ECE 8830 - Electric Drives: Topic 5: Dynamic Simulation of Induction Motor

ECE 8830 - Electric Drives
Topic 5: Dynamic Simulation of

Induction Motor
Spring 2004
Stationary Reference Frame
Modeling of the Induction Motor
We now consider how the model of the
induction motor that we have
developed can be used to simulate the
dynamic performance of the induction
motor.
We will consider the model of the

motor in the stationary reference
frame.
Stationary Reference Frame Modeling
of the Induction Motor (cont’d)
Consider a 3, P-pole, symmetrical
induction motor in the stationary reference
frame with windings as shown below:
Consider first the input voltages for the
given neutral connections of the stator
and rotor windings shown.
The three applied voltages to the stator
terminals vag, vbg, and vcg need not be
balanced or sinusoidal. In general, we can
write:
vas  vag  vsg
vbs  vbg  vsg
vcs  vcg  vsg
Therefore,
3vsg  (vas  vbs  vcs )  (vag  vbg  vcg )

In simulation, the voltage vsg can be determined from
the flow of phase currents into the neutral connection
by:
d  d 
vsg  RsgR(sgiasand
where  ibs Lsgicsare
)  Lthe
sg (ias  ibs  icsand
resistance )  3inductance
 Rsg  Lsg  i0s
between the two neutral dt points. Of course,  if s anddtg are
shorted, vsg=0.
Now consider transformation of stator abc
phase voltages to qd0 stationary voltages.
With the q-axis aligned with the stator a-
phase axis, the following equations apply:
2 1 1 2 1 1
v  vas  vbs  vcs  vag  vbg  vcg  vsg
s
qs
3 3 3 3 3 3
1 1
v 
s
ds (vcs  vbs ) (vcg  vbg )
3 3
1 1
v0 s  (vas  vbs  vcs )  (vag  vbg  vcg )  vsg
3 3
Transformation of the abc rotor winding
voltages to the qd0 stationary reference frame
can be done in two steps.
First transform the “referred” rotor abc phase
voltages to a qd0 reference frame attached to
the rotor with the q-axis aligned to the axis of
the rotor’s a-phase winding.
In the second step, transform the qd0 rotor
quantities to the stationary qd0 stator reference
frame.
Step 1 ->
2 ' 1 ' 1 ' 2 ' 1 ' 1 '

v  var  vbr  vcr  van  vbn  vcn  vrn'
'r
qr
3 3 3 3 3 3
1 ' 1 '
v 
'r
dr (vcr  vbr ) 
'
(vcn  vbn
'
)
3 3
1 ' 1 '
v  (var  vbr  vcr )  (van  vbn
'r
0r
' ' '
 vcn' )  vrn'
where v3rn’ = voltage between
3 points r and n and the
primes indicate voltages referred to the stator side.
Step 2 ->
vqr' s  vqr' r cos  r (t )  vdr' r sin  r (t )
vdr' s  vqr' r sin  r (t )  vdr' r cos  r (t )

t
 r=(t )rotor
where r(t)
0

 angle
r (t ) dt   r (0)
at time t, r(0)= rotor angle
at time t=0, and r(t) =
angular velocity of rotor.
The qd0 voltages at both the stator and

rotor terminals, referred to the same
stationary qd0 reference frame, can be
used as inputs along with the load torque
to obtain the qd0 currents in the
stationary reference frame. These can
then be transformed to obtain the phase
currents in the stator and rotor windings.
The inverse transformation to obtain the
stator abc phase currents from the qd0
currents is given by:
ias  iqss  i0 s
1 s 3 s
ibs   iqs  ids  i0 s
2 2
1 s 3 s
ics   iqs  ids  i0 s
2 2
The abc rotor currents are obtained by

a two-step inverse transformation
process. Step 1 transforms the
stationary qd0 currents back to the qd
frame attached to the rotor. Step 2
resolves the qd rotor currents back to
the abc rotor phase currents.
Step 1 ->
i  i cos  r (t )  i sin  r (t )
'r
qr
's
qr
's
dr
i  i sin  r (t )  i cos  r (t )
'r
dr
's
qr
's
dr
Step 2 ->
i i i
'r
ar
's
qr
'
0r
1 'r 3 'r '
i   iqr 
'r
br idr  i0 r
2 2
1 'r 3 'r '
i   iqr 
'r
cr idr  i0 r
2 2
The model equations can be rearranged

into the form of equations (6.112) to
(6.117) in Ong’s book (provided in
separate handout).
The torque equation is:
3 P
Tem  ( dss iqss   qss i(eq.
s
) 6.118)
2 2 b
ds
The equation of motion of the rotor is given by:
d rm
 Tem  Tmech  Tdamp mechanical
where TmechJis the externally-applied
dt
torque in the direction of the rotor speed and T damp
is the damping torque in the opposite direction of
rotation.
Normalized to the base (or rated speed) of

the rotor b is given by:
2 J  b d ( r /  b )
 Tem  Tmech  Tdamp (eq. 6.120)
P dt
Saturation of Mutual Flux
See Ong text.

Linearized Model
Solving the nonlinear equations by

numerical integration allows
visualization of the dynamic
performance of a motor. However, in
designing a control system, we would
like to use linear control techniques.
For this application we need to develop
a linearized model of the induction
motor.
Linearized Model (cont’d)
To develop a linearized model for the

induction motor, we select an
operating point and perturb the
system with small perturbations over a
linear regime.
The general form of the behavior of the

induction motor may be described by
the function:
f( x, x, u, y) =0
where x is a vector of state variables
( qs qr ds dr ,  r /  b); u is the vector of
   
' '
, , ,
e e
input variables ( qs ds , Tmech); and y is
v , v
the vector of desired outputs, such as
iqse , idse , Tem .
When a small perturbation  is applied
to each of the components of the x, u,
and y variables, the perturbed variables
will satisfy the equation:
f( xx=x0+x , x0+ x , u0+u, y0+y) =0

where the 0 subscript denotes the
steady state value about which the
perturbation is applied.
In steady state,
xx=x0
Neglecting higher order terms and
regrouping some of the terms in the earlier
equations, the linear equations including
perturbations can be re-written as:
x  Ax  Bu
y  C x  Du
See Ong text to learn how to use
Matlab/Simulink to solve for the [A B C D]
matrix.
See handout from Krishnan’s book for

more detailed description of small signal
analysis of induction motor.

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ECE 8830 - Electric Drives

Topic 5: Dynamic Simulation of

We will consider the model of the

3vsg  (vas  vbs  vcs )  (vag  vbg  vcg )

2 ' 1 ' 1 ' 2 ' 1 ' 1 '

vqr' s  vqr' r cos  r (t )  vdr' r sin  r (t )

vdr' s  vqr' r sin  r (t )  vdr' r cos  r (t )

The qd0 voltages at both the stator and

The abc rotor currents are obtained by

The model equations can be rearranged

The equation of motion of the rotor is given by:

Normalized to the base (or rated speed) of

See Ong text.

Solving the nonlinear equations by

To develop a linearized model for the

The general form of the behavior of the

f( xx=x0+x , x0+ x , u0+u, y0+y) =0

See handout from Krishnan’s book for

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