INDUCTION MOTOR PARAMETER ESTIMATION Based On The Sequential Augmented Lograngian Optimization Algorithm

EDSA MICRO CORPORATION 16870 West Bernardo Drive, Suite 330 San Diego, California 92127 USA Copyright 2008 All Rights Reserved

Version 5.60.00

October 2008

EDSA MICRO CORPORATION WARRANTY INFORMATION There is no warranty, implied or otherwise, on EDSA software. EDSA software is licensed to you as is. This program license provides a ninety (90) day limited warranty on the diskette that contains the program. This, the EDSA Users Guide, is not meant to alter the warranty situation described above. That is, the content of this document is not intended to, and does not, constitute a warranty of any sort, including warranty of merchantability or fitness for any particular purpose on your EDSA software package. EDSA Micro Corporation reserves the right to revise and make changes to this User's Guide and to the EDSA software without obligation to notify any person of, or provide any person with, such revision or change. EDSA programs come with verification and validation of methodology of calculation based on EDSA Micro Corporation's in-house software development standards. EDSA performs longhand calculation and checks the programs results against published samples. However, we do not guarantee, or warranty, any program outputs, results, or conclusions reached from data generated by any programs which are all sold "as is". Since the meaning of QA/QC and the verification and validation of a program methodology are domains of vast interpretation, users are encouraged to perform their own in-house verification and validation based on their own inhouse quality assurance, quality control policies and standards. Such operations - performed at the user's expense - will meet the user's specific needs. EDSA Micro Corporation does not accept, or acknowledge, purchase instructions based on a buyer's QA/QC and/or a buyer's verification and validation standards. Therefore, purchase orders instructions are considered to be uniquely based on EDSA's own QA/QC verification and validation standards and test systems.

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TABLE OF CONTENTS I. II. III. IV. 1.0 2.0 3.0 4.0 5.0

Page

Program Overview ........................................................................................................................... 1 Motor Equivalent Circuit ................................................................................................................... 1 Parameter Estimation....................................................................................................................... 2 Getting Started ................................................................................................................................. 2 Tutorial Section - Introduction .......................................................................................................... 3 Data Requirements .......................................................................................................................... 4 Weighting Factors ............................................................................................................................ 5 Motor Design Class.......................................................................................................................... 5 Tutorial Exercise .............................................................................................................................. 5

TABLE OF FIGURES Figure 1 ......................................................................................................................................................... 1 Figure T1 ....................................................................................................................................................... 3

Note:

You can view this manual on your CD as an Adobe Acrobat PDF file. The file name is: Induction Motor Parameter Estimation Induction_Motor_Parameters.pdf

You will find the Test/Job files used in this tutorial in the following location: C:\DesignBase\Samples\IndMotor Test Files: = Induction Motor Parameter

IEEE, TEST, TEST1, TEST2, TEST3, TEST4, TESTALL

ii

Induction Motor Parameter Estimation

I.

Program Overview

The EDSA Induction Motor Parameter Estimation program provides an estimate of equivalent circuit parameters for induction motors. This estimate is useful for motor starting or re-acceleration performance simulation studies. The estimation is based on data that are readily available from the manufacturer, or can be obtained from field tests. Estimated parameters include the resistance and reactance representing the stator, rotor and magnetizing branch. Parameter estimation is based on an extremely robust optimization technique with great flexibility to handle constant and finds the best possible motor equivalent circuit parameters to minimize the difference between specified motor performance data (published or test results) and the corresponding performance parameters of the equivalent circuit. This program is directly linked to EDSA Motor Starting and Transient STABILITY program. EDSAs Windows user interface, as implemented for Induction Motor Parameter Estimation, is organized along three key concepts: Files, Records and Views. These concepts, together with a step-by-step guide to using the program, are presented in the next sections. II. Motor Equivalent Circuit
r1 x1 r2 x2

Z motor

rm r2 1 - s s xm

Fig. 1 The performance of an induction motor is commonly represented by the equivalent circuit as shown in Fig.1 (Single Cage Rotor) where,
r1 , x1 r2 , x 2 rm , x m

: : :

Stator resistance and reactance Rotor resistance and reactance Magnetizing resistance and reactance

The rotor resistance and reactance are functions of motor slip and its cage factors, as follows:
r2

= =

[1 + K r (s s fl )]r2,fl [1 + K x (s s fl )]x 2,fl

x2

Where, S stands for motor slip fl stands for full load K r , K x are cage factors 1

Induction Motor Parameter Estimation

III.

