2021 XVIII International Scientific Technical Conference Alternating Current Electric Drives (ACED), Ekaterinburg, Russia, May 24-27,
2021
Short review of development approaches of
mathematical models for induction motor non-
symmetrical modes research
Shcherbakov Dmitriy
Ural Federal University named after the
2021 XVIII International Scientific Technical Conference Alternating Current Electric Drives (ACED) | 978-1-6654-1248-3/21/$31.00 ©2021 IEEE | DOI: 10.1109/ACED50605.2021.9462311
first President of Russia B.N. Yeltsin
Ekaterinburg, Russia
scherbakoff.dima@yandex.ru
Abstract— Study review is given for mathematical models
dedicated to induction motor non-symmetrical modes research.
Papers are reviewed, featuring mathematical models based on
magnetic-coupled electrical circuits theory, magnetic circuits
theory, symmetrical components method. The article works out
the possibility of studying various complexity non-symmetrical
modes of induction machine. The conclusions and the
summaries describing differences and peculiarities of these
approaches are also formulated.
Keywords—failure analysis, induction motor, fault tolerant
systems, circuit faults, mathematical model.
I. INTRODUCTION
The induction motors are widely used in modern industry,
agriculture, electrical vehicles and household appliances.
These motors make up to 80% of all electrical motors in active
use [1].
In terms of operational processes, they have recommended
themselves as highly robust and cost-effective. Nevertheless,
despite of their comparatively reliable design, induction
motors are still susceptible to diverse malfunctions. The main
fault causes and sources are [2]–[9]: overload and overheat of
stator; inter-turn short-circuit; bearing damage; nonuniform
air gap between stator and rotor; operation with single or
multiple phase power supply failure; weakening or breakdown
of rotor bar fixture; unbalanced rotor. Each one of these faults
leads to non-symmetrical induction motor operation mode and
accelerates total drive failure. The latter leads to equipment
downtime, lowers production rate, brings additional repair or
replacement costs. All these consequences lead to the large
economical losses, and form a high demand on
nonsymmetrical modes study, fault prediction which can help
to prevent induction motor failure.
There are some approaches of studying of non-
symmetrical induction motor modes. In recent years
mathematical modeling-based approach is gaining popularity.
This approach requires specific models, taking into account
distinctions of various asymmetrical operation modes, due to
diverse kinds of motor faults.
This paper is dedicated to overview of approaches to
mathematical model development for non-symmetrical modes
studying and damage prediction. This article is focused on the
induction motor non-symmetrical modes where the
mathematical description is based on magnetic-coupled
978-1-6654-1248-3/21/$31.00 ©2021 IEEE
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Polyakov Vladimir
Ural Federal University named after the
first President of Russia B.N. Yeltsin
Ekaterinburg, Russia
v.n.polyakov@urfu.ru
electrical circuits theory, magnetic circuits theory,
symmetrical components method.
II. INDUCTION MOTOR MATHEMATICAL MODELS BASED
ONMAGNETIC-COUPLED ELECTRICAL CIRCUITS
A. Models with inductance depending on winding functions
high harmonics
This approach is described in following papers [10]–[12]
and consists of following stages. After stator and rotor
electrical balance equations are designed, couplings between
full flux linkages and windings currents are determined. This
tie is estimated via magnetic-coupled electrical circuits theory
via “inductance” concept. According to this theory mutual
inductance between any two windings “i” and “j” in electrical
machine can be evaluated, if steel magnetic permeability is
assumed infinite, as:
(θ) = μ (ϕ, θ) (ϕ, θ) (ϕ, θ) , (1)
where φ — angle coordinate, referenced along air gap
from fixed stator point; θ — rotor rotation angle; μ0 —
vacuum magnetic permeability; g(φ,θ) — air gap function; L
— winding package length; r — mean air gap radius; Ni(φ,θ)
— winding function, describing magnetomotive force (MMF)
distribution along air gap.
Equation (1) is basic inductance expression between any
two windings of electrical machine. Electrical machine’s
inductances calculation via (1) is a key element of this
nonsymmetrical induction motor mathematical model design
approach because winding placement in slots is not assumed
symmetrical. This approach can be used to design generalized
induction motor with m stator phases and n rotor bars
equations. Also, no MMF shape assumptions are required,
such as a very common sinusoidal shape one. Therefore, all
magnetic field space harmonics can be taken into account in
MMF evaluation.
