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Modeling of Three-Phase Induction Motor with Two Stator Phases Open-

Circuit

Conference Paper · October 2014

DOI: 10.1109/CENCON.2014.6967507

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Seyed Hesam Asgari M. Jannati

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 Modeling of Three-Phase Induction Motor with Two
Stator Phases Open-Circuit
S. H. Asgari, M. Jannati and N. R. N. Idris
UTM-PROTON Future Drive Laboratory, Power Electronics and Drives Research Group Faculty of Electrical
Engineering, Universiti Teknologi Malaysia
Skudai, Johor 81310, Malaysia

Abstract—This paper presented a d-q model of a three-phase
induction motor with two stator phases open-circuit (faulty three-
phase induction motor). It is shown that with an appropriate
transformation, the d-q model of faulty motor has the same
structure of equation as a balanced three-phase induction motor.
Based on the developed model of the faulty induction motor,
simulations are carried out to study on the dynamic behavior of
the faulty three-phase induction motor. The developed model for
faulty 3-phase induction motor can be extremely useful in
designing a controller for fault-tolerant drive system.
Keywords—faulty three-phase induction motor; d-q model;
dynamic behavior; simulation results
I. INTRODUCTION
Three-phase induction motors are so popular in industrial
sectors which in many facilities no other sort of electric
machine can be observed. This convenient and powerful
machine, brilliant invention of the late 19th century, at present
keeps its unmatched reputation in industrial practice.
Induction motors use an easy, but smart scheme of
electromechanical energy conversion. The induction machine
is the most robust and the most broadly employed machine in
the industry which, is famously known as the workhorse [1,
2]. To represent the behavior of the three-phase induction
motor to achieve the efficiency, modeling of this motor is very
important [3]. Modeling is a verified and well-recognized
engineering strategy to represent the behavior of the system.
The modeling of induction motors is required in calculations
of fault, calculations of voltage drop, transient analysis,
control of the motor etc [4-12]. Generally, because of
asymmetrical structure of faulty induction motor and changes
in stator transformation matrix, the d-q model of three-phase
induction motor is different from faulty three-phase induction
motor model [7]. In this work, we propose a contribution to
the issue of d-q model of three-phase induction motor with
two phases cut-off based on [7]. The published paper [7]
investigates the d-q model of three-phase induction motor with
one phase cut-off. The performance of introduced model is
assessed and simulated by MATLAB software. This paper is
organized as follows: after introduction in section I, in section
II, d-q model of three-phase induction motor is presented.
Section III introduces the development of the d-q technique
for faulty motor. The comparison between equations of
balanced and faulty motor is presented in section IV. The
simulation results and comparisons are presented in section V.
Finally, the conclusions are discussed.
II. D-Q-0 MODEL OF A FAULTY THREE-PHASE INDUCTION
MOTOR
The dynamic model of a healthy, balanced three-phase
induction motor in stationary reference frame is described by
the equation (1)-(5) [13].
0 0
0 0
(1)
0 0
0 0
0 0
0 0
(2)
(3)
(4)
where:
(5)
In (1)-(5), λdss, λqss, λdrs, λqrs, idrs, iqrs, idss, iqss, Vdrs, Vqrs, Vdss
and Vqss are the d-q axes of rotor and stator fluxes, currents and
voltages. Moreover, rr and rs are the rotor and stator
resistances; Llr, Lls, Lmr and Lms are the rotor and stator leakage,
and mutual inductances; ωr is the rotor speed of motor.
Superscript “s” shows that equations are in the stationary
reference frame. Furthermore, Tl, Te and J are load torque, the
electromagnetic torque, and inertia of the induction motor.
In order to model the faulty three-phase induction motor, it
is assumed that phases bs and cs are open-circuit as shown in
Fig. 1. The voltage equations for stator and rotor windings of
unbalanced three-phase induction motor can be shown as
follows [13]:

978-1-4799-4848-2/14/$31.00 ©2014 IEEE 231

 transformation matrices for stator and rotor in the faulty
condition.
A. Stator and Rotor Transformation Matrices
In Fig. 2, fas is the a-axis of stator variable which can be
voltage, current or flux and θe is the angle between a-axis
variable of stator and q-axis.

