Professional Documents
Culture Documents
Submitted by:
Hassab Elrasoul Zain Elabdien Eltigani
Supervised by:
Dr. Abdelaziz Yousif Mohamed Abbas
September 2012
1
Dedication
Mother
To whom he gave me a beautiful pain,
Father
The suns that burn to light for us,
Teachers
To whom I share with them the sorrow and
sweet,
Friends
Whenever commit a fault we will find
forgiveness,
ii
Acknowledgement
All praise is to Allah, the lord of the world, the almighty, with whose
gracious help it is possible to accomplish this work, and my prayers and peace
be upon Mohammed the last of the messengers.
I would like to express my deep appreciation and gratitude to my supervisor,
Dr. Abdelaziz Yousif Mohamed Abbas, for his patient guidance and his generous
support and encouragement. Also I would like to thank all staff of Electrical
Engineering Department. Also I would like to thank my family and colleagues.
iii
Contents
Dedication... i
Acknowledgement.....ii
Contents ..iii
Abstract ...vi
.............................................................................................................. vii
iv
2.1 Introduction...8
2.2 Standard Efficiency Test Methods...8
2.3 Induction Motor Field Efficiency Evaluation Methods...11
2.4 Physical Nature of Basic Methods...13
2.4.1 Nameplate Method..14
2.4.2 Slip Method. 16
2.4.3 Current Method17
2.4.4 Statistical Method.18
2.4.5 Accuracies of Basic Methods19
2.5 Synthetic Loading Method.20
2.5.1 Dual Frequency Method..22
2.5.2 Sweep Frequency Method...23
2.5.3 Constant Speed of Rotating Magnetic Field Method..23
2.5.4 Current Control Method.24
2.6 Summary25
v
4.1 Introduction ....34
4.2 Results.34
4.3 Conventional Method Results.35
4.4 Synthetic Loading Technique.39
4.4.1 Dual Frequency Results.39
4.4.2 Constant Speed of Rotating Magnetic Field Results.....44
4.5 Discussion....48
vi
Abstract
This thesis investigates the application of the synthetic loading technique for
efficiency evaluation of induction machines. The standard tests require
specialist test facilities, additional machines, and for large machines, linear
machines, or vertical mounted machine and floor space. Therefore, an
efficiency test method that avoids the need for an external mechanical load is
desirable. Synthetic loading can determine machine losses and eliminates the
need for a mechanical load connected to the test machine. The synthetic loading
technique forces the machine under test to accelerate and decelerate using
power electronics as power source so the machine alternating between motor-
generator actions. If configured correctly the machine, on average over each
synthetic loading cycle, operates at rated rms current, rated rms voltage and
rated speed, thus producing rated copper loss, iron loss and friction and windage
loss. The thesis considers how to properly configure synthetic loading for
induction machines. The simulation results show that the synthetic loading
technique is capable of evaluating the efficiency of the induction machines.
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ix
Chapter One
Introduction
1.1 Introduction:
Induction motor is an alternating current motor that the rotor does not receive
electric power by conduction but by induction. It consists of two parts; stator
and rotor. The stator is made up of a number of stampings, which are slotted to
receive the winding. It is wound for a definite number of poles, the exact
number of poles being determined by the requirement of speed. The rotor is
divided into two types; squirrel cage and slip ring. In squirrel cage the rotor has
a cylindrical laminated core with parallel slots for caring the rotor conductors
which consist of heavy bars of copper, aluminium or alloys. The slip ring is
distributed winding consisting of coils and it wound for as many poles as the
number of stator poles. But the squirrel cage is most used because of its
specification like its simplest design [1].
Induction motors are by far the most common consumers of generated
electricity in the developed world today. The three-phase induction motor has
been described as the workhorse of industry and more recently racehorse of
industry when used with power electronic controllers. The induction machine
is produced in a very wide range of outputs from fractional to large multi
megawatts units. The induction machine is used in a wide variety of
applications as a mean of converting electric power to mechanical power, pump,
steel mill and hoist drives are a few applications of large multiphase induction
motors. On smaller scale the two phase servomotor is used in position-follow-
up control systems, and single phase induction motors are widely used in house
hold appliances as well as in hand and bench tools. The induction machine is
extensively used for various kind industrial drives for the following main
advantages:
1
It is very simple, extremely rugged and unbreakable construction.
Star-delta starting.
Autotransformer starting.
2
1.2 Problem Statement
Testing of induction machines to determine the energy dissipated as heat and
the resulting temperature rise is important for both users and manufactures.
High temperature cause deterioration of insulation materials and high rates of
power dissipation implies low efficiency values. The power losses of
induction motors are categorised as electrical and mechanical
losses. Some of the electrical losses can be predicted reliably
from the machine design data but some components such as
stray load losses and mechanical losses are less predictable.
Similarly, there is still a substantial amount of uncertainty
attached to the prediction of the cooling properties of the
machine [3].
The efficient use of energy has found new prominence with
environmental agencies raising the awareness of greenhouse
gas emissions predominantly and finite resources as a backup
argument. Previously, it was well understood that an efficient
motor would reduce the running costs of the machine over its
working life, typically a hundred times greater than the
purchase price of the machine. Recently, however, lobbying
has seen government incentives and policies introduced to
encourage the use of energy efficient equipment and
particularly energy efficient motors. Motor manufacturers have
introduced a separate category referred to as energy efficient
motors".
Despite the attractiveness of such energy efficient motors
they are still only used in relatively small numbers. It has been
reported that one of the reasons for the low acceptance of
3
energy efficient motors is poor information on these machines.
Further to this there are no energy efficiency standards for
motors.
A motor labelled as "high efficiency" from one supplier might
be less efficient than the standard motor from another supplier.
To compound the problem, there is no single efficiency
standard test method for induction motors that is used
throughout the industry. And to make matters worse, a recent
article identifies the current problems with existing methods of
measuring induction motor efficiency and stresses the need for
a more accurate method of efficiency measurement.
Windage and friction are mechanical losses due to bearing friction and
windage. Core loss constitutes hysteresis and eddy current losses in the iron at
no-load.
Load Losses:
Stator ( ) losses are losses in the stator winding, Rotor ( ) or slip loss
are losses in the rotor winding. (Note: R is a variable with temperature.)
Stray-load losses are additional fundamental and high frequency losses in the
iron, strand and circulating current losses in the stator winding, harmonic losses
in the rotor conductors under load. These losses are proportional to the rotor
current squared [2].
4
As the rotor and stray losses are essentially zero at no-load, the no-load
watts are equal to friction losses, core losses and stator losses. As and and
no-load watts can each be measured, these losses can be separated. The windage
and friction can be separated by taking several tests at reduced voltage so that a
curve can be plotted against voltage squared. If the data is taken from
approximately one third voltage to the point where the current reaches a
minimum value, then the plotted curve should be a straight line and the
intersection with the zero voltage axis will give the windage and friction loss.
For low-slip motors the windage and friction can be considered constant and
the no-load value used. The core loss is a function of the internal or secondary
voltage, although this refinement is included only when equivalent circuit
parameters are available to determine the secondary voltage as a function of
load. When equivalent circuit parameters are not available, the core loss is
assumed constant and the no-load value used. Both of these assumptions are
conservative in that they result in a slight decrease in tested efficiency.
The stator loss is determined by measuring the dc resistance of the
winding at a known temperature, adjusting the resistance for temperature, and
multiplying by either a tested or calculated primary current squared. The rotor
loss is determined by measuring the slip and input watts at the load point
of interest. The formula (input power- stator loss - core loss) times slip in per-
unit (adjusted for temperature as required) yields the rotor losses. Where it is
impractical or impossible to run the machine under load, the rotor losses can be
5
A stray-load loss is the most difficult loss to measure and perhaps one of the
most variable losses between motors of identical designs. There are direct and
indirect methods of determining stray-load losses. In the indirect test methods,
the stray-load loss is determined as the leftover losses (test loss minus
conventional loss). Test losses are input minus output. Conventional losses are
the sum of stator losses, rotor losses, friction losses and core losses. The stray-
load losses measurement can be improved by forcing it to fit the equation stray
loss equals K( ).