Reference [11] contains described approach application
for simulation of poly-phase induction motor featuring: stator
winding asymmetry (which are caused by inter-turn short-
circuit fault), leading to effective disengagement of single or
multiple stator winding coils; any amount and distribution of
rotor bar and ring failure. This model takes into the account
non-sinusoidal MMF distribution in air gap effects, due to
stator and rotors currents. Electromagnetic torque evaluation
equations also consider non-sinusoidal MMF in air gap
distribution. Given mathematical models describe both static
and transient motor operation modes.
Reference [12] is dedicated to detailed description of
general-purpose mathematical model design procedure.
Equations for simulation of induction motor with arbitrary
winding design and unbalanced operation condition are
obtained. Rotor winding is assumed as n identical equally
distributed loops. There is no symmetry assumption here too.
The model parameters are computed from winding electrical
scheme and space geometry. The model can be used to study
the wide faults range, such as: broken bars and interconnection
rings in rotor; open- and short-circuits in stator windings. This
model treats mutual inductances between stator and rotor
windings as nonconstant variable, alternating with time and
allow them to be evaluated in real-time. At the same time
leakage inductances are preliminary calculated and treated as
constants. Any electrical connection scheme for stator
windings and rotor bar configurations are allowed.
Reference [12] proposes model for performance study of
induction motor with air gap eccentricity. Winding symmetry
is not assumed. The model parameters are computed from
winding’s electrical and geometrical design data. It is shown,
that eccentricity impact on induction motor start-up process
performance can be determined via simulation, independent to
power supply source, being it sinusoidal or frequency
converter. In this paper are given both theoretical basics of
model and detailed differential equations describing machine
operation under static rotor eccentricity. Non-sinusoidal MMF
distribution in air gap effects are also included in model. Main
assumptions used for this model design are: negligibly small
saturation of magnetic core; negligibly small eddy currents,
friction, venting losses. The model is suitable for static and
transient processes in the motor simulation. As an approach
benefits demonstration, common three-phase induction motor
with 50% rotor eccentricity is simulated.
Reference [13] deals with simulation and experimental
verification of the model, which is based on the magnetic
coupled electrical circuits [12]. Non-symmetrical modes of
three-phase induction motor with squirrel-cage type rotor are
studied. Model parameters are estimated via experiment or
computed from motor geometry. Mutual and self-inductances
are evaluated via winding functions. Model allows usage of
real windings’ distribution without any additional
assumptions dealing with stator windings and rotor bars
symmetry. Therefore, this model fits for: symmetrical motor
mode analysis, non-symmetrical ones and fault modes. Motor
performance in static, dynamic, mixed air gap eccentricity
operation modes is evaluated using this model. It is
determined, that motor with mixed eccentricity can have less
torque and speed oscillations, than motor with static
eccentricity.
Reference [14] demonstrates squirrel-cage type induction
motor with dynamic rotor eccentricity simulation approach.
High MMF harmonics in air gap are taken into account. It is
shown, how this complex motor operation mode can be
simulated via mutual inductance curves application, if proper
scale methods are used. Experimental results exhibit proposed
approach effectiveness and confirm theoretical analysis.
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B. Models with inductances not including winding functions
high harmonics
Specific case is formed by induction motor models for
non-symmetrical operation modes, which have inductances
evaluated without considering winding functions [15]– [19].
Reference [15] solves the task of induction motor based
electrical driver survivability enhancement in dual-phase fault
operation mode, using three-phase induction motor
mathematical model written in stationary three-phase
reference frame. The model is correct under following
assumptions: magnetic core is assumed non-saturable;
magnetic field energy is concentrated in air gap; iron and
mechanical losses are negligibly small; air gap is uniform;
power supply voltages are sinusoidal; power supply source is
of infinite power. Transition to dual-phase fault operation
mode (single phase open-circuit) is implemented via
corresponding equation exclusion from full differential
equation system.
