MEP 1522

ELECTRIC DRIVES

Dynamic Model of
Induction Machine

WHY NEED DYNAMIC MODEL?

In an electric drive system, the machine is part

of the control system elements

To be able to control the dynamics of the drive

system, dynamic behavior of the machine need
to be considered

Dynamic behavior of of IM can be described

using dynamic model of IM

WHY NEED DYNAMIC MODEL?

Dynamic model complex due to magnetic

coupling between stator phases and rotor phases

Coupling coefficients vary with rotor position

rotor position vary with time

Dynamic behavior of IM can be described by

differential equations with time varying coefficients

DYNAMIC MODEL, 3-PHASE MODEL

Magnetic axis of
phase B

ibs

a
b

Magnetic axis of
phase A
ias

b
c
ics

Magnetic axis of
phase C

Simplified
equivalent stator
winding

DYNAMIC MODEL

3-phase model

stator, b

rotor, a
rotor, b

r
stator, a

rotor, c

stator, c

DYNAMIC MODEL

3-phase model

Lets look at phase a

Flux that links phase a is caused by:
Flux produced by winding a
Flux produced by winding b
Flux produced by winding c

DYNAMIC MODEL

3-phase model

Lets look at phase a

in
Fluxother
produced
by winding b
The relation between the currents
phases
Flux produced
by winding c
and the flux produced by these currents
that linked
phase a are related by mutual inductances

DYNAMIC MODEL

3-phase model

Lets look at phase a

as as,s as,r

L asias L absibs L acsics

Mutual inductance
between phase a and
phase b of stator

L as,ar iar L as,br ibr L as,cr icr

Mutual inductance
Mutual inductance
Mutual inductance
Mutual
inductance
between phase
a of stator
between phase a and phase
between
phase a of stator
a of stator
and phase a ofbetween
rotor
phase c of stator
phase c of rotor
and phase b ofand
rotor

DYNAMIC MODEL
vabcs = Rsiabcs + d( abcs)/dt

3-phase model
- stator voltage equation

vabcr = Rrriabcr + d( abcr)/dt

v abcs

v as
v bs
v cs

v abcr

v ar
v br
v cr

i abcs

i as
i bs
i cs

i abcr

i ar
i br
i cr

- rotor voltage equation

abcs

as
bs
cs

abcr

ar
br
cr

abcs flux (caused by stator and rotor currents) that

links stator windings
abcr flux (caused by stator and rotor currents) that
links rotor windings

DYNAMIC MODEL

3-phase model

abcs abcs,s abcs,r

abcr abcr,r abcr,s

Flux linking stator winding due to stator current

abcs,s

L as
L abs
L acs

L abs
L bs
L bcs

L acs i as
L bcs i bs
L cs i cs

Flux linking stator winding due to rotor current

L as ,ar

abcs, r L bs ,ar
L cs ,ar

L as , br
L bs , br
L cs , br

L as,cr i ar

L bs , cr i br
L cs,cr i cr

DYNAMIC MODEL

3-phase model

Similarly we can write flux linking rotor windings caused by rotor and stator currents:
Flux linking rotor winding due to rotor current

abcr , r

L ar
L abr
L acr

L abr
L br
L bcr

L acr
L bcr

i ar
i
br

L cr i cr

Flux linking rotor winding due to stator current

abcr ,s

L ar , as

L br ,as
L cr , as

L ar , bs
L br , bs
L cr , bs

L ar , cs

L br , cs

i as
i
bs

L cr , cs i cs

DYNAMIC MODEL

3-phase model

Combining the stator and rotor voltage equations,

R pL
s
as

v
as

pLabs

pLacs

pLas,ar

pLas,br

pLas,cr

pLabs

Rs pLbs

pLbcs

pLbs,ar

pLbs,br

pLbs,cr

vcs
var

vbr
v
bc

pLacs

pLbcs

Rs pLcs

pLcs,ar

pLcs,br

pLcs,cr

pLar,as

pLar,bs

pLar,bs

Rr pLar

pLar,br

pLar,cr

pLbr,as

pLbr,bs

pLbr,cs

pLbr,ar

Rr pLbr

pLbr,cr

pLcr,as

pLcr,bs

pLcr,cs

pLcr,ar

pLcr,br

Rr pLcr

ias
ibs

ics
i
ar
ibr

icr

vbs

p is the derivative operator , i.e. p = d/dt

DYNAMIC MODEL

3-phase model

Magnetic axis of
winding y

Magnetic axis of
winding x

Windings x and y, with Nx and Ny

number of turns, separated by

x
It can be shown that the mutual inductance between winding x and y is

rl
xy
Lxy
oNxNy cos
Ix
g 4

DYNAMIC MODEL

3-phase model

rl
xy
Lxy
oNxNy cos
Ix
g 4
To get self inductance for phase a of the stator let Nx = Ny = Ns and = 0

