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Derivation and implementation of a DQ model of an induction machine using

MATLAB/SIMULINK*

Technical Report · March 2020

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 1

Derivation and implementation of a DQ model of

an induction machine using
MATLAB/SIMULINK*
Moshekwa Matthews Malatji
Electromechanical Conversion
School of Electrical and Information Engineering, University of the Witwatersrand, Johannesburg
2050, South Africa

Abstract—This paper documents the derivation of the implemented with MATLAB/SIMULINK as these offer
d,q model of 1.5kW rated induction motor. The in- a cost effective, yet convenient alternative to simulate
duction motors are preferred for high torque applica- the induction motor [3].
tions,however, they have a significant transient start-up The scope of this report is structured as follows.
response. The d,q model is employed to mathematically
Section I-A outlines the assumptions made and the to be
describe the behaviour the induction motor in the sta-
tionary and synchronous reference frame. The stator
constraints to be satisfied. A derivation of the d,q model
and rotor currents are high oscillatory, including the of the induction motor follows on Section II. The steady
Electrical in the stationary reference frame. In the syn- state analysis at no-load is found on Section III.
chronous reference frame a Direct Current components
of stator and rotor currents are observed. A comparison A. Assumptions & Constraints
of the start-Up torque between the d,q and the steady
state model reveals that the d,q model demonstrates the In derived the induction motor models, it is assumed
transient response with a greater start-up torque than that the is rotor bars are short circuited and there is no
the latter. A successful simulation is constructed using load. The only constrained requires the only ratings of
MATLAB/SIMULINK, however the veracity of the output the induction motor to be used are those indicated in
is to be improved by studying the d,q model using various Table I.
loads and representation in the rotor frame of reference.
Parameter Rating
Number of Poles(P) 4
Power(kW) 1.5
I. I NTRODUCTION Voltage(Vrms ) 230
Current(A) 6.1
Electrical Engineering is one of the most complex Speed(rpm) 1725
disciplines in the engineering field as it is quite ab- Stator Resistance Rs (Ω) 1.5
stract. We model electrical machines mathematically Rotor Resistance Rr (Ω) 0.95
Rotor Reluctance, Xr (Ω) 1.40
so we can understand their behaviours in time and
Stator Reluctance, Xs (Ω) 1.40
frequency domains. Induction motors are one of the Rotor Inertia, J(kg/m2 ) 0.0138
most important electrical machines in industry, their Friction coefficient, B(Nm.s/rad) 0.0031
widely usage ranges from food, mining and automotive Frequency(Hz) 60
industry. The vast advancements of technology has seen
Table I: Summary of the rating of the induction machine
induction motors used in electrified power trains and
hybrid vehicles [1]. The induction motors are predomi-
nantly preferred for high torque application, hence, it
is important that we model them mathematically to II. D-Q M ODEL OF AN I NDUCTION M ACHINE
understand their behaviour. Noting that when an induc- The derivation of d,q model of the induction machine
tion motor starts it has as significant transient response based on the D & Q axis models of the induction
which produces large oscillatory currents, voltages and machine in Figure 4 and Figure 5 on Appendix A,
torque [2]. This paper is focused on deriving a d,q respectively. Noting that all variables on the diagram
and steady state model of the induction motor, with and throughout this derivation are referred to the stator.
emphasis on the d,q equivalent model of the induction The derivation of the d,q model begins with the the
motor. The d,q model will be studied from the stationary Park Transformation of abc stator variables to d,q stator
reference frame when the d,q axes do not rotate, and variables as shown in Equation (2).
the synchronous reference frame when the d,q axes     
rotate at synchronous speed. The d,q model will be V dq0 = K s V abc (1)
Electromechanical Conversion

Where, V qr ’ = rr ’ iqr + (ω − ω r )λdr ’ + pλqr ’ = 0 (12)

