IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

VOL. PAS-84, NO.

11

NOVEMBER 1965

Simulation of Symmetrical Induction Machinery

P. C. KRAUSE
MEMBER, IEEE, AND

C. H. THOMAS,

SENIOR MEMBER, IEEE

the performance of induction machinery is demonstrated with computer results which show the dynamic behavior of 2-phase and 3-phase machines during balanced and unbalanced operation. The computer simulation for these various modes of operation is conveniently obtained from the equations which describe the symmetrical induction machine in an arbitrary reference frame. Of particular interest is the representation which is used to simulate the opening and closing of a stator phase. This simulation would be useful in studying the performance of the induction machine when used in conjunction with electronic switching devices. The examples which are given can be used directly, or in a slightly
modified form, to study various practical problems. Also, these examples should serve as guideposts in selecting the best reference frame or the best combination of reference frames to be used in the computer simulation of systems which have more than one machine.

Abstract-The effectiveness of an analog computer in studying

2) unbalanced stator voltages 3) unequal rotor resistors

1) balanced conditions

equal rotor resistors

4) a combination of unbalanced stator voltages and un5) opening and reclosing of stator phases.
DEFINITIONS AND BASIC EQUATIONS

phase machine with

A symmetrical machine is generally defined as a poly1) uniform air gap 2) linear magnetic circuit 3) identical stator windings, distributed so as to produce

sinusoidal MMF wave in space with the phases and arranged so that only one rotating MM1F wave is estabINTRODUCTION lished by balanced stator currents 4) rotor coils or bars arranged so that, for any fixed time, IN MANY APPLICATIONS, the dynamic behavior of the induction machine has an important effect upon the the rotor MMF wave can be considered to be a space overall performance of the system of which it is a part. sinusoid having the same number of poles as the stator Two examples of this would be the speed of response of a MMF wave. 2-phase servomotor or the hunting of a doubly excited induction machine. Although induction machines are gen- Although the symmetrial machine is an idealized machine, erally operated under balanced conditions, various un- it offers a means of predicting the performance of many balanced or unsymmetrical conditions can occur. For ex- types of polyphase induction machines. Some important ample, the stator phase voltages may become temporarily factors which effect the performance of the actual machine unbalanced due to system disturbances, or may be opened but have been neglected in the symmetrical machine are 1) nonlinear magnetic circuit and reclosed or intentionally reversed; the applied voltages 2) change in resistance due to temperature and freof a 2-phase servomotor are continuously unbalanced. Furthermore, unequal external rotor resistors may occur quency changes 3) harmonic content of the MMF wave. due to a temporary malfunction in the external rotor circuits and, in some cases, switching may occur in the rotor phases. in establishing the equations which describe the beIn order to use the analog computer effectively, it is havior of induction machinery, it is generally sufficient to important to have an induction machine representation consider an elementary 2-pole 2-phase symmetrical mawhich can easily be arranged to simulate many of these chine This development can then be extended to include modes of operation. To fulfill this requirement, a computer a machine having any number of poles by simply multiplyrepresentation is developed which can be conveniently ing the expression for torque by the number of pole pairs. altered to simulate the symmetrical induction machine in If only balanced conditions are being considered, the modiany reference frame. The representation is then modified fications necessary to include 3-phase machines are equally and extended to allow various unbalanced and unsym- straightforward. If, however, unbalanced or unsymmetrical metrical conditions to be investigated. In particular, com- operation is to be analyzed, it becomes necessary to conputer representations are developed, and computer results sider the 2-phase and 3-phase machines individually. aregiven forthefollowing modesvof operation: Therefore, instead of limiting this work to either a 2phase or 3-phase machine, parallel developments will be
a

parctrical fuglfillSmen thiereqiremnt porrtedthrwapeformteP..dged mentgo thKh..derennelcriasegner C.iH.aThomasWisc wihteAlsCamr'MnfcuigCmay

Paper 31 TP 65-120, recommended and approved by the Rotating given. For the development of the 2-phase machine, the simpliMachinery Committee of the IEEE Power Group for presentation at the IEEE Winter Power Meeting, N.ew York,lN. Y., Ja nuary31 fedrpentio shw inFg1wllbemoy. When a stator winding is distributed for the purpose of available for printing December 3, 1964. ' in space, it is convenient in producing a sinusoidal of the wr re for to portray the winding as an eqivalent single coil and cxP. C. Krause is with the University of Wisconsin, Madison, Wisc. press the mutual coupling between it and an equivalenlt rotor coil as a vsinusoidal function of the angular displace-

