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A simplified dynamical model of mixed

eccentricity fault in a three-phase
induction motor
R. S. C. Pal and A. R. Mohanty

 fe supply frequency
Abstract— Dynamical model of a three-phase induction
motor helps in understanding the physical behavior of the go average air gap thickness
motor system. In a healthy motor, the air gap between the
stator and rotor phases remains constant. However, due
i column vector representing current
to eccentricity related faults, this air gap is subjected to a J polar moment of inertia
harmonic variation. To study the effects of such
eccentricity related faults, modified winding function k integer (1, 2, 3, ….)
theory is applied to calculate the inductance values of  L inductance matrix
stator and rotor phases. The computational complexity of
the model increases when the rotor bars come into picture Llr leakage inductance of rotor
since the number of inductance values to be calculated Lls leakage inductance of stator
increases at every time step. This paper proposes a
simplified technique to reduce this computational effort. Lo no-load mutual inductance
Instead of considering the rotor bars, the circumference of
the rotor periphery is divided into three phases. A suitable
nd order of dynamic eccentricity
turns function that explains the physical phenomenon of p number of pole pairs
eccentricity has been used. The effect of rotor bars has
been taken into account in the turns function. Also, R total number of rotor bars
saturation effects that arise due to different load
conditions have been considered. Accordingly, a closed-
r  resistance matrix
form expression for inductances has been derived. r resistance per phase
Magnetic coupled circuit approach has been implemented
to develop the dynamical model of the motor system. The
s slip
proposed model has been validated by finite element Te electromagnetic torque
method and experimental results.
TL load torque
Index Terms— Closed-form expression, mixed v column vector representing voltage
eccentricity, modified winding function.
m mechanical rotation of rotor
NOMENCLATURE r electrical rotation of rotor
e degree of mixed eccentricity  column vector representing flux
ed degree of dynamic eccentricity  column vector representing rate of change of
flux
est degree of static eccentricity  supply frequency harmonics (1,3,5,…)
F mechanical damping coefficient m angular velocity of rotor
superscripts ‘a’, ‘b’ and ‘c’ phases respectively
‘a’, ‘b’, ‘c’
subscripts stator and rotor respectively
‘s’ and ‘r’
R. S. C. Pal and A. R. Mohanty are with the Acoustics and Condition
Monitoring Laboratory, Department of Mechanical Engineering, Indian I. INTRODUCTION
Institute of Technology Kharagpur, Kharagpur 721302, India (e-mail:
ranjan_pal@iitkgp.ac.in; amohanty@mech.iitkgp.ac.in).
I NDUCTION motors are the major prime movers used in the
industry. Any breakdown that occurs in an induction motor
takes a toll on the production rate of the machine [1]. Defects
arising in a motor can either be electrical (broken rotor bars

