings on Generation, Transmission and Distribution, 153(2),
2006.

Asynchronous Machine (ElmAsm, TypAsmo) 25

List of Figures

List of Figures

1.1 General asynchronous machine equivalent circuit . . . . . . . . . . . . . . . . . . 4

1.2 Single cage rotor model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.3 Squirrel cage (current displacement effect) rotor model . . . . . . . . . . . . . . . 5

1.4 Double cage rotor model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.5 Double cage rotor model (with current displacement) . . . . . . . . . . . . . . . . 6

1.6 Basic data page of asynchronous machine type . . . . . . . . . . . . . . . . . . . 7

1.7 Speed-Torque and Speed-Current characteristic for different voltages . . . . . . 8

1.8 Pocket calculator for asynchronous machine . . . . . . . . . . . . . . . . . . . . . 8

1.9 Load flow page of asynchronous machine type . . . . . . . . . . . . . . . . . . . 10

1.10 Short circuit model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.11 Short Circuit Input Dialogue Box . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.1 Additional Stator Reactance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.2 Auto Transformer Starting Method . . . . . . . . . . . . . . . . . . . . . . . . . . 21

A.1 Input / Output Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Asynchronous Machine (ElmAsm, TypAsmo) 26

List of Tables

List of Tables

1.1 Default input parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

A.1 Dynamic Model Variables (signals) . . . . . . . . . . . . . . . . . . . . . . . . . . 23

A.2 Additional parameters (calculation parameters) . . . . . . . . . . . . . . . . . . . 23

B.1 Asynchronous machine type (TypAsmo) Parameters . . . . . . . . . . . . . . . . 24

Asynchronous Machine (ElmAsm, TypAsmo) 27

List of Tables

Asynchronous Machine (ElmAsm, TypAsmo) 28