MIMF wvave

10)38

KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES

1039

br-axis

bs-axis

br

bs

ROTORROTATION
or

magnetic axes. If the induction machine has either squirrel-cage rotor or a coil-wound rotor ~~~with the same number of phases as the stator, the rotor can be considered as havinig equivalent coils (shown in Fig. 1). The modifications, which are necessary to include a double-cage rotor or a rotor wound with a different numar-axis ber of phases than the stator, are straightforwvard and will Gr ~~~~~not be considered in this development. The stator windings are identical, i.e., both windings - as-axis have an identical niumber of effective turns ATs, identical resistance r5,, identical leakage inductance L,,, and identical ~~~~~~~self-inductance Ls. Similarly, equivalent rotor windings are identical which have the same effective turnis N7, resis~~~~~~~tance r,, leakage inductance Ll,, and self-inductance Lr. The voltage equationis for the stator phases are written
ment between their
a

rs ~~~~~~~rVas
Va

PXas + iazsrs
PXbs

(1)
(2)

tsN
bst
STATOR

N5

Nr

Nr

va r

In the case of the rotor phases,

Vb=

ibsrs,

~~~ ~ ~ ~

+ lb + ~rr 'br
vbs+

~~~~~~~~~Var =PXar + iarrr

(3)
(4)

~rVbr =PXbr
p is the operator d/dt. ~~~~~~~~~~and The

ibrrr

STATOR Fig. 1. A 2-pole 2-phase symmetrical machine.

~~~~ROTOR

where X is the total flux-linkages of a particular winding,

flux-linkage equa-tion

can

be written

[Xas]
JXarJ
br-axis

IXbsI

as'
bi

[
L
-

L87
Lsr

cos

Or

Lsr Sin Or Fiasi

cos

L,co

L,7si

Sin Or

1O
r

or-axis

Lrsn Or Lsr CoOS 1r0L

LibrJ

ROTATION
cr

STATOR

ROTOR
br
b
s

as9:..~

~~er(5

where L,r iS the amplitude of the mutual inductance be~~~~~tween stator and rotor windinigs and 0, is the angular discases, the stator and rotor of a 3-phase induction machine are connected as 3-wire systems. In the case of squirrel-cage machine, the rotor windings can be consid~~~~~~~a ered equivalent to a 3-wire system. A symmetrical 3~~~~phase machine of this type is shown in Fig. 2. Four-wire connections will not be considered. The line-to-neutral stator voltages are

or

between the stator and rotor axes (Fig. 1). ~~~~~~~~placement most

~~~~~~~~~~In

cs-

axisr-OX'iS

1bs
+
N

N5
Ns

Nr

br

Vas =- PXas + iasrs

r-PS+'bl

(6)

r~

1040

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

linkage equations are given in (12).

Since the stator and the rotor are 3-wire systems, the flux-

in which

= LS - LSm

(13)

Lrr

Lr

Lrm

(14)

where Lsm is the mutual between stator phases and Lrm is the mutual between rotor phases.
L

.D, D, *,~ .~e~ D,

W : W :<,

c0+

. N%_~ o o

.-

kIc"#:> + o
b cs

b1

<, qb : 9
o b 0 I+

0I

0 C

4 4

+
0 o

;" cs o ,4 4

IsoO
W
M 0~~~

W o:
+

Due to the sinusoidal variation of mutual inductances with respect to the displacement angle Or, time-varying coefficients will appear in the voltage equations. Fortutnately, this undesirable feature can be eliminated by a proper change of variables which, in effect, transforms the voltages and currents of both the stator and rotor to a common frame of reference. In most cases, the analysis of an induction machine is carried out in either a synchronously rotating reference frame or a stationary reference frame. It is, however, unnecessary to consider each reference frame separately in the development of the equations :0which describe the behavior of the symmetrical machine. Instead, it is convenient to develop the equations for an arbitrary reference frame and, from these general equations, obtain the equations for any specific reference frame. The equations of transformation are expressions which formulate a change of variables and could be written without any physical interpretation. It is helpful, however, to correlate the change of variables (transformation equations) to trigometric relationships which exist between sets of axes. To illustrate this facility, a third set of axes will be introduced. Figure 3 shows the angular relation of the stator and rotor axes of a 2-phase machine with the third set which is an orthogonal set (d-q axis) rotating at an arbitrary electrical angular velocity w. It is clear that the as-bs set is fixed in the stator. The ar-br set is fixed in the rotor and hence rotates at an electrical angular velocity 8of Wr. The time-zero angular relationship between the three sets of axes can be selected arbitrarily. However, it is convenient to assume that, at time zero, the q, ar, and as axes coincide. The equations of transformation, which can be correlated to the angular relation of the axes in Fig. 3, are Stator

TRANSFORMATION TO AN ARBITRARY REFERENCE FRAME

fqs

fd,
Rotor
fqr

fas cos 0 + fb, sin a fas sin G- fb. cos 0

(15)

(16)
(17) (18)
(19)

+
3

whr

fdT

far cos , + fb Sill ,B = far sin 13 - fbrcos ,8

=

o ,<" < L_____________,___________

r " " . < <t<

K <

K <

n <.

~~~~equations are restricted in that the instantaneous angular

~~~~~currents in either the stator or the rotor. However, the

~~In these equations, the variable f can represent either voltage, current, or flux-linkage. The equations of trans11frmto are valid regardless of form of the voltages and

13 = a

r.

1965

KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES

1041

br-axis

bs-axis

axis bs-axis ~~~~~~~~~~~~~br-

q-axis

q-axis

-ar- axis

er
-.--as- axis

Cs-axis

cr-axis

d-axis

d-axis Fig. 3. Axes of 2-pole 2-phase symmetrical machine.

