CH 5

THREE PHASE INDUCTION MACHINES
 Feature of Three-Phase Induction Machine

 Motoring – operate below synchronous speed
 Generating – operate above synchronous speed
 Much less expensive compared to equivalent size
of synchronous or dc machine
 Require very little maintenance
 Speed is not easy to control
 Large starting current, six to eight times their full
load values
 Operate at poor power factor when lightly
loaded
Energy Conversion Lab

ROTATING MAGNETIC FIELD AND SLIP
 Rotating mmf field in stator winding a
F (θ , t ) =
34 N
e
I m cos(θ ae − ωet )
2π P
a
 Synchronous speed radian per second

2
ωsm = ωe
P
 Slip speed between rotor and synchronous rotating stator
field
 slip speed = ωsm - ωrm
 Per unit slip:
ω − ωrm ωe − ωr
s = sm =
ωsm ωe
 Relations between rotor speed and synchronous speed
 ωrm + sωsm = ωsm
 rotor itself rotates at ωrm, rotor current establish mmf field rotates at
sωsm relative to rotor, therefore, absolute speed of rotor mmf rotates
at ωsm
CIRCUIT MODEL OF 3φ INDUCTION MACHINE
 Stator voltage equations
dλas dλbs dλcs
vas = ias rs + , vbs = ibs rs + , vcs = ics rs +
dt dt dt
 Rotor voltage equations
dλar dλbr dλcr
var = iar rr + , vbr = ibr rr + , vcr = icr rr +
dt dt dt
 Flux linkage equations
λas  λar 
λabc     b
s 
  b
[λ ] [ ]
abc abc abc
L L i abc
= λs  λr
abc
= λr 
 abc  =  abc abc   abc 
s ss sr s 3×1 3×1
λc  λc 
λr  6×1  Lrs Lrr  6×6 ir  6×1  s  3×1  r  3×1
 Winding inductances (stator-stator, rotor-rotor)
 Lls ( r ) + Lss ( rr ) Lsm ( rm ) Lsm ( rm ) 
 
Labc
ss ( rr ) =  Lsm ( rm ) Lls ( r ) + Lss ( rr ) Lsm ( rm ) 
 L L L + L 
 sm ( rm ) sm ( rm ) ls ( r ) ss ( rr ) 
 Winding inductances (stator-rotor)
  2π   2π 
cos θr cos θr +  cos θr − 
 Lasr 

 3   3 
 
  2π 2π 
Labc
sr [ ]
=  Lbsr  = Labc
rs
t  
= Lsr cos θr −

 cos θr

cos θr + 
3 
   
 Lc  3

 sr    2π   2π  
cos θr + 3  cos θr −  cos θr 
    3  
 Machine model in arbitrary qd0 reference frame

 transformation equation  fq   fa 
 f d  = [Tqd 0 (θ )] f b 
   
 f0   f c 
 
 qd0 transformation matrix
 2π  2π   
 
cos θ cos θ − 3  cos θ + 3   cos θ sin θ 1 
      
[Tqd 0 (θ )] = 23 sin θ sinθ − 23π  sinθ + 23π   [Tqd 0 (θ )]−1 = cosθ − 23π  sinθ − 23π  
1 
          
 1    2π   2π  
cos θ + 3  sin θ + 3 
1 1 1 
  2       
 2 2 

 Stator winding voltage equations

 abc frame
vsabc = pλabc + r abc abc
s is
[ ]
s
 transform to qd0 frame vsqd 0 = Tqd 0 (θ ) vsabc

(
[Tqd 0 (θ )]−1 vsqd 0 = p [Tqd 0 (θ )]−1 λqd
s
0
)
+ rsabc [Tqd 0 (θ )]−1 isqd 0
(
vsqd 0 = [Tqd 0 (θ )] p [Tqd 0 (θ )]−1 λqd
s
0
+ [)
Tqd 0 (θ )]rs
abc
[Tqd 0 (θ )]−1 qd 0
is
= [Tqd 0 (θ )] p ([Tqd 0 (θ )] λs
−1 qd 0
)+ r s
qd 0 qd 0
i s

(
p [Tqd 0 (θ )]−1[λqd
s ]
0
)
 