  V dr ’ = rr ’ idr + (ω − ω r )λqr ’ + pλdr ’ = 0 (13)
cosθ cos(θ − γ) cos(θ + γ)
2
K s = sinθ sin(θ − γ) sin(θ + γ) (2) The variables in the above equations are defined as:
3 1 1 1 stator current d-axis ids , stator q-axis current qs , rotor q-
2 2 2
axis current iqr ’ , rotor q-axis current iqr ’ , Rs is the stator
The computation of the stator d,q variables is
resistance, Rr is the rotor resistance, ω e is the electrical
achieved using Simulink shown on Figure 3, with an
speed, ω r rotor electrical speed. Lastly flux linkages
input 3-phase power supply. The derivation of the d,q
for the stator d,q and rotor d,q are: λds , λqs , λdr ’ &λqr ’ ,
model is presented in a mathematical form followed
respectively. We define the flux linkages with following
by a circuit analysis technique. Furthermore, we take
equations(14-17).
advantage of the idea presented in [3] which follows
from Equation (3) that: λqs = Lls iqs + Lm (iqs + iqr ’ ) (14)
V qd0s = rs iqd0s + ωλdq0s + pλdq0s (3)
λds = Lls ids + Lm (ids + idr ’ ) (15)
V qd0r λqd0r ’ = rr iqd0r ’ + (ω − ω r )λqd0r ’ + pλqd0r ’ (4)
We define the d,q flux linkages in the stator and rotor
variables such that: λqr ’ = Llr ’ iqr ’ + Lm (iqs + iqr ’ ) (16)
  
K s Ls K s -1 K s Lsr K r -1 iqd0s
 
λqd0s
= (5)
λqd0s ’ K r (Lsr ’ )T K s -1 K r Lr ’ K r -1 iqd0r ’ λdr ’ = Llr ’ idr ’ + Lm (ids + idr ’ ) (17)
 
Lls + LM 0 0 Given the ratings of the induction machine listen in
3
K s Ls K s -1 =  0 Lls + LM 0  , LM = Lms Table I, it is imperative we transform the reluctance
2
0 0 Lls of the stator, rotor and mutual winding to inductance
(6) in order to compute for the currents and flux linkages.
Similarly, This transformation is achieved using equations(18-20)

Llsr + LM 0 0
 where f is the frequency as stated in Table I.
K r Lr K r -1 =  0 Llr + LM 0  (7) Xs
0 0 Llr Lls = (18)
2πf
And, Xr
  Llr = (19)
LM 0 0 2πf
K s Lsr K r -1 = K r (Lsr ’ )T K s -1 =  0 LM 0 (8) Similarly, the mutual inductance is:
0 0 0
X s 32
Therefore, we derive d,q flux formulae from the follow- Lm = (20)
2πf
ing matrix:
     Therefore, we compute the self-inductance of the stator
λqs Lss LM 0 0 iqs
λqs ’  LM Lrr 0  ’ and rotor using equations(21-22)
= 0 
 iqr i 

 λds   0 (9)
0 Lss LM   ids  Ls = Lm + Lls (21)
λdr ’ 0 0 LM Lrr idr ’
Lr = Lm + Llr ’ (22)
Following the fundamental mathematical operation
to determine d,q flux variables, the induction machine Using the equations for flux linkages and the sum of
dq variables can be determined. Using the equivalent the mutual and leakage inductance to obtain the self-
circuit analysis technique from the D-axis and Q-axis inductance, we solve for d,q stator and rotor currents
circuits we obtain d,q stator and rotor voltages. Fur- in terms of flux linkages using equations(23-26)
thermore, as the assumptions stipulated the rotor bars Lr Lr
of the induction machine are short circuited therefore ids = λds 2
− λdr ’ (23)
Lr Ls − Lm Lr Ls − Lm 2
rotor voltages(Vdr ’ & Vqr ’ ) are equal to zero. The stator
Lr Lr
d,q voltages obtained from circuit analysis are Equa- iqs = λqs 2
− λqr ’ (24)
tion (11) & Equation (10), similar rotor d,q voltages Lr Ls − Lm Lr Ls − Lm 2
are Equation (13) & Equation (12), respectively. Lr Lr
iqr ’ = λqr ’ 2
− λqs (25)
Lr Ls − Lm Lr Ls − Lm 2
V qs = rs iqs + ωλds + pλds (10)
Lr Lr
V ds = rs ids − ωλqs + pλds (11) idr ’ = λdr ’ 2
− λds (26)
Lr Ls − Lm Lr Ls − Lm 2
2
Electromechanical Conversion