rl
Lam oN
g 4
2
s

If we consider the leakage flux, we can write the self inductance of phase a of the
stator Las = Lam + Lls

Las

Self inductance of phase a

Lam

Magnetizing inductance of phase a

Lls

Leakage inductance of phase a

DYNAMIC MODEL

3-phase model

Due to the symmetry of the windings, Lam = Lbm = Lcm ,

Hence
Las = Lbs = Lcs = Lms + Lls

The magnetizing inductance Lms, accounts for the flux produce by the
respective phases, crosses the airgap and links other windings
The leakage inductance Lls, accounts for the flux produce by the
respective phases, but does not cross the airgap and links only itself

DYNAMIC MODEL

3-phase model

It can be shown that the mutual inductance between stator

phases is given by:
L abs L bcs L acs

2
oNs

L abs L bcs L acs

rl

2
oNs

o
cos 120
4

rl

L ms

2
8

DYNAMIC MODEL

3-phase model

The mutual inductances between stator phases can be written in

terms of magnetising inductances

abcs,s

L ms

L ms

2
L
ms
2

L ms L ls

L ms

L ms L ls
2

L ms
L ms

L
ms
ls

2
2

ias
i
bs
ics

DYNAMIC MODEL

3-phase model

rl
xy
Lxy
oNxNy cos
Ix
g 4
Self inductance between rotor windings is when Nx = Ny = Nr and = 0
2
rl N 2

Lmr oN r oNs2 rl Nr Lms

g 4 Ns2
g 4 Ns
2
r

The mutual inductances between rotor phases can be written in

terms of stator magnetising inductances

Nr L L
ms
ls
N
s

abcr,r

Nr Lms

N
s 2

Nr Lms

N
s 2

Nr Lms

N
s 2
2

Nr

Lms Lls
N
s
2

Nr Lms

N
s 2

Nr Lms

N
s 2

i
as
ibs

ics

Nr Lms

N
s 2
2

Nr

Lms Lls
Ns

DYNAMIC MODEL

3-phase model

The mutual inductances between the stator and rotor

windings depends on rotor position
rl
xy
Lxy
oNxNy cos
Ix
g 4
Self inductance between phase a of rotor and phase a of stator is when
Nx = Ns , Ny = Nr and = r

Nr
Nr

rl
2 rl
Las,ar oNsNr cos r
oNs cos r
Lms cos r
g 4
Ns
Ns
g 4

DYNAMIC MODEL

3-phase model

The mutual inductances between the stator and rotor

windings depends on rotor position

abcs,r

cos r

Nr
L ms cos r 2
3
Ns

cos r 2 3

abcr ,s

cos r

Nr
L ms cos r 2
3
Ns

cos r 2 3

cos r 2
cos r
cos 2

cos r 2
cos r
cos 2

cos r 2
3
cos r 2
3
cos r

i
i

ar

br

i cr

cos r 2
3
cos r 2
3
cos r

i
i

as
bs

i cs

DYNAMIC MODEL

abcs,r

cos r

Nr
L ms cos r 2
3
Ns

cos r 2 3

3-phase model

cos r 2
cos r
cos 2

cos r 2
3
cos r 2
3
cos r

i
i

ar
br

i cr

DYNAMIC MODEL

abcs,r

cos r

Nr
L ms cos r 2
3
Ns

cos r 2 3

3-phase model

cos r 2
cos r
cos 2

cos r 2
3
cos r 2
3
cos r

stator, b

rotor, a
rotor, b

r
stator, a

rotor, c

stator, c

i
i

ar
br

i cr

DYNAMIC MODEL, 2-PHASE MODEL

It is easier to look on dynamic of IM using two-phase
model. This can be constructed from the 3-phase
model using Parks transformation
Three-phase

