Professional Documents
Culture Documents
This paper presents the Torque vs. Speed characteristics of induction motor by
mathematical modeling using SIMULINK. It has been observed that during the past
three decades the use of induction motor has been increased due to its high
efficiency and speed control. It plays a very important role in our daily life as well
and simple construction. Dynamic model is generally used to study the steady state
and transient behavior of induction motor. This paper presents the mathematical
of stator and rotor parameters on reference frame. First of all, the mechanical
equations for speed and torque are stated. It also models the differential equation
of voltages, currents and flux linkage between the stationary stator and moving
induction motor.
CHAPTER ONE: INTRODUCTION
An induction motor is one of the most often used electric machines in high
as the work-horse of the modern industry. It is due to its simplicity in design, robust
Induction motors are highly nonlinear and electric rotor variables are not
measurable. The skin effect in the rotor winding and iron core saturation lead to
dynamic parameters [5]. These tests are not convenient because they require
human electrical measurements and intervention on the machine. The locked rotor
test results in very high slip frequency, and increasing skin effect influence on the
frame dynamic modeling of the induction motor is used. The induction machine is
equations can also be reduced by eliminating all time varying inductances, due to
electric circuits in relative motion, from the voltage equations of the machine. The
time varying voltage and torque equations describe the dynamic behavior of the
AC motors are invading into the application areas of motor drive, where DC motors
Variable frequency power supplies have freed AC motors from the fixed
synchronous speed, and they have become adjustable speed motors. It is evident
applications. Among all the types of ac machines, the cage type induction motor is
widely used in industry. The induction machine is also called as the asynchronous
construction and robustness. The name induction refers to the principle of the
machine operation. Most induction motors are of the rotary type with basically a
stationary stator and a rotating rotor. The stator has a cylindrical magnetic core
that is housed inside a metal frame. The stator magnetic core is formed by stacking
thin electrical steel laminations with uniformly spaced slots stamped in the inner
are insulated from the slot walls. The rotor consists of a cylindrical laminated iron
core with uniformly spaced peripheral slots to accommodate the rotor windings. In
this thesis a squirrel cage rotor induction motor is used. When the induction motor
air-gap. If there is a difference in between revolving field speed and rotor speed
then the revolving field induces a voltage in the rotor winding. The difference
between the rotor and the revolving field speeds is called the slip speed.
The induced voltage results in a rotor current that generates a flux in the counter
However, the speed control of the induction motor is not easier when compared
with the dc motors. At light load conditions, the induction motors take large
starting currents and operate at a poor lagging power factor. The 3-phase induction
circuit. In the steady state mode, the per-phase equivalent circuit of the induction
circuit model of the machine provides good performance prediction for steady
state operation of the machine with sinusoidal supply voltages. But, it fails to give
a good model for dynamic performance. In an adjustable speed drives, the machine
normally constituted as element within a feedback loop, and therefore its transient
the induction motor is necessary which can explain the dynamic behavior of the
machine under both transient and steady state conditions. This chapter presents
two approaches for developing the mathematical model of the induction motor.
1.1.1 Matlab/Simulink
and analyzing of multi domain dynamic systems under Graphical User Interface
(GUI) environment. The Simulink have tight integration with the MATLAB
environment and have a comprehensive block libraries and toolboxes for linear and
nonlinear analyses. The system models can be so easily constructed via just click
and drag operations. The Simulink comes handy while dealing with control theory
Here im going to create a simple model of integrating a sine wave and display both
the input sine wave and the integral form. To create this model we need,
2. Integrator
that the display screen called scope has only 1 channel. So either to show 2
Charting down all the needed components is good practice when it comes to
For Integrator
For Multiplexer
For Display
provided in the library browser where you can type your component and search for
it.
Select and drag all components to the model window and make connections:
For making connections first select the input port and + symbol will appear
and drag the cursor to the output port > symbol on the block. ( TIP:
For making connections quicker select the input port hold Ctrl key & then
NOTE:
You can change the attributes of the block like foreground / background
You can change the block parameters like gain value etc by double clicking
on the appropriate item and changing the value. For eg: If in the above
As the connections are made now your model is ready for running. Click on play
To view the result double click on the Scope block which is our display screen.
