IECON2015-Yokohama

November 9-12, 2015

Dynamic Space-Vector Model of Induction Machines

with Stator Inter-Turn Short-Circuit Fault
A. Berzoy and A.A.S. Mohamed, IEEE Student Members and O. A. Mohammed, IEEE Fellow
Energy Systems Research Laboratory
Florida International University
Miami. USA
aberz001@fiu.edu

Abstract—This paper presents a simple state-space
representation of induction machine (IM) transients under stator
winding inter-turn short-circuit fault. The mathematical
development of this dynamic model is presented in detail and the
differential equations are transformed into space-vector form for
reduction reasons. The simulations of this transient model are
conducted in MatLab script using ordinary differential equation
(ODE) solver. For verification purposes, the results of this
simulation are compared with the ones obtained for the
symmetrical IM. A turn fault signature study is performed for
fault detection and identification using the electromagnetic
torque ripple and the symmetric components transformation of
the stator currents.
Keywords— Inter-turn short-circuit fault; induction machine;
state-space representation; dynamic modeling; symmetrical
components.
I. INTRODUCTION
Three-phase squirrel cage induction motor (SCIM) are
widely used in the industrial applications, due to its high
efficiency, low cost, low maintenance and being rugged. Also,
they are becoming more important every day due to the
essential role that they are playing in our life development
areas such as: commercial, industrial, residential and military.
In many applications SCIM are exposed to environmental
stresses such as high ambient temperature, high moisture,
corrosive environment, dusty medium and oil surroundings.
These environmental conditions combined with the machine’s
internal stresses could lead to incipient faults. If these faults left
undetected, they can develop into catastrophic machine
failures, which can result in costly reparations, significant
financial losses and safety problems. Several types of faults can
be arise in SCIM which can be categorized into mechanical and
electrical faults, however, the most repeated ones are the stator
winding faults which are about 30~40% of the failures in
industrial applications [1], [2].
The failure of IM stator is usually the result of long-term
thermal aging or contamination. The high temperatures in the
stator winding also depends on the machine insulation class.
This prolonged condition progressively degrades the insulating
characteristics of the typical materials (e.g. epoxy resins) due to
chemical reactions that can cause, after all, insulation failure.
Most of the failures in the stator start with the breakdown of
the turn-to-turn insulation leading to inter-turn short-circuit,
then extremely large currents will flow due to the high voltage
potential differences between adjacent coils. These currents
will flow in the short-circuit generating unusual heat and by
consequence burning the insulation of adjacent windings. This
failure quickly extends to the stator core causing a stator core-
ground failure and the stator core is finally damaged or
destroyed. This event takes about 20-60 seconds for small
machines [3].
Modeling of the faulty SCIM is the first step in the process
of inter-turn short-circuit fault detection and identification
(FDI). The general principle of model-based FDI approaches is
to compare the expected behavior of the system, given by the
model with its actual behavior [4]. Two kinds of models may
be used, depending on the objectives of the FDI procedure. The
“normal operation model”, represents the normal system and
only can detect fault. The “faulty operation model” represents
the system in faulty situations and it can isolate and identify the
fault. Several faulty operation models for SCIM under stator
fault have been developed [4]–[9]. The model presented in [5]
is a method of harmonic analysis for calculating the coupling
impedances on the machine. The described models in [6]–[8]
are derived by means of winding functions. In [8] the model
includes the saturation characteristic of the magnetic materials
when the machine is operating above the knee region of the B-
H curve. In all these machine models [5]–[8] the machine
design parameters are required such as: number of slots, coil
pitch, number of turns per coil, number of rotor bars, stator and
rotor conductor’s distributions, etc. The models proposed in
[4], [9] are based on mathematical transformations. In [4] a
specific rotation transformation is applied to the rotor circuit in
order to refer it to the stator “abc” coordinates. The asymmetry
of the three-phase winding is modeled by the reduction of ȝ
percent (fault severity factor) of the turn’s number (ܰௌ௫ ) in the
stator winding phase x={a,b,c}, when an inter-turn short-circuit
happens, however, the fault indeed is not modeled. In [9] the
stationary reference frame transformation is used. The
advantage is that the differential equation system is reduced
from sixth to fourth order. The faulty model of the IM
considers the reduction of the turns in the faulty winding phase
as well as the fault circuit analysis.
The purpose of this research is to study the asymmetrical
operation of the IM that results in unbalanced air gap voltages,
unbalanced line currents, increase in the losses, increase in the
torque pulsations causing cogging and crawling, and decrease
in the average torque. In this paper, a simplified state-space
representation for the SCIM is derived following the model