 - sinθ cosθ 0 
 
  2π   2π   dθ qd 0
= − sin θ −  cosθ −  0  [λs ] + [Tqd 0 (θ )]−1[ pλqd
s ]
0
  3   3   dt
  2π   2π  
− sin θ +  cosθ +  0 
  3   3  
 Stator winding voltage equations

 transformation to qd0 frame
vsqd 0 = [Tqd 0 (θ )] p[Tqd 0 (θ )]−1 λqd
s
0
+ rs
qd 0 qd 0
is
vsqd 0 = [Tqd 0 (θ )] p[Tqd 0 (θ )]−1 λqd

s
0
+ rsqd 0isqd 0
  2π   2π   
cos θ cos θ −  cos θ + 
 
 3   3   - sinθ cosθ 0 
  
2  2π   2π     2π   2π  
= sin θ sin θ −  sin θ +    − sin θ −  cos θ −  0  ω [λqd
s
0
]
3
  3   3 
  3   3  
 1 1 1   2π   2π  
 2  − sin  θ +  cos θ +  0 
 2 2   3   3  
+ [Tqd 0 (θ )][Tqd 0 (θ )]−1[ pλqd

s
0
] + rsqd 0isqd 0

qd0 VOLTAGE EQUATIONS
 Stator voltage equations

0 1 0 
vsqd 0 = ω  − 1 0 0λqd 0
+ pλqd 0
+ r qd 0 qd 0
is
  s s s
0 0 0 
 Rotor voltage equations

0 1 0 
v qd 0
( ) 
= ω − ωr − 1 0 0 λr + pλr + rr ir
qd 0 qd 0 qd 0 qd 0
r  
0 0 0 

qd0 FLUX LINKAGE EQUATIONS
 Stator flux linkage equations

λqd
s
0
= [Tqd 0 (θ )]Labc
ss [Tqd 0 (θ )] is
−1 qd 0
+ [Tqd 0 (θ − θ r )]Labc
sr [Tqd 0 (θ − θ r )] ir
−1 qd 0
 3  3 
L +
 ls 2 ssL 0 0   2 Lsr 0 0
   
= 0 Lls + Lss 0 isqd 0 + 0 0 irqd 0
3 3
Lsr
 2   2 
0
 0 L 
ls 
0
 0 0
   
 Rotor flux linkage equations

λqd
r
0
= [Tqd 0 (θ − θ r )]Labc
rs [Tqd 0 (θ − θ r )] is
−1 qd 0
+ [Tqd 0 (θ − θ r )]Labc
rr [Tqd 0 (θ − θ r )] ir
−1 qd 0
3   3 
 2 Lsr 0 0  Llr + Lrr 0 0 
2
   
3 3
= 0 Lsr 0 isqd 0 + 0 Llr + Lrr 0 irqd 0
 2   2 
0 0 0 0 0 Llr 
   
   
qd0 EQUIVALENT CIRCUIT IN ARBITRARY FRAME
ωλds L (ω-ωr)λdr
L
ωλqs L L (ω-ωr)λqr

qd0 STATIONARY REFERENCE FRAME
 Stator and rotor flux linkage relationships
 flux and torque equations
3 3 NS 3 NS
Lm = Lss = Lsr = Lrr ψ = ωbλ , x = ωb L
2 2 Nr 2 Nr

qd0 EQUIVALENT CIRCUIT IN ARBITRARY FRAME

qd0 TORQUE EQUATION
 Sum of instantaneous input power
 Pin=vasias+ vbsibs+ vcsics+v’ari’ar+ v’bri’br+ v’cri’cr
 Pin = (3/2)(vqsiqs+ vdsids+ 2v0si0s+v’qri’qr+ v’dri’dr+ 2v’0ri’0r)
 Torque equation
 neglect the i2r copper loss
 neglect ip(λ) terms of rate of exchange of magnetic field
energy between windings
 electromagnetic torque is developed by sum of ωλi
divided by mechanical speed
Tem =
3 P
2 2ωr
[ ]
ω (λdsiqs − λqsids ) + (ω − ωr )(λ'driqr' − λ'qridr' )
  ω (λdsiqs − λqsids ) = −ω (λ'driqr' − λ'qridr' )

torque equations can be
expressed in stator or rotor variable forms
Tem =
3P
22
[λdsiqs − λqsids ] =
22
( [
λqridr − λ'driqr' )
3P ' '
]
qd0 TORQUE EQUATION
 Torque equation
 resistive element is with copper loss
 reactance is with magnetic field energy
 speed voltage term is with mechanical work
 we can express torque with speed voltage terms
 definition of speed voltage
 Eqs = ωλds, Eds = -ωλqs
 E’qr = (ω-ωr)λdr, E’dr = - (ω-ωr) λ’qr
 steady-state torque is the real power absorbed by these
four speed voltage sources
Tem =
3 P
2 2ωr
[
Re (Eqs − jEds )(iqs − jids ) + (E ' qr − jE 'dr )(iqr' − jidr' )
* *
]
Project 6-1 Arbitrary Frame Transformation
 Induction machine dq0 transformation