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and stator winding faults) or mechanical (air gap eccentricity
and bearing failure). Air gap eccentricity accounts for nearly
12 percent of the total motor failures [2]. Eccentricity can be
classified into two types: (a) static eccentricity (SE) wherein
the position of the minimum air gap is fixed in space; and (b)
dynamic eccentricity (DE) in which, this position changes
with time. The existence of both is termed as mixed
eccentricity (ME). The various causes [3] for this condition
can be accounted for ovality of the stator core, incorrect stator-
rotor alignment at commissioning stage, misalignment, bent
rotor shaft, bearing wear, mechanical resonance at critical
speed, etc. If this is not detected well beforehand, then it
would lead to stator-rotor rub resulting in catastrophic failure
of the system.
Condition-based monitoring is the need of the hour to
prevent failure of the machine. Many techniques have been
reported in the literature to diagnose motor faults [4]-[6]. Out
of all these, motor current signature analysis (MCSA) is used
as an effective tool to identify the air gap eccentricity faults
[7], [8]. ME leads to an unbalanced magnetic pull causing
pulsating radial electromagnetic forces. As a result, additional
frequency components gets induced in the current spectrum.
These frequency components [9], [10] are represented as:
f eccentricity  (k R  nd ) f m   f e .
where, f m is rotor frequency, nd  0 in the case of SE,
nd  1, 2,3,... in case of DE. The expression of principal slot
harmonics ( PSHs ) are obtained by substituting nd  0 , k  1 and
  1 in (1) and represented as:
PSH1,2  R f m  f e .
Sidebands ( SB) about ( PSH1 ) are obtained by substituting nd  1 ,
k  1 and   1 in (1) and expressed as:
PSH1 _ SB  PSH1  f m .
For situations where ME arises, sidebands [11], [12] can be
seen around supply frequency given as:
f mixed eccentricity  f e  k f m .
where, f m   1  s  / p  f e .
Various dynamical models have been proposed by
researchers to understand the behavior of air gap eccentricity.
The finite element method (FEM) has been used to analyze the
variations in air-gap flux due to rotor eccentricity [13].
However, the major drawback with FEM is that it demands
detailed construction of the motor geometry. Researchers have
also developed the winding function approach (WFA) to
determine the inductance values of a healthy motor [14], [15].
However, due to eccentricity WFA can no longer be applied
since stator and rotor inductance tends to change with rotor
position. Hence, the modified winding function approach
(MWFA) has been presented [15], [16]. As compared to FEM,
this methodology provides flexibility to understand the motor
dynamics because detailed motor geometry is not required
[17].
The dynamical model involves multiple coupled circuit
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approach (MCCA) so as to establish a relationship between
voltage, current, and flux [14]-[16]. This involves ‘3’ stator
phases and ' R ' rotor bars [12], [18], [19]. In MWFA, the stator
and rotor inductances need to be calculated at every time step.
This calculation involves a numerical solution of definite
integral which is a product of turns function, modified
winding function, and inverse air gap function. In order to
overcome this, look-up tables are formulated in which the
inductance values are stored in a memory and later pulled out
during simulation [20], [21]. However, different look-up
tables are created for different values of eccentricity and rotor
position. To avert such problems, researchers have proposed
an analytical closed-form expression for the stator and rotor
inductances [22]-[26]. However, rotor loop equations come
into picture while developing  Lss 33 ,  Lsr 3R and  Lrr RR matrices.
As a result, the computational time to simulate the system
increases. Moreover, the area of the teeth region that
encompasses the air gap is small as compared to the stator and
rotor core area. As a result, the magnetic flux density increases
and causes teeth saturation. None of the above mathematical
models [22]-[26] could explain the saturation effects along
with air gap eccentricity and thus violates the actual physical
system. Also, stator and rotor inductances tend to change
(1) because of saturation and hence varies with load. However,
the corresponding effect of inductance variations in the current
spectrum has not been discussed [27].
The objective of this paper is to present a simplified
analytical closed-form expression for the inductance values
that can also justify the effect of saturation in the presence of
air gap eccentricity. MWFA and MCCA have been used to
(2) formulate the mathematical equations. However, unlike
considering rotor bars, the rotor periphery is assumed to be
divided into three phases, which are (2 / 3) rad apart. So,
there are ‘3’ stator phases and ‘3’ rotor phases. Hence, the
(3)
number of inductance values decreases as summarized in
Table I. Due to this, the computational time decreases
considerably as compared with considering ‘R’ rotor bars.
Simulation has been carried out in MATLAB/Simulink
(4)
environment. Also, the accuracy of the proposed analytical
model has been validated by comparing the results with the
FEM and laboratory experiments.
TABLE I
NUMBER OF ELEMENTS IN INDUCTANCE MATRICES
Considering ‘R’ rotor
Matrix Present Study
bars
 Lss  : Symmetric Matrix 6 6
 Lrr  : Symmetric Matrix 0.5  R  ( R  1) 6
 Lsr  : Asymmetric Matrix 3 R 9
This paper is organized as follows: governing differential
equations of the motor-load system are discussed in Section II.
Section III briefs the inverse air gap function for the
eccentricity condition. Section IV discusses the analytical
calculation of inductances pertaining to stator and rotor
phases. In Section V, the simulation of the analytical model is
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Stator
Rotor
Stator
X X’ X X’

(a) Static Eccentricity (b) Dynamic Eccentricity

Fig. 2. Relative position of stator and rotor where, axes of stator, rotor
and physical rotation passes through ‘Os’, ‘Or’ and ‘Ow’ respectively for
(a) static eccentricity, and (b) dynamic eccentricity.