978-1-4799-1762-4/15/$31.00 ©2015 IEEE 003620

presented in [9]. The dynamic model presented here is ɉ̵ and ɉ are the flux linkages vectors, ̵ and  are the
expressed in space-vector (SV) form and its state-space resistance matrices and ̵ ൌ̵൅̵ and  are the
representation is in the simplest and short form, known by the inductance matrices, all of them, for the stator and rotor
authors, ready to simulate. The presented state-space respectively. ̵ and ̵ are the mutual inductance matrices
representation is verified by means of simulation and compared ௗ
between stator and rotor. The symbol ‫ ݌‬is the operator , the
with the healthy machine. Moreover, the effect of the fault ௗ௧
severity factor on different signatures, are studied with function diag[ȉ] is the diagonal matrix, the current ݅௦௔ଶ is
different operation conditions of the machine. The torque ripple defined in Fig. 1(a) as ݅௦௔ଶ ൌ ݅௔௦ െ ݅௙ . The inductances
and the symmetric components (positive, negative and zero matrices of (2.2) are:
sequences) of the stator currents are calculated to evaluate the
faulty model versus the fault severity factor ȝ. The analysis of ̵ ൌ  ‫ܮ‬௟௦ †‹ƒ‰ሾሺͳ െ ߤሻ ߤ ͳ ͳሿ
ଶ ଵିఓ ଵିఓ
these computations are used to comprehend the behavior of the
‫ ۍ‬ሺͳ െ ߤሻ ߤሺͳ െ ߤሻ െ
ଶ
െ
ଶ ‫ې‬
asymmetric IM and its fault signatures as well as its trigger ఓ ఓ
‫ߤێ‬ሺͳ െ ߤሻ ߤ ଶ
െ െ ‫ۑ‬
thresholds for the FDI. ଶ ଶ ‫ۑ‬
̵ ൌ ‫ܮ‬௠௦  ‫ێ‬ ଵିఓ ఓ ଵ
II. ANALYSIS OF INDUCTION MACHINE WITH STATOR ‫ ێ‬െ െ ͳ െ ‫ۑ‬
ଶ ଶ ଶ
‫ێ‬ ଵିఓ ఓ ଵ ‫ۑ‬
INTER-TURN SHORT-CIRCUIT െ െ െ ͳ
‫ۏ‬ ଶ ଶ ଶ ‫ے‬
SCIM with stator winding inter-turn short-circuit on the (2.3)
ሺͳ െ ߤሻܿଵ ሺͳ െ ߤሻܿଶ ሺͳ െ ߤሻܿଷ
phase “a” is shown in the Fig. 1(a), where ȝ represents the ߤܿଵ ߤܿଶ ߤܿଷ
shorted turns in percentage, following similar notation as in ̵ ൌ ‫ܮ‬௠௦ ൦ ൪
ܿଷ ܿଵ ܿଶ
[9]. If ܰ௔௦ ൌ ܰ௔௦ଵ ൅ ܰ௔௦ଶ and ܰ௔௦ଶ is the number of short- ܿଶ ܿଷ ܿଵ
circuited turns, then: ‫ܮ‬௟௥ ൅ ‫ܮ‬௠௦ െ‫ܮ‬௠௦ Ȁʹ െ‫ܮ‬௠௦ Ȁʹ
ே
ߤ ൌ ೌೞమ (2.1)  ൌ  ൥ െ‫ܮ‬௠௦ Ȁʹ ‫ܮ‬௟௥ ൅ ‫ܮ‬௠௦ െ‫ܮ‬௠௦ Ȁʹ ൩
ேೌೞ
െ‫ܮ‬௠௦ Ȁʹ െ‫ܮ‬௠௦ Ȁʹ ‫ܮ‬௟௥ ൅ ‫ܮ‬௠௦
Rf ଶగ ଶగ
where: ܿଵ ൌ …‘• ߠ௥ , ܿଶ ൌ …‘• ቀߠ௥ ൅ ቁ, ܿଷ ൌ …‘• ቀߠ௥ െ ቁ,
ଷ ଷ
(1-μ)Lls+(1-μ)2Lms 2
μLls+μ Lms ‫ܮ‬௟௥ is the leakage inductance in the rotor and ‫ܮ‬௠௦ is the