6
generating cycle such that, on average, over one cycle of the
synthetic loading full load current is drawn from the supply. The
machine under this condition will be producing rated copper
losses. If the average applied voltage over one loading cycle is
also the rated voltage, then the rated iron loss will be present.
Since the machine is also running at close to its operating
speed, then the rated friction and windage losses will be
present. The test is also performed at rated temperature
(synthetic loading was originally designed to produce full load
temperature rise characteristics).
The synthetic loading technique has began first by applying
two voltages of different frequency to the stator winding causes
heating due to alternating motor - generator operation. After that the researcher
found a new way to make the machine alternating between motor-generator
operation, and these methods is using the power electronic device. Sweep
frequency method, dual frequency method and constant speed of rotating
magnetic field (CSORMF) method. But the new method is using the current
control to load the machine [4].
7
Chapter four presents simulation results of the synthetic loading technique and
the standard efficiency test for the induction machine under four different
synthetic loading frequencies. The individual losses from the simulation result
of the standard efficiency test are compared with the losses developed during
the simulation of synthetic loading. Chapter five draws general conclusions and
provides suggestions for further research work in this area.
8
Chapter Two
Literature Review and Background Study
2.1 Introduction
In this chapter details relevant background and a literature review of
efficiency evaluation for electrical machines are provided. The literature review
covers research related to power losses, efficiency, standard efficiency
evaluation methods, and synthetic loading for efficiency evaluation for
electrical machines.
temperature correction for losses and slip for all the various calculation
procedures. For final performance evaluation, the following paragraph has been
added: "When the rated load temperature rise has not been measured, the
resistance of the winding shall be corrected to the temperature. This reference
temperature shall be used for determining losses at all loads. If the rated
8
temperature rise is specified as that of a lower class of insulation system, the
temperature for resistance correction shall be that of the lower insulation class."
The separation of core loss from the no-load losses is now mandatory rather
than optional. Concurrent with this change, the core loss is included in the
separation of stray-load loss under Method C and is added as another branch to
the equivalent circuit in Method F.
IEEE Standard 112, in addition to other types of tests, currently includes five
methods for the determination of motor efficiency. These may be divided into
two parts:
Direct Measurement of output
Method A (brake): normally associated with fractional HP
machines.
Method B (dynamometer)
Method C (duplicate machines)
Determination of Losses Without Output Measurement
Method E (input measurements)
Method F (equivalent circuit)
Grantham, et al. [3] shows the efficiency test standards available for
induction machines. The IEEE Rotating Machinery Committee has produced a
standard IEEE 112-1991 by which efficiency is tested in the United States. In
addition the International Electro-technical Commission (IEC) produced the
IEC-34-2 standard for use in Europe, which is similar to British Standard
BS269, and the Japanese Electro-technical Committee (JEC) produced standard
JEC-37. A comparison shows that these methods are similar differing only in
the details of procedure to be followed in each test [4]. In addition, the IEEE
112 test method B is the most rigorous and more detailed than those that
measure all the motors losses using a dynamometer such as specified in the IEC
or JEC standard.
9
Ghai, [5] shows the Electrical Machinery Committee (EMC) of the Power
Engineering Society (PES) of the Institute of Electrical and Electronics
Engineers (IEEE) has established a comparison of U.S. standards with
International Standards. It compares IEC 34 series of standards with National
Electrical Manufacturers Association (NEMA) standards for large induction
motors for general purpose applications. It concludes that a substantial amount
of correspondence exists between NEMA and IEC standards. NEMAs recent
practice of using IEC standards as the starting point for writing additional
standards has increased the degree of correspondence between NEMA and IEC
standards. Furthermore, requirements for any specific design parameter are not
always the same between NEMA and IEC, though the intent is identical. The
inclusion of tolerances on induction machine performance, and the lower stray
load loss allowance in IEC, causes a given design to have better indicated
performance per IEC 34 than for NEMA.
Boglietti, et al. [6, 7] reports motor efficiency measurements
calculated in accordance with international standards. The
standard efficiency tests IEEE 112-B, IEC 34-2 and JEC 37
recommend different measurement procedures, in particular
for the stray loss determination and the temperature
corrections of the copper losses. In these papers, a comparison
of the measurement procedures defined by these international
standards has been reported, together with some comments on
the prescribed methodologies. Furthermore, a comparison is
made based on experimental results obtained by tests on four
general purposes, three phase induction motors. However, the
stray load loss measurement is a critical key step for the
accurate evaluation of induction motor efficiency. Therefore, a
critical analysis of stray losses has been performed. The stray
load loss sensitivity to measurement errors has been analyzed,
10
in order to understand which are the most critical quantities
that influence their evaluation.
Alan K. Wallace, et al. [8] shows the IEEE 112 B as a laboratory
environment testing method, designed to have a maximum of accuracy and
repeatability. According to [8], a well calibrated laboratory, with a well
performed IEEE 112 -B may reach overall accuracies within 1%. As with any
loss segregation method, assumptions have to be made when separating the
different losses. These assumptions are an integral part of the testing standard,
ensuring portability. Since a laboratory is, by definition, a measurement
environment, it permits both, a complex instrumentation setup and also the
performance of tests at operating conditions other than the restricted options
available in an industrial environment. The method IEEE 112 B has been
designed to characterize the capability of the motor under test, at rated voltage
conditions and as a function of load for steady state operation. The standard
describes acceptable unbalance conditions, and acceptable levels of harmonic
distortions. These specifications demand a clean voltage supply, which
translates into both, a best case and also a repeatable scenario. In order to
achieve repeatability, all the calculations must be corrected to a base line
ambient temperature, which has been chosen to be 40C.
11
critical motors. The evaluation of motors focuses on the operating efficiency
and motor load to identify energy efficiency gains and possible reliability
improvements. This requires a reliable method for assessing motor performance
in the field.
John S. Hsu, et al. [9] shows that the majority of motors in the field are
induction motors for which IEEE Standard 112 [10] would be applicable.
However, field evaluation of operating efficiency introduces an environment for
which IEEE Standard 112 is not applicable. For example, IEEE Standard 112
requires that induction motor tests be performed with a voltage unbalance not
exceeding 0.5% (note that this is significantly smaller than the NEMA MG-1
permissible limit of 1% [11] for successful operation of motors). However, field
conditions may exceed this limit by a significant measure. Thus, when
evaluating motor performance in the field, it is important to use a technique that
can accommodate field conditions and yield results of sufficient accuracy for
the evaluation needs.
A field evaluation method can consist of a single basic method or can be built
using a combination of different basic methods. This may help field engineers
select or establish an efficiency evaluation method suited to their need. The
basic methods are as follows:
nameplate method;
12
slip method;
current method;
statistical method;
equivalent circuit method;
segregated loss method;
air-gap torque method;
Shaft torque method.
All methods calculate efficiency according to the definition of:
The shaft output power is the input power minus the losses. How to
assess losses and evaluate output power gives rise to fundamental differences
among the various methods. Consequently, the accuracies of methods are
different. The degree of intrusiveness of a field evaluation method is determined
by what data are required to be measured in the field and the difficulty of
performing the measurements. One or more of the following measurements may
be involved:
nameplate reading;
speed measured by opto-tachometer;
currents measured by clamp-on transducer;
voltages measurement;
input power measurement;
stator winding resistance reading;
winding temperature data;
no-load data measured with uncoupled shaft;
Shaft torque measurement.