Fig. 1. Equivalent stator and rotor phases.

presented. Section VI presents the FEM modeling of the

motor. Section VII describes the experimental set-up. Results
have been discussed in detail in Section VIII. Finally, the Fig. 3. Resultant degree of eccentricity.
conclusion is drawn in Section IX.

II. GOVERNING EQUATIONS OF THE SYSTEM The electro-mechanical equation governing the load torque
of the system are:
Following assumptions are made in this analysis:
dm
1) Magnetic saturation of the stator and rotor slots have been Te  J  Fm  TL . (12)
considered. dt
2) Circumference of the squirrel cage rotor is divided into d
m  m . (13)
three phases as illustrated in Fig. 1. dt
3) Input supply voltage to the motor terminals is sinusoidal. r
4) The skewing effect of rotor bars is neglected since the m  . (14)
p
stator-rotor axes are not axially inclined to each other.
MCCA is used to formulate the current-voltage-flux inter-
relationship for stator and rotor phases. These equations can III. INVERSE AIR GAP FUNCTION
be represented in vector-matrix [28] as: As load increases, the reluctance of the magnetizing paths
tends to increase which leads to a decrease of inductance
v   r  i    .
abc
s s
abc abc
s
abc
s (5) values. Considering saturation effect, the inverse air-gap
function ( g sat 1 ) can be expressed as follows [29]:
v   r  i    .
abc
r r
abc abc
r
abc
r (6)
g sat 1  g o 1 1     cos(2 p (   e ))  . (15)
    L  i    L  i .
abc
s
abc
ss
abc
s
abc
sr
abc
r (7)
2( K sat  1)
    L  i    L  i .
abc
r
abc
rs
abc
s
abc
rr
abc
r (8) 
3K sat
. (16)
T
 Lrs    Lsr  .
abc abc
(9) where,  is the angle traversed along the stator inner surface,
The electromagnetic torque can be evaluated from magnetic e is the position of air-gap flux density, and Ksat is the
co-energy stored in the system as: saturation factor, which is the ratio of the maximum flux
Wco 
2
is   Lss  is   2 is   Lsr  ir 
1 abc t abc abc 1 abc t abc abc density at the teeth region encompassing the air gap to that of
the flux density at the beginning of saturation. It is to be noted
(10) that K sat depends on the load, and its value increases with an
 irabc   Labc
rs  is   ir   Lrr  ir  .
1 t 1 abc t abc abc
 abc   increase in load.
2 2
The different eccentricity types are illustrated in Fig. 2. Due
 W  to mixed eccentricity, the modified air gap function ( g )
Te   co  .
  m  (is ,ir constants) varies harmonically in space [30], [31] represented as such:
(11)
g   g o 1  est cos   ed cos(   m )  . (17)

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where, est and ed are represented by (18) and (19) In the case of a healthy motor, the turns function is
respectively as such: independent of the rotor position [31]-[33]. In the present
work, it is assumed to be placed harmonically in space and
Os Ow mathematically represented as:
est  . (18)
g0 N N
nsa, h    cos . (27)
Ow Or 2p 2p
ed  . (19)
g0 where, N is the number of windings and subscript h denotes a
healthy state. With the inception of mixed eccentricity, turns
The resultant of est and ed is represented by (20) and
function changes. Unbalanced magnetic pull leads to PSHs ,
vectorially displaced in space by angle  , as shown in Fig. 3
and expressed by (21): which is a function of rotor bars and mechanical angular
velocity of the rotor. The turns function for ‘a’ phase of stator
Os Or gets modified as:
e  (est ) 2  (ed ) 2  (2est ed cos  m ). (20)
g0 N N  
1  q 
nsa    cos  1  e  2 cos  r 
 ed sin  m  2p 2p  q 1,3,5,... q  p 
  tan 1  . 21) (28)
 est  ed cos  m  e  R  
 cos  r   .
1
The net resultant inverse air gap function ( g ) by combining R  p 
(15) and (17) can be expressed as [27]: Turns function for ‘b’ and ‘c’ phases of the stator is calculated
by phase-shifting given as:
go 1 1     cos(2 p(   e ))
g 1  . (22)  2 q r 2 R r 2 
1  est cos   ed cos(   m ) nsb  nsa    ,  ,  . (29)
 3 p 3 p 3 
 4 q r 4 R r 4 
IV. INDUCTANCE CALCULATION nsc  nsa    ,  ,  . (30)
 3 p 3 p 3 
The inductance values in (7) and (8) are calculated by an
analytical expression. Because of eccentricity, PSHs get Similarly, due to the presence of mixed eccentricity, turns
dominant in the current spectrum. Accordingly, turns function function of rotor phase can be written as:
and modified winding function is defined. The turns function
N N  
1  q 
signifies the winding distribution in space, and the modified nra    cos(   r ) 1  e  2
cos  r 
winding function denotes the magnetomotive force effect 2p 2p  q 1,3,5,... q  p 
across the winding [32]. Turns function for i phase is th

