Class Notes - 4

Shabbar A. Vejlani (2009A3PS049G)

Dynamic Modelling of Induction Motor:

Step -1 : Two Phase Induction Motor

Explanation for why modelling with a 2-phase Induction motor:

Rotating magnetic field is the main component in induction machine, which is generated by stator and
induced on the rotor and the interaction between the two results in torque which in turn results in rotation
of the rotor.Now to generate a resultant rotating magnetic field in space a minimum of two field 90 degrees
out of phase and positioned in quadrature are required.Hence the stator and the rotor rotating magnetic
fields can be modeled by two fields each for the rotor and stator respectively.
 The KVL equations for the induction motor are as follows:(where p= d/dt)

But the flux linkages between mutually perpendicular axes is zero.Also assuming the air gap flux to have
uniform distribution, the self mutual inductances Lqd = Ldq and so on.

But if we derive equations for such a motor(see above) ,the flux linkages vary with position and result in
equations with varying co-efficients which makes the analysis difficult. Hence we resolve the rotor about
fictitious rotor windings placed along with the stator windings. Also we refer the equations to stator to
remove the physical isolation between the coils. What we end up is a set of equations having constant co-
efficients.
Step 2 : Three Phase to two phase conversion

Two points are to be meet when performing this conversion:

1. The net mmf produced in both the cases must be the same. Hence for the two phase model we need
to increase the number turns of windings by 1.5 times.
2. The input power of the three phase motor should be equal to the power input to the two phase
𝑡 3
machine. This leads to the following condition: 𝑃 = 𝑉𝑎𝑏𝑐 𝐼𝑎𝑏𝑐 = (𝑣𝑞𝑠 𝑖𝑞𝑠 + 𝑣𝑑𝑠 𝑖𝑑𝑠 )
2
The transformation matrix for 2 phase to 3 phase conversion is as follows(the transformation matrix is
applicable to voltages ,currents and flux-linkages):

Zero sequence current component:

The component i0 is the zero sequence component. It results when the three phase voltages are not
balanced. In balanced 3 phase system, the sum f the phase currents is zero and hence i0 is zero.
Model in Arbitrary Rotating Reference Frame:

Resolving the d-q axes along different rotating reference frames gives us computational advantage
depending of the electrical quantity of interest(will be discussed latter).Here the focus is to derive the
equations for a frame rotating at arbitrary speed wc .

Particularly, for the deriving the equation of torque the equations in arbitrary reference frame come handy.

The dq --> dqc(subscript ‘c’ denoting arbitrary reference frame) transformation are as follows:
𝑐
𝑖𝑞𝑑𝑠 = 𝑇 𝑐 𝑖𝑞𝑑𝑠

Where ,

cos 𝜃 𝑠𝑖𝑛𝜃
𝑇𝑐 =
−𝑠𝑖𝑛𝜃 cos 𝜃

The impedance matrix thus obtained is:

Equation for torque :

We can resolve the above matrix as :

𝑉 = 𝑅 𝑖 + 𝐿 𝑝𝑖 + 𝐺 𝑤𝑟 𝑖 + 𝐹 𝑤𝑐 𝑖

And hence the input power power can be rewritten as:

Now each of the term has a nice interpretation:

𝑖 𝑡 𝑅 𝑖 → 𝑅𝑒𝑠𝑖𝑡𝑖𝑣𝑒 𝐿𝑜𝑠𝑒𝑠

𝑖 𝑡 𝐿 𝑝𝑖 → 𝑅𝑎𝑡𝑒 𝑜𝑓 𝑐𝑕𝑎𝑛𝑔𝑒 𝑜𝑓 𝑠𝑡𝑜𝑟𝑒𝑑 𝑚𝑎𝑔𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦 𝑤𝑕𝑖𝑐𝑕 𝑚𝑢𝑠𝑡 𝑏𝑒 𝑧𝑒𝑟𝑜 𝑖𝑛 𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒

*it can be non-zero during dynamic condition.

𝑖 𝑡 𝐹 𝑤𝑐 𝑖 → 𝑅𝑒𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑓𝑟𝑎𝑚𝑒 𝑝𝑜𝑤𝑒𝑟 𝑤𝑕𝑖𝑐𝑕 𝑚𝑢𝑠𝑡 𝑏𝑒 𝑧𝑒𝑟𝑜 𝑎𝑠 𝑡𝑕𝑒 𝑓𝑟𝑎𝑚𝑒 𝑖𝑠 𝑓𝑖𝑐𝑡𝑖𝑡𝑖𝑜𝑢𝑠

Hence the Air gap power is what is left i.e.

𝑖 𝑡 𝐺 𝑤𝑟 𝑖 = 𝑇𝑒 𝑤𝑚

By expanding we get torque as :

3 𝑃 𝑐 𝑐 𝑐 𝑐
𝑇𝑒 = 2 2
𝐿𝑚 (𝑖𝑞𝑠 𝑖𝑑𝑟 − 𝑖𝑑𝑠 𝑖𝑞𝑟 )

Similarity between this equation and torque equation of DC motor:

For DC motor : 𝑇𝑒 = 𝐾𝑓 𝐼𝑓 𝐼𝑎

𝑤𝑕𝑒𝑟𝑒 𝐾𝑓 𝑖𝑠 𝑎 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑢𝑡𝑢𝑎𝑙 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝑠𝑡𝑎𝑡𝑜𝑟 𝑎𝑛𝑑 𝑡𝑕𝑒 𝑟𝑜𝑡𝑜𝑟 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 .

In induction motor too we have torque to be function of 𝐿𝑚 , the mutual inductance between the rotor and
the stator windings.

In case of DC motor ,by virtue of the construction of the motor , 𝐼𝑓(∅𝑓) and 𝐼𝑎(∅𝑎) are perpendicular to
each other.

In case of induction motor, when modeled using d-q axes in arbitrary reference frame, we too have torque
𝑐 𝑐 𝑐 𝑐
to be dimensionally equal to products of 𝑖𝑞𝑠 𝑖𝑑𝑟 and 𝑖𝑑𝑠 𝑖𝑞𝑟 which are individually composed of mutually
perpendicular d and q components of stator and rotor currents respectively.

Commonly used rotating reference frame: (Which to use where?)

We have 3 commonly used reference frames each of which offer different advantages depending on which is
our quantity of interest.

Stator Reference frame: (𝑤𝑐 = 0)

This frame is used when stator variables are required to be actual and rotor variables can be fictitious. Eg. for
stator controlled induction motor.

Rotor Reference frame: (𝑤𝑐 = 𝑤𝑟 )

Similar to the stator reference frame, this frame is used when we are interested in rotor variables (wound
rotor machine) .Example in slip power recovery system.
Synchronous Reference frame: (𝑤𝑐 = 𝑤𝑠 )

The unique advantage of this frame is that the sinusoidal variables get converted into DC quantities in
synchronous frame. This model is useful in evaluating steady state values of variables which is further used
in small-signal modeling.

Equation in flux linkages

Instead of current variables, flux variables can be used in modeling of induction motor equations.

It offers two advantages:

1. The number of variables is reduced.

Both the above points lead to computational efficiency and numerical stability.

Space –Phasor Philosophy:

Instead of representing stator and rotor flux linkages by d-q axes, we can represent it by a single phase, one
each for rotor and stator .

It results in further reducing the number on equations .Now since we have just two windings it can be more
closely related to DC motor with a motive to try to decouple the torque and flux .