vas . . eas2 magnetizing inductance.
(1-μ)Rs eas1 μRs
In general the matrices and vectors (R, L, ˜ǡ‹ǡɉ) with the
vbs . Ls superscript prime (ˆ̵ ሻ represent the asymmetrical IM. The
Rs ebs
ones without the prime (ˆ ) represent the symmetrical IM. The
vcs .
Rs Ls ecs subscript Q indicates the coordinate system for the stator
(ൌሻ or rotor (ൌ). Thus, the faulty machine equations can
(a) (b)
be rewritten in terms of the symmetrical IM matrices and
Fig. 1. Three-phase stator winding of an induction machine with inter-turn vectors plus other terms that represent the asymmetrical part as
short-circuit in the phase a. (a) Winding (b) Circuit diagram follows:
Fig. 1(b) presents the equivalent three-phase circuit model ˜  Ͳ ‹ ɉ 
for the asymmetric stator winding. For this analysis it is ቂ ቃ ൌ ൤  ൨ ൤ ൨ ൅ ‫ ݌‬൤  ൨ ൅ ߤ ቂ ˜• ቃ ݅௙
Ͳ Ͳ   ‹ ɉ Ͳ
assumed that the leakage inductance for the shorted turns is ‫ݒ‬௔௦ଶ ൌ ߤܴ௦ ൫݅௔௦ െ ݅௙ ൯ ൅ ‫ߣ݌‬௔௦ଶ ൌ ܴ௙ ݅௙
ߤ‫ܮ‬௟௦ , ܴ௙ is fault impedance, ݅௙ is the faulty current in the (2.4)
ɉ   ‹ 
short-circuit path, ݅௦௫ and ‫ݒ‬௦௫ are the stator winding current ൤ ൨ ൌ ൤  ൨ ൤ ൨ ൅ ߤ ൤ ૃ࢙ ൨ ݅௙
and voltage for the phase x where x = {a,b,c}.
ɉ   ‹ ૃ࢘
ૃ࢙ ܑ‫ ܁‬െ ߤ
ߣ௔௦ଶ ൌ െߤ ૃ࢘ ܑ‫ ܀‬െ ߤሺ‫ܮ‬௟௦ ൅ ߤ‫ܮ‬௠௦ ሻ݅௙
A. IM Equations in Primitive Coordinates
where ˜ ൌ ሾ‫ݒ‬௔௦ ‫ݒ‬௕௦ ‫ݒ‬௖௦ ሿ் , ‹ ൌ ሾ݅௔௦ ݅௕௦ ݅௖௦ ሿ் ,
The stator and rotor voltage and flux linkages equations for ்
ɉ ൌ ሾߣ௔௦ ߣ௕௦ ߣ௖௦ ሿ ,   ൌ ܴ௦ †‹ƒ‰ሾͳͳͳሿ ,
the faulty machine in vector form, referred to the stator, can be
expressed as [9]: ‫ ࢙ܞ‬ൌ  ሾെܴ௦ Ͳ Ͳሿ் , ૃ࢘ ൌ െ‫ܮ‬௠௦ ሾܿଵ  ܿଶ  ܿଷ ሿ் ,
ૃ࢙ ൌ ሾെሺ‫ܮ‬௟௦ ൅ ‫ܮ‬௠௦ ሻ ‫ܮ‬௠௦ Ȁʹ ‫ܮ‬௠௦ Ȁʹሿ் where ‫ݒ‬௦௔ ൌ
˜̵ ̵ Ͳ ‹̵ ɉ̵ ‫ݒ‬௦௔ଵ ൅ ‫ݒ‬௦௔ଶ and ߣ௦௔ ൌ ߣ௦௔ଵ ൅ ߣ௦௔ଶ and the inductances
൤ ൨ൌ൤  ൨ ൤ ൨ ൅ ‫ ݌‬൤ ൨ matrices for the symmetrical IM are [10]:
˜ Ͳ  ‹ ɉ
̵ ̵ (2.2)
ɉ̵   ‹̵ ‫ܮ‬௟௦ ൅ ‫ܮ‬௠௦ െ‫ܮ‬௠௦ Ȁʹ െ‫ܮ‬௠௦ Ȁʹ
൤ ൨ ൌ ൤  ൨൤ ൨
ɉ ̵  ‹  ൌ  ൥ െ‫ܮ‬௠௦ Ȁʹ ‫ܮ‬௟௦ ൅ ‫ܮ‬௠௦ െ‫ܮ‬௠௦ Ȁʹ ൩
˜̵ ൌሾ‫ݒ‬௔௦ଵ ‫ݒ‬௔௦ଶ ‫ݒ‬௕௦ ‫ݒ‬௖௦ଵ ሿ் , ‹̵ ൌ ሾ݅௔௦ ݅௔௦ଶ ݅௔௦ ݅௔௦ ሿ் ,
where:˜ െ‫ܮ‬௠௦ Ȁʹ െ‫ܮ‬௠௦ Ȁʹ ‫ܮ‬௟௦ ൅ ‫ܮ‬௠௦ (2.5)
‹ ൌ ሾ݅௔௥  ݅௕௥  ݅௖௥ ሿ் , ɉ̵ൌሾߣ௔௦ଵ  ߣ௔௦ଶ  ߣ௕௦  ߣ௖௦ ሿ் , ܿଵ ܿଶ ܿଷ
ɉൌሾߣ௔௥  ߣ௕௥  ߣ௖௥ ሿ் , ̵ ൌ ܴ௦ †‹ƒ‰ሾሺͳ െ ߤሻ ߤ ͳ ͳሿ,  ൌ ‫ܮ‬௠௦ ൥ܿଷ ܿଵ ܿଶ ൩
  ൌ ܴ௥ †‹ƒ‰ሾͳͳͳሿ. ܿଶ ܿଷ ܿଵ
1) Electromagnetic Torque Analysis