e  R 
composed of a dc component and a harmonic component that  cos  r  . (31)
varies in space [33]-[35]. The average value of the modified R  p 
winding function for the i phase is expressed as:
th

Turns function for ‘b’ and ‘c’ phases of the rotor can be
1
2 written by phase-shifting of (2 3) rad and (4 3) rad
M i ( , m )   n ( , ) g 1d .
i
(23) respectively in (31). By substituting (28)-(31) in (23) and (25),
2 g 1
m
0
expressions of the average value and instantaneous value of
the modified winding function of the respective phases can be
where, n  ,m  is the turns function of i phase,
i th
g 1 is the evaluated. The calculated modified winding functions along
average value of inverse air gap function shown as: with the turns function of the respective phases and (22)
2 should be substituted in (26). The solution of the definite
1
g 1  g d .
1 integral (26) results in self and mutual inductance values of all
(24)
2 0 the phases. It is to be noted that for i  j , the Lls and Llr
The modified winding function for i th phase is represented as: inductances should be added to the stator and rotor self-
inductance respectively. Equation (26) is commutative [36],
M i  ,m   ni  ,m   M i  , m  . (25) [37]. Hence, it can be written as:
The inductance value of i th phase due to current flowing in j th Lij  L ji . (32)
phase is denoted as:
2 V. SIMULATION OF THE ANALYTICAL MODEL
Lij  0 rl  ni ( , m ) M j ( , m ) g 1 d . (26) The analytical model proposed in the present study is
0
simulated in MATLAB/Simulink environment as shown in
where, 0 is air gap permeability, r is stator inner radius, l is Fig. 4. The motor parameters are presented in Table II. The
axial stack length.

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Rotor slot
Start
Stator slot Rotor core
Input Rated Voltage

at = , = Stator core
(i.e. Rotor is at rest)