Fig. 1. Faulty three-phase induction motor (two phase cut-off)

(6)
Fig. 2. Stator a-axis and d-q axes
(7)
According to Fig. 2, d-q variables for stator would be as
Moreover, the flux equations for stator and rotor windings
follows:
can be defined as:
, (11)
(8)
Since the d and q axes are orthogonal, therefore their inner
(9) product must be equal to zero. As result, θe would be equal to
where: zero or π/2 (θe=0 or θe= π/2). Therefore, if we consider θe=
π/2, then d and q components are given as (12).
0 0 0 0
0 0 0 , 0 0 , , 0 (12)
0 0 0 0 0 Under this condition, the d-q axis and phase a axis is shown in
0 0 Fig. 3.
0 0 0 ,
0 0 0
1 1
2 2
1 1
,
2 2
1 1
2 2
120 120
0 0 0 Fig. 3. Stator a-axis and d-q axes (θe= π/2)
0 0 0
The stator transformation matrix in the fault condition can
120 120 , be obtained as follow:
1 (13)
120 (10)
120 Based on Fig. 4, rotor transformation matrix and its inverse
projection can be obtained as:
In equations (6)-(10), Rsfault, Rr, Lssfault, Lrr, Lsrfault and Lrsfault
are stator and rotor resistance matrices, self-inductance of
stator, self-inductance of rotor, mutual inductance of stator-
rotor and mutual inductance of rotor-stator respectively. In
these equation θr is the angle between a-axis of stator and a-
axis of rotor. It should be noted that Rr and Lrr matrices are the
same as Rr and Lrr matrices in balanced condition. Moreover,
Rsfault, Lssfault, Lsrfault and Lrsfault matrices have similar structure
under balanced condition. In fact, in these matrices, the row
and column of the cut-off phases are considered equal to zero.
In order to model the faulty motor, it is necessary to define
Fig. 4. Stator, rotor and d-q axes

232
 2
• Rotor Voltages calculation:
120 120
,
3 120 120

(25)
120 120 (14)
120 120 consequently:
In (14), γ is the angle between far and d-axis. As can be
seen, rotor transformation matrix is the same as rotor 3 3
transformation matrix in the balanced condition. 2 2
B. Stator and Rotor Equations of Faulty Three-Phase
Induction Motor in d-q Model: (26)
Stator and rotor voltage and flux equations can be
calculated based on the equations (6) and (9) and applying the 3 3
transformation matrices (13) and (14) as follows (calculation 2 2
details are given in Appendix):

(27)
• Stator Flux calculation:
Briefly, based on equation (17), (18), (23) and (24) the flux
equation of faulty motor in stationary reference frame can be
written as follows:
(15)
0 0
(16) 0 0
(28)
0 0
After simplifying (15) and (16) stator flux for faulty three-
0 0
phase induction motor can be obtained as follows:
Moreover, based on equation (20), (21), (26) and (27) the
voltage equation of faulty motor in stationary reference frame
(17)
can be shown as follows:
0 (18) 0 0
0 0
• Stator Voltages calculation:

(29)
(19) where:

consequently: , 0

(20) (30)
, 0
0 (21)
, 0

• Rotor Flux Calculation:

C. Electromagnetic Torque Equation of Faulty Three-Phase
Induction Motor in d-q Model:
The electromagnetic torque of faulty three-phase IM can be
(22) calculated as follows:
which gives:
(31)
(23) After simplifying (31) the electromagnetic torque of faulty
three-phase induction motor can be obtained as follows:
(24)
(32)

233
 III. COMPARISON BETWEEN BALANCED AND FAULTY
THREE-PHASE INDUCTION MOTOR (TWO-PHASE OPEN-
CIRCUIT) D-Q MODEL:
In summary, a comparison between balanced and faulty
induction motor is presented in Table I:

TABLE I. COMPARISON BETWEEN BALANCED AND FAULTY THREE-

PHASE INDUCTION MOTOR

Unbalanced (two
Motor parameters Balanced
phase cut-off)

Self-inductance of stator 3 (a)

(d-axis) 2

Self-inductance of stator 3
0
(q-axis) 2

Mutual inductance 3 3
(d-axis) 2 2

Mutual inductance 3
0
(q-axis) 2
(b)

Stator resistance
0
(q-axis)

Based on equation (1), (2), (29) and (30) rotor resistance,

self-inductance of rotor (d and q axes) and d-axis of stator
resistance remained unchanged.
IV. SIMULATION RESULTS AND COMPARISONS
In order to study the dynamic behavior of faulty motor,
simulation is conducted by using MATLAB (M-file) software.
The fourth order Runge Kutta algorithm is used for solving the
faulty induction motor equations. For this purpose, 2-poles, (c)
3000rpm, 50Hz, three-phase induction motor is used. The
parameters and ratings of the simulated motor are as follows:

Fig. 5 shows the speed, torque, stator a-axis current and

rotor a-axis current of the three-phase induction motor under
balanced and faulty conditions. In Fig. 5, from t=0s to t=3s, the
motor is working under balanced condition then, a fault is
applied at t= 3s (two phase cut-off). Moreover, from t= 1.5s to
t= 2s and t= 4s to t= 4.5s, a load torque equal to 10N.m is
applied. (d)
Based on Fig. 5, it is concluded that, the oscillations of the
Fig. 5. Simulation results of three-phase induction motor under balanced and
speed and electromagnetic torque has increased significantly faulty conditions; (a) Speed, (b) Torque, (c) Stator A-Axis Current, (d)
due to the fault. Moreover, based on this Figure, the stator and Rotor A-Axis Current
rotor currents have increased at faulty condition compared with
healthy condition.