There is magnetic coupling

between phases

Two-phase equivalent

There is NO magnetic
coupling between phases

DYNAMIC MODEL

2-phase model

It is easier to look on dynamic of IM using two-phase

model. This can be constructed from the 3-phase
model using Parks transformation
stator, b

stator, q
r
rotor, a

rotor, b

rotating

rotating

rotor,

rotor,

stator, a

r
stator, d

rotor, c

stator, c

Three-phase

Two-phase equivalent

DYNAMIC MODEL

2-phase model

It is easier to look on dynamic of IM using two-phase

model. This can be constructed from the 3-phase
model using Parks transformation
stator, q

rotating

rotor,

However coupling still exists between

r
rotor, rotor windings
stator and
stator, d

Two-phase equivalent

DYNAMIC MODEL

2-phase model

All the 3-phase quantities have to be transformed to 2phase quantities

In general if xa, xb, and xc are the three phase quantities, the
space phasor of the 3 phase systems is defined as:

2
x x a ax b a 2 x c
3

, where a = ej2/3

x x d jx q

1
1
2
2
x a ax b a 2 x c x a x b x c
2
2
3
3

x d Re x Re

1
2

xb xc
x a ax b a 2 x c
3
3

x q Im x Im

DYNAMIC MODEL

2-phase model

All the 3-phase quantities have to be transformed into

2-phase quantities
is

2
i a aib a 2 i c
3

aib
2
ia
3

is i ds ji qs
2
aib
3

i ds

ia

is
2

a ic

i qs

2 2
a ic
3

2
1
1
2

i a ai b a 2ic i a i b i c
3
2
2
3

i ds Re is Re

is

1
2

ib ic
i a ai b a 2i c
3
3

i qs Im is Im

DYNAMIC MODEL

2-phase model

The transformation is given by:

2
1
i

d
3
3
i 0 1
3

q
1
13
i o
3

13
1
3
1
3

ia
i
b

i c

idqo = Tabc iabc

The inverse transform is given by:
iabc = Tabc-1 idqo

For isolated neutral,

ia + ib + ic = 0,
i.e. io =0

DYNAMIC MODEL

2-phase model

IM equations :
3-phase
vabcs = Rsiabcs + d( abcs)/dt

2-phase
vdq = Rsidq + d( dq)/dt

vabcr = Rrriabcr + d( abr)/dt

v = Rrri + d( )/dt

stator, q

rotating

rotor,
rotor,

r
stator, d

DYNAMIC MODEL

2-phase model

vdq = Rsidq + d( dq)/dt

Express in stationary frame

v = Rri + d( )/dt
where,

dq dqs ,s dqs ,r

r ,r r ,s

L dd

L qd

L dq i ds
L qq i qs

L
L

dqs,s

r ,r

Express in rotating frame

i r
i
r

dqs,r

L d

L q

L d ir
L q ir

r ,s

L d

L d

L q ids
L q iqs

DYNAMIC MODEL

2-phase model

Note that:
Ldq = Lqd = 0
Ldd = Lqq

L = L = 0
L = L

The mutual inductance between stator and rotor depends on rotor

position:
Ld = Ld = Lsr cos r

Lq = Lq = Lsr cos r

Ld = Ld = - Lsr sin r

Lq = Lq = Lsr sin r

DYNAMIC MODEL

2-phase model

stator, q

rotating

rotor,
rotor,

r
stator, d

Ld = Ld = Lsr cos r

Lq = Lq = Lsr cos r

Ld = Ld = - Lsr sin r

Lq = Lq = Lsr sin r

DYNAMIC MODEL

2-phase model

In matrix form this an be written as:

v d R s sL dd

0
vq
v sL sr cos r

v L sr sin r

0
R s sL dd
sL sr sin r

sL sr cos r
sL sr sin r
R r sL

sL sr sin r
sL sr cos r

sL sr cos r

R r sL

isd

isq
ir

ir

The mutual inductance between rotor and stator depends on

rotor position

DYNAMIC MODEL

2-phase model

stator, q

rotor, q

The mutual inductance can be made

independent from rotor position by
expressing
both
rotor and stator in
stator, d
rotor, d
the same reference frame, e.g. in the
Both stator and rotor
stationary reference
frame
rotating or stationary
r

Magnetic path from stator linking the

rotor winding independent of rotor
position mutual inductance
independent of rotor position

DYNAMIC MODEL

2-phase model

How do we express rotor current in stator (stationary) frame?