Determine Inductances:
by MWFA

Determine Currents and Fluxes

Update Inductances
Input Determine

-+
Air-gap Shaft
Determine ,

No
Fig. 5. 2‐D FE model of three-phase induction motor.
Simulation time
terminated?
Yes consideration is 10% SE (est = 0.1) and 10% DE (ed = 0.1).
End The value of K sat can be selected based on trial and error
Fig. 4. Flowchart for simulation in MATLAB/Simulink. method [38]. However, in the present study, this value is
determined from the flux density results obtained from FEM
TABLE II simulations. The value of K sat for low load, half load and full
PARAMETERS OF THREE PHASE INDUCTION MOTOR load are 1.628, 1.661 and 1.682, respectively.
Parameter Value Units
𝑉𝑅𝑎𝑡𝑒𝑑 190 V VI. MOTOR MODELING USING FEM
𝑓𝑒 50 Hz The dynamical behavior of the motor in terms of FEM
𝑟𝑠 11.37 Ω
𝑟𝑟 4.58 Ω modeling makes use of Maxwell’s equation wherein the
𝐿𝑙𝑠 0.0264 H electric and magnetic circuits are coupled with each other
𝐿𝑙𝑟 0.0198 H [34]. Table II provides the motor parameters used for FEM
𝐿𝑜 0.144 H
𝑅 24 -
modeling. ANSYS MAXWELL software is used for
𝐹 0.000016 Nms/rad simulation purpose. The static and dynamic eccentricity is
𝑔𝑜 1 mm created by off-centering the stator and rotor axis from the
𝐽 0.0101 Kg-m2 center of rotation. The two‐dimensional (2D) finite element
p 1 -
(FE) model of the motor created with a total of 8490 meshed
Stator outer diameter 128 mm
elements is as shown in Fig. 5. Every element is represented
Stator inner diameter 66 mm
by a set of partial governing differential equations [34].
𝑙 140 mm
Stacking factor 0.95 - Silicon steel is used as material for stator and rotor core
Rotor outer diameter 64 mm because it is a soft magnetic material. The motor characteristic
Rotor inner diameter 20 mm curves i.e. current, torque, self-inductance and mutual-
inductance obtained from the FEM simulation has been
simulation is initiated by a three-phase sinusoidal voltage discussed in Section VIII and compared with the proposed
supply. At t  0 s , the rotor starts from rest and hence the value analytical model.
of r  0 rad . The inductances are calculated by the procedure,
VII. EXPERIMENTAL SET-UP
as mentioned in Section IV. At every time step, 21 such
The experimental setup is shown in Fig. 6. A 242.7 kW
inductance values are calculated as described in Table I.
three-phase Wye(Y) connection induction motor with motor
Equations (5)-(8) form a set of coupled linear ordinary
misalignment system manufactured by Spectra Quest
differential equations with initial condition of fluxes as
Incorporation is used for laboratory experimentation. The
s , s , s , r , r , r   0,0,0,0,0,0Wb. As a result, at every time
a b c a b c
details of the electrical and mechanical parameters of the
step, the fluxes and currents are determined. The motor are presented in Table II. The motor is operated by
electromagnetic torque is then determined by (10) and (11). using scalar controlled closed-loop variable frequency drive
The rotor speed and its position are determined by (12) and (VFD) that uses voltage source inverter (VSI). The input
(13), respectively. The time step used to simulate the motor is signal to the VFD is a single-phase AC voltage, and output is
(1/4096) s. The degree of eccentricity for the motor under 3 phase AC. The amplitude and frequency of the output

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Three Phase
Induction Motor
with Rotor Drive
Misalignment System End
Non-Drive
Bearing Bearing
End
Housing Loader
Bearing
Housing

Current
Probe
Tektronix
A622 Flexible
Coupling

Variable
Frequency
Drive

(a) (b)

SRS low pass Personal

Current Probe DAT Recorder
Filter Computer with
Tektronix A622 Sony PC 208 Ax
SR 650 NI 6110 A/D card

(c)
Fig. 6. (a) Current probe measuring the current, (b) experimental setup, (c) line diagram for data acquisition system.