Fig. 4. Axes of 2-pole 3-phase symmetrical machine.

displacement 0 of the arbitrary reference frame must be a continuous finite function. If the equations of transformation are used to transform the voltages and currents of both the stator and the rotor to the arbitrary reference frame (d-q axis), then

for = - (far + fbr + fcr).

(33)

where

PXqs + XdsPO + rsiqs Vds = PXds- XsPO + rsids Vqr = P>qr + XdrP/3 + rriqr Vdr = PXdr- XqrPI3 + rridr

VqP

(20)
(21) (22) (23)

Xqs = Lsiqs + L7riqr

(24)

Xds = LSidS + LSTidT (25) (26) Aqr = Lriqr + Lsriqs Xdr = Lridr + Lsrids. (27) In the case of a 3-phase machine, the following change of variables will eliminate the variation of the mutual inductances, Stator
cos 0 fqs = j [fas cOs 0 + ff1 (CO
/ 2 F 27r~~~~~~~~~~ /

These equations of transformation can be correlated to the trigometric relationships between the stator and rotor axes and the d-q axis which rotates at an arbitrary angular velocity w (Fig. 4). The variables fos and for are incorporated since, in general, three independent variables are necessary. If, however, only balanced conditions are to be considered, the three voltages (currents) are defined by any two. Hence, a third substitute variable is unnecessary. Furthermore, since only 3-wire systems are being analyzed, it will be shown that for the types of unbalance considered, the zero quantities are nonexistent. Therefore, these quantities will be excluded from this equivalent circuit development. If the flux-linkage equations are defined as

Xqs =
Xds
=

Lssiqs + 3 Lsriqr
LSSid + 2 2 Lsrid7

(34)
(35)

,3

) + f cos ( +

2\1 ~~~~~Xqr

Lrriqr +

2
-

Lsriqs(6
Lsrids

(36)

(28)

Xdr = Lrridr +

(37)

fds = [ fas sin 0 + fbs sin

3

---) 3

fes sin

0 +-

fos

(fas + fbs + fLs)

with self-inductance separated into a leakage inductance component and a magnetizing inductance component, (1) the voltage equations for either the 2-phase or 3-phase 2 f F 2~~~\ / 2ir\1 ~machine become fdr =3[ far sin:3+ fbr sin(j - 3 ) + fcrsin (di + ) q = pX5, + Ayd,p0 + r5iq5 (38)
(32)

hfr

Rotor Rotor + r cos (, = 3 [far cos +3 3 \

r)~+ fcr cos (+ 21) 31 ~~~~31

the dq voltage equations for the 3-phase machine can be expressed in the same form as those for a 2-phase machine (29) [(20) to (23)]. Generally, the machine parameters are measured with (30) respect to the stator windings. Therefore, it is convenient refer allvariables rotor quantities rotor referred to to the thestator statorwindings. windingsWith and ~~~~~~~~~~~the

~~~~~~~~~~~~to

Vda

PXAda

XAqsp0

raid,

(39)

1042

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

~~~~~~~~+ ++

ds LIS rs +-

P`ds9

~Llr

'A'dr p

rr

where pes pls

is the number of

phases and P is the number of

vqs

;qs

MX

;qr

qr

.q axisq- axis
rS
A Pe
qs

L Is

L XIr

A Poqr
qr

rr
dr
r

'ds

ds

COMPUTER REPRESENTATION OF A SYMMETRICAL MACHINE-ARBITRARY REFERENCE FRAME In a computer simulation, it is essential to be able to observe the important systenm variables and desirable to fulfill this requirement with the minimum amount of equipment. A computer representation which achieves this 2fold objective can be developed for the symmetrical machine by first solving equations (42) to (45) for the currents. Hence,

d-axis
Fig. 5. The d and q equivalent circuits of symmetrical inachine; arbitrary reference frame. 1

iqs =

Xis

(qs

4I'mq)

(54)
(55)

ids =
it
r

x's
lT

('ds - rmd)
1

V'qr
V'dr

PX'qr + X'drP/3 + r'Tifqr

PX'dr
-

(40)
(41)

X'qrp/3 + r'ri'dr

-qr-Rmq)
(II'dr
-

(56)
(57)
(58)

where

ildr

,tmd)

Xqs
Xds
X'qr
Xdr

=
=
=

Llsiqs + M(iqs + i'qr) LisidS + M(id,, + iVdr) LIiri'qr + M(iqs + i'qr) L'lTi'dr + MIi(ids + iVdr)L- Lms LI LDr -Lms AI lms

(42)
(43) (44)

where
{me = Xm(jqs + i'qr)
id = Xm(ids + i'dT)
In these equations, (59)

(45)

For the 2-phase machine,

Lis

IT

(46) (47)
(48)

where

Lms =
For the 3-phase machine,

Ns

Ls,7
- 2

following computer equations are obtained: (49) = W ( q -)Qd s+ 'qs)]

sL
( ) {
>V rs
-

(60) = WeXqs, etc. where We is the base electrical angular velocity corresponding to rated frequency. If (54) to (57) are used to eliminate the currents in (38) to (41), as well as in (58) and (59), and if the resulting voltage equations are solved for Vs2 %t'ds, 41' r, and *'dr, the
(61)
(62)