003621
The electromagnetic torque in terms of the primitives domain. The three-phase IM can be modeled by using different
coordinates is [10]: state-space variables and keeping the stator voltages and the
௉ డ

load torque as inputs, and the electromagnetic torque and the
ܶ௘ ൌ ቀ ቁ ‹̵ ቀ ቁ ‹ (2.6) rotor angular velocity as outputs. The possible set of currents
ଶ డఏೝ
and flux linkages space-vectors are defined as follows: stator,
Inserting the corresponding terms in (2.6), the torque rotor and magnetizing currents and flux linkages. There are
equation can expressed as: three types of models that can be done with these state-space
௉ డ
 ௉ ଷ ξଷ variables [14]: (1) current state-space variables models, (2) flux
ܶ௘ ൌ ‹ ‹ െ ߤ ‫ܮ‬௠௦ ݅௙ ቄ ݅௔௥ ‫ݏ‬ଵ ൅ ሺ݅௕௥ െ ݅௖௥ ሻܿଵ ቅ (2.7) linkages state-space variables models and (3) mixed currents-
ଶ డఏೝ  ଶ ଶ ଶ
flux linkages state-space variable models.
where ‫ݏ‬ଵ ൌ •‹ ߠ௥ . The equation (2.7) is express in terms of
the torque equation for the symmetrical IM and a faulty term Allow š ൌ ሾߣఈ௦ ߣఉ௦ ߣఈ௥ ߣఉ௥ ߣ௔௦ଶ ሿ் be the state-
that will result in a double electric frequency oscillation as space variable. The flux linkages can be expressed in terms of
indicated in many references [3], [5]. The double-line the currents as:
frequency oscillation comes from the multiplication of two
š ൌ ሾ݅ఈ௦ ݅ఉ௦ ݅ఈ௥ ݅ఉ௥ ݅௙ ሿ் (3.1)
sinusoidal waveforms with the same frequency ݅௙ ൌ ‫ܫ‬௙ •‹ ߱௘ ‫ݐ‬
and ݅௫௥ ൌ ‫ܫ‬௫௥ •‹ ߱௘ ‫ݐ‬, where the subscript x indicates the rotor where M comes from (2.9) as:
phases (a,b,c) and ߱௘ is the electrical frequency. Without ‫ܮ‬௦ Ͳ ‫ܮ‬௠ Ͳ െʹȀ͵ߤ‫ܮ‬௦
losing accuracy, the frequency oscillation component in the ‫Ͳ ۍ‬ ‫ې‬
‫ܮ‬௦ Ͳ ‫ܮ‬௠ Ͳ
torque can be deduced from the product of the two unit ‫ێ‬ ‫ۑ‬
sinusoidal waveforms ݅௙ ൌ •‹ ߱௘ ‫ ݐ‬and ݅௫௥ ൌ •‹ ߱௘ ‫ݐ‬.  ൌ ‫ܮ ێ‬௠ Ͳ ‫ܮ‬௥ Ͳ െʹȀ͵ߤ‫ܮ‬௠ ‫ۑ‬ (3.2)
‫Ͳ ێ‬ ‫ܮ‬௠ Ͳ ‫ܮ‬௥ Ͳ ‫ۑ‬
ܶ௘̴௙ ൌ ݅௙ ݅௔௥ ൌ ሺ•‹ ߱௘ ‫ݐ‬ሻሺ•‹ ߱௘ ‫ݐ‬ሻ ‫ܮߤۏ‬௦ Ͳ ߤ‫ܮ‬௠ Ͳ െߤሺ‫ܮ‬௟௦ ൅ ʹȀ͵‫ܮ‬௠ ሻ‫ے‬
ଵ (2.8)
ܶ௘̴௙ ൌ േ ሼͳ െ …‘•ሺʹ߱௘ ‫ݐ‬ሻሽ The matrix M requires a non zero ߤ to be a full-rank matrix
ଶ
and invertible. Defining ‹ȽȾ•” ൌ  ሾ݅ఈ௦ ݅ఉ௦ ݅ఈ௥ ݅ఉ௥ ݅௙ ሿ் , it
B. Space-Vector Transformation
can be deduced that:
For simplification reasons, the voltage equations presented
in (2.4), (2.5) and (2.7) can be transformed from primitives ‹ȽȾ•” ൌ š (3.3)
coordinates to space-vector notation using the stationary െ‫ܮ‬௥ Ͳ ‫ܮ‬௠ Ͳ Ͳ
reference frame transformation [10], which is known in the ‫Ͳ ۍ‬ െ‫ܮ‬௥ Ͳ ‫ܮ‬௠ Ͳ ‫ې‬
literature as Clarke [11] or Concordia [12] transformation. The ଵ ‫ێ‬ ‫ۑ‬
 ൌ ቀ ቁ ‫ܮ ێ‬௠ Ͳ െ‫ܮ‬௦ Ͳ Ͳ ‫ۑ‬ (3.4)
transformed IM voltage equations are named to be in the ஽
‫Ͳ ێ‬ ‫ܮ‬௠ Ͳ െ‫ܮ‬௦ Ͳ ‫ۑ‬
alpha-beta (Įȕ) or stationary reference frame. Moreover, the ‫ܰ ۏ‬ହଵ Ͳ ܰହଷ Ͳ ܰହହ ‫ے‬
model in this reference frame is also known as space-vector
ఓோ೑ ஽ିఓோೞ ௅೘ ௅೗ೝ
model and it can be derived from the positive sequence of the where: ൌǦͳ , ‫ ܦ‬ൌ ‫ܮ‬௠ ଶ െ ‫ܮ‬௦ ‫ܮ‬௥ , ܰହଵ ൌ ,
ఓ௅೗ೞ ሺଵିଶȀଷఓሻ
instantaneous symmetrical components transformation [13]
proposed by Fortescue. Thus, the transformed voltage ஽ሺோ೑ ାఓோೞ ሺଵିଶȀଷఓሻሻ
ܰହଷ ൌ െߤܴ௦ ‫ܮ‬௠ and ܰହହ ൌ െ .
equations are: ఓ௅೗ೞ ሺଵିଶȀଷఓሻ