voltage are governed by a 16-bit microprocessor controlled TABLE III

pulse width modulation (PWM) inverter. The insulated-gate CASE I: FREQ. COMP. FOR LOW LOAD AT HIGH VOLT. (𝐾𝑠𝑎𝑡 = 1.628)
bipolar transistor (IGBTs) that are used for PWM generation %
have a low noise carrier frequency of 10 kHz. With the help of % error
error
Analy. bet.
PWM, volts per hertz (V/f) ratio is maintained constant. Freq. Exp. FEM
Model
bet.
Analy.
Hence, the problem of under-flux and over-flux is avoided and Comp. (Hz) (Hz) FEM
(Hz) and
and
accordingly current is supplied to the motor. The rotor shaft of Exp.
Exp.
the motor is coupled to the driven shaft by a flexible coupling. 𝑓𝑒 + 𝑓𝑚 99.66 99.60 99.70 0.06 0.04
The bearing loader of 5.09 kg mass and diameter of 126.05 𝑃𝑆𝐻1 1142.24 1141.05 1142.80 0.10 0.05
mm is used to provide a constant load torque of magnitude 𝑃𝑆𝐻2 1241.57 1241.04 1242.80 0.04 0.10
0.108 Nm. The current probe (Tektronix A622) is kept around 𝑃𝑆𝐻1 − 𝑓𝑚 1092.91 1090.65 1093.10 0.20 0.01
𝑃𝑆𝐻1 + 𝑓𝑚 1191.91 1190.65 1192.50 0.10 0.05
the phase terminal of the motor to measure the instantaneous
current. This current signal is recorded in Sony PC 108Ax
DAT (Digital Audio Tape) for a time duration of 15 s at a TABLE IV
sampling frequency (Fs) of 4096 Hz. It is passed through CASE II: FREQ. COMP. FOR HALF LOAD AT HIGH VOLT. (𝐾𝑠𝑎𝑡 = 1.661)
Stanford Research Systems (SRS) low-pass filter SR650 and Freq. Comp.
FEM Analy. % error bet.
then acquired in a computer using an NI 6110 A/D card. (Hz) Model (Hz) Analy. and FEM
Various methods have been discussed in the literature to 𝑓𝑒 + 𝑓𝑚 98.91 98.85 0.06
𝑃𝑆𝐻1 1124.06 1122.40 0.14
artificially induce static and dynamic [39] eccentricity in a 𝑃𝑆𝐻2 1221.89 1222.40 0.04
healthy motor for laboratory experiments. In the present work, 𝑃𝑆𝐻1 − 𝑓𝑚 1072.97 1073.55 0.05
the end bells and the eccentric sleeves of the motor is custom 𝑃𝑆𝐻1 + 𝑓𝑚 1172.97 1171.26 0.14
made. The static eccentricity is introduced by introducing this
TABLE V
eccentric sleeve in the end bells. The end bells were initially
CASE III: FREQ. COMP. FOR FULL LOAD AT HIGH VOLT. (𝐾𝑠𝑎𝑡 = 1.682)
heated so that the eccentric sleeve can easily be fitted inside it.
FEM Analy. % error bet.
Also, an eccentric ring is fabricated, which is introduced Freq. Comp.
(Hz) Model (Hz) Analy. and FEM
between the bearing and the shaft to create dynamic 𝑓𝑒 + 𝑓𝑚 97.19 97.39 0.20
eccentricity. 𝑃𝑆𝐻1 1083.77 1087.47 0.34
𝑃𝑆𝐻2 1178.27 1187.47 0.78
𝑃𝑆𝐻1 − 𝑓𝑚 1036.47 1040.17 0.35
VIII. RESULTS
𝑃𝑆𝐻1 + 𝑓𝑚 1130.97 1134.87 0.34
Experimentation (Exp.) was carried out for case (I) i.e. low
load of 0.108 Nm at rated/high voltage of 190 V. TABLE VI
Accordingly, the simulation of the proposed analytical CASE IV: FREQ. COMP. FOR LOW LOAD AT LOW VOLT. (𝐾𝑠𝑎𝑡 = 1.628)
(Analy.) model for the same case (I) in MATLAB/Simulink FEM Analy. % error bet.
was carried out using the Intel Core i5 processor, 3.2 GHz, Freq. Comp.
(Hz) Model (Hz) Analy. and FEM
12GB RAM computer. The model was simulated for a time 𝑓𝑒 + 𝑓𝑚 59.66 59.71 0.08
duration of 20 s with a time step of (1/4096) s. Thus, the total 𝑃𝑆𝐻1 681.23 682.56 0.19
𝑃𝑆𝐻2 741.23 742.55 0.17
number of iterations is 81920. As per Table I, modeling the 𝑃𝑆𝐻1 − 𝑓𝑚 650.82 652.84 0.31
motor by considering ‘R=24’ rotor bars requires a calculation 𝑃𝑆𝐻1 + 𝑓𝑚 710.81 712.20 0.19
of 378 inductance values in every iteration and hence the

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(a) (b)
Fig. 7. (a) Time domain data, (b) FFT of the current for case (I) i.e. low load at high voltage.

(a) (b)
Fig. 8. (a) Time domain data, (b) FFT of the current for case (II) i.e. half load at high voltage.