5tqs

Ls = L

(50)

3ds =

LVds +

'kqs

('kmd - 4lds)J

Lisr
LIir

=
=

L.,s

- 2LMS 3 =

2 by applying thdr torqu can ber obtained MvLins =ip 2

(3)-Li

CO (x )fd sm r](3 er=p (51) ) dr + r7 (kmd -fdr) (63) FdV dr - (W X ir L / \hee (51) (45)

(52) rldo hich ise /

where
r

(Winciple

+ / (s
r

= ('krd
i

'kdr)1

(64)

electromagnetic thedeiote instantaneous An primes expression for to referred rotor quantities are used The
to the stator w E indis

t (45) suggest teiq

'k q

(65)

1965

KRAUSE AND THOMAS: SIMULATION OF SYMMETRiCAL MACHINES

1043

\q'm q

Vqsq

ble

Xmd Xmq xa lr - Ir Xmd Xmq

rs c

erly developed. If, in the case of a 3-phase machine, the voltages Vas, vb8, and v,, are known, the qs and ds applied voltages, in a reference frame fixed in the stator, are obtained by setting 0 0. Thus,
The raised indeXxs
vs
Vds =
XIS

IJie

VasoD ~~~2\2

Vdssies 2

(69)
O

We

D 4 _ < and

Vbs + Vs

The raised index s is used to denote variables in the referxFr frame fixed in the stator. In the case of a 2-phase trary reference x I machine, it is clear that
ui
xy

(71) ~~~~~~~~~~~~~Vq Va

4 4 g ves = vgS Os fle - Vdssinea, vs,) the htJ owvr it iIt is convenient to express the applied voltages in (70) various c . Treference frame fixed in the rotor and in the synchronously

~~~~~~X.l

Vds

Vi,.

(72)

ds

Thus, rotating reference frame as functions of vqs and v 7. T~j= 2)2))*)COS 0r - Vdr sin 0r (73) ~~ ~~~~~~~~~~~~~~~~~~~~~~~r (74) + Vds cOs sr ViesHowever,Sin e r
and

V~~~~~

e
Fig. 6. Computer representation of symmetrical machine; arbitrary reference frame.

cos CO Vd~ ~ ~ ~ ~ = v~ ~ ~ ~ ~ ~sin

The raised index

as~ ~ ~ ~ ~

- Vds sin 0e(75) co e0. 0, + vd CO

e

(76)

r denotes variables in a reference frame fixed in the rotor, and the raised index e denotes variables in the synchronously rotating reference frame. The currents can also be eliminated from the torque For balanced conditions VI eand Vde are constants and equation. However, it is often desirable to observe the w l ben pted, udesirecly fats rec volts rathe ga rine byasuchlancelimi various currents. than simulating (75) and (76). Also, for balanced condiiurrens vot s lte tion. Therefore, the following equation will be used to ob- tions v and Vds can be obtained more directly by simplifyt h ring (69) and (70). For balanced conditions (73) and (74), which express Vq~~~~ and vd', can either be simulated directly or ln\/P\/1\ = frame rot- tlng reference'h T) synchronously Vqs ds (V/ qrildr (68) rearranged and simulated in terms of slip frequency quantirPdri*qr). Ta2s2 to simulate a it is necessary indoatiretl either case ties. However, sycroos direed.voltaeser,ather wouldne ismalemened and dvariouscrents. Thu little galshed]bmysucea is given in Fig.ueliin 6. It is as- variable frequency oscillator. In such a simulation, it is The computer representation sumed that no sign inversion occurs in the multipliers, difficult to prevent erroneous variations at the output of In this work, saturation will not be considered. How- the integrators, within the oscillator, during the zero freever, in some applications, it may be necessary to approxi- quency mode of operation. If the slip frequency quantities mate the effects of saturation. If this is the case, the method are generated, this undesirable feature occurs if the machine is allowed to attain synchronous speed. However, this developed by de Mello and Walsh [11] may be used. be overcome either by opening the input to the BALANCED CONDITIONScan CONDITIONS BALANCED integrators at synchronous speed or by programming a It is convenient, at this point in the development, to small constant load torque to prevent the machine from frequency Ifl oaubryia the obervae tbe voltages andb cuorrents duri balncd pera- retac sing synchroanos se aed.

1044

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

excited machine will not be considered. Hence, unless otherwise specified, it will be assumed that

VIqr

V dr

0.

(77)
m

3.0

In order to obtain the dynamic characteristics, it is necessary to relate torque and speed. Thus, since
T )

CY

2.0-

TL
JWTTeP

(78)

where TL is the load torque and J is the total inertia, the necessary computer equation is
We

X 0.2 0.4 0.6 0.8 1.0

PER UNIT SPEED

r=

/\PJ

7)

Although the equations and computer representation have been derived by assuming conventional units, it is a simple task to convert to a per-unit system. This conversion is generally accomplished by selecting the kilovoltampere base and the per-unit voltage to correspond to the rating of the machine. The machine inertia is then expressed in per-unit form as H =
2

Fig. 7. Steady-state torque vs. speed characteristics.

,0
3. O 20
z
ID 0*

Jw,/base torque

(80)

where J is in mks units.\ An induction machine with the following per-unit parameters was simulated on the analog computer: Xm = 2.0420 r r = 0.0222 r. = 0.0453
= 0.0775 XiJ

1.0

X'

0.0322.

Xl
0.2 0.4 0.6 0.8 1.0

The per-unit inertia is the combined inertia of the motor and load. The steady-state torque vs. speed characteristics are shown in Fig. 7. The torque vs. speed, torque vs. time, and speed vs. time characteristics during free acceleration are shown in Fig. 8. Figure 9 shows the variables in the three reference frames during free acceleration. In any analog computer simulation, it is preferable to eliminate sinusoidal quantities whenever possible. Therefore, unless it is necessary to retain either the stator or rotor variables, the simulation in the synchronously rotating reference frame is particularly desirable for studying balanced operation.
UNBALANCED STATOR VOLTAGES When the stator voltages become unbalanced, sinusoidal variations will appear in the d and q quantities regardless of the choice of reference frame. Since sinusoidal quantities must appear, it is better to select a reference frame which will allow the simulation to be achieved with the minimum amount of computing equipment and still retain the identitof thtitY imotn aibe. Asumn tha th stato I thelmporant vrlaDes. ASumln tnattne sator variables are to be retained, the above requirements are satisfied by selecting a reference frame fixed in the stator. In the case of a 2-phase machine, the dss - qsS and as bs variables are simply related. However, the 3-phase case

PER UNIT SPEED

AO

(a)

40

5.0 2.0
lo
le 0.1 SEC.

PU TORQUE

0.8

P2(b)
Fig. Free-acceleration balanced conditions. characteristics, (a)8.Torque vs. speed. (b) Torque and speed vs. time.

0. 0A

PU SPEED

1965

KRAUSE AND

THOMAS: SIMULATION

OF SYMMETRICAL MACHINES

1045

10 8 S.
6 4 2
10

i*dse Pu CURRENT ~~~~~~ds

8.
4

6.q

j e

PU CURRENT

2\

-2l

-4/
-8

-10l
-2-4-

iqdr PU CURRENT

-6.l
-s0 1

qr

PU CURRENT

(a)
1.0
r

-0.I

SEC.
1

-1.0i
5
-

9EEPgIJ%S LTjPVAOLTAGE1
10

-10

10-

-10

-.51dIEM M \AV-RN
PU VOLTAGE
10]

ds

105 -&s
5

os

-10

PU CURRENT

-1,*i11001111Y!!Y!YVVV\'5IVIIIIIIIUIIIIIIIIIIII

PU CURRENT

10-

ttr -~~~~~~~~10 (c) Reeecifaefxebnte ~~ ~ ~~ rotor.~~~~~~~~~~~

10
-e

-5

CURRENT P~~~~~~~~U

-5]
0

111111]

PU CURRENT
l

5-

r10. d~~
0
PU CURRENT