14
Figure 2.1 Typical efficiency-versus-load
With this nameplate method, three additional problems may occur. First, the
nameplate data may be given according to a method other than IEEE Standard
112 Method B. Second, the motor may have been rewound. Third, the field
environment pertinent to the voltage unbalance and harmonics content may be
different from that for which the nameplate data is derived.
Nameplate efficiencies of a given motor can be evaluated according to
different standards. The three most frequently used standards are the National
Electrical Manufacturers Association (NEMA) that uses IEEE Standard 112, the
Japanese Electrotechnical Committee (JEC), and the International
Electrotechnical Commission (IEC). These three standards are not in agreement
[14], [2] and may result in a given motor being stamped with rather different
efficiencies. A typical example given in [15] illustrates the confusing
international nameplate data situation. Rewound motors introduce additional
uncertainty, since the nameplate data may no longer be valid. Core loss of a
rewound motor may or may not be increased, depending upon the lamination
insulation and the cleaning process of the stator. The copper loss depends on the
new coil extension and wire gauges. Certain engineers suggest that, after each
rewinding to the same horsepower and same number of poles, a two percentage
points reduction of efficiency should be considered. However, a different
opinion indicates that the efficiency should not be reduced if the rewinding
follows Electrical Apparatus Service Association (EASA) standards.
The field environment pertinent to the voltage unbalance and harmonics
content is commonly worse than that from which the nameplate data are
derived. The worst situation for a field efficiency evaluation using the
nameplate method is that having a less than 10-HP low speed rewound motor
that was not repaired according to EASA Standards. The motor has data
stamped on the nameplate that is not given according to IEEE Standard 112
Method B and is operated under a polluted supply (voltage unbalance or
15
harmonic distortion). The efficiency can easily be off ten percentage points
from the nameplate efficiency. However, the bottom line is that a nameplate
method is better than no field evaluation at all.
Where, slip is a function of motor speed given by the ratio between the
difference of synchronous and rotor speed to the synchronous speed. Motor
speed can be measured by an optical tachometer, which has a low intrusion
level. Input power must also be measured, which has a higher degree of
intrusion. The slip method can be an improvement over a pure nameplate
method, especially when the motor efficiency versus load curve is not flat. Any
method that uses slip to estimate percentage of load is related to the slip
method. Once the shaft output power is known, one may use a typical
efficiency-versus-load curve specifically for standard-, high-, or in-between-
efficiency motors. Alternatively, one may combine the basic slip method with
other additional measurements, such as the input power, which has a higher
degree of intrusion, to obtain efficiency through (2.1).
NEMA MG-1 Section 12.46 [11] states that variation from the nameplate
speed of ac integral horsepower induction motors shall not exceed 20% of the
difference between synchronous speed and rated speed when measured at rated
voltage, frequency, and load and with an ambient temperature of 25 C. This
means that the nameplate slip can be 20% inaccurate when the motor is
operating in the field, thus introducing significant inaccuracies in (2.2). The no-
load speed of induction motors is always close to the synchronous speed.
16
Subsequently, the projection of a light load through the basic slip method is
relatively more accurate than the projection of a heavy load.
Where, is the nameplate full load current and is the measured current. For
small integral horsepower motors the no-load current may not be greatly
reduced from the full-load current, the assumed load-versus-current curve used
by (2.3) is further apart from the actual curve at light loads. This is opposite to
what the basic slip method is relatively good for. The load is normally
overestimated. The expression of shaft output power defined by (2.4) requires
that the no-load current be known. This may increase the intrusiveness
substantially when a no-load test is required:
The average of the two approaches of (2.3) and (2.4) may give a more
accurate shaft output power. NEMA MG-1, Section 12.47, states that, when
operated at rated voltage, rated frequency, and rated horsepower output, the
input in amperes shall not vary from the nameplate value by more than 10%.
This is another source of errors for the current methods. Motor current
measured by a clamp-on probe corresponds to a relatively low level of
intrusiveness. The insulation of motor leads and terminals is not disturbed. The
measured current is used to estimate the load of a motor. The simple current
17
method does not require a no-load current value. Just as with the slip method, to
obtain efficiency one will have to either use typical efficiency-versus-load
curves or measure input power.
nameplate method; it has the worst accuracy of 10% for loads between half
19
and full. The best accuracy is provided by the torque gauge method. It has an
accuracy of 1%. All the other methods that is partially involved with either
nameplate data and/or statistical values fall in between these two extreme basic
methods. The lesser use of nameplate information and the greater reliance on
direct measurement without assumed values for efficiency evaluation, the better
the accuracy would be. The inaccuracies, in general, are worse below 50% load.
The statistical or empirical method can provide a wide range of accuracy. It
depends on the sample population and the application range. Intuition tells us
that a well-targeted sample range for a small application range normally gives
high accuracy. For example, empirical equations obtained from data of one
specific sample motor can be very accurate when they are applied to the same
specific motor. The accuracy becomes extremely poor when the one sample
conclusion is applied to a totally different motor.
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operating condition. Therefore, if the input power can be measured accurately
during the loading cycle, then the total full load losses should be able to be
identified and hence, the efficiency of the motor evaluated.
Synthetic loading offers the advantage that the machine
under test is not coupled to a load, thereby negating the need
for a special test bed. Also, the machine could be tested on site
and is not restricted by the axis of mounting.
The only equipment required to do the test is an inverter rated
at the same power rating as the machine under test, current
and voltage sensors and a typical
PC fitted with a DSP card for measurement and control. The
costs associated with this test method would be significantly
reduced.
Soltani, et al. [17] reported that full-load testing of large induction
machines is constrained by the limitations in the power-supply and loading
equipment of the manufacturers facilities, resulting in costly set up time. A new
synthetic loading method is proposed based on a bang-bang phase control
strategy. The rated power oscillation created is routed to an auxiliary system
and the source hydro has to provide only the total losses of the system, without
seeing the excessive power swings observed in other synthetic loading
techniques. In this technique, only induction machines are used which would
enable motor manufacturers to build the test rig in-house. The control stage is
very simple to implement and requires only unregulated dc supplies for the
excitation windings. The method is suitable for any induction machine and does
not requires any set up time. It is possible to strictly maintain constant define
r.m.s voltage and current at rated values for the duration of the heat runs.
In 1921 Ytterberg introduced the two-frequency or mixed-frequency
synthetic loading method for insulation temperature rise test of induction
machines [4]. This method develops the equivalent of a full-load test but is
21
achieved without mechanically loading the induction machine. With this
method there are two possible connection techniques for the two-frequency
synthetic loading method. The two-frequency method connects the machine
under test to two different supplies connected in series. The main supply has
rated voltage and frequency Va and fa. The auxiliary supply has a voltage and
frequency Vb and fb which is lower than rated value and is adjusted until the
induction motor input voltage and the stator current equal the rated values.
The other connection technique for the two-frequency
method is to inject two voltages of two different frequencies
and amplitudes into the machine under test using an isolating
transformer [4]. The main voltage has rated amplitude and
frequency and the auxiliary voltage chosen to be slightly
different from the main voltage, normally less than it. The
auxiliary voltage is generated via a synchronous generator or
an inverter. The two supplies are at different frequencies and
are mixed using a specially designed isolating transformer.
(2.5)
(2.6)
Where:
22
These equations represent a flux wave that varies in magnitude and angular
velocity as a function of time, supply voltages and frequencies. From these
equations it can also be seen that the frequency of oscillation of the flux wave
angular velocity and the frequency of oscillation of the magnitude of the flux
wave are the same and equal to the difference of the main and auxiliary supply
23
(2.8)
This voltage produces a flux wave which varies both in magnitude and angular
velocity.
The direction of the e.m.f is such as to oppose the change of the flux linkage
with the rotor winding. An oscillating torque will therefore be produced due to
the interaction of the rotor current and the resultant rotating magnetic field. This
oscillating torque will accelerate and slow down the rotor of the test machine,
causing the rotor speed to oscillate about the synchronous speed.