(a) (b)
Fig. 9. (a) Time domain data, (b) FFT of the current for case (IIII) i.e. full load at high voltage.

simulation time is 354.88 s. However, in the present study, as
per Table I, 21 inductances values are calculated in every
iteration and require 81.42 s to complete the simulation. Thus,
the computational time reduced by 77.05%. Current data in the
steady-state region is used to evaluate the Fast Fourier
Transform (FFT). Hanning window is applied to avoid
artificial discontinuity and reduce energy leakage. It also
provides the best frequency estimation [3]. The current signal
of the stator ‘a’ phase (isa ) in the time domain for the case (I)
is shown in Fig. 7(a). Accordingly, different frequency
components (Freq. Comp.) at high voltage (volt.) that can be
seen in Fig. 7(b) are presented in Table III. For the analytical
model, these frequency components can be calculated as
follows: fe  50 Hz, R  24, f m  49.70 Hz, and hence, Rfm 
1192.80 Hz. The odd harmonics of line frequency can be
observed at fe  50 Hz, 3 fe  150 Hz, and so on. The rotor
frequency sidebands, as given by (4), can be seen at f e  f m
=50+49.70 Hz = 99.70 Hz. Principal slot harmonics, as given

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(a) (b)
Fig. 10. (a) Time domain data, (b) FFT of the current for case (IV) i.e. low load at low voltage.

(a) (b)
Fig. 11. (a) Torque analysis, and (b) speed analysis under different load conditions at high voltage.

(a) (b)
Fig. 12. (a) Self-inductance, and (b) mutual-inductance for stator phase ‘a’ and ‘b’ under different load conditions at high voltage.

by (2), can be observed at PSH1,2 =1192.80±50 Hz = 1142.80
Hz, 1242.80 Hz. Sidebands about PSH1 as expressed by (3),
are PSH1 _ SB =1142.80 ± 49.70 Hz = 1093.10 Hz, 1192.50
Hz. To evaluate the accuracy of the analytical model, a
detailed parametric study has been carried out and compared
with the FEM results. The model is subjected to another three
cases as follows: case (II): half load (0.4 Nm) at high voltage
(190 V); case (III): full load (0.8 Nm) at high voltage (190 V);
and case (IV): low load (0.108 Nm) at low voltage (114 V).
The current data in the time domain and its frequency
spectrum of stator phase ‘a’ for cases (II), (III) and (IV) have
been presented in Fig. 8, Fig. 9, and Fig. 10 respectively and
the corresponding values of the frequency components have
been given in Table IV, Table V, and Table VI, respectively.
The error generated in the values of frequency components is
negligible. However, in Fig. 7(b) it is observed that the
amplitude of frequency components for experimental data is
slightly more than that of the FEM and analytical model. This
is attributed to the fact that VFD supplies voltage in the form

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(a) (b)
Fig. 13. (a) Torque analysis, and (b) speed analysis under different voltage conditions at low load.

(a) (b)
Fig. 14. (a) Self-inductance, and (b) mutual-inductance for stator phase ‘a’ and ‘b’ under different voltage conditions at low load.