Reference [16] proposed mathematical model for
nonsymmetrical dual-phase induction motor vector control
implementation. In given model main and auxiliary motor
windings are represented in stationary reference frame and
effects of core losses and main flux path saturation are
included. Special technique is used for multiple saturation
levels in both magnetization axis simulation. The model can
be used in both static and dynamic non-symmetrical dual-
phase induction motor modes studies. This model requires
following assumptions:
x only fundamental space-harmonic component of air
gap flux distribution is included;
x both orthogonal axes have unique non-linear magnetic
curves and saturation is modeled without superposition
application;
x rotor iron losses are implemented as non-linear
resistor concerned with rotor flux linkage;
x the stray losses, magnetic diffusion and temperature
effects are not taken into account.
Reference [17] demonstrates mathematical model for
transient processes analysis in dual-phase induction motor,
expressed in terms of rotor and stator windings’ full magnetic
flux linkages and without currents in equations. Model is
exploited for processes analysis under non-symmetrical stator
power supply conditions. It is demonstrated, that in case of
stator phase voltages peak values inequality, representative
phase vector rotation diagram elliptical, instead of round as in
symmetrical system. Obtained results are in agreement with
symmetrical components approach-based analysis. This
model does not feature machine iron saturation evaluation.
Reference [18] describes mathematical model in three-
phase reference frame for complex motor non-symmetry cases
(such as under simultaneous non-symmetrical power supply
and phase impedances conditions). Following case is shown
— star-connected stator windings with single loop in one coil
in one winding damaged. Loop short-circuit reduces loop
amount in coil, thus splits loops in coil to intact loops and
faulted ones. To design the model following provision has
been used: in the time of winding short-circuit fault damaged
phased winding active resistance and full inductance are
reduced from intact value. This model dealing with machine
space asymmetry and iron core saturation. Damaged phase
 voltage is split into two components: one is applied to
damaged coil and other is for the rest of winding. Model is not
versatile, as it is designed for single specific damage type —
single phase short circuit.
Reference [19] delivers mathematical model based on
three phase coordinate system and is designed to simulate
energy conversion process in locomotive traction induction
motor with squirrel-cage type rotor in both stationary and
dynamic modes. Following assumptions are applied to model
design: stator phase voltages are sinusoidal; iron core losses
are negligibly small; air gap is uniform; magnetic field energy
is concentrated in air gap. Model allows motor damage
physical processes studying. Quantitative and qualitative
analysis of electromagnetic and electromechanical processes
in both transient and stationary motor modes are performed
with help of developed mathematical model. Dynamic
mechanical and performance characteristics are studied and
analysis of phase voltages’ and motor currents’ spectral
composition and representative vectors rotations.
III. INDUCTION MOTOR MATHEMATICAL MODELS BASED ON
MAGNETIC CIRCUITS
Induction motor mathematical description based on
magnetic circuits proposes study of magnetic fields
distribution in machine air-gap [20]–[22]. This approach
allows simplified non-linear saturation effects evaluation.
Main point of this approach is to not evaluate inductances in
currents and flux linkages equations. After design of stator and
rotor electrical balance equations, all instances of flux
linkages are substituted with sums of full flux and stray flux
linkages. Distributed and concentrated windings (with full and
shortened step under non-sinusoidal magnetic flux induction
distribution) main flux linkages are described as [21]:
. . = . . , (2)
. . = . . . cos . ; (3)
. = . , (4)
2 values of which are in functional dependency from windings
where ν — harmonic order number; Si.ν — effective linkage
area of i-th winding space contour and ν-th magnetic flux
wave harmonic; Bm.max.ν — ν-th harmonic instant peak value;
δi.ν — shift angle of i-th winding from ν—th magnetic flux
space wave harmonic; D — mean air gap circle diameter; L
— stator winding loop active side length; Qi.ν — winding
function ν—th space wave harmonic peak value, setting
winding magnetomotive force distribution along air-gap.
Given equations are taking into account active machine
part linear sizes, windings parameters, winding functions
harmonic composition, harmonic composition of magnetic
field induction distribution function, windings shift angles
from space harmonics. Equations have generic properties and
can be used for mathematical model development and for
varying complexity non-symmetrical modes study.
This approach natural evolution is transition to optimal
magnetizing forces control in electrical motor with
nonsymmetrical windings with minimal electric losses
optimum [21], [23], [24]. These articles deal with three-phase
electrical motors having: windings with arbitrary loop counts
Qa, Qb, Qc; windings are placed in arbitrary angles φa, φb, φc.