Lastly, we use equations(10-13) and equations(23-26) The computation of the synchronous speed plays an
to derive the following equations for flux linkages of the important role in calculating the mechanical torque of
stator and rotor as follows: the induction motor. Furthermore, the equivalent circuit
dλds rs Lr rs Lm is reduced into a single Thevenin voltage source(Vth )
’
= v ds −λds +λ dr +ω e λ qs and resistance(Zth ) calculated using Equation (36) and
dt Lr Ls − Lm 2 Lr Ls − Lm 2
(27) Equation (35), respectively. The derivation of the
dλqs rs Lr rs Lm
= v qs −λqs +λqr ’
+ω e λds Thevenin resistance requires a the stator impedance,Zs ,
dt Lr Ls − Lm 2 Lr Ls − Lm 2 given by Equation (34).
(28)
dλqr ’ r r Ls r r Lm
= 0−λqr ’ 2
+λqs −(ω e −ω r )λdr ’ Z s = Rs + jX s (34)
dt Lr Ls − Lm Lr Ls − Lm 2
(29) Therefore, we compute the Thevenin resistance Zth ,
dλdr ’ ’ r L
r s r L
r m where
’ Rth and Xth are the real and imaginary parts of
= 0−λdr +λds +(ω e −ω r )λqr
dt Lr Ls − Lm 2 Lr Ls − Lm 2 Zth as on Figure 7.
(30)
Equation (30) completes the derivation of the d,q Z s ∗ jX th
model for the said induction motor rated 1.5kW. The Z th = (35)
Z s + jX m
d,q variables are solved using block diagrams on Matlab
and Simulink. Following the implementation of the V s ∗ Xm
V th = p (36)
equations of the d,q model we obtain a high level Rs 2 + (X m + X m )2
overview of d,q model of an induction motor shown The ratings and parameters of the induction motor
on Figure 3,Appendix A. The high level subsystem along with Thevenin Equivalent model of the induction
consists of internal subsystem used to solve for d,q machine reduce the complexity of computing the me-
currents, voltages and flux linkage. Using equations(23- chanical torque and speed. The computation of mechan-
26), The Electrical Torque of the induction motor can ical torque was achieved using MATLAB script with
be calculated using Equation (31) the code listing on Appendix C. MATLAB was used
3LmP to implement the Electromechanical Torque, Tem using
Te = (iqs idr ’ − ids iqr ’ ) (31) Equation (37) below, noting that this is No-Load Test:
4
Rr
and, we can compute the rotor speed in rad/sec, in terms 3 × V th 2 × s
T em = Rr 2
(37)
of the rotor inertia (J), friction coefficient(B) and load ω s ((Rth + s ) + (X th + X r )2 )
torque(Tl=0) to form eq. (32)
The computation of mechanical angular speed and
dωr T e − Bωr torque results in two graphs with respect to time. A
= (32)
dt J graphical representation of the steady state mechanical
torque with respect to time is on Figure 2; similarly the
III. S TEADY S TATE MODEL OF THE I NDUCTION angular mechanical speed is graphically represented on
MOTOR AT N O L OAD fig. 1.
Following the derivation of the DQ Model of the
Induction motor, we study its steady state equivalent
model. The aim of studying the steady state model is
identify the relationship between Torque and Angular
speed of the induction machine. The derivation of the
steady state model is based on the IEEE equivalent in-
duction motor circuit diagram in Figure 6(Refer to Ap-
pendix B). The parameters used to define the DQ model
of the induction machine on Table I are employed to
characterize the of the steady state equivalent circuit.
Using the Thevenin circuit analysis technique we derive
the Thevenin equivalent circuit on Figure 7(Refer to
Appendix B)to reduce the complexity in analysing in
the computation of mechanical torque and speed. The
computation of the synchronous speed in Equation (33),
where Ns is the synchronous speed, F denotes the
frequency = 60 Hertz and P is the number of Poles. Figure 1: Angular mechanical speed of 1.5kW rated
2πN s 120f induction motor at No Load
ωs = (33)
60P
3
Electromechanical Conversion

Figure 2: Electromechanical Torque of a 1.5kW rated

induction motor at No Load

C ONCLUSION
The d,q equivalent model of an induction motor
has been presented. The d,q model is constructed us-
ing MATLAB/SIMULINK block-sets in order to study
the behaviour of the Electrical Torque, rotor speed,
stator and rotor currents. Furthermore, d,q model is
constructed in the stationary and synchronous reference
frames where results are the obtained. The results are
compared to the results of the steady state model and
the results indicate that the d,q model is suitable for
analysis on an induction. However, it is recommended
that scope of analysis of the induction motor to be
extended to alpha beta and while employing the rotor
reference frame to get a better analysis and understand-
ing. Another recommendation is using the d,q model on
different loads and study the variation in the output.