of pulses and not a perfect sinusoid thus generating harmonics
of larger amplitude.
The torque and speed nature for different load conditions at
high voltage have been depicted in Fig. 11(a) and Fig. 11(b)
respectively. It is to be noted that with an increase in load, the
FEM results of torque and speed curves in the transient region
slightly deviates from the analytical model. This is due to the
fact that magnetic material is non-linear and in the transient
region it has to overcome the dynamic load torque contributed
by combined motor-load inertia. This leads to more of
hysteresis loss since the current intake is high. However, once
in the steady-state region, the analytical and FEM results are
similar. Since the spectrum that is being monitored is under
the steady-state region, the variation in the transient region
does not affect the analysis. The stator self-inductance and
mutual-inductance for one revolution of the rotor have been
presented in Fig. 12(a) and Fig. 12(b) respectively. It can be
observed that the self and mutual inductance values tend to
decrease with an increase in load since the reluctance of the
magnetic material increases.
During voltage variations, V/f ratio is maintained constant.
In the present study, this ratio is V/f = 190V/50Hz =
114V/30Hz. From Fig. 13(a), Fig. 13(b), Fig. 14(a), and Fig.
14(b) it can be observed that for voltage variations at the same
load condition there are negligible differences in the torque,
speed, self- inductance, and mutual-inductance respectively.
This is because, by maintaining a constant V/f ratio, the flux
generation associated with the phases is maintained constant
which is the fundamental principle of VFD.
IX. CONCLUSIONS
A simplified dynamical model of three-phase induction
motor with mixed air gap eccentricity has been presented in
this paper. This has been achieved by deriving a closed-form
analytical equation to calculate the inductance values. Unlike
considering rotor bars, the rotor periphery has been divided
into three phases. As a result, the order of inductance matrices
reduces and less number of computations are required. The
presence of PSHs and the lower frequency components have
been justified by considering a suitable turns function. The
saturation effect of the motor has been considered because
saturation exists inherently in a motor. The proposed model is
based on the modified winding function approach. Constant
load torque is applied to the motor. Since the load is time-
invariant, Fast Fourier Transform has been applied as a signal
processing tool. Frequency components at rotor mechanical
speed can be observed around the fundamental frequency and
PSHs. The efficacy of the proposed model has been validated
with experimental results and FEM.

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Ranjan Sasti Charan Pal received B.E. degree

in mechanical engineering from Maharashtra
Institute of Technology, Pune, India, in 2015,
and M.Tech. degree in machine design from the
National Institute of Technology (NIT), Durgapur,
India, in 2018. His research interests are
machinery condition monitoring and signal
processing.
He is currently a Doctoral Researcher in the
Acoustics and Condition Monitoring Laboratory,
Mechanical Engineering Department, Indian Institute of Technology
(IIT) Kharagpur, India. He has worked in Sandvik Asia Private Limited,
Pune, India as a Productivity Improvement Engineer from 2015 to
2016.
Mr. Pal is a Gold Medalist of NIT Durgapur, 2016-18 M.Tech. Batch.

Amiya Ranjan Mohanty received the

B.Sc.Engg. (Hons.) degree in mechanical
engineering from the National Institute of
Technology, Rourkela, India, in 1986, and
M.Tech. degree in the area of machine
design from the Indian Institute of
Technology (IIT), Kharagpur, India, in
1988. He has received his Ph.D. degree in
the area of noise control from the
University of Kentucky, Lexington, in 1993.
He was with the Ray W. Herrick Laboratories, School of Mechanical
Engineering, Purdue University, West Lafayette, IN, as a Postdoctoral
Fellow, working in the area of active noise control. His research
interests are in the areas of machinery condition monitoring,
underwater acoustics, signal processing, acoustics and noise control.
Presently, he is a Professor and Head of the Department of
Mechanical Engineering at IIT Kharagpur, India. He has worked in the
R&D Division of Larsen and Toubro Ltd., Mumbai, India, in the area of
machinery condition monitoring. He has also worked in Ford Motor
Company, Detroit, MI, in the area of automobile Computer Aided
Engineering/Noise Vibration & Harshness (CAE/NVH). His sponsored
research projects in the areas of noise control and machinery condition
monitoring are funded by many government agencies and industries.
He has more than 150 journal and conference publications, four book
chapters and one book on “Machinery Condition Monitoring: Principles
and Practices”, CRC Press, (2014), to his credit.
Prof. Mohanty is also currently holding the Shyamal Ghosh and
Sunanda Ghosh Chair Professor position at IIT Kharagpur. He is an
elected fellow of the Indian National Academy of Engineering,
Acoustical Society of India, Condition Monitoring Society of India,
International Society of Engineering Asset Management, Institution of
Engineers (India). He has received several awards like the
Chancellor’s Award for Outstanding Teaching at the University of
Kentucky (1993), Rais Ahmed Memorial (2009) and M. S. Narayanan
Memorial (2015) Award of the Acoustical Society of India, Star
Alumnus Award of NIT Rourkela (2015), Dr. V. Bhujanga Rao
Endowment Lecture Award (2019) of the Condition Monitoring Society
of India. He is also the recipient of the Overseas Academic Programme
(OAP)-inbound fellowship of the National University of Singapore.

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