Following assumptions are used: windings are not
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degenerated into single-phase or two-phase system; windings
have individual and independent power supplies. Simulation
task is described with consideration of winding functions and
their high space harmonics. At the same time for system
control task additional following additional assumption is
applied: only main winding functions space harmonics are
used. This assumption allows main windings functions space
harmonics to instant values complex vector transformation.
The next steps are: magnetomotive forces complex vector
evaluation; magnetizing and neutral currents calculation via
optimal magnetization currents vector variation search.
Reasoning from magnetizing and neutral currents ties
equations defined hereby neutral currents controller based on
generalized reverse reference frame transformation matrix
(which is taking into account stator windings properties) is
synthesized. This controller requires windings properties
knowledge, what limits its application field. It is proved, that
symmetrical three-phase winding is optimal from
magnetomotive forces forming point of view.
IV. INDUCTION MOTOR MATHEMATICAL MODELS BASED
ONSYMMETRICAL COMPONENTS
Induction motor non-symmetrical modes study via
symmetrical components approach possibility is determined
by following fact: phase voltages inequality, supplied to stator
(rotor) windings or single (multiple) phase windings axis shift
from symmetrical geometrical orientation leads to reversed
rotating magnetic field appearance in air-gap. Any non-
symmetrical m phase machine evaluation can be reduced to
equivalent dual phase machine with two rotating magnetic
fields rotating in opposite directions. This approach allows
processes physical aspects study and obtainment of integral
information about electromagnetic state and generalized
output indices without phase-level elaboration [25]. If
corresponding assumptions are maid this approach allows
induction motor simulation with parametric, electrical,
magnetic and space asymmetries and their combinations.
Reference [25] in compliance with symmetrical
components approach shares mathematical model description
with two rotating in opposite directions magnetic fields, peak
axis shift angle. Induction motor with identical non-mutual
inductive stator phase windings located on α, β axes of
orthogonal reference frame is taken as reference model. Space
asymmetry is simulated via angle changes, representing
deviation of single winding axis from space axis β.
This technique application allows relatively simple
simulation of constructive, technological phase winding
deviation from symmetrical space orientation and estimating
consequences for diverse electrical machines. This approach
is also expanded to other asymmetry types, such as parametric,
electrical, magnetic ones, and corresponding replacement
schemes are developed. Paper demonstrates following
asymmetry types one by one: parametric and electrical ones,
magnetic one, distribution in space one.
Model scantiness consist in equation supporting only
induction motor stationary modes.
Reference [26] considers design process of induction
motor mathematical model as electrical drive part for
dangerous industrial plants, in phase-out fault operation mode
with direct and reverse magnetic field sequences
consideration. In this case elliptical magnetic field effects on
phase-out operation modes can be studied.
 If single phase-out fault mode is considered with elliptical
magnetic field in air-gap, further can be split into direct and
reverse sequence field, using symmetrical components
technique. It is noted, that two induction motor with elliptical
magnetic field mathematical model design exist: generalized
electric machine model with two rotors and two stators;
generalized electric machine model with two stators and
single rotor [15].
The first one is simpler in terms of mathematical
equations, but provides inaccurate results in transient
processes simulation. The second one has more complex
equations for resulting electromagnetic torque, but provides
more acute results in dynamic operation modes. These
peculiarities lead to model with two stators and two rotors
selection. Because of induction motor with single phase power
supply fault non-symmetry, as mathematical model
generalized electrical machine in stationary reference frame
[15] was accepted with generally accepted assumptions:
motor has not saturated magnetic core; magnetic core does not
have any energy losses; phase windings are symmetrical and
shifted at exact 120 electrical degrees angle; winding
magnetizing forces and magnetic fields are sinusoidal
distributed along air-gap circle; air-gap is uniform; rotor is
symmetrical. To simplify equations solving for both direct and
reverse sequence fields they are split to separate systems. For
phase-out fault imitation in source equations for both
magnetic field sequences new fault matrix is included,
allowing system switching to fault two-phase operation mode.