You are given the dq0 transformation matrix
[Tdq0(θ)] as follows,
  2π   2π 
 cos θ cos  θ −  cosθ + 
  3   3 
2 2π  2π  
[T (θ )]
dq 0 d

= sin θ sin θ − 

sin θ +  
3  3   3  
 1 1 1 
 
 2 2 2 
 derive the dq0 stator and rotor voltage equations in form
of (6.23) and (6.25)
 using the (6.9), (6.11), and (6.12) to derive the dq0 flux
vs. current equations in form of (6.29)
 plot equivalent circuit of the induction machine in
arbitrary reference frame
qd0 STATIONARY REFERENCE FRAME
 Induction machine equations in stationary frame
 used in transient studies

qd0 STATIONERY REFERENCE FRAME
 table 6.3, voltage equations

qd0 STATIONERY REFERENCE FRAME
 table 6.3, flux and torque equations

qd0 SYNCHRONOUS REFERENCE FRAME
 Induction machine equations in synchronous frame
 used in steady state stability studies

 table 6.4, voltage equations

 table 6.4, flux and torque equations

SIMULATION OF INDUCTION MACHINE
 Three phase stator voltages
 vas = vag-vsg, vbs = vbg-vsg, vcs = vcg-vsg
 3vsg = (vas+vbs+vcs)-(vag+vbg+vcg)
 qd0 stationary frame include the voltage source θ = 0

2 1 1 2 1 1   2π   2π 
v s
= vas − vbs − vcs = vag − vbg − vcg  cos θ cos  θ −  cos  θ + 
qs
3 3 3 3 3 3   3   3 
2 2π  2π  
vdss =
1
(vcs − vbs ) = (vcg − vbg )
1 [Tqd 0 (θ ) ] = sin θ s in

 θ −
3 
 s in

 θ + 
3 
3 3 3  
 1 1 1 
= (vas + vbs + vcs ) = (vag + vbg + vcg ) − vsg
1 1  
v0 s  2 2 2 
3 3
d d
vsg = Rsg (ias + ibs + ics ) + Lsg (ias + ibs + ics ) = 3( Rsg + Lsg )i0 s
dt dt
 Stator and rotor connections

 Overall scheme of stationary reference frame
Clock Mux Scope Initialize

and plot
120*pi y
omega*t
psiqs To Workspace m1
Mux
iqs
psiqr
vag Term
Vm*cos(u[1]) Qaxis
Fcn vqs Tem ias
vbg Product
Vm*cos(u[1]-2*pi/3) vds wr/wb ibs
Fcn1
v0s ics
vcg Product1 Rotor
???
Vm*cos(u[1]+2*pi/3) abc2qds qds2abc Sum
psids Tmech
Fcn2 ids
psidr
Term1
Daxis i0s
Induction Machine Simulation
in Stationary Reference Frame
Zero_seq

 Inside the abc2qds block
(6.106)
(2/3)*(u[1] - (u[2]+u[3])/2) 1
1
Fcn out_vqs
in_vag
2 Mux (u[3]-u[2])/sqrt(3) 2
in_vbg Fcn1 out_vds
3 (u[1]+u[2]+u[3])/3
in_vcg 3
Fcn2
Mux
out_v0s
1 vsg
4 50*Zb*wb Sum
s
ias+ibs+ics Integrator
1/Csg
2 1 1
vqss = vag − vbg − vcg
3 3 3
vdss =
1
(vcg − vbg )
3
v0 s = (vag + vbg + vcg ) − vsg
1
3
d
vsg = 3( Rsg + Lsg )i0 s
Energy Conversion Lab dt
 Inside the qds2abc block
(6.109)
u[1] + u[3] 1
1
Fcn out_ias
in_iqs
2 Mux -(u[1]+sqrt(3)*u[2])/2 +u[3] 2

in_ids Fcn1 out_ibs
3
-(u[1]-sqrt(3)*u[2])/2 + u[3] 3
in_i0s
Fcn2 out_ics
Mux

 Inside the q-axis block
 (6.112), (6.113), (6.117), (6.115)
1
out_psiqs
(6.112) (6.115)
psiqs Mux iqs
1 (u[1]-u[2])/xls 2
1 Mux wb*(u[2]+(rs/xls)*(u[1]-u[3]))
s out_iqs
Fcn4
in_vqs psiqs_ Mux4
Fcn
Mux
(6.117) psiqm
Mux xM*(u[1]/xls+u[2]/xplr)
Fcn3
(6.113)
Mux3 4
2 Mux wb*(u[2] +(rpr/xplr)*(u[3]-u[1]))