~~~~~~~~~~~~~r 51111dr
PU

-51

CURRENT11

1046

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

warrants further consideration. For this development, the circuit shown in Fig. 10 will be considered. From Fig. 10, it is clear that the line-to-neutral voltages are

Va, = ega Vbs

vcs
=

(8)
vng

where R'a and R'b are the external rotor resistors of phase a and b, respectively, and are referred to the stator windings. For the 3-phase development, the circuit shown in Fig. 12 will be considered. It is apparent that the line-toneutral voltages are
V

egb

(82)
(83)

ar

pm

i arR'a

(92)
(93)

eg, - vng. Regardless of the form of the source voltages,

=

v br = V

VIcr
(84) (85)
hence,

brR'b = V'pm - iIcrR'c

c i'brR'b + 3 z'crR

pm - i

(94)

Vqs = 3 (ega - e-b-2 eg)

Vds =

+ e) (-egb + g)

8)3
V dr
dr

i rRa +

(95)
(96)

Also, since only a 3-wire system is being considered, and a linear magnetic circuit is assumed,
Vos

j1~',-

ilbrR'b

i/crR/c

= 0.

(86)
and

Var = 0,

If e,a, eob, and eg, are generated, the voltages vqS and Vds can be developed by simulating (84) and (85). The phase currents are

i ar

ilqr
qr

(98)
2 i dr

ias =
= - 2 iqS
2
.

(87)
s

ibr =- 2

(99)

(88)

ics = (ias + ibs). (89) The free-acceleration characteristics, shown in Fig. 11, are for the following unbalanced stator voltages
ega =377t 1.0cos
e

= - (i'ar + ilbr) (100) Thus, (98) to (100) are applied in obtaining the rotor phase currents and (95) and (96) are employed in making up V'qr and V'd', respectively. With this particular simulation, the rotor phase currents are available on the computer. If it is unnecessary to have these currents available; Vqr and V dr can be expressed in terms of i'qr and i'dr by sub-

icr

stituting (98) to (100) into (95) and (96), yielding

qr =

711) 0.5 cos 37 =.5cos(377-3

-4R6 a+ R'b + R'c) rq

1

(R-b- Rl)i

ec= 1.0 cos (377t +2)

