144
1, MARCH 2004
A 2-D Model of the Induction Machine: An Extension
of the Modified Winding Function Approach
Guillermo Bossio, Cristian De Angelo, Student Member, IEEE, Jorge Solsona, Member, IEEE,
Guillermo García, Senior Member, IEEE, and María I. Valla, Senior Member, IEEE
Abstract—A new method to calculate the inductances of induc-
tion machines considering axial nonuniformity is proposed. The
proposed method, an extension of the modified winding function
approach, allows considering nonuniformity due to skew and static
and dynamic air-gap eccentricity. Theoretical fundamentals and
experimental results that validate the proposed method are pre-
sented.
Index Terms—Axial nonuniformity, induction machines, mod-
eling, winding function approach.
I. INTRODUCTION
T HE conventional d-q model of an induction machine (IM)
is based on the assumption that the stator windings are si-
nusoidally distributed. This implies that the harmonics of the
windings distribution are neglected in the analysis of the ma-
chine. A model, based on the geometry and winding distribution
without restrictions regarding its symmetry, is more convenient
for the machine analysis and simulation under asymmetric con-
ditions.
In [1], a multiple coupled circuit machine model and a method
to calculate the mutual inductances, known as “Winding Func-
tion Approach” (WFA), was presented. This model was used
in the analysis of concentrated winding IM for adjustable speed
drive applications. A detailed depiction of the procedure, needed
to implement such a model together with simulation results for
an IM, has been presented in [2]. By means of this model, all
of the harmonics of the spatial winding distribution are taken
into account, with no restrictions concerning the symmetry of
both the stator windings and the rotor bars. Hence, this model
has been applied in the analysis of asymmetrical and fault con-
ditions in IM. The WFA also has been used in the analysis of a
five-phase reluctance motor [3].
Manuscript received November 6, 2002. This work was supported in part by
the Universidad Nacional de Río Cuarto (UNRC), in part by Universidad Na-
cional de La Plata (UNLP), and in part by Agencia Nacional de Promoción
Cientifica y Tecnológica (ANPCyT) and CONICET.
G. Bossio, C. De Angelo, and G. Garcia are with Consejo Nacional de
Investagaciones Cientificas y Técnicas of Argentina (CONICET) and with the
Grupo de Electrónica Aplicada (GEA), Facultad de Ingeniería, Universidad
Nacional de Rio Cuarto (UNRC), Río Cuarto X5804BYA, Argentina (e-mail:
gbossio@ing.unrc.edu.ar; cdeangelo@ieee.org; g.garcia@ieee.org).
J. Solsona is with CONICET and with the Departamento de Electrotecnia,
Facultad de Ingeniería, Universidad Nacional del Comahue, Buenos Aires 1400,
Argentina (e-mail: jsolsona@uncoma.edu.ar).
M. I. Valla is with Laboratorio de Electrónica Industrial, Departamento
de Electrotecnia, Facultad de Ingenieria, Universidad Nacional de La
Plata (UNLP), La Plata 1900, Argentina, and with CONICET (e-mail:
m.i.valla@ieee.org).
Digital Object Identifier 10.1109/TEC.2003.822294
0885-8969/04$20.00 © 2004 IEEE
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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO.
In [2] and [4]–[7], the WFA is used to analyze IM faults such
as shorting, opening, and abnormal connections of the circuits of
a stator phase winding as well as broken rotor bars and cracked
rotor end rings. The analysis of static and dynamic eccentricity
effects using the cited model is presented in [8] and [9]. How-
ever, the authors of [8] and [9] calculate the inductances using
the equations presented in [2], which do not take into account
air-gap variations. As a result of their analysis, the mutual induc-
tances between stator phase and rotor loops are different
from those between the rotor loops and stator phase , and it
is difficult to find a physical meaning of this asymmetry. In [10],
a modification of the method for the inductance calculation con-
sidering air-gap eccentricity is proposed and used in the analysis
of dynamic eccentricity in a synchronous machine. This method
was called “Modified Winding Function Approach” (MWFA),
and it has been applied to analyze static, dynamic, or mixed ec-
centricity in IM [11]–[13]. For the analysis of air-gap eccen-
tricity, other methods based on the MMF and permeance wave
approach [14], or finite elements [15], [16] have been proposed.
In the above-mentioned works, based on WFA or MWFA,
the machine analysis is carried out assuming uniformity down
the axial length of the motor. That is, without skew and with
uniform air gap along the rotor. In [17], the effect of skew on the
inductances is analyzed using the equations developed for the
analysis of the machine with axial uniformity. This extension,
however, does not allow the analysis of the effect produced by
radial and axial air-gap nonuniformity.
In this paper, a new method for the calculation of the ma-
chine winding inductances, considering radial and axial nonuni-
formity, is developed. As an example, this method is applied
to calculate the winding inductances of an IM with skew and
air-gap eccentricity. Experimental results that validate the pro-
posed method are also presented.
II. INDUCTION MACHINE MODEL
Consider an IM having stator circuits and rotor bars. The
cage can be viewed as identical and equally spaced rotor loops
[2]. Voltage equations for the IM can be written in vector-matrix
form as follows:
(1)
(2)
where
(3)
(4)
BOSSIO et al.: 2D-MODEL OF THE INDUCTION MACHINE: AN EXTENSION OF THE MWFA 145