1 psiqr'
(6.115) out_psiqr'
s iqr'
Mux (u[1]-u[2])/xplr 3
in_(wr/wb)*psidr' psiqr'_
Fcn2
out_iqr'
Fcn5
Mux1 Mux2

 Inside the rotor block
1
in_psids 1
2 (6.118) out_Tem
in_iqs Mux Tfactor*(u[1]*u[2]-u[3]*u[4])

(6.120)
3 Tem_ 1
1/(2*H) 2
s
in_psiqs
1/s out_wr/wb
4 1/2H
Taccl
in_ids Tdamp
Domega
Mux
5
Damping
in_Tmech
coefficient

 Steady-state curve of the induction machine: simulate from ωr=0 to
ωr=ωe

 No-load startup and step load response
startup
0-50% 50-100% 100-50%

Project. 6-2 Simulation of Induction Machine
 Read carefully on project 1 in 6.11.1: operating

characteristics
 Use the simulation model parameters as page 224
to run the simulation as follow:
 (steady-state operation) plot the no-load steady-state
curve as Fig. 6.27
 (generating) when machine is running at steady state,
apply Tmech=Tb (numerically positive-generating), plot
iqs, ids, Tem, ωr , observe your results
 (motoring) when machine is running at steady state,
apply Tmech=-Tb (numerically negative-motoring), plot
iqs, ids, Tem, ωr, observe your results
 (braking) when motor has started up to its no load
speed and transients are over, reverse the sequence
of the supply voltage to the stator winding. Plot iqs, ids,
vas, ias, Tem, ωe , ωr and express your observation, also
plot ωr vs. Tem which is similar to Figure 6.29
DERIVATION OF STEADY STATE MODEL
 Steady-state induction machine equations
 stator voltage equations (on stator frame)
 2π   4π 
vas = Vms cos(ωet ), vbs = Vms cos ωet −  cs
, v = Vms cos ω
 e t − 
 3   3 
 stator current equations (on stator frame)
 2π   4π 
ias = I ms cos(ωet − φs ), ibs = I ms cos ωet − − φs , ics = I ms cos ωet − − φs 
 3   3 
 rotor voltage equations, current equations (voltage and current
rotate at a slip of s) (on rotor frame)
var = Vmr cos(sωet − θ r (0) − δ ) iar = I mr cos(sωet − θ r (0) − δ − φr )

2π  2π 

vbr = Vmr cos sωet −

− θ r (0) − δ  ibr = I mr cos sωet − − θ r (0) − δ − φr 
 3   3 
4π  4π 

vcr = Vmr cos sωet −

− θ r (0) − δ  icr = I mr cos sωet − − θ r (0) − δ − φr 
 3   3 

 Transform the above equations into stationary
reference frame qd0 equations
 q-axis aligned with a-phase stator axis
v = vqss − jvdss = Vms e jωet , i s = iqss − jidss = I ms e − jφs e jωet
Stationary frames
Rotor frame
( ) ( ) ( )
v s r = vqrr − jvdrr e jθ r ( t ) = Vmr e j ( sωet −θ r ( 0 ) −δ ) e jθ r (t ) , i s r = iqrr − jidrr = I mr e j ( sωet −θ r ( 0 ) −δ −φr ) e jθ r (t )
 rotor voltage equations, current equations
(
v r = v − jv s
qr
s
dr )=V mr e j (ωe t −δ )
, i
s
r = iqr
s
− jidr
s
= I mr e − j (δ +φr ) e jωet
 the rms time phasor
~ V ~ I at steady state : θ r (t ) = ωe (1 − s )t + θ r (0)
Vas = ms e j 0 , Ias = ms e − jφs
2 2
~ V ~ I
Var = mr e − jδ , Iar = mr e − j (δ +φr )
2 2
 rms space vector is rms time phaser times ejwt
vqss − jvdss
~ jωet s iqss − jidss ~ jωet
V − jV =
s
qs
s
ds = Vase , I qs − jI ds =
s
= Iase
2 2
vqrs − jvdrs ~ jωet s iqrs − jidrs ~ jωet
Vqr − jVdr =
s s
= Var e , I qr − jI dr =
s
= Iar e
2 2
 Stationery qd voltages/currents expressed in rms qd0
voltages and currents
v s = vqss − jvdss = Vms e jωet , i s = iqss − jidss = I ms e − jφs e jωet
v r = (vqrr − jvdrr )e jθ r ( t ) = Vmr e j ( sωet −θ r ( 0 )−δ ) e jθ r ( t ) , i r = iqrr − jidrr = I mr e j ( sωet −θ r ( 0 )−δ −φr ) e jθ r ( t )
 Phasor voltage equations (see pg. 185)
Vas = (rs + jωe Lls ) Ias + jωe Lm ( Ias + Iar' )
~ ~ ~ ~
Var' = (r ' r + jsωe L'lr ) Iar' + jsωe Lm ( Ias + Iar' )