This method works in much the same way as a transformer in which the
primary and secondary windings, although stationary, are magnetically
coupled .by varying flux magnitude. The rotor rotates very close to synchronous
speed, thus ensuring that an equivalent cooling condition close to that for
24
conventional loading is achieved. The CSORMF synthetic loading input voltage
per-phase in a three-phase system is:
Where,
V = centre voltage amplitude in each phase,
= main frequency of 50Hz,
2.6 Summary
This chapter shows the literature review and background study, it describe at
the first the standard efficiency test methods that used in the past and it is still
used. Then the induction motor field efficiency evaluation methods are
presented, and the description of some methods that the electrical engineer is
25
used to evaluate the induction machines efficiency is provided. At last the
synthetic loading technique is described.
Chapter Three
Modeling of Induction Motor
3.1 Introduction
The voltage equations that describe the performance of a three phase
induction machines have six equations, and in these equations it is found that
some of the machine inductances are function of the rotor speed, whereupon the
coefficients of the differential equations that describe the behavior of these
machines are time varying except when the rotor is stalled. Thus a change of
variables is often used to reduce the complexity of these differential equations.
26
This change (transformation) refers machine variables to a frame of reference
that rotates at an arbitrary angular velocity. All known real transformations are
obtained from this transformation by simply assigning the speed of the rotation
of the reference frame.
and , which can be either currents or voltages, from the stationary reference
27
(3.1)
(3.2)
In the above equation, f can represent voltage, current, flux linkage or electric
charge.
28
represent induction machines. These equations are arranged in a set of first
order differential equations which are derived from the d- and q-axis.
So the mathematical description of an ideal symmetrical squirrel-cage type
induction motor in an arbitrary reference frame is given by the following
matrix. The voltage equations of the induction machine in the d-q frame can be
expressed as:
q
D
d d
= (3.3)
29
: Resistance of stator winding. : Resistance of rotor conductor.
30
= + +
(3.5)
(3.6)
31
=
(3.7)
= (3.9)
Where:
32
(3.14)
(3.15)
33
= (
(3.17)
(3.18)
(3.19)
(3.20)
The dynamic model was used to get the performance of the machine, the four
differential equations and the dynamic equation are the main equations. The
34
for the conventional method will be the full load to get the full load current for
the machine, and when we used the synthetic loading the torque will be zero.
(3.22)
3.6 Summary
This chapter in the beginning shows the benefit of using the Park
transformation for the induction machine; this transformation reduces the
complexity in the machine model and that by making four equations instead of
six equations. Then the mathematical model in the arbitrary reference frame is
used to obtain the results. The losses calculated are the stator, rotor and friction
losses and their equations are shown above.
Chapter Four
Results and Discussion
35
4.1 Introduction
Simulation of the synthetic loading technique, with careful selection of the
input conditions is essential in order to evaluate the efficiency of the induction
machines experimentally. Therefore, simulation and computer modeling is used,
based on accurate system parameters, to evaluate the individual loss
components and the input power to the induction machine model. In this chapter
simulation results of the synthetic loading method for efficiency evaluation at
rated speed are presented for constant load torque conditions of the induction
machine. The synthetic loading and the standard efficiency tests, as methods of
efficiency evaluation, are simulated using MATLAB. As the aim of this
research is to determine the suitability of synthetic loading for efficiency
evaluation of induction machines, the individual losses from the simulation
results of the standard efficiency test are compared with the losses developed
during the simulation of the synthetic loading. The main losses in induction
machines are stator copper loss, rotor copper loss, iron loss, and friction and
windage loss.
4.2 Results
The nonlinear differential equations that describe the induction machines are
simulated using MATLAB and the efficiency evaluation of induction motor is
performed. The parameters of the machines are shown in the appendix A. The
machine is a 4-pole, 50-Hz, 3-phase induction motor. The parameters are
expressed in ohms using the 50Hz value of the reactance. The program that
used to evaluate the induction motor efficiency is provided in the appendix B.
The function m-file and the function ode23 is used to solve the differential
equations and the results are discussed.
36
4.3 Conventional Method Results
It is essential to understand that the synthetic loading method is an accurate
method to evaluate the efficiency of induction motor. Therefore, it is vital to
perform the conventional method to calculate the losses and the efficiency of
induction motor and then perform the synthetic loading methods.The
conventional method is used to fully load the three-phase induction machine has
the following rated 7.5kW, 13.9Amps and 415V. The input power and the total
loss of the induction machine at nominal operating conditions will be provided.
It is essential to consider the type of winding connection on that machine if
its delta or star because it will make some different in the calculations. Figure
4.1 shows the current waveforms during the full load condition. The three
phases peak current is 7.9Amps which confirms the machine is fully loaded.
The duration that taken is after a time to make the induction machine reach the
steady state. Figure 4.2 shows the maximum rated voltages waveform during
the full load condition. The peak line to line voltage is 586V.
Figure 4.3 shows the rotor speed. In the program the load torque applied to
the machine is the full load torque so the speed at the steady state is 1448r.p.m.
It can be noted that the rotor speed begins from zero and reach its rated speed.
10
5
Current (A)
-5
-10
1.9 1.91 1.92 1.93 1.94 1.95 1.96 1.97 1.98 1.99 2
Time (s)
Figure 4.1 The three phase currents of the induction motor under full load
torque at rated speed
37
600
400
200
Voltage (V)
-200
-400
-600
1.9 1.91 1.92 1.93 1.94 1.95 1.96 1.97 1.98 1.99 2
Time (s)
Figure 4.2 The three phase line voltages of the induction motor under full-load
torque at rated speed
X: 1.103
Y: 151.6
150
Rotor Speed (rad/s)
100
50
Figure 4.4 shows the stator copper losses. The induction motor at starting
draw a current about 5 times the full load current. Accordingly, the losses at
starting are much higher than the steady state. Therefore, the induction motor
needs a period of time to reach its steady state condition and that value of the
stator copper loss is about 384.4W. Figure 4.5 depicts the rotor copper losses.
The losses during starting period are varying until the motor reach the steady
state and it is about 280.2W. In the simulation of the induction machine the load
torque applied to the machine is the full load so the speed at the steady state is
the rated value and it is 151.6 rad/s. From equation (3.20) the friction and
windage loss is 126.4W.
38
1000
800
Losses (W)
600
X: 1.082
Y: 384.3
400
200
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Figure 4.4The stator copper losses of induction motor under full-load torque
1000
800
Losses (W)
600
400 X: 0.9421
Y: 280.3
200
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time(s)
Figure 4.5The rotor copper losses of induction motor under full-load torque
150
X: 1.092
Y: 126.4
100
Losses (W)
50
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Figure 4.6The friction and losses of induction motor under full-load torque
39
the peak oscillating torque with the field oscillating frequency can be calculated,
standardized with respect to the rated value. Figure 4.7 shows the electrical
torque of the induction machine. Figure 4.8 illustrates the input power to the
induction machine and the sum of the losses that calculated. It can be noticed
that the input power have a maximum value in the starting and that is due to the
higher current that drawn and when the current reach the steady state value the
input power also reach the steady state value. Also the losses are the same; it is
higher in the starting period and reaches its rated value at steady state.
200
150
Torque (N.m)
100
X: 1.162
Y: 51.26
50
-50
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Figure 4.7The electrical torque of induction motor
4
x 10
8
Input Power & Total Losses (W)
Input Power
Total Losses
6
2 X: 1.129
Y: 8436
X: 1.298
Y: 791
40
an induction machine. The input voltages, and , are modified in each
method so as to produce the synthetic loading effect. It will be noted that only
one set of permutations has been presented for each method of synthetic
loading.