scheme clearer, neither stator windings nor rotor end-rings are

shown. There are no restrictions about skewing and winding
and rotor bar distribution for the analysis. Furthermore, restric-
tions over the air-gap eccentricity are not assumed. Then the
machine can exhibit nonuniform static or dynamic eccentricity
down the axial length.
The stator reference position of the closed-loop , angle
, is measured at an arbitrary point along the air gap. The path
stretches along the axial axis a length . Points and are lo-
cated in and (both equal zero), points and are located in
and . Points and are located on the stator internal surface
whereas points and are located on the rotor external surface.
is the rotor angle with respect to a fixed stator point.
By applying the Ampere’s law over the closed path ,
shown in Fig. 1, the following relation can be obtained:

(11)

Fig. 1. Induction machine scheme.

where is the magnetic field intensity, is the current density,
and is a surface enclosed by . Since all of the wires
and the stator and rotor flux linkages are given by enclosed by the closed path carry the same current , (11) results
(5) as follows:
(6)
(12)
is an matrix with the stator self and mutual in-
ductances, is an matrix with the rotor self and mutual
inductances, is an matrix composed by the mutual in- The function will be called in this paper the 2-D
ductances between the stator phases and the rotor loops, is spatial winding distribution and represents the number of the
an matrix composed by the mutual inductances between winding turns enclosed by the path . This distribution, un-
the rotor loops and the stator phases and . like previous proposals, depends on the geometry of the wind-
The mechanical equations for the machine are ings down the machine axial length. In terms of magnetomotive
force (MMF), (12) can be written as
(7)
(13)
(8)
Considering infinite permeability of the stator and rotor iron
where is the rotor position, is the angular speed, and is cores, the MMF drops across the iron are negligible, so
the rotor-load inertia. is the load torque. Speed and position- and (13) can be rewritten
dependent viscosity can be included into the load torque.
The machine electromagnetic torque can be obtained from (14)
the magnetic co-energy
Dividing (14) by the air-gap function , which rep-
(9) resents the air-gap length for a given point , and in-
tegrating it with respect to the stator angle between 0– , and
The magnetic co-energy is the energy stored in the magnetic with respect to the length of the -axis between 0 and the rotor
circuits and can be written as length , yields

(10)
The precise knowledge of the inductances making up the ma-
trices in (5) and (6) is essential for the analysis and simulation of
the IM. The following sections present a method for the calcu-
lation of such inductances considering radial and axial nonuni- (15)
formity, due to skew and air-gap eccentricity.
The Gauss’s Law for magnetic field is applied in order to
III. EXTENSION OF THE MODIFIED obtain an expression for
WINDING FUNCTION APPROACH
An IM scheme is presented in Fig. 1 to help obtain the (16)
equations that allow the inductance calculation. To make this

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146 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO. 1, MARCH 2004

where is the magnetic flux density and is an arbitrary closed
surface. Considering a closed cylindrical surface of radius ,
placed between the stator and the rotor surfaces, (16) results in
(17)
Since
induction machine, the 2-DMWF can be defined for each stator
winding, and each rotor loop composed by two bars.
IV. INDUCTANCE CALCULATIONS
The MMF distribution in the air gap, produced by a current
flowing in any coil is given by
(26)