࢜ࢻࢼ࢙ ܴ Ͳ ࢏ࢻࢼ࢙ ࣅࢻࢼ࢙ ଶ ͳ Thus, the simplest state-space representation for a stator
ቂ ቃൌ൤ ௦ ൨൤ ൨൅‫݌‬ቈ ቉ െ ߤܴ௦ ݅௙ ቂ ቃ inter-turn short-circuit fault of IM, based on the authors
Ͳ Ͳ ܴ௥ ࢏ࢻࢼ࢘ ࣅࢻࢼ࢘ ଷ ͳ
knowledge, is shown in equation (3.5):
‫ݒ‬௔௦ଶ ൌ ߤܴ௦ ൫݅ఈ௦ െ ݅௙ ൯ ൅ ‫ߣ݌‬௔௦ଶ ൌ ܴ௙ ݅௙
ࣅࢻࢼ࢙ (2.9) െ‫ܮ‬௥ Ͳ ‫ܮ‬௠ Ͳ Ͳ ͳ Ͳ
‫ܮ‬ ‫ܮ‬௠ ࢏ࢻࢼ࢙ ‫ܮ‬ ‫Ͳ ۍ‬ Ͳ ‫ې‬
ଶ ‫Ͳۍ‬
ቈ
ࣅࢻࢼ࢘
቉ൌ൤ ௦
‫ܮ‬ ‫ܮ‬
൨൤
࢏ࢻࢼ࢘
൨ െ ߤ݅௙ ൤ ௦ ൨
‫ܮ‬ െ‫ܮ‬௥ Ͳ ‫ܮ‬௠ ͳ‫ې‬
௠ ௥ ଷ ௠ ଵ ‫ێ‬ ‫ۑ‬ ‫ێ‬ ‫ۑ‬
ଶ
šሶ ൌ ቀ ቁ ‫ܮ ێ‬௠ Ͳ െ‫ܮ‬௦ ߱௥ Ͳ ‫ š ۑ‬൅ ‫Ͳێ‬ Ͳ‫( — ۑ‬3.5)
஽
ߣ௔௦ଶ ൌ െߤ‫ܮ‬௦ ݅ఈ௦ െ ߤሺ‫ܮ‬௟௦ ൅ ߤ‫ܮ‬௠ ሻ݅௙ ‫ێ‬ Ͳ ‫ܮ‬௠ െ߱௥ െ‫ܮ‬௦ Ͳ ‫ۑ‬ ‫Ͳێ‬ Ͳ‫ۑ‬
ଷ
ଷ
where: ࢌࢻࢼ࢞ ൌ ݂ఈ௫ െ ݆݂ఉ௫ , ‫ܮ‬௦ ൌ ‫ܮ‬௟௦ ൅ ‫ܮ‬௠ , ‫ܮ‬௥ ൌ ‫ܮ‬௟௥ ൅ ‫ܮ‬௠ .
ଷ ‫ܰ ۏ‬ହଵ Ͳ ܰହଷ Ͳ ܰହହ ‫ے‬ ‫Ͳۏ‬ Ͳ‫ے‬
ଶ ଶ
‫ݒ‬ఈ௦
The electromagnetic torque in space-vector notation is: where: — ൌ ቂ‫ ݒ‬ቃ.
ఉ௦
ଷ௉ ௉
ܶ௘ ൌ ‫ܮ‬௠ ൫݅ఈ௦ ݅ఉ௥ െ ݅ఉ௦ ݅ఈ௥ ൯ െ ߤ ‫ܮ‬௠ ݅௙ ݅ఉ௥ (2.10) The mechanical equation of the motion depends upon the
ଶଶ ଶ
characteristics of the load which may differ widely from one
Notice from (2.10) that the torque has two terms: one that application to the other. For simplicity, it is assumed that, the
represents the symmetrical IM and the other represents the torque which opposes that produced by the machine consists
asymmetry, which generates the double-line frequency only of an inertial inertia torque (J) and an external load torque
oscillation. (TL) which is known. In this case, the mechanical equation
following the second Newton’s Law is:
III. SIMPLIFIED STATE-SPACE MODEL OF THE FAULTY IM
ௗఠೝ 1
There are plethora of state-space representations of IM that ൌ ሺܶ௘ െ ܶ௅ ሻ (3.6)
ௗ௧ J
can be used for purposes of simulation in the continuous time

003622
 Equation (3.6) can be solved for the mechanical speed (߱‫) ݎ‬ load the imaginary current component is exactly the same as
to get the solution for the sixth order differential equation the one of symmetric machine.
system. It can be notice from (3.5) that the first four equations
100
are exactly the symmetric IM equations and the fifth equation Faulty
is the faulty term. 50 Healthy