1~~~~~ V dr R c)ilqr UNEQUAL ROTOR RIESISTORS 2 (R'b + R'c) itdr 2 V\/3 (R'b If the rotor windings are connected through unequal (102) external resistors, the rotor phases are no longer sym- The free-acceleration characteristics for the case metrical. Because of this rotor asymmetry, time varying resistances will appear in all reference frames except for the Rob =Rc = 0 reference frames fixed in the rotor. It is, therefore, conRI 0.0333 venient to use this particular reference frame in investigating the effects of unequal rotor resistors upon the per- are shown in Fig. 13. Considering (90) and (91), these formance of an otherwise balanced machine. same results could also be interpreted as the free-acceleraOnce the machine is represented in a reference frame tion characteristics of a 2-phase machine with fixed in the rotor (i.e. co = w7), the 2-phase machine with R' unequal rotor resistors can be simulated by replacing theRb= r in the qr axis with R'a =0.0222.
Rr= r'r + R'a and the r' in the dr axis withUNQARORREITS
Rr= r'7 R'b
(90) (91)

(101)

SIMULTANEOUS UNBALANCED STATOR VOLTAGES AND

Unbalanced stator voltages and unequal rotor resistors should seldom occur simultaneously. However, this ab-

1965

KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES

1047

ibs b

br

Fig. 10. Stator circuit.

Fig. 12. Rotor circuit.

lo

-101
N

PU CURRENT

3.0t

CURRENT ~~~~~~~~~~~~~~~~~~PU

i-1.0 ~

Ill

0 ~~~~~~~~~~1

100

5-

0.

P ER UNIT SPEED

0.40.6.8

-'1.0

Fig. 11.

Free-acceleration

characteristics; unbalanced stator

voltages.

1048

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

1.0
0.

~~~~~~~PU

vd s VOLTAGE

-1.0

1*

do 5PUCURRENT

iX11FllBlllllll
I

I.0.t-

,5X iAAhAAAI;

7IIAA'

~ ~ ~-IO

gg:2 64 s QHINHYYYYYYY V'PJ / U VOTPEE

_4,oJil-101
PU CURRENTE
o

~~~~~~~~~ 0.2~

-04 0.6 0.6C..

Fig. 13. Free-acceleration characteristics; unbalanced rotor resistors.

normal condition serves to illustrate the versatility of the stator phase currents can be obtained by transforming id5 and igr either to 'tds and ijq5 and then to las, ij, and ics or computer setup. Depending on the variables of particular interest, a directly to the phase currents. If a reference frame fixed in the stator is selected, the reference frame fixed either in the stator or in the rotor probably would be selected. If a reference frame fixed in rotor unbalance must be properly transformed. It is necesthe rotor is to be used, the computer representations sary then to replace V'q and V'dt,(95) and (96), with v'qr and which have been developed can be employed directly. V'ds. These relations can be obtained by setting ,3 equal to In particular, for a 3-phase machine, (95), (96), and (98) - Or rather than zero, at the time the rotor phase voltages to (100) would be used to account for the rotor unbalance; are substituted into the equations of transformation. It is the voltages vg and Vds would be made from (84) and (85) clear that, with this choice of reference frame, it is necesand then transformed to the reference frame fixed in the sary to transform i'dS and i'qS in order to obtain the rotor rotor by imlplementing (73) and (74). If necessary, the phase currents.

1965

KRAUSE AND THOMAS: SIMULATION OF

SYMMETRICAL

MACHINES

1.b

-1.0

-1

10.0
g

MM \VM V

000 1 00 I V

PU

CURRENT

-10

5-

CURRENT' ~~~~~~~~~~PU

-10-

301

~~~~~~101

2S2
-r1.0
PER UNIT SPE ED

Al.
04

~ ~~ ~ 5-

~~~~~~'r

PU CURRENT

Fq01SC

Fig. 14. Free-acceleration characteristics; simultaneous unbalanced stator voltages and unequal rotor resistors.

mode of operation can be achieved with simple modifications of the basic machine setup. Assuming that current ceases to flow after a normal current zero, the modifications amount to maintaining the current at zero by replacing, in the simulation, the source voltage with the open voltage. For exanple, if, at the instant i2S is zero, VQS is reDISCONTNUOUS APLIED VLTAGESplaced in the simulation by the voltage which appears The computer simulations which have been developed across the mutual inductance, the current iqS, which is the thus far can be used to investigate a variety of operating stator current of phase a referred to the stationary referconditions. However, no provision has been made for ence frame, will be forced to remain zero. Although a simsimulating an open phase. Fortunately, simulation of this ilar procedure is possible for the switching of rotor phases, The combination of unbalanced stator voltages and unequal rotor resistors, which previously were considered individually, were represented on the computer. A reference frame fixed in the rotor was used in this simulation. The free-acceleration characteristics are shown in Fig. 14.

1050

IEEE TRANSACTIONS ON POWER APPARAT'US

ANI) SYS'TEMS

NOVEMBER

only the switching of stator phases will be coiisidered in this development. Therefore, to provide the most simple relation between ds-qs quantities and the stator phase quantities, the machine should be simulated in a reference frame fixed in the stator, when the open circuit voltage of phase a is
Vas

+ -,:

vsb
'SC

jbs
_

egc

g
l

eb

+
+

N5
+

VcCNs+
as

Vqs =

We

-q
Xmiqr'.