(18) So, a differential flux through a differential area in

the air gap will result in
then (27)
where is the air permeability and is the inverse
(19) air-gap function. Substituting (26) in (27) and integrating the
differential flux in the region covered by either a stator coil or
rotor loop , yields
Then, the second term in (15) is null and consequently (15)
reduces to
(28)
(20)
The total flux linking coil , is obtained from multi-
Then plying by the turns of the coil. Since is equal
to the coil turns in the region
, and zero otherwise, the total flux can also be ob-
tained from multiplying (27) by and integrating it
(21) over the whole surface

where is the average value of the inverse air-gap

function. Solving (21) for yields
(29)
The coil mutual inductance due to the current in
the coil results in
(22) (30)

Replacing (22) in (14) and solving for

Dividing (23) by , the following “2-D Modified Winding
Function” (2-DMWF),
(31)
(23) So it is possible to calculate the mutual and self inductances of
the stator coils and rotor loops, with or without skew, by means
of (25) and (31). This also allows taking into account the rotor
static and dynamic eccentricity effects, without assuming uni-
, is obtained
formity down the axial length of the machine.
It is important to observe that changing the integration order
(24)
and grouping terms in (31) yields

(32)

(25)
where can be defined as the mutual inductance per
unit of length given by
The proposed 2-DMWF allows considering a nonuniform
geometric distribution of the windings and rotors bars down the
motor axial length (e.g., skew). It is also possible to model the
rotor eccentricity by means of the air-gap function
which has no restrictions about axial nonuniformity. In the (33)

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BOSSIO et al.: 2D-MODEL OF THE INDUCTION MACHINE: AN EXTENSION OF THE MWFA 147

Fig. 2. Coil distribution of phase A.

This result is similar to the one shown in [17]. However, the

2-DMWF proposed in this paper, , defined in (25), is
more general and allows considering skew and radial and axial
air-gap nonuniformity effects. It is important to note that the
mutual inductance per unit of length defined in (33), in the case
of air-gap eccentricity, is not only displaced in , due to skew,
as proposed in [9] and [17]. This inductance can also change its
shape and amplitude as a z function.
Solving (25) for the 2-D spatial winding distribution of coil
, and replacing it in (31), it can be demonstrated that

(34)
This equation [equivalent to (31)], shows that using the pro-
posed 2-D MWFA, the inductance is equal to the induc-
tance . This equality neither depends on the winding distri-
bution nor the air-gap.
V. INDUCTANCE CALCULATIONS WITH AXIAL NONUNIFORMITY
A. Skew
Results from the calculation of mutual inductance between a
stator phase winding and a rotor loop using the proposed method
are given. Fig. 2 shows the coil distribution of an industrial IM
stator, whose parameters are
Stator: four poles, 48 slots, 67 turns per coil, concentric,
step 1:10:12.
Rotor: 40 bars, mechanical skewing angle rad.
mm.
Fig. 3 shows the calculated mutual inductance between the
-phase first coil, 1–12, and a rotor loop, , composed by two
consecutive bars, as a rotor position function. Fig. 3(a) shows
mutual inductance without considering skew, while in Fig. 3(b),
a -rad. skewing is considered. From the obtained results,
it can be observed that there is no change in the mutual induc-
tance magnitude. However, its shape gets smooth in presence of
skew, mainly in the region where the inductance varies.
Fig. 3. Calculated mutual inductance of stator coil and rotor loop 1, L ,
as a function of rotor position,  . (a) Without skew. (b) With skew.
Mutual inductance between the -phase winding and the
rotor loop is obtained by summing all of the inductances
between the winding coils and the rotor loop
(35)
This is the sum of the eight -phase coils. Fig. 4 shows the
calculated mutual inductance in thick line and its derivative
in thin line. Fig. 4(a) shows the inductance when no skew is
present, whereas Fig. 4(b) shows the corresponding inductance
when skew bars are considered. In the case of air-gap unifor-
mity, the equations used to the inductance calculation can be
reduced to the equations presented in [17].
B. Eccentricity
As it was described in [8], there are two types of air-gap ec-
centricity: static and dynamic. Static eccentricity can be pro-
duced either by stator deformations or rotor axis displacement
respect to the stator axis. Due to this, the air gap is nonuniform
but it remains constant for any rotor position.
Dynamic eccentricity occurs when the rotor geometric center
is not at the center of rotation, producing consequently an
air-gap periodic variation as a rotor position function.