4.4.1 Dual Frequency Results
The Dual Frequency (DF) method, as the name suggests, relies upon the input
voltage being made up of two sinusoids per phase, each with its own frequency
and peak amplitude. The summation of these two sinusoids per phase is applied
to the machine undergoing synthetic loading. During DF synthetic loading, as
the motor is running, the rotor accelerates and decelerates over a cycle of the
beat frequency. The beat frequency is the difference between the two sinusoidal
frequencies applied per phase.
The main and auxiliary peak line to line voltage amplitudes and frequencies
41
Any value for the voltage ( can be chosen and then (4.2) is used calculate the
voltage .
20
10
Current (A)
-10
-20
1.8 1.82 1.84 1.86 1.88 1.9 1.92 1.94 1.96 1.98 2
Time (s)
Figure 4.9 The three phase currents of the induction motor for (DF) method
500
Voltage (V)
-500
1.8 1.82 1.84 1.86 1.88 1.9 1.92 1.94 1.96 1.98 2
Time (s)
Figure 4.10 The maximum rated voltages of the induction motor (DF) method
Figure 4.11 shows the variation of speed versus time. It can be noted that
although the machine speed is actually varying with time, the average speed is
1500 rpm and is very close to the rated nominal speed of the machine. The
speed variation illustrated in Figure 4.11 clearly show that during synthetic
loading the machine accelerates as a motor and decelerates as an induction
generator. Consequently the machine can be fully loaded via the repeated
acceleration and deceleration and without the need to connect a mechanical load
to the machine's drive shaft.
42
180
160
150
140
130
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.11The rotor speed of induction motor for (DF) method
Figure 4.12 shows the stator copper losses for induction machine when using
(DF) method. The time taken is from 1.5s to 2s and this period is lies in the
steady state condition. In synthetic loading technique the average is taken for
one cycle and this value must be the rated value. The average for the stator
copper loss is 385.43W. Figure 4.13 shows the variation of rotor copper loss
with time .The loss during synthetic loading is varying the average value for one
synthetic loading cycle is 295.26W. Figure 4.14 shows the friction loss when
DF method is used, the average for one synthetic loading cycle is 136.14W.
1500
1000
Losses (W)
500
0
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.12The stator copper losses of induction motor for (DF) method
43
800
600
Losses (W)
400
200
0
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.13The rotor copper losses of induction motor for (DF) method
170
160
150
Losses (W)
140
130
120
110
100
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.14The friction losses of induction motor for (DF) method
Figure 4.15 shows the variation of electrical torque with respect to time.
Figure 4.15 clearly indicates that the induction machine is heavily loaded by
synthetic loading technique. The machine is acting as a motor for half a cycle of
torque variation and as a generator for the second half cycle. The average value
of torque over a cycle is negative value proportional to the rotational losses and
any other fixed mechanical torque effective on the rotor. This torque cycle is
exactly repeated in the settled down operating condition and can be used to
separate the mechanical losses from the total losses if required.
Figure 4.16 shows the power measured at the input of the motor during the
simulation and the sum of the power losses while undergoing synthetic loading.
The average power at the motor terminals is positive when the rotor is
accelerating and negative when the rotor is decelerating. The sum of power
44
losses is always positive for the input frequency combination shown (main and
auxiliary frequencies at 50Hz and 35Hz respectively).
The results of one such simulation for the DF method of synthetic loading are
shown in Figure 4.16. It can be noted that the peak input average power is less
than the full load rated output power for the machine being modeled, namely a
peak input average power of approximately 6kW, while the rated output power
is 7.5kW.
To confirm the synthetic loading as a technique for evaluating efficiency, the
measured power at the input terminals must equal the sum of the losses during
the synthetic loading. This is a difficult task to establish experimentally since
the segregated losses cannot be measured directly during synthetic loading.
Therefore, simulation and computer modelling is used, based on accurate
parameters to evaluate the individual losses as well as the power that can be
measured at the input of the induction machine.
100
50
Torque (N.m)
-50
-100
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.15The electrical torque of induction motor for (DF) method
4
x 10
1 Input Power
Input Power & Total Loss (W)
Total Losses
0.5
-0.5
-1
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
45
Figure 4.16The input power with the total losses for (DF) method
46
waveforms during the synthetic loading technique with a main frequency of
50Hz and sweep frequency of 20Hz, and sweep magnitude of 5.5Hz and the
load torque is zero.
Figure 4.18 shows the variation of the maximum rated voltage during
synthetic loading with a synthetic main frequency of 50Hz and sweep frequency
of 20Hz, and sweep magnitude of 5.5Hz and the load torque is zero. The phase
voltage magnitude during synthetic loading depends on, main voltages that used
main frequency, sweep frequency and sweep magnitude. Equation (2.9) is used
as the input voltage in (CSORMF) method.
15
10
5
Current (A)
-5
-10
-15
1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.17 The three phase currents of the induction motor for (CSORMF)
500
Voltage (V)
-500
1.8 1.82 1.84 1.86 1.88 1.9 1.92 1.94 1.96 1.98 2
Time (s)
Figure 4.18 The maximum rated voltage of the induction motor for (CSORMF)
Figure 4.19 shows the variation of speed versus time. It can be note that
although the machine speed is actually varying with time; the average speed of
156.6 rad/sec (1495 rpm) is very close to the rated nominal speed of the
machine. The speed variation illustrates clearly that during synthetic loading the
47
machine accelerates as a motor and decelerates as an induction generator.
Consequently the machine can be fully loaded via the repeated acceleration and
deceleration and without the need to connect a mechanical load to the machine's
drive shaft.
180
170
Rotor Speed (rad / s)
160
150
140
130
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.20 shows the stator copper losses for induction machine when
CSORMF method is used. The time taken to calculate the average is between
1.5s to 2s. This period is lies in the steady state condition. In synthetic loading
technique the average taken for one synthetic loading cycle and this value must
be the rated value. The average for the stator copper loss is 381.18W. Figure
4.20 shows the variation of rotor copper loss with time .The loss during
synthetic loading is varying and the average value for one synthetic loading
cycle is 283.16W. Figure 4.22 shows the friction loss when CSORMF method is
used, the average for one synthetic loading cycle is 134.9W.
48
1200
1000
800
Losses (W)
600
400
200
0
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.20The stator copper losses of induction motor for (CSORMF) method
600
500
400
Losses (W)
300
200
100
0
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.21The rotor copper losses of induction motor for (CSORMF) method
170
160
150
Losses (W)
140
130
120
110
100
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.22The friction and losses of induction motor for (CSORMF) method
Figure 4.23 shows the variation of electrical torque with respect to time. It
clearly indicates that the machine is heavily loaded by synthetic loading
technique, the machine acting as a motor for half a cycle of torque variation and
as a generator for the other half cycle. Figure 4.24 shows the average power
measured at the input of the induction motor and the sum of average power
losses while undergoing synthetic loading. The average power at the motor
49
terminals is positive when the rotor is accelerating and negative when the rotor
is decelerating. The sum of average power losses is always positive for the input
frequency combination.
50
Torque (N.m)
-50
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.23The electrical torque of induction motor for (CSORMF) method
Input Power & Total Loss (W)
Input Power
6000
Total Losses
4000
2000
0
-2000
-4000
-6000
1.5 1.55 1.6 1.65 1.7 1.75 1.8 1.85 1.9 1.95 2
Time (s)
Figure 4.24 The input power with the total losses for (CSORMF) method
4.5 Discussions
The synthetic loading technique gives accurate results for efficiency
evaluation of induction motor. The result obtained using conventional method is
compared with that obtained using synthetic loading methods. The comparison
shows that the conventional method results are in consistent with the synthetic
loading results. The efficiency for the Dual-Frequency and CSORMF methods
are calculated from the nameplate output power (7.5kW) divided by the
nameplate output po-wer plus the power losses determined during synthetic
loading (7.5kW + total losses). The efficiency is determined in this way since it
may not be possible to measure either the input or output power at rated load
50
on-site. If the rated steady-state input power is known, then the efficiency is
calculated using the input power minus the power losses divided by the input
power.