Parameter Estimation

The motor parameter estimation problem can be simply stated as follows: For a set of user specified motor performance data (full load power factor, efficiency and slip; locked rotor power factor, in-rush current and torque; and breakdown torque), find a set of motor equivalent parameters, which can produce the closest match of the specified data. Mathematically, this is a minimization problem. The function to be minimized is the square root of the summation of the square of the relative errors defined as follows:

for full load power factor : error = (pf - pf 0 ) / pf 0 for full load efficiency : error = (Eff - Eff 0 ) / Eff 0
Where, terms with the 0 subscript are the user specified motor performance data, and the terms without the subscript are the motor performance data calculated according to the motor equivalent circuit and the estimated motor parameters. The Davidon-Fletcher-Powell (DFP) optimization algorithm is used to do the minimization. DFP optimization algorithm is very safe to use. It will never diverge, although it may sometimes find only a local minimum point. It is always desired to find a set of parameters which can produce a perfect match (error function is equal to zero). But practically, a 100% match is very difficult to reach. The program outputs the relative error information in percent for all specified motor performance data. IV. Getting Started

In the following paragraphs, several view windows that contain example data are shown. The motor used for these example screens is: Design class A, 4000 Volts, 1000 horsepower motor. Full load operating data are: 85% power factor, 96% efficiency and 1.5% slip. Locked rotor operating data are: 15% power factor, 410% in-rush current and 31% torque. Breakdown torque is 215%.

Induction Motor Parameter Estimation

1.0

Tutorial Section - Introduction

Stator

Rotor

R1

X1

R2

X2

XM

RM
Magnetizing Branch

R (S)

Figure T1.

Equivalent Circuit for an Induction Motor

The Induction Motor Parameter Estimation program is based on a Sequential Augmented Lograngian optimization algorithm. The analysis provides an estimate of the equivalent circuit parameters for induction motors. The estimated parameters are shown in Figure T1 and are explained as follows: R1 : X1 : R2 : X2 : RM : XM : C R: CX: Stator Resistance () Stator Reactance () Rotor Resistance () Rotor Reactance () Magnetizing Branch Resistance () Magnetizing Branch Reactance () Rotor Resistance Cage Factor (dimensionless) Rotor Reactance Cage Factor (dimensionless)

The induction motor cage factors (for rotor resistance and reactance) take into account the dependence between the rotors impedance and the motors slip (or speed). This dependence is caused by factors such as skin effect, proximity effect and deep bar effect. The cage factors are defined by the following equations: R2(s) = R2 (s0) (1+CR s) X2(s) = X2 (s0) (1+CX s) Where: R2(s): Rotor resistance at slip = s R2(s0): Rotor resistance at running slip or full speed = s0 X2(s): Rotor reactance at slip = s X2(s0): Rotor reactance at running slip or full speed = s0 For example at stand still the rotor impedance is given by: R2(s=1) = R2 (s0) (1+CR) X2(s=1) = X2 (s0) (1+CX) 3

Induction Motor Parameter Estimation

Therefore the cage factors are calculated as follows:

CR =
Where: R2SS: R2FS: X2SS: X2FS:

R 2SS 1 R 2FS

CX =

X 2SS 1 X 2FS

Rotor Resistance at Stand Still Rotor Resistance at Full Speed Rotor Reactance at Stand Still Rotor Reactance at Full Speed

From the above equations it can be verified that if skin effect, proximity and deep bar effects are ignored, CR=CX=0.0 The estimation of equivalent circuit parameters is useful for simulating motor-starting or re-acceleration events. The calculation is based on data that are readily available from the manufacturer, or that can also be obtained from practical field tests. The program is capable of direct data exchange and communication with the EDSA Motor Starting and advanced Transient Stability programs. The induction motor parameters, namely, stator and rotor impedances as well as the cage factors are estimated using optimization-based techniques. The method finds the parameters such that an objective function (difference between given and calculated quantities) is minimized while satisfying constraints. 2.0 Data Requirements

The induction motor parameter estimation program requires the following information: - Rated power in kVA, HP or kW - Rated Voltage in kV - Synchronous speed in RPM - Weighting factors - Design Class (A, B, C or D) The program offers full automatic on-screen conversion between the different power units as follows: KW KW HP kVA HP kVA