Iβs (A)
0
(a)
IV. FAULTY IM ANALYSIS SIMULATION RESULTS
-50
The simulation is performed for a three-phase SCIM with
-100
the model parameters and nameplate rating specifications 0 0.1 0.2 0.3 0.4 0.5
presented in Table I. 10
(b)

Iβs (A)
TABLE I. PARAMETERS AND NAMEPLATE RATING 0

Param. Value Param. Value Rating Value Rating Value -10

ିଷ
‫ܮ‬௟௦ 5.47 ͳͲ ‫ܪ‬ ܴ௦ 1.889 Ÿ ܲ௥ 5.5 W ܲ‫ܨ‬ 0.84 0.24 0.26 0.28 0.3 0.32 0.34 0.36 0.38 0.4
Time (s)

‫ܮ‬௟௥ 6.06 ͳͲିଷ ‫ܪ‬ ܴ௥ 1.719 Ÿ ܸ௥ 460 V Poles 2 Fig. 3. Imaginary component Stator current for healthy and faulty IM (a) ݅ఉ௦
‫ܮ‬௠ 0.212 H ‫ܬ‬௠ 0.012 ‫݉݃ܭ‬ ଶ
‫ܫ‬௥ 10.6 A ݊௥ 1750 rpm (b) Zoomed ݅ఉ௦ .

A. Transient Comparative Results for Healty and Faulty IM
Figs. 2 to 6 present a comparison between the transient
performance of the symmetrical IM (healthy) and the
asymmetrical one (faulty). It is implanted a fault severity
factor of ߤ ൌ ͷΨ and a fault resistance of ܴ௙ ൌ ͲǤͲͳπ. The
machine starts at no load and then a step of load of 20 Nm at
0.3 sec, is applied. The entire time for the simulation is 0.6 sec
with integration step time of 0.0001 sec. The simulations are
conducted by means of the MatLab function ode113. The
electrical variables for this comparison are: stator current
space-vector (Figs. 2, 3), electromagnetic torque (Fig. 4),
Fig. 4(b) shows the electromagnetic torque for the steady
state near to the load step (t = 0.3 sec). In this figure, it can be
noticed the double-line frequency oscillation mentioned in
section IIA1. This oscillation occurs under load condition.
Under no load condition the rotor current vector is almost zero
and with very small friction torque (Fig. 6(a) and 6(b)). The
double-line frequency oscillation also appears at the starting of
the IM (Fig. 4(c)) due to the high inrush current to overcome
the initial inertia, which corresponds to the same case of the
loaded machine.
200
Faulty
Te(Nm)

mechanical speed (Fig. 5) and rotor current space-vector (Fig. 100 Healthy
(a)
6). 0

100 -100
Faulty 0 0.1 0.2 0.3 0.4 0.5
50 Healthy 40
Te(Nm)
Iαs (A)

(a) 20 (b)
0
0
-50
0.25 0.3 0.35 0.4 0.45
-100 200
Te(Nm)

20
0 0.1 0.2 0.3 0.4 0.5 100 (c)
0
(b) -100
Iαs (A)

0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
0 Time (s)

Fig. 4. Electromagnetic Torque for healthy and faulty IM (a) ܶ௘ (b) First
-20 zoomed ܶ௘ and (c) Second zoomed ܶ௘ .
0.25 0.3 0.35 0.4
Time (s)

Fig. 2. Real component Stator current for healthy and faulty IM (a) ݅ఈ௦ (b) 400
Zoomed ݅ఈ௦ .
300
wr (rpm)

From Figs. 2(a), 3(a), 4(a) and 5(a) it can be observed that 200 Faulty
Healthy
(a)
the behavior of the faulty and healthy IM are similar during 100

the transient and the steady state. However from the zoomed 0
0 0.1 0.2 0.3 0.4 0.5
analysis of the steady state near to the torque load step for all 380

these figures demonstrate the effects of the inter-turn short 375

wr (rpm)

370
circuit. From Fig. 2(b) it can be noticed that the real 365
(b)
component of the stator current vector has a substantial 360
0.25 0.3 0.35 0.4 0.45
increase under load and no load conditions, but for the Time (s)

imaginary component (Fig. 3(b)) there is a decrease of the

Fig. 5. Rotor Speed for healthy and faulty IM (a) ߱௥ (b) Zoomed ߱௥
current at the loading condition. It can be notice that under no

003623
 20 line frequency oscillations of ܶ௘ increase linearly as the
Iα r (A)
severity factor fault increases (Fig. 7(a)). In Fig. 7(b) the fault
0 (a)
Ir Faulty current (‫ܫ‬௙ ) also increases with increasing ߤ.
-20
Ir Healthy
0.25 0.3 0.35 0.4
The SC of ‫ܫ‬ௌ presented in Figs. 8(a,b,c) and 8(d,e,f) have a
10
similar behavior. The magnitude of the positive and negative
sequence of ‫ܫ‬ௌ increase linearly with ߤ as shown in Fig 8(a,b)
Iβr (A)

0
(b)
and 8(d,e). The zero sequence component remains very close
-10
to zero. The positive sequence phase is also very close to zero
0.25 0.3 0.35 0.4
200 while the negative and zero sequence phase vary with no
Ifault (A)