234
 V. CONCLUSION 𝑓𝑎𝑢𝑙𝑡 𝑑
+ [𝑇𝑠 ] [𝜆 ]
A technique for modeling for three-phase induction motor ⏟ 𝑑𝑡 𝑎𝑠
while two phases of its stator are open-circuit is proposed. In 𝑇𝑒𝑟𝑚7

this technique, faulty induction motor is modeled by an where:

equivalent unbalanced two-phase motor (d-q model), which has Term5:
the same structure of equations as the balanced three-phase 𝑓𝑎𝑢𝑙𝑡 𝑠
[𝑇𝑠 ][𝑉𝑎𝑠 ] = 𝑉𝑑𝑠
induction motor equations. Simulation results are presented to
show the dynamic behavior of the developed modeling Term6:
technique. Based on the similarity between model of three- 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 −1 𝑓𝑎𝑢𝑙𝑡
[𝑇𝑠 ][𝑅𝑠 ][𝑇𝑠 ] [𝑇𝑠 ][𝑖𝑎𝑠 ] =
phase induction motor while two phases are open-circuit and
single-phase induction motor under open-phase fault, a study is 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 −1 𝑠
[𝑇𝑠 ][𝑅𝑠 ][𝑇𝑠 ] 𝑖𝑑𝑠 =
to be conducted applying new method for vector control of
𝑠
single-phase induction motor under open-circuit fault. This 𝑟𝑠 𝑖𝑑𝑠
aspect of the study is an extension of the authors’ previous Term7:
research presented in Refs. [14-18]. 𝑑 𝑑
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑑 𝑓𝑎𝑢𝑙𝑡 −1 𝑠
[𝑇𝑠 ] [𝜆𝑎𝑠 ] = [𝜆𝑠𝑑𝑠 ] − [𝑇𝑠 ]( [𝑇𝑠 ]) [𝜆𝑑𝑠 ]
APPENDIX 𝑑𝑡 𝑑𝑡 𝑑𝑡
 Stator Flux calculation: where:
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡
[𝜆𝑠𝑑𝑠 ] = [𝑇𝑠𝑓𝑎𝑢𝑙𝑡 ][𝜆𝑎𝑠 ]
[⏟𝑇𝑠 ][𝜆𝑎𝑠 ] = ⏟
[𝑇𝑠 ][𝐿𝑠𝑠 ][𝑖𝑎𝑠 ] +
𝑑 𝑠 𝑑 𝑑
𝑇𝑒𝑟𝑚1 𝑇𝑒𝑟𝑚2 [𝜆 ] = ( [𝑇𝑠𝑓𝑎𝑢𝑙𝑡 ])[𝜆𝑎𝑠 ] + [𝑇𝑠𝑓𝑎𝑢𝑙𝑡 ]( [𝜆𝑎𝑠 ]),
[⏟𝑇𝑠
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡
][𝐿𝑠𝑟 ][𝑖𝑎𝑏𝑐𝑟 ] 𝑑𝑡 𝑑𝑠 𝑑𝑡 𝑑𝑡
𝑇𝑒𝑟𝑚3 𝑓𝑎𝑢𝑙𝑡 𝑑 𝑑 𝑠 𝑑 𝑓𝑎𝑢𝑙𝑡
where: [𝑇𝑠 ]( [𝜆𝑎𝑠 ]) = [𝜆𝑑𝑠 ] − ( [𝑇𝑠 ])[𝜆𝑎𝑠 ],
𝑑𝑡 𝑑𝑡 𝑑𝑡
Term1: −1
[𝜆𝑎𝑠 ] = [𝑇𝑠𝑓𝑎𝑢𝑙𝑡 ] ([𝜆𝑠𝑑𝑠 ])
𝑓𝑎𝑢𝑙𝑡
[𝑇𝑠 ][𝜆𝑎𝑠 ] = 𝜆𝑠𝑑𝑠 𝑓𝑎𝑢𝑙𝑡 𝑑 𝑑 𝑠 𝑑 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 −1 𝑠 ])
[𝑇𝑠 ]( [𝜆𝑎𝑠 ]) = [𝜆𝑑𝑠 ] − ( [𝑇𝑠 ]) [𝑇𝑠 ] ([𝜆𝑑𝑠
Term2: 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑑 𝑓𝑎𝑢𝑙𝑡
[𝑇𝑠 ][𝐿𝑠𝑠 ][𝑖𝑎𝑠 ] = ( [𝑇𝑠 ]) = 0
𝑑𝑡
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 −1 𝑠 ]
[𝑇𝑠 ][𝐿𝑠𝑠 ][𝑇𝑠 ] [𝑖𝑑𝑠 = therefore:
[𝐿𝑙𝑠 + 𝐿𝑚𝑠 ][𝑖𝑠𝑑𝑠 ] 𝑓𝑎𝑢𝑙𝑡 𝑑 𝑑
[𝑇𝑠 ]( [𝜆𝑎𝑠 ]) = [𝜆𝑠𝑑𝑠 ]
𝑑𝑡 𝑑𝑡
Term3:
Finally, stator d-axis and q-axis voltage are equal to:
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡
[𝑇𝑠 ][𝐿𝑠𝑟 ][𝑖𝑎𝑏𝑐𝑟 ] = 𝑠 𝑠
𝑑
𝑉𝑑𝑠 = 𝑟𝑠 𝑖𝑑𝑠 + [𝜆𝑠𝑑𝑠 ]
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑠 𝑑𝑡
[𝑇𝑠 ][𝐿𝑠𝑟 ][𝑇𝑟 ]−1 [𝑖𝑑𝑞𝑟 ]
𝑉𝑞𝑠𝑠 = 0
therefore:
which can be shown as follows:
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡
[𝜆𝑠𝑑𝑠 ] = [𝐿𝑙𝑠 + 𝐿𝑚𝑠 ][𝑖𝑑𝑠
𝑠 ]
+⏟
[𝑇𝑠 𝑠
][𝐿𝑠𝑟 ][𝑇𝑟 ]−1 [𝑖𝑑𝑞𝑟 ]
𝑇𝑒𝑟𝑚4 𝑠 𝑠
𝑑 𝑠 3 𝑑 𝑠
𝑉𝑑𝑠 = 𝑟𝑠 𝑖𝑑𝑠 + (𝐿𝑙𝑠 + 𝐿𝑚𝑠 ) (𝑖𝑑𝑠 ) + √ 𝐿𝑚𝑠 (𝑖𝑑𝑟 )
Term4: 𝑑𝑡 2 𝑑𝑡