OUTPUT :
Fig1.4 Output
You can change the attributes of the axis by right click and specifying the axes
properties. You can also auto scale the axes for a better view of the output.
Fig1.5 Auto scaled Output
NOTE:
You may have noticed the output amplitude is 1. Its because by default the
Simulation Control
parameters. Main parameters are start time, stop time, Solver type and methods.
For eg: We can decide whether integration is to be fixed step or variable step. If
Sometime if we wish to save the model in the MATLAB workspace and use
MATLAB plot commands to display the data in the model. We have to use a
Out block to represent the data we wish to plot. Here Im going to plot both
the input and its integrated form. So i have to use 2 out blocks as shown
below
Now to see where our output gets stored and what variables are used open
Now if you want to know about the active variables ( tout and yout here ) you can
plot(tout,yout);
xlabel('Time');
ylabel('Amplitude');
title('Model');
using matlab.
b. It also elaborate the operation and speed control rate of an induction motor
during operation.
c. This work shows it graphic reaction during speed control and voltage
the main design, this helps to reduce stress on design due to errors and also
from Matlab Simulink design errors can be corrected and the Simulink analyzer
will show the different stages of the design and its electrical movement and
graphic wave to dispute errors and the designer to detect and correct them.
Note: Matlab Simulink is not an emulator and also not a debugger but a
calculator and analyzer of electrical circuit by show its design errors through
motor. From this paper, it also covers an introductory part of using the matlab
1.5 Constraint
d. Matlab uses only measuring devices to output its results unlink other
correction notes
Chapter one carries the introduction, aim and objective, scope of study,
limitation of the work, significance and the project report organization of the
work. Chapter two carries the literature review of the work along with other
reviews of the project. Chapter three carries the project design methodology
and steps which lead to the construction of the project. Chapter four testing
the project design, observation and Bill of engineering. Chapter five carries
During the past three decades the use of induction motor both in industry and daily
life has been increased due to its low maintenance cost, robustness, and reliable
systems for example crane lifters, elevators drilling machines, conveyer belts and
crushing machines etc. All of these above mentioned system contains single phase
or three phase induction motors and these motors requires motor drive system to
step for the designing of motor drive systems. It validates the design process and
minimize the designing errors during the manufacturing and testing process. The
order to understand and design the vector controlled drives. Such a model can be
obtained by means of either the two-axis theory or spiral vector theory of electrical
inductances.
2.1 History
The literature of this research paper has been taken from the R. Krishan, Electric
motor drives: Modelling, analysis and control, Prentice Hall Company, New Jersey,
2001; Bimal K.Bose, Modern Power Electronics and AC Drives,Prentice Hall India,
2005. Some research papers have also been referred. These papers are P.C. Krause
Transaction on Power Apparatus and Systems, Vol. 84, November 1965, pp. 1038-
Search Techniques with taking Core Loss into Account, Proceedings of the 6th
as shown in Fig. 2.1 (b). Though it is somewhat simple, the problem of time varying
parameters still remains. To overcome this problem, the reference frame theory
was introduced. Such a model can be described uniquely in rotor reference frame
stationary reference frame is simple, it is used in variable speed drives to study the
The symmetrical three phase induction motor has a three phase system of coils
on the stator and a cage on the rotor which can be considered to be an equivalent
b
r
b
c
r
b
a
(a )
qr
r
b
qs
r
b
dr
ds
In this section, you will learn how to use the AC drive models of the Electric Drives
library. First, we will specify the types of motors, converters, and controllers used
in the six AC drive models of the library designated AC1 to AC6. The AC1, AC2, AC3,
and AC4 models are based on the three-phase induction motor. This motor has a
three-phase winding at the stator and a wound rotor or a squirrel-cage rotor. The
squirrel-cage rotor consists of slots of conducting bars embedded in the rotor iron.
The conducting bars are short-circuited together at each end of the rotor by
conducting rings. The AC5 model is based on a wound rotor synchronous motor,
and the AC6 model uses a permanent magnet synchronous motor. The models of
these three types of motors are available in the Machines library. These AC motors
are fed by a variable AC voltage and frequency produced by an inverter. The type
of inverter used in the six AC drive models is a voltage source inverter (VSI) in the
sense that this inverter is fed by a constant DC voltage. This constant voltage is
voltage).