0
(c) pattern. However, they do not show the normal behavior of the
healthy IM.
-200
0 0.2 0.4 15 14

Ip Mag. (A)
Time (s)
12
(a) 10 (d)
Fig. 6. Vectorial components Rotor current for healthy and faulty IM and 10
faulty current (a) Zoomed ݅ఈ௥ (b) Zoomed ݅ఉ௥ and (c) ݅௙ . 5 -2 0
8 -2 0
10 10 10 10
10 10

Io In Mag. (A)
In Fig. 5(b) the zoom for the rotor speed of the IM also Zero Seq
(e)
(b) 5 Pos Seq
presents the double-line frequency oscillation under load Neg Seq
5

conditions, however these oscillations are very small 0 0

compared, in percentage, with the average speed. 10
-2
10
0
10
-2
10
0

Curr. Phase (rad)

5 5
The zoomed rotor current vector of the IM are presented in (c) (f)
Fig 6(a) and 6(b), which indicate that under no load the rotor 0 0

currents of the symmetrical and asymmetrical IM are almost -5 -2 0 -5 -2 0

zero in steady state. However under load conditions, the rotor 10 10
Severity Factor μ (%)
10 10
Severity Factor μ (%)
currents in the faulty IM are reduced in both real and
imaginary components. Fig. 6(c) shows that the faulty current Fig. 8. SC for faulty stator current vs severity factor ߤ variation under no
(݅௙ ) does not change under load variation. load conditions. (a) ȁ‫ܫ‬௣ௌ ȁ, (b) ȁ‫ܫ‬௢ௌ ȁ and ȁ‫ܫ‬௡ௌ ȁ (c) ‫ܫ‬௢ௌ , ‫ܫ‬௣ௌ and ‫ܫ‬௡ௌ phase angle.
And load cond. (d) ȁ‫ܫ‬௣ௌ ȁ, (e) ȁ‫ܫ‬௢ௌ ȁ and ȁ‫ܫ‬௡ௌ ȁ and (f) ‫ܫ‬௢ௌ , ‫ܫ‬௣ௌ and ‫ܫ‬௡ௌ phase angle.
B. Symmetric Component of Stator Current Phasor for the
Asymmetrical IM 10
Ip Mag. (A)

For FDI it is necessary to study the symmetric components 5

Zero Seq
Pos Seq (a)
(SC) of the stator currents as they are the most significant fault Neg Seq
0
signatures (motor current signature analysis MCSA [3]). The 5
0 2 4 6 8 10 12 14 16 18 20
Io In Mag. (A)

analysis of the SC is done in steady state as the transformation

is in frequency domain. For the purpose of this transformation, (b)
the stator current vector is multiplied by ݁ ௝ఠ೐௧ to obtain the 0

stator current phasor ‫ܫ‬ௌ . Four simulations are performed where 2

0 2 4 6 8 10 12 14 16 18 20
Phase (rad)

the SC of ‫ܫ‬ௌ are plotted and analyzed under variations of: (1) (c)
fault severity factor ߤ, (2) load torque, (3) supply frequency
0

(݂௘ ) and (4) supply voltage ሺ‫ݒ‬ௌ ሻ. The first one is for feature -2
0 2 4 6 8 10 12 14 16 18 20
extraction, while the others three are for FDI. Torque Load T L (Nm)

30 Fig. 9. Symmetric components for faulty stator current vs torque load

25
variation (a) ȁ‫ܫ‬௣ௌ ȁ, (b) ȁ‫ܫ‬௢ௌ ȁ and ȁ‫ܫ‬௡ௌ ȁ (c) ‫ܫ‬௢ௌ , ‫ܫ‬௣ௌ and ‫ܫ‬௡ௌ phase angle.
Te Ripple (Nm)

20
15
10 (a)
5 The variation of the SC of ‫ܫ‬ௌ with the load condition is
0
-2 -1 0 1
presented in Fig. 9. Here, it can be observed that the
10 10 10 10
250 magnitude of the positive sequence increase with the load
profile as expected, nevertheless, the magnitude of the zero
Fault Curr (A)

200 Ifault No load

150 Ifault load (b)
100 and negative sequence components decrease while the load is
50 raised. The SC phases showed in Fig. 9(c) follow the same
0
10
-2
10
-1
10
0
10
1 behavior as Figs. 8(c,f).
Severity Factor μ (%)
Fig. 10(a) presents the variation of ȟܶ௘ and ‫ܫ‬௙ with ݂௘ . In
Fig. 7. Electromagnetic Torque ripple and Fault current magnitude vs
severity factor ߤ variation under load and no load conditions. (a) ܶ௘ and (b) the sub-frequency range (under 60 Hz) there is one peak of
‫ܫ‬௙௔௨௟௧ . maximum torque ripple at 40Hz and it decreases with the
decrease of ݂௘ . On the other hand, for the super-frequency
Figs. 7 and 10 show the electromagnetic torque ripple and range (over 60 Hz), the ȟܶ௘ increases linearly with ݂௘ . The
the fault current for all the cases mentioned above. Figs. 8, 9 fault current monotonically decreases as the frequency
and 11 show the SC of the stator current phasor. The double- increases.