2 3 𝑠 𝑉𝑞𝑠𝑠 = 0
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑠
[𝑇𝑠 ][𝐿𝑠𝑟 ][𝑇𝑟 ]−1 [𝑖𝑑𝑞𝑟 ] = √ 𝐿𝑚𝑠 𝑖𝑑𝑟
3 2  Rotor Flux calculation:

therefore: Since the rotor has not changed due to fault therefore, d and
q-axis fluxes of rotor can be calculated like balanced condition
2 3 𝑠 of three-phase induction motor [8]:
[𝜆𝑠𝑑𝑠 ] = [𝐿𝑙𝑠 + 𝐿𝑚𝑠 ][𝑖𝑑𝑠
𝑠 ]
+ √ 𝐿𝑚𝑠 𝑖𝑑𝑟 𝑓𝑎𝑢𝑙𝑡 −1
3 2 [𝜆𝑠𝑑𝑞𝑟 ] = [⏟𝑇𝑟 ][𝐿𝑟𝑟 ][𝑇𝑟 ]−1 [𝑖𝑑𝑞
𝑠
𝑟] + [
⏟𝑇𝑟 ][𝐿𝑟𝑠
𝑓𝑎𝑢𝑙𝑡
][𝑇𝑠 𝑠 ]
] [𝑖𝑑𝑠
𝑇𝑒𝑟𝑚8 𝑇𝑒𝑟𝑚9
 Stator Voltage calculation:
Term8:
𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 𝑓𝑎𝑢𝑙𝑡 −1 𝑓𝑎𝑢𝑙𝑡
[⏟𝑇𝑠 ][𝑉𝑎𝑠 ] = ⏟
[𝑇𝑠 ][𝑅𝑠 ][𝑇𝑠 ] [𝑇𝑠 ][𝑖𝑎𝑠 ]
𝑇𝑒𝑟𝑚5 𝑇𝑒𝑟𝑚6