Dynamic Braking
When the DC bus is provided by a diode rectifier, the drive doesn't have
braking. In the AC1, AC2, AC3, AC4, and AC6 models, a braking resistor in series
with a chopper ensures the braking of the motor-load system. This braking scheme
is called dynamic braking. It is placed in parallel with the DC bus in order to prevent
its voltage from increasing when the motor decelerates. With dynamic braking, the
kinetic energy of the motor-load system is converted into heat dissipated in the
braking resistor.
Modulation Techniques
The VSI inverters used in the AC drive models of the library are based on two types
(PWM).
The hysteresis modulation is a feedback current control method where the motor
current tracks the reference current within a hysteresis band. The following figure
that is compared with the actual motor line current. If the current exceeds the
upper limit of the hysteresis band, the upper switch of the inverter arm is turned
off and the lower switch is turned on. As a result, the current starts to decay. If the
current crosses the lower limit of the hysteresis band, the lower switch of the
inverter arm is turned off and the upper switch is turned on. As a result, the current
gets back into the hysteresis band. Hence, the actual current is forced to track the
consisting of three hysteresis comparators, one for each phase. This type of closed-
that there are not separate comparators used for each of the three phases. Instead,
inverter voltage space vectors V1 toV6 and the zero voltage space vectors V0, V7. A
simplified diagram of a VSI inverter is shown below. In this diagram, the conduction
state of the three legs of the inverter is represented by three logic variables, SA, SB,
and SC. A logical 1 means that the upper switch is conducting and logical 0 means
In this diagram, the conduction state of the three legs of the inverter is represented
by three logic variables, SA, SB, and SC. A logical 1 means that the upper switch is
The switching of SA, SB, SC results in eight states for the inverter. The switching
states and the corresponding phase to neutral voltages are summarized in Inverter
Space Voltage Vectors. The six active vectors are an angle of 60 degrees apart and
describe a hexagon boundary. The two zero vectors are at the origin.
For the location of the Vs vector shown in Inverter Space Vector Voltages, as an
example, the way to generate the inverter output is to use the adjacent
vectors V1 and V2 on a part-time basis to satisfy the average output demand. The
Vb= G3Vssin
2
Va=Vscos Vb
12
Va and Vb are the components of Vs along V1 and V2, respectively. Considering the
period Tc during which the average output must match the command, write the
time durations of the two states 1 and 2 and the zero voltage state as:
ta= a dTc
32 V V
tb= b dTc
23 V V
( )
tz=Tc ta+tb
0 1 1 1 Freewheeling V0
1 1 0 0 Active V1
2 1 1 0 Active V2
State SA SB SC Inverter Operation Space V
3 0 1 0 Active V3
4 0 1 1 Active V4
5 0 0 1 Active V5
6 1 0 1 Active V6
7 0 0 0 Freewheeling V7
The AC machine stator flux is equal to the stator voltage to frequency ratio since
(t)= v(t)dt
where
v(t)=G2Vsin(t)
therefore
(t)=G2 cos(t)
V
Since the motor is fed with a variable AC source voltage and frequency, it is
below. Notice that the straight line has a small voltage boost in order to
used with low-dynamics applications such as pumps or fans where a small variation
of motor speed with load is tolerable. The AC1 model is based on an open-loop
volts/Hz controller.
In this type of control, a slip speed command is added to the measured rotor speed
the slip command. The desired inverter frequency generates the voltage command
through a volts/Hz characteristic such as the one shown above. The AC2 model is
based on a closed-loop speed control that uses volts/Hz and slip regulation.
Flux-Oriented Control
The construction of a DC machine is such that the field flux is perpendicular to the
armature flux. Being orthogonal, these two fluxes produce no net interaction on
one another. Adjusting the field current can therefore control the DC machine flux,
and the torque can be controlled independently of flux by adjusting the armature
stator and the rotor fields, whose orientations are not held at 90 degrees but vary
holding a fixed and orthogonal orientation between the field and armature fields
in an AC machine by orienting the stator current with respect to the rotor flux so
induction and synchronous motors. We will see now how it applies to induction
motors.