~ ~ ~ ~
 Another form of phasor equations

Vas = (rs + jωe Lls ) Ias + jωe Lm ( Ias + Iar' )
~ ~ ~ ~
~
Var'  r 'r ~ ~ ~
=  + jωe L'lr  Iar' + jωe Lm Ias + Iar' ( )
s  s 
 electromagnetic torque
~'2 ~'2 '
 −     '

rr'  (ωsm (1 − s ) ) =  ar  r  =
Pem ~ 1 s 3 I r 3 I ar rr
Tem = =  3I ar' 2
ωrm  s   ωsm  s  ωsm − ωrm
Energy Conversion Lab Pem
STEADY STATE MODEL developed power
 Phasor equivalent circuit representations through airgap
developed
mechanical
power
developed
mechanical
power

STEADY STATE MODEL
 Constant voltage supply equivalent circuit
 thevenin’s equivalent circuit at stator side jxlr’
jxm rr’/s
Vth = Vas
rs + j ( xls + xm ) rs jxls
jx ( r + jxls ) Vas equivalent jxm
Z th = rth + jxth = m s
rs + j ( xls + xm ) circuit
 torque developed by constant voltage supply

rr’/s
3P V (r / s )
2 '
rth jxth jxlr’
Tem = th r
2ωe (rth + rr' / s )2 + (xth + xlr' )2 Vth
 maximum torque developed with constant voltage supply

3P Vth2
T max
= where max power transfer at
rr'
= + +
4ωe r + r + (x + x )
2 ' 2
 em
2 ' 2 rth ( xth xlr )
th th th lr
s max
 max torque quantity is not dependent on the rotor resistance rr or

slip s
STEADY STATE MODEL
 Average torque vs. slip with constant voltage supply
Given the Vth, f, and 3P Vth2
Tmax
=
4ωe r + r 2 + (x + x ' )2
em
r (x), Tem is obtained th th th lr
with slip s
Vth2 (rr' / s )
rr'
3P when = rth2 + ( xth + xlr' ) 2
Tem = smax
2ωe (rth + rr' / s )2 + (xth + xlr' )2

STEADY STATE MODEL
 Constant current supply equivalent circuit
 Thevenin’s equivalent circuit of stator input impedance
jxm ( rr' / s + jxlr' ) jxlr’
rr’/s
Zin = rs + jxls + '
rr / s + j (xlr' + xm )
rs ’ rth rs jxls
Vs jxm
jxls’ jxth
Vth
equivalent
 stator input current and complex power circuit
Vas
I as = , Sin = Pin + jQin = 3Vas I*as
Zin
 constant current supply is operated at constant stator current with

variable stator voltage varies with Zin (varies with slip)
 average torque developed with constant current supply
Pem 3I ar' 2 rr' xm2 I 2as
Tem = = , where I = '2
ωrm ωsm − ωrm ar

(r / s ) + (x
r
' 2 '
lr + xm )
2

OPERATING AT CONSTANT VOLTAGE SUPPLY
 Operating characteristics with constant voltage supply
 20-hp, 60-Hz, 220-V three phase induction machine
 high starting torque and rotor current
high current
high torque
Zin

OPERATING AT CONSTANT CURRENT SUPPLY
 Operating characteristics with constant current supply
 20-hp, 60-Hz, 220-V three phase induction machine
 lower starting torque because lower rotor current and airgap voltage
lower current
lower torque
Zin