235
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𝑑𝑡 Engineering and Optimization Conference (PEOCO2014), pp. 270-275,
𝑇𝑒𝑟𝑚10
2014.
Term10: [11] M. Jannati, A. Monadi, N. R. N. Idris, and M. J. A. Aziz, “Speed
Sensorless Vector Control of Unbalanced Three-Phase Induction Motor
𝑑 0 −𝜔𝑟 𝜆𝑠𝑑𝑟 with Adaptive Sliding Mode Control,” International Journal of Power
[𝑇 ][𝑇 ]−1 [𝜆𝑠𝑑𝑞𝑟 ] = [ ][ 𝑠 ] Electronics and Drive Systems (IJPEDS), vol. 4, no. 3, pp. 406-418, 2014.
𝑑𝑡 𝑟 𝑟 𝜔𝑟 0 𝜆𝑞𝑟
[12] M. Jannati, N. R. N. Idris, and M. J. A. Aziz, “Indirect Rotor Field-
therefore: Oriented Control of Fault-Tolerant Drive System for Three-Phase
Induction Motor with Rotor Resistance Estimation Using EKF,”
TELKOMNIKA Indonesian Journal of Electrical Engineering, vol. 12, no.
𝑠 𝑠
3 𝑑 𝑠 3 𝑑 𝑠 9, 6633-6643, 2014.
𝑉𝑑𝑟 = 𝑟𝑟 𝑖𝑑𝑟 + (√ 𝐿𝑚𝑟 ) (𝑖𝑑𝑠 ) + (𝐿𝑙𝑟 + 𝐿𝑚𝑟 ) (𝑖𝑑𝑟 ) [13] P. C. Krause, O. Wasynczuk, and S. D. Sudhoff, Analysis of Electric
2 𝑑𝑡 2 𝑑𝑡
Machinery and Dr, Second. A John Wiley & Sons, Wiley-Interscience,
2002.
3 𝑠 [14] M. Jannati, snd E Fallah, “A New Method for Speed Sensorless Vector
+𝜔𝑟 (𝐿𝑙𝑟 + 𝐿𝑚𝑟 ) 𝑖𝑑𝑟
2 Control of Single-Phase Induction Motor Using Extended Kalman Filter,”
Conf. Proc. Of ICEE, pp. 1-5, 2011.
3 𝑑 𝑠 3 [15] M. Jannati, N. R. N. Idris, M. J. A. Aziz, A. Monadi, and A. A. M. Faudzi,
𝑠
𝑉𝑞𝑟𝑠 = 𝑟𝑟 𝑖𝑞𝑟
𝑠
+ (𝐿𝑙𝑟 + 𝐿𝑚𝑟 ) (𝑖𝑞𝑟 ) − 𝜔𝑟 (√ 𝐿𝑚𝑟 )𝑖𝑑𝑠 “A Novel Scheme for Reduction of Torque and Speed Ripple in Rotor
2 𝑑𝑡 2 Field Oriented Control of Single Phase Induction Motor Based on
Rotational Transformations,” Research Journal of Applied Sciences,
3 𝑠
Engineering and Technology, vol. 7, no. 16, pp. 3405-3409, 2014.
−𝜔𝑟 (𝐿𝑙𝑟 + 𝐿𝑚𝑟 ) 𝑖𝑑𝑟 [16] M. Jannati, S. H. Asgari, N. R. N. Idris, and M. J. A. Aziz, “Speed
2 Sensorless Direct Rotor Field-Oriented Control of Single-Phase Induction
Motor Using Extended Kalman Filter,” International Journal of Power
Electronics and Drive Systems (IJPEDS), vol. 4, no. 4, 2014.
ACKNOWLEDGMENT [17] M. Jannati, A. Monadi, S. A. Anbaran, N. R. N. Idris, and M. J. A. Aziz,
“An Exact Model for Rotor Field-Oriented Control of Single-Phase
Induction Motors,” TELKOMNIKA Indonesian Journal of Electrical
The authors would like to thank Universiti Teknologi Engineering, vol. 12, no. 7, pp. 5110-5120, 2014.
Malaysia (UTM) (Vot: Q.J130000.2423.00G39), Ministry of [18] M. Jannati, N. R. N. Idris, and M. J. A. Aziz, “Speed Sensorless Fault-
Tolerant Drive System of 3-Phase Induction Motor Using Switching
Education (MOE) and, Ministry of Science, Technology and Extended Kalman Filter,” TELKOMNIKA Indonesian Journal of
Innovation (MOSTI) of the Malaysian government for Electrical Engineering, vol. 12, no. 11, 2014.
providing the funding for this research.

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