(103)

However;
qs= Prmq
-

Fig. 15. Stator circuit with provisions for switching.

(104)thus,
S

Therefore, the open-circuit voltage can be written

Sq

Vas

(113)

Xm 1 St/~~ = P (105) r (-e0b + e..) Vds Wes X + Since pi/r" is available at the input to the integrator which makes up qs', the open-circuit voltage can be obtained and 1 1 without performing differentiation. Thus, an opening of Vas + + Vn= (e0b eQC) phase a can be simulated by incorporating a relay to switch VqS from the source voltage to the open-circuit voltage (105) -as (eg1 + egb)3VSa ega-at the instant iqs becomes zero. Although this type of 2 2 devices, sinmulation is exact for many solid-state switching it does not provide for any forcing of a current zero which For the opening of phase b, night occur with mechanical switches. Vas = ega- Vng The following equations stipulate the applied voltages 1 for simulating the opening of either or both phases of a + V P4"dr) ) Vb 2-phase machine. 2We Xm +m (PX/'qr For the opening of phase a,

(114)
(115)

(116)
(117) (118)
(19

(3Xd

Vqss=

X7n ) , s mX
/

(106)

Thus(

vcs= egc- Vng

1 = 1 (107) vdS = -eb (source voltage). (ega eg.) V55 2 2 Vbs(10 For the opening of phase b, 2 S (108) (e egc) + v S = ea (source voltage) x \ s S pf Vds = -l (109) and ) r( CWe Xm +m X'J Vng= -(ega + egc) + -vbs For an opening of phase a followed by an opening of phase 2 2 the of b, voltage b, it is clear that during the opening phase 3 1 Vqss would remain as stipulated by (106). It is apparent that + V11. e5c)e5b--(ega VSb= time. at any the source voltages can be reapplied an of the simulation In the case of a 3-phase machine, open phase becomes more involved since id' and i,s need For the openiing of phase c,
not be zero at the time one of the phase currents is zero. The procedure however is similar to that used in the 2phase case. For the circuit shown in Fig. 15, the following equations can be obtained and, if properly implemented,X can be used to simulate the opening of any one or all three stator phases. For the opening of phase a,

(121)
(122)
(123)

Vas esa Vnl7 V1. = eeb-pnZ (125) m ) (ij4'qs - <V v. = - 1 ( 2We \Xm + XlT/ Thus

(124)

P'k'dr).

(126)

W)e \Xm + X'ir/

Vbs
=

Vq0)rs = 2(epfla -eub) -2 s

(1 1 1)
1
__

(127)
(128)

-g V,80

= eec - Vn07

(112)

VdS = - 2x/ (ega - e01) + 2 vcs

1965

KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL

MACHINES

1051

e0a
0.

PU VOLTAGE

vsQ

PU VOLTAGE

O.SO

Vng
n

PU VOLTAGE

Q25
-0.25-

- s

PU VOLTAGE

ias

PU

CURRENT

-5l

as3

PU

SPEED=

Fig. 16. Stator~phase opened and reclosed during acceleration.