And the efficiency using the synthetic loading technique for DF method:
And the efficiency for the synthetic loading technique for CSORMF method:
It can note that the results are very close to each other, there is a small
difference between the power losses but it does not affect result. Therefore, it
can be concluded that the synthetic loading technique is a best method that can
be used for efficiency evaluation of induction motor.
51
Synthetic Loading; Voltage & Frequency (Hz)
Standard = 413.2 = 410 = 400 = 390
Efficiency = 38.14 = 64.22 = 110.56 = 141.8
Test = 35 = 39.1 = 42.7 = 44.1
Rms line voltage
415 414.95 414.99 414.98 414.97
(V)
Rms line current
13.83 13.88 13.85 13.85 13.87
(A)
Speed (rpm) 1448 1500.8 1495.7 1495.1 1490.3
Output power(W) 7500 _ _ _ _
rated output power divided by the output power plus total losses measured using
synthetic loading. The stator copper loss, rotor copper loss, friction and windage
loss are the same approximately as the standard efficiency test method. This is
expected because the stator rms currents, the rms voltage and the speed are at
rated values. The synthetic loading technique produces efficiencies between
90.17% and 90.28% when the rated output power of the induction motor is used
to calculate the efficiency. Therefore, synthetic loading underestimates the
efficiency by less than 0.12% at best, 0.23% at worst, and 0.175% on average.
The simulation results show that the losses, rms current, and average speed
52
using the synthetic loading technique are consistent with the standard efficiency
test method, which indicates that synthetic loading could be used for the
evaluation efficiency of the induction motor.
constant, we have to choose the correct value for and to get the rated
value for the current, voltage and average speed. Efficiency is calculated using
the rated output power divided by the output power plus total losses measured
53
using synthetic loading. As we said the stator copper loss, rotor copper loss,
friction and windage loss are the same approximately as the standard efficiency
test method. The synthetic loading technique produces efficiencies between
90.06% and 90.36% when the output power of the standard efficiency test is
used to calculate the efficiency. Therefore, synthetic loading underestimates the
efficiency by less than 0.04% at best, 0.34% at worst, and 0.19% on average.
The results in table 2 shown that the values for the (CSORMF) method was
found in good agreement for each results.
4.6 Summary
In this chapter the results for the conventional efficiency test methodis
obtained. The three phase currrents, voltages, speed, stator losses, rotor losses,
friction losses, torque and the input power are presented. Then the synthetic
loading technique is performed using the dual frequency and constant speed of
rotating magnetic field methods. The three phase currrents, voltages, speed,
stator losses, rotor losses, friction losses, torque and the input power under
synthetic loading are presented. The induction machine efficiency is calculated
using the total losses and the input power. Synthetic loading simulation results
give excellent agreement with the standard efficiency test method.
Chapter Five
Conclusions and Recommendations
54
5.1 Conclusions
Synthetic loading as a method for evaluating the efficiency of three-phase
induction motors has been confirmed, using computer modeling and simulation
techniques. It is accurate and able to identify the total losses in the machine
under test. The total losses supplied during synthetic loading were shown to be
comparable to the sum of the individual losses of the induction machine being
modeled. As a consequence, when the technique is applied to the real machine,
there can be confidence in the efficiency evaluation result. Previously, there was
uncertainty about the performance of synthetic loading for temperature-rise tests
and efficiency evaluation. However, with accurate computer modeling based on
real parameters, the synthetic loading method has been shown to be a valuable
technique for efficiency evaluation. The new method will enable motors to be
tested virtually at any location, including on site, and with any mounting
arrangement, horizontal or vertical. Efficiency can be established easily and
quickly at normal operating temperature. The required equipment will be easy
to set up, requiring the connection of a three-phase inverter output to the
machines terminals. Synthetic loading requires no external load to be
connected to the test machines drive and thus reducing set-up time and costs.
The equipment will draw only sufficient average power from the mains to
supply its own losses and the losses of the test machine, this total power being
small compared with the full load power of the machine under test, thus
reducing the overall power consumption. One piece of test equipment can
replace a number of large heavy and expensive electrical machines, for the
testing of a complete range of machine frame sizes.
Microprocessor controlled power electronic techniques can be used to
produce the two supply frequencies of the existing dual frequency synthetic
load method. The power electronic method obviates the need for separate MG
55
sets and an isolating transformer. An alternative method of achieving synthetic
loading, the constant speed of rotating magnetic field method, is to directly vary
the supply frequency using microprocessor controlled power electronics.
Measured temperature rises when using both new methods are in good
agreement with those using the conventional load method with a 50 Hz inverter
supply.
5.2 Recommendations