R EFERENCES
[1] A. Menn, W. Canders and M. Henke, ”Holistic analytical
design of induction motors for automotive application,” 2014
Ninth International Conference on Ecological Vehicles and
Renewable Energies (EVER), Monte-Carlo, 2014, pp. 1-7, doi:
10.1109/EVER.2014.6844105.
[2] P. C. Krause and C. H. Thomas, Simulation of symmetrical
induction machinery, IEEE Trans., PAS-84 (1965) 1038 -1053.
[3] A. W. Leedy, ”Simulink/MATLAB dynamic induction mo-
tor model for use in undergraduate electric machines
and power electronics courses,” 2013 Proceedings of
IEEE Southeastcon, Jacksonville, FL, 2013, pp. 1-6, doi:
10.1109/SECON.2013.6567399.

4
Electromechanical Conversion

A PPENDIX
A. Figures for DQ analysis of the Induction Motor

Figure 3: DQ Model high-level representation on Simulink

Figure 4: The D-axis of the induction motor

5
Electromechanical Conversion

Figure 5: The Q-axis of the induction motor

B. Figures for Steady State analysis of Induction motor

Figure 6: IEEE equivalent circuit

6
 Electromechanical Conversion

Figure 7: Thevenin equivalent circuit

C. MATLAB Source for Electromechanical Torque and Speed computation

1 clear;
2 clc;
3 %Initializing input variables
4 Rs= 1.5; Rr=0.95;
5 Xs=1.40;
6 Xr=1.40;
7 Xm=38.71;
8 Lls= Xs/(2*pi*60);
9 Llr= Xr/(2*pi*60);
10 Lm=(Xm*(2/3))/(2*pi*60);
11 J=0.0138;
12 B=0.0031; TL=0;
13 P=4; f=60; Vs=230;
14 Vph=Vs/sqrt(3);
15
16 %%%% Express self inductances %%%%
17 Ls = Lls+Lm;
18 Lr = Llr+Lm;
19
20 %Calculations of Synchronous Speed
21 Ns=120*f/P; %Synchronous speed
22 ws= (2*pi*Ns)/60; %Synchronous angular speed
23 wr(1)=0; %Initial speed of the machine
24
25 %Calculation of Thevenin equivalent circuit Parameters
26 z1=Rs+1i*Xs; %Impedence of the stator
27 Zth=z1*1i*Xm/(z1+1i*Xm);
28 Rth=real(Zth);
29 Xth=imag(Zth);
30 Vth=Vph*Xm/(sqrt(Rsˆ2+(Xm+Xm)ˆ2));
31 Veq=abs(Vph*1i*Xm/(Rs+1i*(Xs+Xm)));
32 time=2; %no. of seconds for solution to run
33 tstep=0.0001; %step response time for numerial differential equations
34
35 %Calculations for Electromechanical Torque and Speed
36 for i=1:1:time/tstep
37 s=(ws-wr(i))/ws; %Calculation of slip
38 Tem(i)= (3*(Vthˆ2)*(Rrˆ2/s))/((ws*((Rth+Rr/s)ˆ2+(Xth+Xr)ˆ2))); %Torque
39 if(i == time/tstep)
40 break;
41 end
42
43 delwr=tstep*(Tem(i)-B*wr(i))/J;

7
 Electromechanical Conversion

44 wr(i+1)=wr(i)+ delwr;
45 end
46
47 t=linspace(0,time-tstep,i);
48
49 % Plotting the graphs
50 plot(t,wr,’k*’);
51 title(’Angular Mechanical Speed Vs Time Plot at No load’)
52 xlabel(’time in sec’)
53 ylabel(’angular mechanical speed of motor (rad/sec)’)
54 grid
55 figure
56 plot(t,Tem,’bo’);
57 title(’Electromechanical Torque Vs time Plot No load’)
58 xlabel(’time in sec’);
59 ylabel(’Electromechanical Torque,(wr)’)
60 grid

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