and

CONCLUSION

eab) + 2 Vcs n-2 \8v 2 2 = 3 1 --(ega + e,,)-2- VCS-

(129) (130)

~~~~~~~~of

These equations are valid regardless of the form of the source voltages. If, however, the voltages are balanced, the equations can be expressed more compactly. The computer recordings in Figs. 16 and 17 show the effects of switching during free acceleration with balanced source voltages. In particular, Fig. 16 shows the opening and reclosing of phase a; Fig. 17 shows the opening of all three phases followed by simultaneous reclosing of all phases.

The versatility of the electronic analog computer in one area of application has been demonstrated. The simulation induction machines subjected to operating conditions which are cumbersome to analyze or impractical to duplicate experimentally is of practical importance. Although this capability is more evident, perhaps, in the case of abnormal or unbalanced operation, the analog computer is equally useful in studying the dynamic behavior of singly or doubly excited induction machines in balanced systems. The use of the analog computer as an instructional aid to demonstrate free acceleration, load torque switching, breakdown, generator action, and other characteristics, has proved advantageous. Although it is not practicable to account for all possible situations, the computer representations are quite general

1052

IEEE TRANSACTIONS ON POWER APPARATUS AND SYSTEMS

NOVEMBER

VaS

PU VOLTAGE

10-

iGS

PU CURRENT

__0
1.0

V S

PU VOLTAGE

-1.0i

10-

tbs

PU CURRENT

1.0

IVcs

PU VOLTAGE

0.5

10-

ElHSjVIiSA1 I LItIL jUf! 08

iCS
PU CURRENT
PU TORQUE

-5l
1.0
-2
I .0 0.8 0.6 0.4

PU SPEED

0.2
k

+-0.I

SEC.

Fig. 17. Stator phases opened and reclosed during free acceleration.

and can be used directly, or modified simply and extended to simulate many practical problems. For instance, the cases considered here would be helpful in determining simulations of complex systems involving several machines
bination of reference frames.
> > >

where it may be advantageous to use an approximate cornREFERENCES

[1] C. Concordia, Synchronous Machines. New York: Wiley, 1951. [2] F. J. Maginniss and N. R. Schultz, "Transient performance of

[3] P. C. Krause, "Simulation techniques for unbalanced electrical machinery," rence, 1961. Ph.D. dissertation, University of Kansas, Law[4] , "Electronic analog computer representations of induction
Wiley, 1951. [6] -- A new theory of hunting, Trans. AIEE (Power Apparatus
vol. 45, pp. 43-82, July 1961. ~~~~~~~~~~~~~~Bull., [5] G. Kron, Equivalent Circuits of Electric Machinery. New York:

induction motors," Trans. AIEE, vol. 63, pp. 641-646, September 1944. motors with unbalanced terminal voltages, Kansas State Univ.
and Systems), vol. 71, pp. 859-866, October 1952.

[7] R. H. Park, "Two-reaction theory of synchronous machinesgeneralized method of analysis-I," Trans. AIEE. vol. 48, pp. 716-730, July 1929.

1965

KRAUSE AND THOMAS: SIMULATION OF SYMMETRICAL MACHINES

1053

generators in voltage-regulation studies," Trans. AIEE (Power Apparatus and Systems), vol. 75, pp. 1178-1184, December 1956. [9] Ibid., p. 1182 (Thomas' discussion). [10] K. G. Black and R. J. Noorda, "Analog computer study of wind-tunnel drive," AIEE Trans. (Communications and Electronics), vol. 76, pp. 745-750, January 1958. [11] F. P. de Mello and G. W. Walsh, "Reclosing transients in induction motors with terminal capacitors," Trans. AIEE (Power Apparatus and Systems), vol. 80, pp. 1206-1213, February 1961.

[81 M. Riaz, "Analogue computer representations of synchronous

P. C. Krause and C. H. Thomas: A majority of the questions raised by Dr. Jordan regarding variable frequency operation are answered in Mr. Krause's discussion of Dr. Jordan's recent paper [1]. Jn this discussion, simulation of variable frequency operation is presented and results of a computer study are given. This material will not be repeated in detail. However, brief answers to Dr. Jordan's questions . . will be given. When the reference frame is fixed in the rotor, it is necessary to simulate a variable frequency oscillator to transform the stator applied voltages to this frame of reference. The method of simulating a variable frequency oscillator is given in basic texts on analog
The angular velocity of the synchronously rotating reference frame is determined by the frequency of the stator applied voltages. To simulate variable frequency operation in the synchronously rotating reference frame, the speed of the arbitrary reference frame w, must be varied to correspond with the frequency of the applied voltages. If the stator applied voltages are unbalanced, (75) and (76) may be used directly to transform the applied voltages to the synchronously rotating reference frame. Since the speed of the synchronously rotating reference frame is determined by the frequency of the stator applied voltages, it would be necessary to simulate a variable frequency oscillator for this transformation. If, however, the stator applied voltages vary in frequency but are balanced, the applied voltages in the synchronously rotating reference frame are constants. Then, it is unnecessary to simulate the transformation. With the reference frame fixed in the rotor, the speed of the arbitrary reference frame is equal to the speed of the rotor, i.e., w = Wr. The voltages Vqs and Vd' are described by (73) and (74). Since the frame of reference is fixed in the rotor, a variable frequency oscillator would be necessary to perform this transformation. When the stationary reference frame is used w = 0. Equations (69) and (70), or (71) and (72), may be used to develop the direct and quadrature voltages. It is clear that this transformation does to the

computation [2].

Discussion
Howard E. Jordan (Reliance Electric, and Engineering Company, Cleveland, Ohio): The authors are to be complimented for a fine paper on a timely subject. As the applications of solid-state frequency converters to the terminals of induction machines increases, there is an increasing need for techniques that can be used to analyze the transient characteristics of induction machines. I have several questions, most of which pertain to the application of this simulation technique to situations where the frequency supplied to the stator terminals varies. The applications discussed in the paper were concerned primarily with constant frequency cases. There is a reference to a variable frequency oscillator in the paper. Would the authors please describe the type of oscillator which they used and how it is controlled? Figure 6 is given as valid for any arbitrary reference frame. Please indicate the input quantities which would have to be varied to simulate a variable frequency applied to the stator terminals for the three cases considered, i.e., 1) synchronously rotating reference frame

2)stationary

reference

frame.fixedin

In addition, what value of cWe would be used for a variable frequency study? If the authors have had an opportunity to verify any of their analog studies with test data, it would be interesting to know what kind of correlation was obtained.

tnot require a variable frequency oscillator. The quantity we is a constant selected as base frequency conveniient

per-unit system employed.

Manuscript received February 15, 1965.

H. E. Jordan, Analysis of induction machines in dynaic systems," IEEE Trans. on Power Apparatus and Systems, this issue, pp. 1080-1088. [2] C. L. Johnson, Analog Computer Techniques. New York: McGraw-Hill, 1956, p. 91. Manuscript received March 25, 1965.

[13

REFERENCES