In addition to the above basic data, the user may specify a number of operating points (motor characteristics) as functions of speed. The sample points provided by the user can be sparse, in other words, the user does not need to have all the data for all the included operating points. For example, at speed zero (slip equal 1) the user may have the knowledge of motor power factor and starting current but not the electrical torque and efficiency. Under these conditions, the program will estimate the empty portions of the data matrix and arrive at a feasible solution. Remember that one operating point is comprised of: - Speed in RPM - Current in Amps - Power Factor in percent - Torque in lb-ft - Efficiency in percent As mentioned earlier, the Sequential Augmented Lograngian optimization algorithm is used. This is an extremely robust optimization technique with great flexibility to handle constraints. It will never diverge, although it may sometimes find only a local minimum point. It is always desired to find a set of parameters that can produce a perfect match (error function is equal to zero). But practically, a 100 % match is very difficult to reach. The program outputs the relative fitting Error (%) in percent for all specified motor performance data. 4

Induction Motor Parameter Estimation

3.0

Weighting Factors

Weighting factors can be assigned to the following parameters: - Current - Torque - Power Factor - Efficiency Since the objective of the Induction Motor Parameters Estimation program is to minimize the errors between given and computed data, the objective function must take into account the summation of all of the aforementioned quantities. This can be achieved by simply adding the estimated errors for current, torque, power factor and efficiency to form one objective function. The program allows the user to assign different weighting factors for current, torque, power factor and efficiency in order to provide greater flexibility. A weighting factor applied to any of the above parameters is a number between 0.1 and 1.0. This number represents the degree of confidence that user has on the accuracy of the particular figure being entered. For example, if the user knows that the given power factor and torque figures are not accurate, but the current and efficiency values are, then the weighting factors may be assigned as follows: Current PF Torque Eff. 4.0 = = = = 1.0 0.5 0.3 1.0 indicates 100% degree of confidence/accuracy indicates 50% degree of confidence/accuracy indicates 30% degree of confidence/accuracy indicates 100% degree of confidence/accuracy

Motor Design Class

The program allows the user to specify or calculate the motor design class according to NEMA conventions. NEMA classifies induction motors according to the following categories, which are based on the ratio of X1 to X2 (X1/X2): Class A: Class B: Class C: X1/X2 X1/X2 X1/X2 = 1 = 2/3 = 3/7 Wound Rotor

The EDSA Induction Motor Parameter Estimation provides 4 (four) options: Class A applies to: Class B applies to: Class C applies to: Class D applies to: User defined NEMA class A User defined NEMA class B User defined NEMA class C User defined as NEMA class not known

When class D is selected, the program will automatically determine the motors NEMA class based on the data provided by the user. 5.0 Tutorial Exercise

In this tutorial exercise, equivalent circuit parameters will be calculated for the following two motors: Motor 1 Rated Voltage: Rated HP: NEMA Class: Synch. Speed: 4160 Volts (4.16 kV) 870 HP C 3,600 RPM 5

Induction Motor Parameter Estimation

Power Factor: Efficiency:

85% (rated) 87% (rated)

Speed (RPM) 0 1500 3546

Current (AMPS) 518.2 ? 126.4

PF (%) 15 ? 85.3

Torque (lb-ft) 459.2 ? 1481.3

Efficiency (%) ? ? ?

Field data for Motor 1 (all weighting factors are equal to 1.0) Motor 2 Rated Voltage: Rated HP: NEMA Class: Synch. Speed: Power Factor: Efficiency: 460 Volts (0.46 kV) 70 HP B 1,800 RPM 85% (rated) 87% (rated)

Speed (RPM) 0 549 1708 1795

Current (AMPS) 542 503 307 34.2

PF (%) ? ? ? 55.4

Torque (lb-ft) 409.2 365.7 560.4 54.9

Efficiency (%) ? ? ? ?

Field data for Motor 2 (all weighting factors are equal to 1.0) As it can be appreciated from the above field test tables, certain parameters are not known. These unknown parameters are represented by the ? sign. Once the program has completed the calculations, these unknown figures will also be estimated.

Step 1. Select Analysis>Rotating Machine Parameters>Induction

5.1

Invoke the Induction Motor Parameter Estimation program, as indicated in the screen-capture above. 6

Induction Motor Parameter Estimation

Step 2. Select FieNew

Step 3. Create your induction motor Folder project and type an appropriate name for the job file. In this case use IMPE

5.2

As the programs main menu screen appears, proceed to create the new job file following the steps shown above.

Step 4. Type the Motor ID for Motor1 here and then click on the Update Button.

5.3 Proceed to enter the nameplate data that corresponds to Motor 1, according to the information provided in section 5.0 of this tutorial. Follow the steps shown below. 7

Induction Motor Parameter Estimation

Step 5. Enter the motor information and operating data table.

Step 6. Select Estimate and Calculate to determine the Motor1 Total Moment of Inertia and Acceleration.

5.4

Proceed to add Motor 2.

Step 7. Select Add to add Motor2 to the job file.