Reference [27] is dedicated to induction motor with
thyristor-based power convert electrical drive non-symmetric
modes study technique development. In terms of
nonsymmetric modes study task is set to elaborate
nonsymmetrical power supply effects on induction motor
operation. Non-symmetrical modes analysis symmetrical
components technique. Three-phase non-symmetrical system
is shown as sum of three symmetrical systems. They are by
diverse phase change orders: direct sequence system, reverse
sequence system, zero sequence system. To study electrical
drive properties, induction motor parameters are assumed to
be symmetrical. It is also noted, that for non-symmetrical
power supply effects on thyristor-based power converter
electrical drive research, non-sinusoidal stator currents form
should be considered. It is proposed to calculate currents
asymmetries taking into account their non-sinusoidal form
and utilize first harmonics of direct and reverse current
component.
Reference [28] includes three-phase induction motor
mathematical model based on three-phase electrical machine
in stationary reference frame with axis α, β, γ [29] oriented
along stator phases axis A, B, C. Additional active resistance
circuits are introduced to represent iron core losses. They are
included in every phase parallel to main inductances (in much
the same way as in T-shape induction motor replacement
circuit). Common assumptions for generalized electrical
machine are utilized: every of three windings produces in
smooth airgap sinusoidal distributed magnetomotive force,
magnetic core saturation coefficient is constant. Non-linear
magnetization curve can be engaged. Writing equations in
stationary reference frame allows implementing inductances
independent of rotor rotation angle. However, rotor currents
to rotor frequency conversion requires additional calculation.
Reference [30] aims to provide deep-slotted induction
motor drive mathematical model for start-up and stationary
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operation mode under non-symmetrical power supply. Model
is developed based on full induction motor differential
equations, featuring current-displacement effect on rotor
winding parameters and non-symmetrical voltages are shown
as direct and reverse sequence symmetrical components.
Essence of this approach is in following concept. Initial motor
is connected to other two motors (IM1 and IM2), rotors are
rigidly coupled and stator windings are supplied with direct
and reverse sequence voltages. The first motor is supplied
with direct sequence voltages and second one is supplied with
reverse sequence voltages respectively. At the same time
resulting rotating torque M will be equal to sum of moments
M1 and M2, produced by IM1 and IM2 correspondingly.
Model is considered correct with following assumptions
made: saturation is not reached; phases parameters are equal;
all motors have three-phase stator winding and squirrel-cage
type rotor. The latter ones are represented (to evaluate current-
displacement effect) by two equivalent windings along α axis
and two same windings along β axis. Active resistances, stator
and rotor windings stray inductances, mutual inductances are
known.
Model allows to perform deep-slotted induction motor
electrical drive static and dynamic operation modes and to
evaluate acceptable power supply grid non-symmetry level.
Developed model is utilized in static and dynamic modes
analysis for deep-slotted induction motor with 2000 kW
nominal power and 6000 V nominal voltage.
Reference [31] has symmetrical components technique
also favored. Equations are written in three-phase reference
frame and allow winding and power supply asymmetry
consideration. Equations are derived with respect to two stator
and rotor phase currents. Equations are based on replacement
circuit and feature single stator equation and single rotor
equation. Third phase current equation is calculated from
other phase currents sum. This leads to zero sequence current
ignorance. This paper grounds three-phase reference frame
selection. Saturation is taken into account. Model is tested in
single phase breakage condition for static characteristics.
Reference [32] elaborates equation with multiple previous
articles references. Winding loop short-circuit effects on
induction motor performance are described.
V. CONSLUSIONS
Mathematical description of induction drives
asymmetrical modes is based on magnetic-coupled electrical
circuits theory, magnetic circuits theory and symmetrical
components technique.
Mathematical models based on magnetic-coupled
electrical circuits theory and symmetrical components theory
are widely used in electrical drives scientific field.
Mathematical models based on magnetic-coupled
electrical circuits theory and magnetic circuits theory are most
versatile. They allow wide induction motor failure set
simulation considering non-sinusoidal magnetic induction in
air-gap distribution and iron core saturation.
Symmetrical components technique-based models require
less computational efforts and less initial data to start with.
Magnetic circuits-based models are used for symmetrical
induction motor models in electrical drives systems. At the
same time this approach potential should be noted for
induction motor mathematical model design with iron core
magnetic saturation consideration.
Every of these approaches has been used to develop
mathematical models for specific induction motor modes and
asymmetry cases analysis.
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