The synthetic loading technique in this thesis is used for an induction
machine, in calculation of the efficiency the iron losses has been neglected so
in more research we have to put the iron losses in consideration. The technique
is used for a small machine which the rated output power is 7.5 kw, it can be
used to evaluate the efficiency of higher rated machine output power.
The microprocessor control power electronic is the basic equipment that can
produce the two supply frequency for the dual frequency method and also can
give the variation of the supply frequency for (CSORMF). Accordingly, to
make synthetic loading technique a useful method for efficiency evaluation
experimentally the inverter should be used to drive the induction machine. With
hardly any additional cost, standard commercial speed control inverters can be
modified to offer the extra features of the new test methods.
Appendix A
56
Induction Machine Data
Appendix B
57
B.1- Program One
function xprime=indmatrix(t,x)
Rs=2; Rr=2;
LM=0.318; Ls=(0.00637)+LM;
D=0.005; Lr=(0.00637)+LM;
F=50; W=2*pi*F;
J=0.05; P=2;
Vd=0; Vq=0;
VM=sqrt(2)*415;
VD=VM*sin(W*t);
VQ=-VM*cos(W*t);
TL=50.5;
B=[Ls LM 0 0;LM Lr 0 0;0 0 Ls LM;0 0 LM Lr];
C=inv(B);
y1=VD-Rs*x(1);
y2=Vd-Rr*x(2)-P*x(5)*(LM*x(3)+Lr*x(4));
y3=VQ-Rs*x(3);
y4=Vq-Rr*x(4)+P*x(5)*(LM*x(1)+Lr*x(2));
y=[y1;y2;y3;y4];
px=C*y;
piD=px(1); pid=px(2);
piQ=px(3);
piq=px(4);
Te=(3/2)*P*(x(2)*LM*x(3)-x(4)*LM*x(1));
pwr=(Te-D*x(5)-TL)/J;
xprime=[piD;pid;piQ;piq;pwr];
59
function xprime=csormf(t,x)
Rs=2; Rr=2;
P=2; LM=0.318;
Ls=(0.00637)+LM; Lr=(0.00637)+LM;
F=50; W=2*pi*F;
D=0.005; J=0.05;
VM=sqrt(2)*415;
Vd=0; Vq=0;
Fm=20; Sm=5.5;
VD=VM*(sin(2*pi*F*t)+(Sm/(2*F*F))*(F-Fm)*sin((2*pi)*(F-Fm)*t-pi)+(Sm/
(2*F*F))*(F+Fm)*sin((2*pi)*(F+Fm)*t-pi));
VQ=-VM*(cos(2*pi*F*t)+(Sm/(2*F*F))*(F-Fm)*cos((2*pi)*(F-Fm)*t-pi)+
(Sm/(2*F*F))*(F+Fm)*cos((2*pi)*(F+Fm)*t-pi));
TL=0;
B=[Ls LM 0 0;LM Lr 0 0;0 0 Ls LM;0 0 LM Lr];
C=inv(B);
y1=VD-Rs*x(1);
y2=Vd-Rr*x(2)-P*x(5)*(LM*x(3)+Lr*x(4));
y3=VQ-Rs*x(3);
y4=Vq-Rr*x(4)+P*x(5)*(LM*x(1)+Lr*x(2));
y=[y1;y2;y3;y4];
px=C*y;
piD=px(1); pid=px(2);
piQ=px(3); piq=px(4);
Te=(3/2)*P*(x(2)*LM*x(3)-x(4)*LM*x(1));
pwr=(Te-D*x(5)-TL)/J;
xprime=[piD;pid;piQ;piq;pwr;Te];
t0=0;
tfinal=2;
60
tspan=[t0 tfinal];
x0=[0 0 0 0 0];
[t,x]=ode45('indmatrix',tspan,x0);
ID=x(:,1);
Id=x(:,2);
IQ=x(:,3);
Iq=x(:,4);
wr=x(:,5);
VM=sqrt(2)*415;
F=50;
W=2*pi*F;
LM=0.318;
Rs=2;
Rr=2;
P=2;
D=0.0055;
VD=-VM*sin(W*t);
VQ=VM*cos(W*t);
Te=(3/2)*P*(LM*x(:,2).*x(:,3)-LM*x(:,4).*x(:,1));
figure(1),plot(t,ID),
title('Stator current ID');
xlabel('time(s)');
ylabel('current(A)');
figure(2),plot(t,Id),
title('Rotor current Id');
xlabel('time(s)');
ylabel('current(A)');
figure(3),plot(t,IQ),
title('Stator current IQ');
xlabel('time(s)');
ylabel('current(A)');
figure(4),plot(t,Iq),
title('Rotor current Iq');
xlabel('time(s)');
61
ylabel('current(A)');
figure(5),plot(t,wr),
title('Rotor Speed');
xlabel('time(s)');
ylabel('speed r.p.s');
figure(6),plot(t,Te),
title('Torque');
xlabel('time(s)');
ylabel('torque N.m)');
figure(7),plot(wr,Te),
title('Torque-Speed');
xlabel('Speed,r/min');
ylabel('Torque N.m');
Loss1=(3/2)*Rs*((ID.*ID)+(IQ.*IQ));
Loss2=(3/2)*Rr*((Id.*Id)+(Iq.*Iq));
Loss3=D*(wr.*wr);
figure(8),plot(t,Loss1),
title('Stator Losses');
xlabel('time(s)');
ylabel('losses(W)');
figure(9),plot(t,Loss2),
title('rotor losses');
xlabel('time(s)');
ylabel('losses(w)');
figure(10),plot(t,Loss3),
title('friction losses');
xlabel('time(s)');
ylabel('losses(w)');
IAs=(x(:,3).*cos(W*t)+x(:,1).*sin(W*t))/sqrt(2);
IBs=(x(:,3).*cos(W*t-2*pi/3)+x(:,1).*sin(W*t-2*pi/3))/sqrt(2);
ICs=(x(:,3).*cos(W*t+2*pi/3)+x(:,1).*sin(W*t+2*pi/3))/sqrt(2);
figure(11),plot(t,IAs),
title('IAs');
xlabel('time(s)');
62
ylabel('current(A)');
figure(12),plot(t,IBs),
title('IBs');
xlabel('time(s)');
ylabel('current(A)');
figure(13),plot(t,IAs),
title('ICs');
xlabel('time(s)');
ylabel('current(A)');
figure(14),plot(t,IAs,'r',t,IBs,'b',t,ICs,'k'),
title('Is');
xlabel('time(s)');
ylabel('current(A)');
VA=(VQ.*cos(W*t)+VD.*sin(W*t));
VB=(VQ.*cos(W*t-2*pi/3)+VD.*sin(W*t-2*pi/3));
VC=(VQ.*cos(W*t+2*pi/3)+VD.*sin(W*t+2*pi/3));
figure(15),plot(t,VA),
title('VA');
xlabel('time(s)');
ylabel('volt(V)');
figure(16),plot(t,VB),
title('VB');
xlabel('time(s)');
ylabel('volt(V)');
figure(17),plot(t,VC),
title('VC');
xlabel('time(s)');
ylabel('volt(V)');
figure(18),plot(t,VA,'r',t,VB,'b',t,VC,'k'),
title('Vs');
xlabel('time(s)');
ylabel('volt(V)');
IAr=(x(:,4).*cos(W*t)+x(:,2).*sin(W*t))/sqrt(2);
IBr=(x(:,4).*cos(W*t-2*pi/3)+x(:,2).*sin(W*t-2*pi/3))/sqrt(2);
63
ICr=(x(:,4).*cos(W*t+2*pi/3)+x(:,2).*sin(W*t+2*pi/3))/sqrt(2);
figure(19),plot(t,IAr),
title('IAr');
xlabel('time(s)');
ylabel('current(A)');
figure(20),plot(t,IBr),
title('IBr');
xlabel('time(s)');
ylabel('current(A)');
figure(21),plot(t,ICr),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
tloss=Loss1+Loss2+Loss3;
Pin=(3/2)*(VD.*ID+VQ.*IQ);
figure(22),plot(t,Pin,'r',t,tloss,'b'),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
IDD=(ID.*ID);
IQQ=(IQ.*IQ);
Iss=sqrt((IDD)+(IQQ));
figure(23),plot(t,Iss),
title('Iss');
xlabel('time(s)');
ylabel('current(A)');
t0=0;
tfinal=2;
64
tspan=[t0 tfinal];
x0=[0 0 0 0 0];
[t,x]=ode45('indmatrix',tspan,x0);
ID=x(:,1);
Id=x(:,2);
IQ=x(:,3);
Iq=x(:,4);
wr=x(:,5);
VM=sqrt(2)*415;
F=50;
W=2*pi*F;
LM=0.318;
Rs=2;
Rr=2;
P=2;
D=0.0055;
VD=-VM*sin(W*t);
VQ=VM*cos(W*t);
Te=(3/2)*P*(LM*x(:,2).*x(:,3)-LM*x(:,4).*x(:,1));
figure(1),plot(t,ID),
title('Stator current ID');
xlabel('time(s)');
ylabel('current(A)');
figure(2),plot(t,Id),
title('Rotor current Id');
xlabel('time(s)');
ylabel('current(A)');
figure(3),plot(t,IQ),