Project. 6-3 Steady State Analysis
 A 20-hp, 60 Hz, 220V three-phase induction

machine operated with power supply with the
following parameters
 Rs=0.1062Ω, rr’=0.0746Ω, xls=0.2145Ω, xlr’=0.2145Ω,
xm=5.834Ω, Jrotor=2.8 kgm2
 Show the equivalent circuit model of constant power
supply and constant current supply with associated
parameters given above
 Plot the operating characteristics with constant
voltage supply as of Fig. 6.11 (including Vth and Ith)
 Plot the operating characteristics with constant
current supply as of Fig. 6.12 (including Vth and Ith)
 Report your observation
Linearized model
 A linearized model of a non-linear system is
needed in preliminary control design for model
analysis
 Linearized model can be obtained by performing a
small perturbation on all machine parameters
 Consider the induction machine model,
 rotor equation: 2 Jωb d (ωr / ωb ) •
= Tem + Tmech − Tdamp , f ( x, x, u, y ) = 0
P dt
 when a small perturbation occurs, the small perturbed
variables still satisfy the governing equation
f ( x x = x0 + ∆x , x0 + ∆x, u0 + ∆u , y0 + ∆y ) = 0
 in steady state, x x =x = 0
0
f ( x0 , u0 , y0 ) = 0
Linear system analysis
 neglect higher order Δ terms, we can rewrite the governing
equation into a standard state-variable form
∆x = A∆x + B∆u
∆y = C∆x + D∆u
 with state-variable form, we can obtain the transfer function,
analyze zero and pole of the system by changing system
parameters
 Procedure to obtain state-variable matrices of [A,B,C,D]
 using steady state analysis to initialize x0, u0, and y0
 complete the steady-state of the SIMULINK system at some desired
operating point using trim function
 use linmod function to determine [A,B,C,D] matrices of the small-
signal model about the chosen steady-state operating point
 input and output port numbers are required by trim and linmod to
obtain the matrices
 once [A,B,C,D] matrices are available, use ss2tf.m and tf2zp.m
functions to obtain transfer function, zeros and poles of the system
Linearized system analysis (example)
 % M-file for Project 4 on linearized analysis in Chapter 6
 % To be used in the same directory containing the SIMULINK
 % file, s4eig, of an induction machine in the synchronous
 % reference frame
 % It does the following:

 % (a) loads parameters and rating of machine;
 % (b) set up Tmech loading levels in T vector for tasks (i) thru (iv)
 % (i) uses Simulink trim function to determine steady-state of a
desired operating point of the Simulink system s4eig;
 % (ii) uses Matlab linmod to determine A,B,C, and D;
 % (iii) uses Matlab ss2tf to determine the speed-torque transfer
function
 % (iv) uses Matlab tf2zp to determine the poles and zeros of the
speed-torque transfer function
 % (c) generates a plot of poles for changing Tmech
 % Enter script file to load parameters and rating of motor
 p20hp % parameters of 20 hp three-phase induction motor
 % After initializing the parameters of the imwe in the Matlab workspace, make initial guess of all values in the state (x), input (u), and output (y) vectors.
From the diagram of imwe, we see that u = [vqe; vde; Tmech], y = [iqse; idse; Tem; wr/wb]
 % guess all initial value variables

 Psiqso = Vm;
 Psipqro = Vm;
 Psidso = 0;


Psipdro = 0;
wrbywbo = 1;
use this function to find actual ordering of the states x
 [sizes,x0,xstr] = s4eig([], [], [], 0)
 % which yields xstr =[psids,psidr‘,psiqs,psiqr‘,s] or x = [ psids; psipdr; psiqs; psipqr; wr/wb ]
 % Input the following guesses, steady state analysis

 Vm = Vrated*sqrt(2/3) % peak voltage per phase
 T = [0:-Tb:-Tb]% specify range and increment of external mech torque, negative for motoring
 xg = [Psidso; Psipdro; Psiqso; Psipqro; wrbywbo];
 yg=[0; 0; -0; 1];
 index = 0;
 % For loop to compute transfer function at various levels
 % of Tmech loading specified in T vector
 for Tmech = T
 u = [Vm; 0; Tmech];
 x=xg;
 y=yg;
 % use index variables to specify which of the above input in the initial guess should be held fixed

 iu=[1; 2; 3]; % all input variables held fixed

 ix = []; % all state variables can vary
 iy = []; % all output free
 % Use Simulink trim function to determine the desired steady-state operating point.
 % Results from trim has to be verfied.
 [x,u,y,dx] = trim('s4eig',x,u,y,ix,iu,iy);
 xg = x; % store current steady-state to use as guesses for next
 yg = y; % increment in loading
 % Use Matlab linmod function to determine the state-space representation at the chosen operating point
 % dx/dt = [A] x + [B] u
 % y = [C] x + [D] u
 [A, B, C, D] = linmod('s4eig', x, u);
 % For transfer function (Dwr/wb)/DTmech

 bt=B(:,3); % select third column input
 ct=C(4,:); % select fourth row output
 dt=D(4,3); % select fourth row and third column