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148
Fig. 4. Calculated mutual inductance (thick line) and its derivative (thin line)
of stator phase A and rotor loop 1, L as a function of rotor position,  .
(a) Without skew. (b) With skew.
Eccentricity effects considering axial uniformity along the
motor were analyzed in previous proposals. The air-gap func-
tion for a nonuniform static eccentricity down the axial length
can be represented by
cos
where is the air-gap variation amplitude, which can vary
along the machine axial length. The air-gap radial length, under
no eccentricity condition, is given by .
As an example, if only one bearing is displaced respect to
the stator geometric axis, the air-gap variation amplitude can be
approximated by
where is the air-gap variation at , and is a constant.
If the eccentricity is dynamic, the air-gap function can be
approximated as follows:
cos
These equations can be used in (25) and (31) in order to cal-
culate the machine both self and mutual inductances under ec-
centricity effects.
In the case of static eccentricity, self and mutual inductances
of the stator windings are constant whereas those of the rotor
loops change with rotor position. For dynamic eccentricity, on
the other hand, the stator self and mutual inductances are rotor
position functions. Unlike them, self and mutual inductances of
the rotor loops are constant, since they do not experiment any
air-gap change when the rotor turns.
As an example, the mutual inductance of stator phase and
rotor loop 1, , with a 30% static eccentricity, is shown in
Fig. 5, without skew in Fig. 5(a), and with skew in Fig. 5(b). It
can be seen that skew smoothes the inductance variation due to
static eccentricity. This is evident in the inductance derivative
(thin line).
In case of static, dynamic, or mixed air-gap eccentricity, uni-
form down the axial length and without rotor bar and stator
winding skew, the equations used to the inductance calculation
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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO. 1, MARCH 2004
Fig. 5. Calculated mutual inductance (thick line) and its derivative (thin line)
of stator phase A and rotor loop 1, L as a function of rotor position,  .
(a) With 30% of static eccentricity and without skew. (b) With 30% static
eccentricity and skew.
can be reduced to the MWFA method used in [12] and [13]. This
is the case shown in Fig. 5(a) were the result obtained from the
proposed method is the same as that obtained from the MWFA.
In addition, the proposed method allows considering both skew
(36) and air-gap eccentricity combined effects, as shown in Fig. 5(b).
This proposal also allows modeling the nonuniform air-gap ec-
centricity down the axial length of the IM.
Unlike [9], the equations presented in this work show that
in the case of air-gap eccentricity, the stator phase-rotor loop
mutual inductances are the same as the rotor loop-stator phase
mutual inductances.
VI. EXPERIMENTAL RESULTS
(37)
In order to validate the proposed method, the mutual induc-
tance between a rotor loop and a stator phase was measured on
an IM containing a standard stator and two special rotors. The
standard stator corresponds to a 5.5 kW–380 V-Frame 132S ma-
chine with all of its phase coils connected in series, as shown in
(38)
Fig. 2. The IM parameters are the same used to calculate the
inductances in Section V. Two special rotors were constructed
without bars, one without and the other with skew. A special
winding was placed along two consecutive bars.
A 10-Hz sinusoidal voltage was applied in a stator phase
to calculate the inductance between this phase and the rotor
winding. The voltage induced in the rotor winding was mea-
sured as a function of the rotor position. The inductance was
calculated from the ratio between the induced and the applied
voltage
(39)
where is the stator phase self inductance, previously cal-
culated by means of stator voltage and current measurements.
The obtained inductance, referred to one turn on the rotor,
is shown in Fig. 6. Fig. 6(a) shows the measured mutual in-
ductance for the nonskewed rotor (thick line) and its calculated
derivative (thin line). This inductance is very similar, in ampli-
tude and shape, to that calculated using the proposed method
BOSSIO et al.: 2D-MODEL OF THE INDUCTION MACHINE: AN EXTENSION OF THE MWFA
Fig. 6. Measured mutual inductance (thick line) and its derivative (thin line)
of stator phase A and rotor loop 1, L as a function of rotor position,  .
(a) Without skew. (b) With skew.
shown in Fig. 4(a). In the measured inductance appears a small
48-cycle-per-rotor-revolution harmonic component, which can
be better seen in the inductance derivative. This harmonic is gen-
erated by the air-gap variation produced by the stator slots. The
difference between the calculated and the experimentally ob-
tained inductances is due to the fact that the air-gap variation
produced by the stator slots was modeled as an increase of the
effective air-gap length, using Carter’s coefficient [18].
For a better approximation to the experimentally obtained in-
ductance, the effect of the stator slots can be modeled modifying