003624
 5 200
2. There is a sub-frequency value where the fault is
notorious by observing the ȟܶ௘ as a signature. The
4.5 190
1.8 160
4 180
3.5 170 1.75
drawback is that the ‫ܫ‬௙ increases in this range. Same

Fault Current (A)

Fault Current (A)

140
Te Ripple (Nm)

Te Ripple (Nm)
3 160
2.5 150
1.7
120 happened with ȁ‫ܫ‬௡ௌ ȁ in other value of ݂௘ .
3. ȟܶ௘ in the super-frequency range is a better signature than
1.65
2 140 100

the ȁ‫ܫ‬௡ௌ ȁ, as ȟܶ௘ increases, ‫ܫ‬௙ decreases and ȁ‫ܫ‬௡ௌ ȁ

1.5 130 1.6
80
1 120
1.55
0.5 110 60 decreases.
0 100
10 20 30 40 50 60
Frequency (Hz)
70 80 90 100 200 250 300 350
Voltage (V)
400 450
4. ȟܶ௘ in the low-voltage range is a better signature than the
(a) (b) ȁ‫ܫ‬௡ௌ ȁ, as ȟܶ௘ increases, ‫ܫ‬௙ decreases and ȁ‫ܫ‬௡ௌ ȁ decreases.
Fig. 10. Electromagnetic Torque ripple and Fault current magnitude vs (a)
frequency variation (b) voltage variation, under load conditions. ܶ௘ in blue 5. The SC phase needs more detailed analysis. Comparison
and ‫ܫ‬௙௔௨௟௧ in green. among the healthy and faulty machine are required.
40 15
V. CONCLUSIONS
Ip Mag. (A)

30 Zero Seq
Pos Seq
(a) 20 10 (d)
10 Neg Seq The simplest state-space representation of an induction
0 5
10 20 30 40 50 60 70 80 90 100 200 250 300 350 400 450
machine under stator winding inter-turn short circuit fault is
1
0.5
presented in this paper. This dynamic equations are in space-
Io In Mag. (A)

(b)
vector form for reduction purposes of the computation. The
0.5 (e)
transient of this faulty model is compared with the dynamics
0
0
of the symmetric machine for a specific fault severity factor.
10 20 30 40 50 60 70 80 90 100 200 250 300 350 400 450
4 2 The symmetric components of the stator current and the torque
Phase (rad)

2 ripple are studied to evaluate, compare and find usable

(c)
0
-2
10 20 30 40 50 60 70 80 90 100 200 250 300 350 400 450
Frequency (Hz)
Fig. 11. SC for faulty stator current vs frequency variation under load
conditions. (a) ȁ‫ܫ‬௣ௌ ȁ, (b) ȁ‫ܫ‬௢ௌ ȁ and ȁ‫ܫ‬௡ௌ ȁ (c) ‫ܫ‬௢ௌ , ‫ܫ‬௣ௌ and ‫ܫ‬௡ௌ phase angle. And vs
voltage variation: (d) ȁ‫ܫ‬௣ௌ ȁ, (e) ȁ‫ܫ‬௢ௌ ȁ and ȁ‫ܫ‬௡ௌ ȁ and (f) ‫ܫ‬௢ௌ , ‫ܫ‬௣ௌ and ‫ܫ‬௡ௌ phase
angle.
The magnitude of the ‫ܫ‬௣ௌ increases as ݂௘ decreases in the
sub-frequency range, but it has a soft increase as the ݂௘
increases in the super-frequency range (Fig. 11(a)). The
magnitudes of the ‫ܫ‬௡ௌ and ‫ܫ‬௢ௌ present a maximum about 15 Hz
for the sub-range and continue decreasing as the frequency
raise. The SC phases showed in Fig. 11(c) follow the same
behavior as Figs. 8(c,f) and 9(c).
Fig. 10(b) presents the variation of ȟܶ௘ and ‫ܫ‬௙ with supply
voltage. While the voltage is decreased ȟܶ௘ increases and the
fault current decreases. In Fig. 11(d,e,f), the SC for faulty
stator current vs voltage variation under load conditions is
presented. In Fig. 11(d) the magnitude of ‫ܫ‬௣ௌ increases with
the decrease of the voltage, but the zero and negative
sequences decrease. The SC phases present same behavior as
8(c,f), 9(c) and 11(c).
C. Observations: SC of stator current analysis for FDI
For the 3 last simulation cases where the SC of ‫ܫ‬ௌ and the
torque ripple were analyzed under variations of load torque,
electric frequency and input stator voltage, it can be observed:
1. In general SC signatures appears to be more suitable for
FDI than torque ripple signature (ȟܶ௘ ) at no load
condition (ȟܶ௘ in Fig 4a at steady state almost
imperceptible). ȟܶ௘ appears to be a better indication than
SC under loading conditions. In Fig. 9 the ȁ‫ܫ‬௡ௌ ȁ doesn’t
change with the variation of the load and in Fig. 4a ȟܶ௘
appears in with the loading profile at 0.3s.
(f)
0
signatures for FDI of stator windings faults in IM.
-2
Voltage (V)
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