 % Use Matlab ss2tf to determine transfer function of the system at the chosen operating point If desired, transfer function can be printed using
 [numt(index,:),dent(index,:)] = ss2tf(A,bt,ct,dt,1);
 printsys(numt(index,:),dent(index,:),'s')
 % Use Matlab tf2zp to determine the poles and zeros of system transfer function
 [zt(:,index),pt(:,index),kt(index)] = tf2zp(numt(index,:),dent(index,:));
 For transfer function (Dwr/wb)/Dvqse

 bv=B(:,1); % select third column input
 cv=C(4,:); % select fourth row output
 dv=D(4,1); % select fourth row and third column

 % Use Matlab ss2tf to determine transfer function of the system at the chosen operating point.
 [numv(index,:),denv(index,:)] = ss2tf(A,bv,cv,dv,1);
 printsys(numv(index,:),denv(index,:),'s')
 % Use Matlab tf2zp to determine the poles and zeros of system transfer function

 [zv(:,index),pv(:,index),kv(index)] = tf2zp(numv(index,:),denv(index,:));
 end % end of for Tmech loop
y(1)
u(1) iqse
y(3)
u(2)
y(2)
y(4)
idse
u(3)
 % Print loading level and corresponding gain,zeros, and poles
 % of (Dwr/wb)/DTmech
 index = 0;
 for Tmech = T
 index = index + 1;
 fprintf('\n (Dwr/wb)/DTmech \n')

 fprintf('Tmech loading is %10.2e\n',Tmech )
 fprintf('Gain is %10.2e\n',kt(index))
 [mzero,nzero] = size(zt);
 fprintf('\nZeros are: \n')
 for m = 1:mzero
 fprintf('%12.3e %12.3ei\n',real(zt(m,index)), imag(zt(m,index)))
 end
 [mpole,npole] = size(pt);
 fprintf('\nPoles are: \n')
 for m = 1:mpole
 fprintf('%12.3e %12.3ei\n',real(pt(m,index)), imag(pt(m,index)))
 end
 end
 T = -79.1531

 num/den =
 5.6843e-014 s4 + 168.9126 s3 + 35678.0887 s2 + 1295037.384 s + 96274443.7614

 ----------------------------------------------------------------------------------------------------------------------------------
 s5 + 326.7191 s4 + 199036.9579 s3 + 24515584.7369 s2 + 4916258507.6202 s + 276789146046.789
 (Dwr/wb)/DTmech
 Tmech loading is -7.92e+001
 Gain is 1.50e-001
 Zeros are:
 -9.639e+001 3.598e+002i
 -9.639e+001 -3.598e+002i
 -6.697e+001 2.765e+001i
 -6.697e+001 -2.765e+001i
 Poles are:
 -1.084e+002 3.636e+002i
 -1.084e+002 -3.636e+002i
 -2.108e+001 1.672e+002i
 -2.108e+001 -1.672e+002i
 -6.770e+001 0.000e+000i
 % Print loading level and corresponding gain,zeros, and poles
 % of (Dwr/wb)/Dvqse
 index = 0;
 for Tmech = T
 index = index + 1;
 fprintf('\n (Dwr/wb)/Dvqse \n')