the air-gap function with respect to and z.
Fig. 6(b) shows the mutual inductance measured in a machine
with skewed rotor bars (thick line) and its derivative (thin line).
The harmonic component, produced by the stator slots, is re-
duced due to skew. For such reasons, not only the inductance
but also its derivative are very similar to those calculated using
the proposed method, shown in Fig. 4(b).
As in the inductances obtained from the proposed method,
experimental results show that the mutual inductance magnitude
does not change but its shape gets smooth in presence of skew,
mainly in the region where the inductance varies. This effect is
better appreciated in the inductance derivative.
VII. CONCLUSION
In this paper, a method based on an extension of the MWFA
was proposed to calculate the inductances of an induction ma-
chine. The proposed method allows taking into account radial
and axial asymmetries such as skew and air-gap nonuniform
eccentricity down the machine axial length. As an example,
the skew and air-gap eccentricity effects on the mutual induc-
tances between stator phases and rotor loops were shown. Ex-
perimental results that validate the proposed method were also
presented.
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149
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Guillermo Bossio received the electrical engineer degree from the National
University of Río Cuarto, Rio Cuarto, Argentina, in 1999. He is currently pur-
suing the Ph.D. degree in engineering at National University of La Plata, La
Plata, Argentina.
Currently, he is with the Applied Electronics Group at the National University
of Río Cuarto, where he has been since 1994. His research interests include
power electronics, sensorless motor control, electric vehicles, and renewable
energy generation.
Mr. Bossio is a member of the National Research Council (CONICET) and
of the Automatic Control Association of Argentina.
150
Cristian De Angelo (S’96) received the electrical engineer degree from the Na-
tional University of Río Cuarto, Río Cuarto, Argentina, in 1999. He is currently
pursuing the Doctor degree in engineering from the National University of La
Plata, La Plata, Argentina.
Currently, he is with the Applied Electronics Group at the National University
of Río Cuarto, where he has been since 1994. His research interests include
power electronics, sensorless motor control, electric vehicles, and renewable
energy generation.
Mr. De Angelo is a member of the National Research Council (CONICET)
and of the Automatic Control Association of Argentina (AADECA).
Jorge Solsona (S’94–M’96) received the electronics engineer and Doctor in En-
gineering degrees from the National University of La Plata, La Plata, Argentina,
in 1986 and 1995, respectively.
Currently, he is a Teaching Assistant with the Electrical Engineering De-
partment of the Engineering Faculty at the National University of Comahue,
Neuquén, Argentina. He is engaged in teaching and research in control theory
and its applications to industrial electronics and bioprocess.
Dr. Solsona is a member of the National Research Council (CONICET) of
Argentina and of the Automatic Control Association of Argentina (AADECA).
From 1987 to 1997, he was a member of the Industrial Electronics, Control
and Instrumentation Laboratory at the Electrical Engineering Department of the
National University of La Plata.
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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 19, NO. 1, MARCH 2004
Guillermo Garcia (M’86–S’90–M’95–SM’01) received the electrical and elec-
tronics engineering degree from the National University of Córdoba, Córdoba,
Argentina, in 1981, and the M.Sc. and Dr. degrees in electrical engineering from
COPPE, Federal University of Rio de Janeiro, Brazil, in 1990 and 1994, respec-
tively.
Currently, he is Director of the Applied Electronics Group (GEA), Coordi-
nator of a Graduate Program in Electrical Engineering, and Professor in the
Electrical and Electronics Department at the UNRC, where he has been since
1994. His research interests include power electronics, motion control, electric
vehicles, and renewable energy conversion.
Dr. Garcia is a member of the National Research Council (CONICET) and of
the Argentina Automatic Control Association (AADECA).
María I. Valla (S’79–M’80–SM’97) received the electronics engineering and
Doctor in engineering degrees from the National University of La Plata, La
Plata, Argentina, in 1980 and 1994, respectively.
Currently, she is Professor in the Electrical Department at the National Uni-
versity of La Plata. Since 1980, she has been working in the Industrial Elec-
tronics, Control and Instrumentation Laboratory at the Electrical Engineering
Department of the Engineering Faculty at the National University of La Plata.
She is engaged in teaching and research in the area of power converters and ac
motor drives.
Dr. Valla is Vice-President of the IEEE Argentina Section. She is also a
member of the ADCOM of the Argentina Automatic Control Association
(AADECA) and a member of the National Research Council (CONICET) of
Argentina.