5.5

Proceed to enter the field test data that correspond to Motor 2, in accordance to the data provided in section 5.0. Follow the steps shown in the above screen-capture. Step 8. Complete Motor2 information. 8

Induction Motor Parameter Estimation

Step 9. Select Prev and Next to review Motor1 and Motor2 information.

5.6

We are now ready to run the analysis. Begin with Motor 1, which is the first record in the database

Step 10. Click on Run to display Motor1 estimated motor parameter report, then do the same with Motor2.

EDSA Induction Motor Parameter Estimation v5.60.00

Induction Motor Parameter Estimation

Project No. : Project Name: Project Title: Drawing No. : Revision No. : Job File Name: Scenario :

IMPE

---------------------------------------------Page : 1 Date : Time : Company : Engineer : Check by : Check Date : Input Data ----------

Bus ID: Motor1 Motor Data: Motor Rated Power in KVA Motor Rated Voltage(kV) Motor Synchronous Speed(RPM) Motor Design Class (NEMA ) Torque Weighting Factor Current Weighting Factor Power Factor Weighting Factor Efficiency Weighting Factor

877.647 4.160 3600. C 1.00 1.00 1.00 1.00

Given and Computed Data ----------------------================================================================================ Speed Current AMP Power Factor(%) Torque(lbf-ft) Efficiency(%) RPM Given Computed Given Computed Given Computed Given Computed ================================================================================ 0.0 1500.0 3546.0 518.2 N/A 126.4 518.2 514.4 126.5 15.0 N/A 85.3 15.0 18.9 85.4 459.2 N/A 1481.3 459.2 745.3 1480.0 N/A N/A N/A 0.0 22.6 95.7

***

Note in the above table N/A stands for data not available

Estimated Motor Parameters

Rotor Resistance Cage Factor: Rotor Reactance Cage Factor:

0.1029 0.0000

Motor Impedances

in % __________ R1: X1: R2: X2: RM: XM: 2.0407 7.9347 1.4990 16.1810 32235.3224 280.3072

in Ohms ___________ 0.4024 1.5646 0.2956 3.1906 6356.2179 55.2715

Stator Resistance Stator Reactance Rotor Resistance Rotor Reactance Magnetization Resistance Magnetization Reactance

================================================================================

Root-Mean-Square Fitting Error (%):

0.0248 EDSA Induction Motor Parameter Estimation v5.60.00 ----------------------------------------------

10

Induction Motor Parameter Estimation

Project No. : Project Name: Project Title: Drawing No. : Revision No. : Job File Name: Scenario :

IMPE

Page Date Time Company Engineer Check by Check Date Input Data ----------

: : : : : : :

Bus ID: Motor2 Motor Data: Motor Rated Power in KVA Motor Rated Voltage(kV) Motor Synchronous Speed(RPM) Motor Design Class (NEMA ) Torque Weighting Factor Current Weighting Factor Power Factor Weighting Factor Efficiency Weighting Factor

70.615 0.460 1800. B 1.00 1.00 1.00 1.00

Given and Computed Data ----------------------================================================================================ Speed Current AMP Power Factor(%) Torque(lbf-ft) Efficiency(%) RPM Given Computed Given Computed Given Computed Given Computed ================================================================================ 0.0 549.0 1708.0 1795.0 542.0 503.0 307.0 34.2 555.6 497.4 261.1 34.4 N/A N/A N/A 55.4 25.7 25.7 73.7 55.0 409.2 365.7 560.4 54.9 405.4 365.8 590.9 58.0 N/A N/A N/A N/A 0.0 28.0 93.4 98.2

***

Note in the above table N/A stands for data not available

Estimated Motor Parameters

Rotor Resistance Cage Factor: Rotor Reactance Cage Factor:

2.1462 -0.4748

Motor Impedances

in % __________ R1: X1: R2: X2: RM: XM: 0.3684 8.6809 1.2402 13.0214 35590.9609 309.4866

in Ohms ___________ 0.0110 0.2601 0.0372 0.3902 1066.4897 9.2738

Stator Resistance Stator Reactance Rotor Resistance Rotor Reactance Magnetization Resistance Magnetization Reactance

================================================================================ Root-Mean-Square Fitting Error (%): 1.9048

11

Induction Motor Parameter Estimation

5.7

The full report is now shown in the output screen. At this point, the report can be printed out, copied to the clipboard or saved as a text file for third party software customisation. To exit, select Done from the menu. We will now complete the tutorial by analyzing Motor 2 Plot output

5.8

Step 11. Click on Plot Output to display Motor2 Current, Power factor, Torque and efficiency plots. Motor2.

12