title('Stator current IQ');
xlabel('time(s)');
ylabel('current(A)');
figure(4),plot(t,Iq),
title('Rotor current Iq');
xlabel('time(s)');
65
ylabel('current(A)');
figure(5),plot(t,wr),
title('Rotor Speed');
xlabel('time(s)');
ylabel('speed r.p.s');
figure(6),plot(t,Te),
title('Torque');
xlabel('time(s)');
ylabel('torque N.m)');
figure(7),plot(wr,Te),
title('Torque-Speed');
xlabel('Speed,r/min');
ylabel('Torque N.m');
Loss1=(3/2)*Rs*((ID.*ID)+(IQ.*IQ));
Loss2=(3/2)*Rr*((Id.*Id)+(Iq.*Iq));
Loss3=D*(wr.*wr);
figure(8),plot(t,Loss1),
title('Stator Losses');
xlabel('time(s)');
ylabel('losses(W)');
figure(9),plot(t,Loss2),
title('rotor losses');
xlabel('time(s)');
ylabel('losses(w)');
figure(10),plot(t,Loss3),
title('friction losses');
xlabel('time(s)');
ylabel('losses(w)');
IAs=(x(:,3).*cos(W*t)+x(:,1).*sin(W*t))/sqrt(2);
IBs=(x(:,3).*cos(W*t-2*pi/3)+x(:,1).*sin(W*t-2*pi/3))/sqrt(2);
ICs=(x(:,3).*cos(W*t+2*pi/3)+x(:,1).*sin(W*t+2*pi/3))/sqrt(2);
figure(11),plot(t,IAs),
title('IAs');
xlabel('time(s)');
66
ylabel('current(A)');
figure(12),plot(t,IBs),
title('IBs');
xlabel('time(s)');
ylabel('current(A)');
figure(13),plot(t,IAs),
title('ICs');
xlabel('time(s)');
ylabel('current(A)');
figure(14),plot(t,IAs,'r',t,IBs,'b',t,ICs,'k'),
title('Is');
xlabel('time(s)');
ylabel('current(A)');
VA=(VQ.*cos(W*t)+VD.*sin(W*t));
VB=(VQ.*cos(W*t-2*pi/3)+VD.*sin(W*t-2*pi/3));
VC=(VQ.*cos(W*t+2*pi/3)+VD.*sin(W*t+2*pi/3));
figure(15),plot(t,VA),
title('VA');
xlabel('time(s)');
ylabel('volt(V)');
figure(16),plot(t,VB),
title('VB');
xlabel('time(s)');
ylabel('volt(V)');
figure(17),plot(t,VC),
title('VC');
xlabel('time(s)');
ylabel('volt(V)');
figure(18),plot(t,VA,'r',t,VB,'b',t,VC,'k'),
title('Vs');
xlabel('time(s)');
ylabel('volt(V)');
IAr=(x(:,4).*cos(W*t)+x(:,2).*sin(W*t))/sqrt(2);
IBr=(x(:,4).*cos(W*t-2*pi/3)+x(:,2).*sin(W*t-2*pi/3))/sqrt(2);
67
ICr=(x(:,4).*cos(W*t+2*pi/3)+x(:,2).*sin(W*t+2*pi/3))/sqrt(2);
figure(19),plot(t,IAr),
title('IAr');
xlabel('time(s)');
ylabel('current(A)');
figure(20),plot(t,IBr),
title('IBr');
xlabel('time(s)');
ylabel('current(A)');
figure(21),plot(t,ICr),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
tloss=Loss1+Loss2+Loss3;
Pin=(3/2)*(VD.*ID+VQ.*IQ);
figure(22),plot(t,Pin,'r',t,tloss,'b'),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
IDD=(ID.*ID);
IQQ=(IQ.*IQ);
Iss=sqrt((IDD)+(IQQ));
figure(23),plot(t,Iss),
title('Iss');
xlabel('time(s)');
ylabel('current(A)');
t0=0;
tfinal=2;
68
tspan=[t0 tfinal];
x0=[0 0 0 0 0 0];
[t,x]=ode45('csormf',tspan,x0);
ID=x(:,1);
Id=x(:,2);
IQ=x(:,3);
Iq=x(:,4);
wr=x(:,5);
VM=sqrt(2)*415;
F=50;
W=2*pi*F;
LM=0.318;
Rs=2;
Rr=2;
P=2;
D=0.0055;
Sm=5.5;
Fm=20;
VD=VM*(sin(2*pi*F*t)+(Sm/(2*F*F))*(F-Fm)*sin((2*pi)*(F-Fm)*t-
pi)+(Sm/(2*F*F))*(F+Fm)*sin((2*pi)*(F+Fm)*t-pi));
VQ=-VM*(cos(2*pi*F*t)+(Sm/(2*F*F))*(F-Fm)*cos((2*pi)*(F-Fm)*t-
pi)+(Sm/(2*F*F))*(F+Fm)*cos((2*pi)*(F+Fm)*t-pi));
%VD=-VM*sin(W*t);
%VQ=VM*cos(W*t);
Te=(3/2)*P*(LM*x(:,2).*x(:,3)-LM*x(:,4).*x(:,1));
figure(1),plot(t,ID),
title('Stator current ID');
xlabel('time(s)');
ylabel('current(A)');
figure(2),plot(t,Id),
title('Rotor current Id');
xlabel('time(s)');
ylabel('current(A)');
figure(3),plot(t,IQ),
69
title('Stator current IQ');
xlabel('time(s)');
ylabel('current(A)');
figure(4),plot(t,Iq),
title('Rotor current Iq');
xlabel('time(s)');
ylabel('current(A)');
figure(5),plot(t,wr),
title('Rotor Speed');
xlabel('time(s)');
ylabel('speed r.p.s');
figure(6),plot(t,Te),
title('Torque');
xlabel('time(s)');
ylabel('torque N.m)');
figure(7),plot(wr,Te),
title('Torque-Speed');
xlabel('Speed,r/min');
ylabel('Torque N.m');
Loss1=(3/2)*Rs*((ID.*ID)+(IQ.*IQ));
Loss2=(3/2)*Rr*((Id.*Id)+(Iq.*Iq));
Loss3=D*(wr.*wr);
figure(8),plot(t,Loss1),
title('Stator Losses');
xlabel('time(s)');
ylabel('losses(W)');
figure(9),plot(t,Loss2),
title('rotor losses');
xlabel('time(s)');
ylabel('losses(w)');
figure(10),plot(t,Loss3),
title('friction losses');
xlabel('time(s)');
ylabel('losses(w)');
70
IAs=(x(:,3).*cos(W*t)+x(:,1).*sin(W*t))/sqrt(2);
IBs=(x(:,3).*cos(W*t-2*pi/3)+x(:,1).*sin(W*t-2*pi/3))/sqrt(2);
ICs=(x(:,3).*cos(W*t+2*pi/3)+x(:,1).*sin(W*t+2*pi/3))/sqrt(2);
figure(11),plot(t,IAs),
title('IAs');
xlabel('time(s)');
ylabel('current(A)');
figure(12),plot(t,IBs),
title('IBs');
xlabel('time(s)');
ylabel('current(A)');
figure(13),plot(t,IAs),
title('ICs');
xlabel('time(s)');
ylabel('current(A)');
figure(14),plot(t,IAs,'r',t,IBs,'b',t,ICs,'k'),
title('Is');
xlabel('time(s)');
ylabel('current(A)');
VA=(VQ.*cos(W*t)+VD.*sin(W*t));
VB=(VQ.*cos(W*t-2*pi/3)+VD.*sin(W*t-2*pi/3));
VC=(VQ.*cos(W*t+2*pi/3)+VD.*sin(W*t+2*pi/3));
figure(15),plot(t,VA),
title('VA');
xlabel('time(s)');
ylabel('volt(V)');
figure(16),plot(t,VB),
title('VB');
xlabel('time(s)');
ylabel('volt(V)');
figure(17),plot(t,VC),
title('VC');
xlabel('time(s)');
ylabel('volt(V)');
71
figure(18),plot(t,VA,'r',t,VB,'b',t,VC,'k'),
title('Vs');
xlabel('time(s)');
ylabel('volt(V)');
IAr=(x(:,4).*cos(W*t)+x(:,2).*sin(W*t))/sqrt(2);
IBr=(x(:,4).*cos(W*t-2*pi/3)+x(:,2).*sin(W*t-2*pi/3))/sqrt(2);
ICr=(x(:,4).*cos(W*t+2*pi/3)+x(:,2).*sin(W*t+2*pi/3))/sqrt(2);
figure(19),plot(t,IAr),
title('IAr');
xlabel('time(s)');
ylabel('current(A)');
figure(20),plot(t,IBr),
title('IBr');
xlabel('time(s)');
ylabel('current(A)');
figure(21),plot(t,ICr),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
tloss=Loss1+Loss2+Loss3;
Pin=(3/2)*(VD.*ID+VQ.*IQ);
figure(22),plot(t,Pin,'r',t,tloss,'b'),
title('ICr');
xlabel('time(s)');
ylabel('current(A)');
IDD=(ID.*ID);
IQQ=(IQ.*IQ);
Iss=sqrt((IDD)+(IQQ));
figure(23),plot(t,Iss),
title('Iss');
xlabel('time(s)');
ylabel('current(A)');
References
72
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