 fprintf('Tmech loading is %10.2e\n',Tmech )
 fprintf('Gain is %10.2e\n',kv(index))
 [mzero,nzero] = size(zv);
 fprintf('\nZeros are: \n')
 for m = 1:mzero
 fprintf('%12.3e %12.3ei\n',real(zv(m,index)), imag(zv(m,index)))
 end
 [mpole,npole] = size(pv);
 fprintf('\nPoles are: \n')
 for m = 1:mpole
 fprintf('%12.3e %12.3ei\n',real(pv(m,index)), imag(pv(m,index)))
 end
 end
 (Dwr/wb)/Dvqse
 Tmech loading is -7.92e+001
 Gain is 5.68e-014
 Zeros are:
 -2.972e+015 0.000e+000i
 -1.865e+002 0.000e+000i
 -1.236e+001 5.388e+001i
 -1.236e+001 -5.388e+001i
 Poles are:
 -1.084e+002 3.636e+002i
 -1.084e+002 -3.636e+002i
 -2.108e+001 1.672e+002i
 -2.108e+001 -1.672e+002i
Project. 6-4 Linear Analysis of Induction Motor
 Use the simulation model parameters as page 224 to run the
simulation in synchronous frame as follow:
1. (iqse/vqse) when machine is running at steady state with mechanical
torque Tmech=-Tb (numerically negative-motoring), the source voltage
suddenly drop from 1pu to 0.8pu at 0.8 sec, plot iqse , vqse, iqse/vqse with
respect to time, observe and discuss your results
2. (Tem/vqse) when machine is running at steady state with Tmech=-1Tb, at
0.8 sec, the source voltage suddenly drop from 1pu to 0.8pu, plot vqse,
Tem, Tem/vqse with respect to time, observe your results
3. (linear analysis) use linearized model to analyze the transfer functions
of Δiqse/Δvqse, ΔTem/Δvqse.
a) Plot the zeros and poles of the transfer functions and draw the
root-locus plot, analyze your plots
b) Using the transfer functions you obtained in 3. to plot (iqse/vqse ,
Tem/vqse) with respect to time. Compare your results with the
ones you got from 1 and 2.
Linearized system analysis (optional)
 Investigation on effect of (B1*Kagc) in isolated area’s frequency bias supplementary
control performance
 Background:
The block diagram of frequency bias supplementary control for one area is shown as
Fig.1. The assumption is made under the following condition: a large disturbance, DPL,
(step function) occurs and induce a generation response at output, DPG.
1. using Mason’s formula to obtain the transfer function T(s) = DPG/DPL.
2. using the derived transfer function to draw root-locus plot.
3. using MATLAB/Simulink tools to “estimate” transfer function T(s) = DPG/DPL.
4. using the T(S) obtained from “3.” to draw root-locus plot
5. compare the T(S) you obtained from “4.” with the one in “1.”
DPL DPG
Linearized system analysis (optional)
Background:
6. vary “Bias Coeff” B1 from 29.4 with step increase 10 until the system
become unstable, draw the zero and pole plots, show the pole trend, and
determine the value of B1 that starts to become unstable
7. system parameters are as follow Tch=6; Tg=0.2; T=7.52; R1=0.05;
M=39; D=4.41; B1=29.4
DPL DPG

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THREE PHASE INDUCTION MACHINES

 Feature of Three-Phase Induction Machine

Energy Conversion Lab

 Synchronous speed radian per second

 Machine model in arbitrary qd0 reference frame

Energy Conversion Lab

 Stator winding voltage equations

 transform to qd0 frame vsqd 0 = Tqd 0 (θ ) vsabc

 Stator winding voltage equations

vsqd 0 = [Tqd 0 (θ )] p[Tqd 0 (θ )]−1 λqd

+ [Tqd 0 (θ )][Tqd 0 (θ )]−1[ pλqd

Energy Conversion Lab

 Stator voltage equations

 Rotor voltage equations

Energy Conversion Lab

 Stator flux linkage equations

 Rotor flux linkage equations

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

  ω (λdsiqs − λqsids ) = −ω (λ'driqr' − λ'qridr' )

 Induction machine dq0 transformation

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

 qd0 stationary frame include the voltage source θ = 0

 Stator and rotor connections

Energy Conversion Lab

Clock Mux Scope Initialize

Energy Conversion Lab

2 Mux -(u[1]+sqrt(3)*u[2])/2 +u[3] 2

Energy Conversion Lab

2 Mux wb*(u[2] +(rpr/xplr)*(u[3]-u[1]))

Energy Conversion Lab

in_iqs Mux Tfactor*(u[1]*u[2]-u[3]*u[4])

Energy Conversion Lab

Energy Conversion Lab

0-50% 50-100% 100-50%

Energy Conversion Lab

 Read carefully on project 1 in 6.11.1: operating

var = Vmr cos(sωet − θ r (0) − δ ) iar = I mr cos(sωet − θ r (0) − δ − φr )

Energy Conversion Lab

Var' = (r ' r + jsωe L'lr ) Iar' + jsωe Lm ( Ias + Iar' )

 Another form of phasor equations

Energy Conversion Lab

 torque developed by constant voltage supply

 maximum torque developed with constant voltage supply

 max torque quantity is not dependent on the rotor resistance rr or

Energy Conversion Lab

 constant current supply is operated at constant stator current with

ωrm ωsm − ωrm ar

Energy Conversion Lab

Energy Conversion Lab

Energy Conversion Lab

 A 20-hp, 60 Hz, 220V three-phase induction

 % It does the following:

 p20hp % parameters of 20 hp three-phase induction motor

 % guess all initial value variables

 % Input the following guesses, steady state analysis

 iu=[1; 2; 3]; % all input variables held fixed

2 Mux wb(u[2] +(rpr/xplr)(u[3]-u[1]))

in_iqs Mux Tfactor(u[1]u[2]-u[3]*u[4])