Considering the d-q model of the induction machine in the reference frame rotating
at synchronous speed e,
Vqs=Rsiqs+ qs+eds
ddt
Vds=Rsids+ dseqs
ddt
0=Rriqr+ qr+(er)dr
ddt
0=Rridr+ dr(er)qr
ddt
Te=1.5p m r(driqsqrids)
L L
where
qs=Lsiqs+Lmiqr
ds=Lsids+Lmidr
qr=Lriqr+Lmiqs
dr=Lridr+Lmids
The field-oriented control implies that the ids component of the stator current
would be aligned with the rotor field and the iqs component would be
the rotor flux and locking the phase of the reference frame system such that the
qr=0 qr=0
ddt
and
dr=r
( )
sl=(er)= m r r r iqs
L RL
and that
Te=1.5p m r(riqs)
L L
( ) ( )
= + i
ddt r RrLr r LmRrLr ds
The analogy with DC machine performance is now clear. The electric torque is
proportional to the iqs component, whereas the relation between the flux r and
the ids component is given by a first-order linear transfer function with a time
constant Lr / Rr.
You cannot directly measure the rotor flux orientation in a squirrel-cage rotor
alternative way is to use the slip relation derived above to estimate the flux position
relative to the rotor, as shown. The latter control scheme is called indirect field-
A more robust control method consists first in estimating the machine stator flux
and electric torque in the stationary reference frame from terminal measurements.
( )
ds= VdsRsids dt
( )
qs= VqsRsiqs dt
( )
s=G2ds+2qsatan qs ds
Te=1.5p(dsiqsqsids)
The estimated stator flux and electric torque are then controlled directly by
comparators. The outputs of the two comparators are then used as input signals of
an optimal switching table. The following table outputs the appropriate switching
1 1 V2 V3 V4 V5
0 V0 V7 V0 V7
-1 V6 V1 V2 V3
-1 1 V3 V4 V5 V6
0 V7 V0 V7 V0
-1 V5 V6 V1 V2
In this example, you will build and simulate the simple induction motor drive
induction motor parameter set during torque regulation. The AC4 block models a
DTC drive. During this example, the motor is connected to a fan and its reaction to
2. Open the Electric Drives library. You can open the library by
Simulink Library Browser. The AC4 model is located inside the AC drives library.
As with the DC example, you must now connect the AC4 block to a proper voltage
source:
1. Open the Electrical Sources library and copy the Three-Phase Source block into
your circuit. Connect the voltage source outputs A, B, and C to the AC4 A, B, and
C inputs, respectively.
of the Electric Drives library can be found in the reference notes. The nominal
values of the corresponding motors are also included. The following table
Amplitude 460 V
Frequency 60 Hz
Power 200 hp
Voltage 460 V
Set the AC source voltage amplitude and frequency values to 460 V and 60 Hz,
respectively.
2. Set the AC source phase-to-phase rms voltage value to 460 V, and the frequency
3. Set the AC source resistance value to 0.0056 and the inductance to 0.15 mH.
The Tm input of the AC4 block represents the load torque applied to the shaft of
the induction motor. In this case, the load torque is opposed by a fan. This type of
Tm=K2m=KN2m (4-5)
Fan Block
The constant K must be imposed so that at nominal speed, the motor develops
nominal torque. This torque can be determined using Equation 4-4. Using this
equation, there is a nominal value of 790 N.m. Finally, Equation 4-5 gives
a K value of 0.022.
3. Connect the Fan block to the block. Your schematic should now look like the
following schematic.
Now define the set point (SP) input of AC4. For this example, the induction motor
torque is controlled and a series of torque set points is imposed. A series of set
points can be defined with the help of the Stair Generator block.
1. Open the Pulse & Signal Generators section of the Control & Measurements
library and copy the Stair Generator block into ac_example. Connect the block
to the set point input of the AC4 model and name it Torque reference.
The Stair Generator block generates a signal changing at specified times. During
0 0
0.02 600
0.25 0
0.5 -600
0.75 0
2. Set the Time field of the Stair Generator block to [0.02 0.25 0.5 0.75]. Set
Use the AC4 model outputs to visualize interesting signals such as:
All motor variable values can be read via the Motor vector. The Conv. vector
contains all converter related data. The Ctrl vector includes all reference signals and
Multimeter Window
Following the input-output description of the reference notes, the torque
1. Build the following subsystem to extract all the needed visualization signals.
2. Copy a scope to your model to display the output signals of the Signal Selector
block. Open the Scope Parameters dialog box. On theGeneral tab, set the
number of axes to5, set the simulation time range to auto, and use a decimation
of 25. Clear the Limit Data Points to last check box on the Data history tab.
Connect the five outputs of the Signal Selector block to the inputs of the scope.
Setting the Fixed-Step Simulation Environment
All drive models of the library are discrete models. To simulate your system, you
must now specify the correct simulation time step and set the fixed-step solver
option. Recommended sample time values for DC drives, AC drives, and mechanical
models are in the Remarks sections of the corresponding block reference pages.
1. Open the Simscape Power Systems library and copy a Powergui block
Your circuit should now look like Induction Motor Drive Example Circuit.
step, Discrete (no continuous states) solver option. Set the stop time to 1 s and
Before simulating your circuit, you must first set the correct AC4 internal
parameters.
As explained in the DC example, many drive models of the Electric Drives library
have two sets of parameters: a low power set and a high power set. By default, all
models are initially loaded with the low power set. The AC4 model parameters
You now set the high power drive parameters, which are those of a 200 hp drive.
To do this, you use the Load button of the user interface as specified in the DC
example:
1. Open the user interface by double-clicking the AC4 block. The interface is shown
below:
You must now set the motor inertia value. Note that the inertia values currently
specified in each AC and DC model are "no-load" inertias that only represent the
inertia of the rotor. If the motor is coupled to a load, these values must be increased
by the load inertias. In this case, the current value of the inertia amounts to 3.1
kg*m^2. Assume that the combined inertia of the motor and the fan amounts to
10 kg*m^2. Note that the use of a flexible shaft connected between the motor and
the fan would allow decoupling of the motor and load inertias. In that case, the
inertia value of the AC4 block would only be the sum of the rotor and shaft inertias.
1. In the Asynchronous Machine section of the dialog box, change the inertia
value to 10 kg*m^2.
reduces the DC bus voltage ripples. A braking chopper block has also been added
between the rectifier block and the inverter block, in order to limit the DC bus
voltage when the motor feeds back energy to the drive (shown below). This energy
Braking Chopper
The parameters of the braking chopper are available in the Converters and DC
about 700 V. Regarding the power P to be dissipated and the DC bus voltage
limit Vlim, you can use the following equation to set the chopper resistance value:
Rchop= 2lim
V P
Notice that the DC bus capacitance has a large value to reduce DC voltage ripples
to small values. The AC4 model does not include a DC bus capacitor preload system.
If you start the simulation with too small an initial bus voltage, too high initial
currents are drawn from the rectifier to charge the capacitor. These high current
values could damage a real-life system. You must set an initial DC bus voltage value
to avoid such currents. This initial bus voltage must be equal to the rectified peak
value of the AC source. If the AC voltage source amplitude is equal to 460 V RMS,
the rectified DC bus voltage obtained with a capacitor is about 460 G2V.
1. Open the Initial States tool of the powergui block. Set the Uc_DTC Induction
Motor Drive/Braking chopper/Cbus value to 650 V. Click Apply and then Close.
The control system of AC4 has two main parts, a speed controller and a torque and
reference notes. For a quick idea of the internal structure of the drive control
system, a schematic is available inside the user interface of the model. Open the
the Schematic button. You should see the controller schematics shown.
parameters of this controller are the proportional and integral gains, the speed
ramp values, the low-pass filter cutoff frequency, the torque reference limits,
and the sampling time. In this example, we will only control the motor torque;
the speed controller is not used. Refer toSetting the DC3 Controller Parameters
Regarding the DTC controller, there is not much to trim. As you can see below,
the parameters are the torque and flux bandwidths, the initial machine flux, the
maximum switching frequency, and the DTC controller sampling time. All these
regulation, you must change the regulation mode in the Controller section of
the Regulation type field. Click OK to apply the changes and close the dialog
box.
Simulation Results
Simulation Results
Observe the motor's fast torque response to the torque set point changes. From
0.02 s to 0.25 s, the fan speed increases because of the 600 N.m acceleration torque
down to 0 N.m and the speed decreases because of the load torque opposed by
the fan. At t = 0.5 s, the motor torque develops a -600 N.m torque and allows
braking of the fan. During braking mode, power is sent back to the DC bus and the
bus voltage increases. As planned, the braking chopper limits the DC bus voltage to
700 V. At t = 0.75 s, the electromagnetic torque jumps back to 0 N.m and the speed
settles around -10 rpm and decreases toward 0 rpm. Notice that the flux stays
around 0.8 Wb throughout the simulation. The flux and torque oscillation
amplitudes are slightly higher than 0.02 Wb and 10 N.m respectively as specified in
the user interface. This is due to the combined effects of the 15 s DTC controller
sampling time, the hysteresis control, and the switching frequency limitation.
It is interesting to visualize the rotating flux produced by the stator. To do so, use a
is clearly visible. Its modulus is about 0.8 Wb and its bandwidth is slightly bigger
The following graphs shows the rotor speed, electromagnetic torque, currents and
MACHINE I
(a)
Figure 3(a) shows the rotor speed graph with respect to the time for the machine
I. For the time 0 to 2.5 seconds the speed is accelerating and for the time 2 to 2.5
seconds it is load less and then it is loaded with torque 9000Nm. The rotor
accelerates from stall with zero mechanical load torque; since friction and windage
losses are not taken into account. It can be observed from the figure that the
machine operates at a speed very close to the synchronous speed when operating
on the no-load. After reaching the synchronous speed (in case of no-load condition)
the larger machines speed will overshoot, this will take some time to stabilize at
(b)
Figure 3(b) shows the electromagnetic torque graph with respect to the time. For
the time 2 to 2.5 seconds it is load less and then it is loaded with torque 9000Nm.
The transient oscillation of torque for a load change from no load torque to rated
torque condition is observed. Transients occur more during the load less condition
(a)
Figure 4(c) shows the rotor Q-axis current graph with respect to the time. For the
time 2 to 2.5 seconds it is load less and then it is loaded with torque 9000Nm. The
current is variable time 1 to 1.5 seconds. Current transient also occurs during the
(b)
Figure 4(d) shows the rotor D-axis current graph with respect to the time. For the
time 2 to 2.5 seconds it is load less and then it is loaded with torque 9000Nm. The
current is variable time 1 to 1.5 seconds. Current transient also occurs during the
(c)
Figure 4(e) shows the stator Q-axis current graph with respect to the time. For the
time 2 to 2.5 seconds it is load less and then it is loaded with torque 9000Nm. The
current is variable time 1 to 1.5 seconds. Current transient also occurs during the
(d)
Figure 4(f) shows the stator D-axis current graph with respect to the time. For the
time 2 to 2.5 seconds it is load less and then it is loaded with torque 9000Nm. The
current is variable time 1 to 1.5 seconds. Current transient also occurs during the
4
x 10
6
-2
-4
0 20 40 60 80 100 120 140 160 180 200
CHAPTER FIVE: CONCLUSION
In adjustable speed drives, the transient behavior of the induction motor has to be
taken into consideration. Hence, to study the dynamic behavior of the induction
motor under both transient and steady state conditions, accurate mathematical
models of the induction motor have been developed in the different reference
frame by using d-q modeling. The above model is quite dynamic and competent in
simulating during the sudden change in load. Moreover, d-q modeling is popular
drives.
REFERENCES
IEEE Transaction on Power Apparatus and Systems, Vol. 84, November 1965, pp.
1038-1053.
[3] R. Krishan, Electric motor drives: Modelling, analysis and control, Prentice
Hall Company, New Jersey, 2001 [4] Bimal K.Bose, Modern Power Electronics
taking Core Loss into Account, Proceedings of the 6th WSEAS International
Rated Power 3 HP
Voltage
Rated Frequency 60 Hz
Number of Poles, P 4
ohm
3, pp.918-922 Kg-m2
Magnetizing 26.13
Reactance, Xm ohm