ir

2
ira airb a 2irc
3

ir is known as the space vector of

the rotor current

In rotating frame this can be written as: i r i r e j r

In stationary frame it be written as:

qs

ir

irq

ird

i rs i r e j r
j

ds

ir e
ird jirq

DYNAMIC MODEL

2-phase model

If the rotor quantities are referred to stator, the following can be

written:

v sd

v sq
v rd

v rq

R s sL s

sL m

r L m

0
R s sL s
r L m

sL m
0
R r ' sL r

sL m

r L r

i sd
i
sq
ird

R r ' sL r irq
0
sL m
r L r

Lm, Lr are the mutual and rotor self inductances referred to stator, and R r is
the rotor resistance referred to stator
Ls = Ldd is the stator self inductance
Vrd, vrq, ird, irq are the rotor voltage and current referred to stator

DYNAMIC MODEL

2-phase model

It can be shown that in a reference frame rotating at g, the

equation can be written as:

v sd

R s sL s

gL s

v
sq
v rd
sL m

v rq (g r )L m

gL s
R s sL s

sL m
gL m

(g r )L m

R r ' sL r

sL m

( g r )L r

gL m
sL m

isd

isq
(g r )L r ird

R r ' sL r irq

DYNAMIC MODEL Space vectors

IM can be compactly written using space vectors:

g
d

s
v sg R s isg
j g sg
dt

sg L s i sg L m i rg

d rg

rg L r i rg L m isg

0 R r i rg

dt

j( g r ) rg

All quantities are written in general

reference frame

DYNAMIC MODEL Torque equation

Product of voltage and current conjugate space vectors:
vs is*

2
2

v as av bs a 2 v cs i as a 2i bs aics
3
3

It can be shown that for ias + ibs + ics = 0,

Re vs is*

2
v as ias v bs i bs v cs ics
3

Pin v as ias v bs ibs v cs ics

3
Re vs is*
2

DYNAMIC MODEL Torque equation

3
3
3
*
Pin Re vs is Re (v d jv q )(id jiq ) v d id v q iq
2
2
2

If

vd
v
vq

and

3 t
Pin i v
2

id
i
iq

Pin v as ias v bs ibs v cs ics

3
Re vs is*
2

DYNAMIC MODEL Torque equation

The IM equation can be written as:

v R i L si G r i F g i

The input power

is given by:

pi

3 t
3
i V it R i it L si it G r i it F g i
2
2

Power
Losses in winding
resistance

Rate of change
of stored
magnetic energy

Power
Mech power associated with
g upon
expansion gives
zero

DYNAMIC MODEL Torque equation

p mech m Te

v sd

R s sL s
L
g s

v sq
v rd
sL m

v rq (g r )L m

3 t
i G r i
2

gL s

sL m

R s sL s

gL m

(g r )L m
sL m

R r ' sL r
(g r )L r

0
0

0
0

r L m

r L m
0

0
r L r

0
0

r L r

0

gL m

i sd

i sq
ird

irq

isd

sL m
isq
(g r )L r ird

R r ' sL r irq

DYNAMIC MODEL Torque equation

p mech m Te

3 t
i G r i
2

isd
0

0
3 isq

m Te

r
2 ird L mi sq L r irq

L
i

L
i
i
m sd
r rd
rq

We know that m = r / (p/2),

Te

3p
L m isq ird isd irq
22

DYNAMIC MODEL Torque equation

Te

but

3p
L m Im is ir'*
22

s L s is L m i r L m i r s L s is
Te

3p
Im is *s L s i*s
22

3p
3p
*
3
p
T
e 2 2 ImTies
s
L m isq ird T
isde irq 2 2 s is
22

DYNAMIC MODEL
Simulation
Re-arranging with stator and rotor currents as state space
variables:
isd

1
isq
ird L2m L r L s

irq

r L2mi sq

R rLm

r L2m
R sL m

r L mL s

R sL r
r L mL s
R sL m

r L mL r
R rL s
r L r L s

R sL r

r L mL r

R rLm

r L r L s

R r L s

i sd

i sq
1
2
ird L m L r L s

irq

The torque can be expressed in terms of stator and rotor currents:

Te

3p
L m isq ird isd irq
22

Te TL J

d m
dt

Lr
0

Lm

0
L r v sd

0 v sq

Lm

Which finally can be modeled using SIMULINK: