School of Information Technology

and Electrical Engineering

University of Queensland

Transient Response of Induction

Machine Using MATLAB Simulink
By

Tien Wee Ang

Submitted for Bachelor of Engineering (Hons) Electrical

Engineering

May 2003
23th May 2002

Unit 8/29
Sir Fred Schonell Drive
St Lucia
Queensland 4067
Australia

Professor Simon Kaplan

Head of School
School of Information Technology and Electrical Engineering
University of Queensland
St. Lucia, Queensland 4072

Dear Professor Kaplan,

As partial fulfillment of the requirements for the Bachelor of Engineering (Electrical)

Degree (Honors), I respectfully submit the following thesis titled:

Transient Response of Induction Machine Using MATLAB Simulink

This thesis was performed under the supervision of Dr Allan Walton and Dr Geoff
Walker. I declare that the work submitted in this thesis is my own, and any work that is
not my own has been quoted and acknowledged in the bibliography. This work has not
been previously submitted for a degree at the University of Queensland or any other
institutions.

Yours sincerely,

Tien Wee Ang

(s40164784)

i
 Acknowledgement
I would like to express my sincere appreciation to my research supervisors, Dr. Allan
Walton and Dr. Geoff Walker for their assistance, valuable advice and guidance towards
the success of this thesis project. Dr. Walton has been patiently monitoring my progress
and guided me in the right direction throughout the year. I would also like to express my
appreciation to Mr. Graeme Saunders for his invaluable help in the machinery
workshop.

Most of all, I am grateful to my family for their unfailing encouragement and financial
support they have given me over the years. Finally, I would like to dedicate this thesis
report to a very special person, Rachel Tan, for constantly giving me the motivation to
strive for success. More importantly her encouragement and love throughout the year.

ii
 Abstract
This thesis investigates the nature of transient phenomena found in an induction motor.
An induction motor has a very high initial starting current in which could be three to
eight times the rated value. Such transient phenomena is not acceptable

It comprises of background review of induction motors and the type of induction motor
modeled. Parameters are extracted from the selected induction motor by the means of
experimental results while some are synthetic parameter values.

In order to understand more on the effects of the transient response, we will employ the
use of simulation. MATLAB is currently used by the industry intensively for simulation
and is widely recognised to be reliable. The simulation in MATLAB comprises of high-
performance language for technical computing that includes functions for numeric
computation, data analysis, system simulation, and application.

By using Simulink in MATLAB, the transient response in a controlled environment can

be observed. In the process of the simulation, the control settings can be changed and
the transient response is displayed in the graphical format with variable loading to
ensure better understanding of the outcome.

iii
 Contents
Letter to The Head of School..ii

Acknowledgements.iii

Abstractiv

1 Introduction.............................................................................1

1.1 General Introduction1

1.2 Aims of Thesis2

1.3 Thesis Overview..3

2 Background Theory and Literature Review........................4

2.1 Literature Review4

2.1.1 Using Various tools in Electrical Transient Study...4
2.1.2 Overview of MATLAB Simulink5
2.1.3 Principle of Electrical Machines and Power Electronics.6

2.2 Theoretical Findings7

2.2.1 Equivalent Circuit for Induction Motor....7
2.2.1.1 Losses and Gross Power8
2.2.1.2 Torque, Power and Phase Current.9
2.2.1.3 Rotor Frequency and its Effects..10

2.3 MATLAB Circuit Model of Induction Machine...11

2.3.1 Circuit Model of Induction Machine..11
2.3.2 MATLAB Transfer Functions14
2.3.2.1 Stationary qd0 Transformation14

2.4 Tests to Determine Equivalent Circuit..15

2.4.1 No-Load Test......15
2.4.2 No-Load Test Short Circuit ...18
2.4.3 Locked-Rotor Test..18

iv
3 Mode of Analysis...21

3.1 Introduction...21

3.2 Analysis of Parameters..21

3.3 No-Load Test Results22

3.4 No-Load Test Result with Short-Circuit...26

3.5 Lock-Rotor Test Results....29

3.6 Equivalent Circuit Calculation..30

3.7 Steady-State Characteristic Result32

4. Simulated Result, Discussion and Implementation...33

4.1 Overview...33

4.2 Simulated Result...34

4.2.1 Result of First Simulation..34
4.2.2 Discussion on First Simulation..37
4.2.3 Result of Second Simulation..38
4.2.4 Discussion on Second Simulation..40

5. Conclusion and Future Work..41

5.1 Conclusion-Final Thoughts...41

5.2 Future Development..42

Reference43

Bibliography..44

Appendix A: Software Code45

Appendix B: Simulink Block Diagrams.51

v
 List of Figures
1 A Three-Phase Induction Machine2

2 Short Circuit Transient..6

3 Dynamic Response Starting Transient in an induction Machine...6

4 Equivalent Circuit of a (wound rotor) Induction Motor at Standstill8

5 MATLAB Simulink Model of a Three-phase Induction Machine..11

6 Field Orient Function Block Diagram.14

7 Stationary qd0 Transformation Blocks...15

8 No-Load Test Setup....16

9 Locked Rotor Test Setup.18

10 Simplified Circuit for Analysis of Machine Behavior19

11 No-load Test Setup With Point B-C Shorted..26

12 Equivalent Circuit per Phase of an Induction Machine...32

13 Steady-State Characteristic of Three-Phase Induction Machine.34

Transient Behavior of Stator Current, Torque and Rotor Flux for

14
First Simulation...34

Transient Behavior of Mechanical Frequency, Base Mechanical

15
Frequency and Phase Voltage in Stator for First Simulation......35

16 Flowchart of Program Flow for Simulation36

Transient Behavior of Stator Current, Torque and Rotor Flux for

17
Second Simulation...38

Transient Behavior of Mechanical Frequency, Base Mechanical

18
Frequency and Phase Voltage in Stator for Second Simulation..39

vi
 List of Tables
1 Table of A-B connected (Stator).22

2 Table of B-C connected (Stator).23

3 Table of A-C connected (Stator).23

4 Table of A-B connected (Rotor)..24

5 Table of B-C connected (Rotor)..24

6 Table of C-A connected (Rotor)..25

7 Table of A-B connected with B-C shorted (Stator).26

8 Table of B-C connected with A-C shorted (Stator) ....27

9 Table of C-A connected with A-B shorted (Stator) ...27

10 Table of A-B connected with B-C shorted (Rotor) ....28

11 Table of B-C connected with A-C shorted (Rotor) ....28

12 Table of C-A connected with A-B shorted (Rotor) ....29

vii
 1
Introduction
1.1 General Introduction

The induction machine is the most rugged and commonly used machine in the industry.
Generally, the smaller induction machines are being use as household appliances such
as refrigerator or washing machine. The larger three phase induction machines are being
use extensively in pumps, fans, compressors and many other more applications.

In the world of machinery, induction machines are widely used as motor or sometimes
as a generator supplying power to individual load or connected to an infinite bus
through an appropriate electronic converter. Any sort of disturbance or short circuit
between the lines to the ground, between line and line, or between all three lines will
cause an electrical or mechanical transient. As there is an absence of any field winding
circuit in induction machine, the long transient period in the characteristic of a
synchronous machine will be absent. Therefore the short-circuit current in the induction
machine will be large but decay quickly. The induction machine also has a very high
initial starting current in which could be three to eight times the rated value. Figure 1
shows a typical induction machine found in the University of Queensland power
workshop (50-S106).

These have been a very formidable challenge to power system engineers due to the
complex nature of the transient phenomena in induction machines.

1
Figure 1: A Three-Phase Induction Machine

1.2 Aim of Thesis

In order to understand more on the effects of the transient response, we will employ the
use of simulation. Currently, MATLAB is extensively use in the industry for simulation
and is widely recognised to be reliable. MATLAB is a high-performance language for
technical computing that includes functions for numeric computation, data analysis,
algorithm prototyping, system simulation, and application.

By using Simulink in MATLAB, the transient response in a controlled environment can

be observed. In the process of the simulation, the control settings are adjustable to
enable better understanding of the transient behavior found in an induction machine.

2
1.3 Thesis Overview

The above serves as a general introduction on how successful the simulation of the
induction motor can be carried out. The motivation behind this research and the aims of
this thesis will be discussed in this chapter.
.

Chapter 2 describes the literature reviews together with the theoretical background of
the induction machine to be simulated. Different test procedures are also laid out to
determine the parameters used in the simulation.

Chapter 3 provides the different mode of analysis to determine the test result as stated
in Chapter 2. Calculated results for the parameter and test simulation (MATLAB
Simulink) for the model will be conducted as well.

Chapter 4 discusses the results obtained from the machine tests using the process
described in Chapter 3 to determine the transient response. The result will show
transient behavior of the induction motor with different loading.

Chapter 5 presents the conclusion and future work for the thesis. The two results from
the MATLAB simulation are compared to determine the accuracy for the simulated
model of the induction machine. Proposals for the future based on these results will
subsequently be made.

3
 2
Background Theory and
Literature Review

2.1 Literature Review

2.1.1 Using Various Computer Tool in Electrical Transient
Studies

We will discuss different computer tools used to help teach electrical transients studies
in undergraduate courses in Electrical Engineering. The computer facilities and
programs developed are discussed. The results of student surveys and the teaching
staff's observations are used to evaluate the usefulness of the different tools and
determine their advantages and disadvantages [1].

Alternative Transient Program (ATP), PSCAD/EMTDC and MATLAB were compared.

MATLAB offers a unique simulation and prototyping environment. The powerful
technical language is both concise and descriptive, allowing user to model complex
systems with small sections of easy-to-follow code. MATLAB and companion products
offer an array of tools for simulation and modeling, including:

4
 A large collection of high-performance functions for mathematical computation,
data analysis, equation solving and visualization, all available as part of core
MATLAB.
Additional state-of-the-art algorithms in MATLAB add-on Toolboxes.
Simulink and state flow block-diagram graphical design environments.

To sum up, ATP and PSCAD/EMTDC score best where the number of circuit element
models is concerned but MATLAB is unbeatable where programming freedom and
flexibility is concerned [1].

2.1.2 Overview of MATLAB Simulink

Simulink [2] is an interactive tool for modeling, simulating, and analyzing dynamic,
multi domain systems. It allows the user to build a block diagram, simulate the system's
behavior, evaluate its performance, and refine the design. Simulink integrates
seamlessly with MATLAB, providing an immediate access to an extensive range of
analysis and design tools. These benefits make Simulink the tool of choice for control
system design, DSP design, communications system design, and other simulation
applications [2].

To start, Simulink provides a graphical user interface (GUI) for easy modeling. Using
simple method as click and drag, the user can easily create block diagrams. Blocks
represent elementary dynamic systems that Simulink knows how to simulate. A block
comprises one or more of the following: a set of inputs, a set of states, and a set of
outputs. Different transfer functions can also be created easily to suit any type of
simulation process. The results can be viewed in real-time or as directed by the user [2].

5
2.1.3 Principle of Electric Machine and Power Electronics

Transient behavior of induction machines could be followed closely as the same

approach as the synchronous machines [3]. The different kinds of transient response are
namely:

Short-circuit transients in figure 1

Dynamic response Starting Transient in an Induction Motor in figure 2

Figure 2: Short Circuit Transient

Torque

Motor T-m curve

T Load T-m curve

TL
m
syn

Figure 3: Dynamic Response Starting Transient in an Induction Motor

6
2.2 Theoretical Findings

For this thesis, the modeled machine is a 3-phase (wound rotor) induction motor with
star connection at the stator. When the motor is at standstill, it acts exactly like a
conventional transformer. The motor induction has three identical primary and three
identical secondary winding with each set for one phase. On the account of perfect
symmetry, we can consider a single primary winding and a single secondary winding in
analyzing the behavior of the motor [4].

2.2.1 Equivalent Circuit of Induction Motor

As we assume a turn ratio of 1:1 as seen in figure 3, the circuit parameter per phase is
identified as follow [4]:

Eg = source voltage, line to neutral

r1 = stator winding resistance
x1 = stator leakage reactance
x2 = rotor leakage reactance
r2 = rotor winding resistance
rx = external resistance, effectively connected between one slip ring and the
neutral of rotor
Xm = magnetizing reactance
Rm = resistance whose losses correspond to the iron losses and windage and
friction
T = ideal transformer having a turns ratio of 1:1

7
 r1 jx1 I1 jx2 r2
1 3

Io I2
Ip

jXm Rm T Rx
Eg

1:1

2 4

Figure 4: Equivalent circuit of a (wound rotor) induction motor at standstill [4]

As slip is s, the actual voltage induced is:

E2 = sE2 (1)

The secondary resistance R2, is therefore given by:

R2 = r2 + Rx (2)

2.2.1.1 Losses and Gross Power

From the equivalent circuit, the conditions per phase arising for the rotor [5]:

Rotor copper loss = (I2)2 R2 = Pc (3)

Mechanical output = (I2)2 R2 (1/s -1) = Pm (4)

8
In addition, the stator copper loss per phase is [6]:

Stator copper loss = R1 (I1)2 = Ps (5)

2.2.1.2 Torque, Power and Phase Current

Toque may be express in many possible ways and at this point, the instantaneous torque
is proportional to the product of rotor current and the field strength cutting the rotor at
any instant can be denoted as T I cos where and I are rms value.

Torque can be described in terms of mechanical output, thus:

Tg = 3 Pm / = 3Pg (1-S) / 2 Ns (1-S) = 3Pg / 2 Ns Nm (6)

And air-gap power:

Pg = E1 I2 cos2 (7)

By making the assumption that, the magnetizing current is negligible at all operating
current as it is lagging on the main current and therefore is less important as a
magnitude [5]. The equivalent circuit produces the phase current of the below:

I2 = V1 / {[R1 + (R2 / S)] 2 + (X1 + X2)2} (8)

And air-gap power per phase:

Pg = (I2)2 R2 /S per phase (9)

9
The power-balance equation yields important relationship of the following [7]:

Electrical terminal power per phase:

Pe = VL IL cosL (10)

In addition, power factor:

Cos = Total Power / 3 (VL IL) (11)

2.2.1.3 Rotor Frequency and its Effects

When a rotor is at standstill, it behaves as a three-phase transformer with a short circuit

in the secondary. The Electro Magnetic Flux (EMF) induced in the rotor bears a direct
relationship to the supply EMF, numbers of turns, flux as well as frequency. Hence, at a
given speed, the rotor EMF at speed is equal to rotor EMF at stand still multiply by slip,
S. This on the other hand leads to other changes such that rotor leakage reactance at
speed will differ from the leakage at standstill in the rotor [5].

Slip, S is given by:

S = (s )/ s = Ns N / Ns (12)

Where:
Ns = synchronous speed (r/min)
N = rotor speed (r/min)

10
Rotor leakage reactance at standstill:

XR = 2 fs L in ohms () (13)

In Addition, the reactance at speed:

XR = SXR (14)

2.3 MATLAB Circuit Model of a Three-

Phase Induction Machine

2.3.1 Circuit Model of a Three-Phase Induction Machine

For this thesis, the circuit block diagram for the MATLAB Simulink is created by the
means of mathematical transfer functions. The circuit model is shown below [8].

Figure 5: MATLAB Simulink Model of a Three-Phase Induction Machine

11
The three-phase induction machine can be model by MATLAB Simulink. Using the
coupled circuit approach and motor notation, the voltage equation of the coupled of the
magnetically coupled stator and rotor circuit [8] can be rewritten as:

Stator voltage equation:

das
Vas = IasRr + V (15)
dt

dbs
Vbs = IbsRr + V (16)
dt

dcs
Vcs = IcsRr + V (17)
dt

Rotor voltage equation:

dar
Var = IarRr + V (18)
dt

dbr
Vbr = IbrRr + V (19)
dt

dcr
Vcr = IcrRr + V (20)
dt

For a steady-state operation of a three-phase induction machine from a balanced three-

phase supply, the expression of the stator voltage and current rotating at a slip for the
simulation is [8]:

Stator voltage expression for each phase:

Var = Vmr cos(set) (21)

12
 Vbr = Vmr cos(et - 2/3) (22)

Vcr = Vmr cos(et - 4/3) (23)

Stator Current expression for each phase:

ias = Ims cos(et s) (24)

ibs = Ims cos(et 2/3 - s) (25)

ics = Ims cos(et 4/3 - s) (26)

Similarly, the expression for rotor voltages and current with a rotating slip can be
express as the following [8]:

Rotor voltage expression for each phase:

Var = Vmr cos(set r(0) - ) (27)

Vbr = Vmr cos(set - 2/3 - r(0) - ) (28)

Vcr = Vmr cos(set - 4/3 - r(0) - ) (29)

Rotor current expression for each phase:

Iar = Imr cos(set r(0) - r) (30)

Ibr = Imr cos(set 2/3 - r(0) - r) (31)

Icr = Imr cos(set 4/3 - r(0) - r) (32)

13
2.3.2 MATLAB Transfer Function

The model for the induction model is mainly made up of transfer function blocks. Each
function block represents a mathematical equation for simulation of the output. The
block diagram for field-orient is shown in figure 6. The block diagram shows the current
regulating induction motor drive with indirect field-oriented control [8]. Appendix B
shows the rest of the block diagrams for Simulink.

Figure 6: Field Orient Function Block Diagram

2.3.2.1 Stationary qd0 Transformation

The idealized three-phase induction machine is assumed to have a symmetrical air gap.
The qd0 reference frames are selected based on convenience with the representation of
the network. In the stationary rotating reference, the dq variables of the machine are in
the same frame as those normally used for the supply network. The qd0 voltage
equations, flux linkage relations and the torque equation can be derive in a simplistic
manner. The block diagram for the stationary qd0 is shown in figure 7 [8].

14
Figure 7: Stationary qd0 Transformation Block

2.4 Tests to Determine Equivalent Circuit

In this thesis, we have to determine the approximation value of r1, r2, Xm, Rm and x in
the equivalent circuit. These values will subsequently be use as the parameters for the
simulation in MATLAB Simulink. The No-Load Test and Locked Rotor Test can
determine the approximation of the parameters [4].

2.4.1 No-Load Test

The slip is exceedingly small when an induction motors runs at no-load. Referring to
figure 4, this means that the value of R2/s is very high and therefore current II is
negligible in contrast to IO. Thus at no-load, the circuit consist mainly of magnetizing
branch Xm, Rm. these values can be determine by measuring the current, voltage and
power at no-load.

15
 ENL

INL

ENL

PNL

Figure 8: No-load Test Setup

The diagram for the no-load test can be wired up as seen in figure 8 above. The
procedure is as follow [4]:

Measure the stator resistance RLL between any two terminals. As it is a star
connection, the value of r1 is:

r1 = RLL / 2

Run the induction motor at no-load using up to rated line voltage, ELR. Measure
the no-load current INL and the total three-phase active power PLR.

The following calculation for the total apparent power SLR and total reactive power QLR
can be found using the following equation [4].

SNL = 3 (ENL INL) (33)

QNL = (S2NL - P2NL) (34)

16
Windage, Friction and iron losses can be determined from the following equation [4].

Windage, Friction and iron losses = PNL 3I2NL r1 (35)

The magnetizing resistance Rm can be represented by:

Rm = E2NL / (PNL 3I2NL r1) (36)

The magnetizing reactance is:

Xm = E2NL / QNL (37)

The following equations provides additional results for verifications [5].

Input Current:

Ia = (Io cos) A where is the phase angle (38)

Magnetising current:

Im = (Io sin) A where is the phase angle (39)

Resistance:

R = V/ Ia (40)

Resistance (magnetized):

X = V/Im (41)

17
2.4.2 No-Load Test With Short-Circuit

This test is similar to the No-Load Test and is performed on the stator and rotor by
short-circuiting one of the winding instead while applying current to the other windings
[3]. The stator resistance RLL, no-load current INL and three-phase active power PLR
readings are noted for the calculations below.

Z = 0.5(V/I) (42)

R = (Zcos) (43)

X = (Zsin) (44)

2.4.3 Locked-Rotor Test

ENL

INL

ENL

PNL

Figure 9: Locked-Rotor Test Setup

18
When the [4] rotor of an induction motor is locked under rated line voltage, the stator
current Ip is almost six times its rated value. In such situation, the fractional slip s is
equal to one. The resistance of the rotor reflected into the stator is denoted as r2. This
incidentally means that r2/s is also equal to r2. As Ip is much greater than the exciting
current Io, therefore we can ignore the magnetizing branch. This leaves us with a
simplified circuit shown in figure 6 below [4].

jx
Il rl

Eg Zl R2/s

Figure 10: Simplified Circuit for Analysis of Machine Behavior

From the circuit diagram seen in Figure 6, it comprises of leakage reactance x, the stator
resistance r1, and the reflected rotor resistance R2/s = r2/1 = r2. These values can be
determined by measuring the voltage, current, and power under locked-rotor situation
and is as follows [4]:

Apply a three-phase voltage to the stator so that the stator current is almost equal
to the rated value.
Note down the readings of ELR (line-to-line), line current ILR, and the three-
phase power PLR.

Subsequently, the calculation for the expressions below can be made:

SLR = 3 (ELR ILR) (45)

19
 QLR = (S2LR - P2LR) (46)

x = QLR / 3I2LR (47)

Since,

3I2LR (r1 + r2) = PLR (48)

Hence, total resistance in stator:

r2 + r1 = PLR / (3I2LR) (49)

Tests that are more elaborate can also be conducted, but the above-mentioned tests are
adequate in this thesis [4].

20
 3
Mode of Analysis

3.1 Introduction
This chapter describes the procedures in which parameters were obtained for the thesis.
The procedures for the experiment engaged were as listed from Chapter 2 of this thesis.
The best experimental readings extracted will subsequently be used for the calculation,
and therefore used for the parameters for simulation in MATLAB Simulink.

3.2 Analysis of Parameters

There are certain parameters that cannot be obtained through experiment purpose. Such
parameter such as inertia for the machine was estimated and a synthetic value is used.
The process for determining the equivalent circuit parameter is as followed:

For a start, an equivalent circuit is drawn to deduce which are the parameters is
important.
Each test as stated in chapter 2 is conducted experimentally to extract the
unknown parameters.

21
 Calculations for the extracted readings is done mathematically to determine the
unknown.
Subsequently, the calculated equivalent circuit parameters is used for the
simulation in MATLAB Simulink to determine the steady-state characteristic of
the induction machine.
Lastly, a brief comparison of the experimental steady-state characteristic against
figure 3 of Chapter 2 to determine accuracy of the model.

The procedures listed above serves as a guideline on the process of obtaining the
parameters. Other additional methods will be included to help verify the authenticity of
the experiment results.

3.3 No-Load Test Result

In order to obtain the initial parameter for this thesis, we have to determine the
approximation value of r1, r2, Xm, Rm and x in the equivalent circuit. These values will
subsequently be use as the parameters for the simulation in MATLAB Simulink [8]. As
the stator is star-connected, the connections for the no-load test are used only to
determine the impedance across two-phase.

The tables from the no-load test for the stator across two- phase are shown below.

Voltage across A-B (Stator)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
3.4 83.1 Lag 45.0 0.50
4.9 83.4 Lag 55.2 0.65
6.4 83.5 Lag 65.4 0.80
8.2 84.0 Lag 75.2 0.90
10.2 84.3 Lag 85.0 1.00
12.0 84.8 Lag 95.0 1.12
Table 1: Table of A-B Connected (Stator)

22
Voltage across B-C (Stator)
Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
3.0 83.0 Lag 45.0 0.55
5.0 83.1 Lag 55.1 0.60

6.8 83.5 Lag 65.0 0.80
8.6 84.0 Lag 75.1 0.90
11.0 84.3 Lag 85.3 1.00
13.0 84.5 Lag 95.0 1.12
Table 2: Table of B-C Connected (Stator)

Voltage across C-A (Stator)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
3.0 82.9 Lag 45.4 0.50
5.0 83.6 Lag 55.2 0.60
6.2 84.0 Lag 65.0 0.75
8.7 84.2 Lag 75.0 0.90
10.5 84.3 Lag 85.3 1.00
13.0 84.4 Lag 95.1 1.10
Table 3: Table of C-A Connected (Stator)

For Table 1, Table 2 and Table 3, since most experimental values across any of the two-
phase are similar, only connection across A-B will be used for calculation [5].

Ia = (Io cos) A (Equation 38)

Im = (Io sin) A (Equation 39)

R = V/ Ia (Equation 40)

X = V/Im (Equation 41)

23
From Table 1, by using values from the input current of 1.12 A, Ia = 0.102 A and
Im = -1.115 A. The calculated resistance R = 9313.7 and the X = -85.20

The no-load test is also conducted on the rotor of the induction motor. The results for
the test are as follows:

Voltage across A-B (Rotor)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
7.0 82.4 Lag 51.1 0.95
10.0 82.9 Lag 60.2 1.15

13.0 83.3 Lag 70.3 1.30
16.0 83.5 Lag 80.1 1.50
20.0 83.8 Lag 90.1 1.65
24.0 84.8 Lag 100.0 1.85
28.0 84.1 Lag 110.2 2.05
Table 4: Table of A-B Connected (Rotor)

Voltage across B-C (Rotor)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
7.6 82.6 Lag 50.0 0.95
10.4 82.2 Lag 60.1 1.12
13.0 82.7 Lag 70.0 1.32
17.0 83.1 Lag 80.0 1.50
21.0 83.4 Lag 90.0 1.65

25.0 83.7 Lag 100.0 1.85
29.0 83.9 Lag 110.1 2.05
Table 5: Table of B-C Connected (Rotor)

24
Voltage across A-C (Rotor)
Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
7.6 81.4 Lag 50.0 0.95
10.3 82.0 Lag 60.0 1.12

13.0 82.9 Lag 70.1 1.30
17.0 83.0 Lag 80.0 1.48
21.0 83.6 Lag 90.0 1.65
25.0 83.7 Lag 100.1 1.85
28.0 83.8 Lag 110.1 2.05
Table 6: Table of A-C Connected (Rotor)

For Table 4, Table 5 and Table 6, since most experimental values across any of the two-
phase are similar, only connection across A-B will be used for calculation.

From Table 1, by using values from the input current of 1.65 A, Ia = 0.211 A and
Im = -2.039 A. The calculated resistance R = 522.3 and the X = -54.05

25
3.4 No-Load Test Result with Short-Circuit

To achieve the necessary results for each phase, the no-load test will be conducted
across two-phase with short-circuiting the isolated connections to determine the
impedance across two-phase of the stator and rotor. The connection for the above-
mentioned procedure is shown below in figure 7.

ENL

A INL

ENL B

C PNL

Figure 11: No-load Test Setup with Point B-C Shorted

Voltage Across A-B with B-C Shorted (Stator)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
4.0 83.1 Lag 44.6 0.70
6.4 83.6 Lag 55.0 0.85

8.5 84.2 Lag 65.2 1.01
10.0 84.4 Lag 75.0 1.20
13.0 84.8 Lag 85.0 1.35
16.0 85.0 Lag 95.0 1.50
Table 7: Table of A-B Connected with B-C Shorted (Stator)

26
Voltage Across B-C with A-C Shorted (Stator)
Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
4.3 83.1 Lag 45.0 0.80
6.6 83.3 Lag 55.1 0.90

8.7 84.0 Lag 65.4 1.05
11.0 84.2 Lag 75.0 1.20
13.0 84.7 Lag 85.2 1.35
16.0 84.9 Lag 95.1 1.50
Table 8: Table of B-C Connected With A-C Shorted (Stator)

Voltage Across C-A With A-B Shorted (Stator)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
4.5 83.2 Lag 45.1 0.75
6.4 84.0 Lag 55.2 0.85
8.0 84.1 Lag 65.1 1.00
11.0 84.3 Lag 75.2 1.20
13.0 84.5 Lag 85.0 1.35
16.0 85.1 Lag 95.1 1.50
Table 9: Table of C-A Connected With A-C Shorted (Stator)

For Table 7, Table 8 and Table 9, since most experimental values across any of the two-
phase are similar, only connection across A-B will be used for calculation.

Z = 0.5(V/I) (Equation 42)

R = (Zcos) (Equation 43)

X = (Zsin) (Equation 44)

27
For Table 7, the impedance for each phase for the input power of 1.5A, Z = 31.66 .
The resistance R = 2.76 and X = -31.53

The simulated results from the no-load test is conducted across two-phase with short-
circuiting the isolated connections to determine the impedance across two-phase of the
rotor (secondary side). The results are as follows:

Voltage Across A-B With B-C Shorted (Rotor)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
9.6 82.3 Lag 50.3 1.25
13.0 82.9 Lag 60.1 1.50
16.0 83.2 Lag 70.0 1.72
21.0 83.5 Lag 80.2 1.95
26.0 83.8 Lag 90.1 2.22
31.0 84.0 Lag 100.1 2.48
37.0 84.3 Lag 110.0 2.70
Table 10: Table of A-B Connected With B-C Shorted (Rotor)

Voltage Across B-C With A-C Shorted (Rotor)

Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
9.6 82.2 Lag 50.2 1.25
13.1 82.7 Lag 60.0 1.50
17.0 82.9 Lag 70.0 1.72
22.0 83.3 Lag 80.0 1.98

26.0 83.8 Lag 90.1 2.25
32.0 84.0 Lag 100.1 2.50
37.0 84.3 Lag 110.0 2.72
Table 11: Table of B-C Connected With A-C Shorted (Rotor)

28
Voltage Across C-A With A-B Shorted (Rotor)
Power (PNL) in Phase in Degrees Voltage (ENL) in Current (INL) in
Watts Volts Ampere
9.1 82.5 Lag 50.0 1.25
12.8 82.9 Lag 60.1 1.50

16.0 83.2 Lag 70.0 1.72
21.0 83.5 Lag 80.2 1.98
26.0 83.6 Lag 90.0 2.23
32.0 83.8 Lag 100.1 2.48
37.0 84.0 Lag 110.2 2.70
Table 12: Table of C-A Connected With A-B Shorted (Rotor)

For Table 9, Table 10 and Table 11, since most experimental values across any of the
two-phase are similar, only connection across A-B will be used for calculation.

For Table 9, the impedance for each phase when the input power of 2.7 A, Z = 20.37 .
The resistance R = 2.02 and X = -20.27

3.5 Locked-Rotor Test Result

From the locked-rotor test result, as directed in 2.3.2, a three-phase voltage to the stator
was applied so that the stator current is almost equal to the rated value. The readings of
ELR (line-to-line), line current ILR, and the three-phase power PLR were recorded and
shown below:

Rated maximum input line current, ILR: 11A

Input voltage, ELR (line-to-line): 70V

Three-phase input power, PLR: 500W

29
3.6 Equivalent Circuit Calculation

The equivalent circuit of the three-phase induction machine was calculated using the
values obtained from part 3.3 and 3.4. By using the equations from chapter 2, we can
come to conclude that:

From the no-load test results:

Magnetizing resistance, Rm = E2NL / (PNL 3I2NL r1) = (70)2 / (500 3(11)2(42.4) =

0.318

Magnetizing reactance, Xm = E2NL / QNL = (70)2 / 1236.41 = 3.963

From the locked-rotor test results:

Apparent power, SLR = 3 (ELR ILR) = 3 (70 x 11) = 1333.68 VA

Total reactance power, QLR = (S2LR - P2LR) = [(1333.68)2 (500)2] = 1236.41 Var

Stator total leakage, x = QLR / 3I2LR = 1236.41 / 3(11)2 = 3.406

Total resistance in stator, RT = r2 + r1 = PLR / (3I2LR) = 500 / 3(11)2 = 1.377

Therefore,

R2/s = RT r1 = 1.377 0.05075 = 1.326

Therefore, power factor at no-load = P/VI = 13/ (95)(1.12) = 0.13655

30
 2.76 j31.53

11A

9313.7 j85.2 1.326/s

Eg

Figure 12: Equivalent Circuit per Phase of an Induction Machine

With the calculated values for the parameters in the equivalent circuit, the equivalent
circuit for the induction machine per phase was calculated in figure 12.

31
3.7 Steady-State Characteristic Result

MATLAB was used to model the three-phase induction machine and the steady-state
characteristics is plotted to verify that the machinery parameters are similar to the real-
life three-phase induction machine. The machine parameters were setup and
disturbances were simulated to display the characteristic in terms of torque, current,
power and efficiency against the rotor speed.

Figure 13: Steady-State Characteristic of Three-Phase Induction Machine

32
 4
Simulated Result,
Discussion and
Implementation
4.1 Overview

In this chapter, the initial setup parameters and the simulation result as well as the
discussion for the result were analyzed. The transient behaviors of torque, stator current,
mechanical frequencies, phase voltage in stator and rotor flux and were displayed in
graphical format for easy analysis.

This model is a current regulated pulse-width-modulated induction motor drive with

indirect field oriented control. The time duration for the simulation is 2 seconds and
values of the mechanical speed are generated by the Simulink m-files (Appendix A). In
the Simulink, the externally applied mechanical torque for the time array is running at
rated load torque during the 0.75s to 1.0s and from 1.25s to 1.5s. It is running at half
rated load torque from 1.0s to 1.25s marking to demonstrate the transient behavior at
fixed reference speed. Appendix B shows the overall diagram of the Simulink block
diagram file.

33
4.2 Simulated Result
4.2.1 Result of First Simulation

Figure 14: Transient Behavior of Stator Current, Torque and Rotor Flux for First
Simulation

The figure 14 above showed the transient behaviors of the three-phase induction
machine. The simulation was relatively accurate and this showed that it was a success.
The alternating current for the stator shows the current at different loading. Mechanical
torque graph and flux in rotor were displayed in graphical format.

34
Figure 15: Transient Behavior of Mechanical Frequency, Base Mechanical Frequency
and Phase Voltage in Stator for First Simulation

The second part of the simulation shown in Figure 15 above displayed selected
frequency (wbm*) for the Simulink simulation. The base frequency is similar to the
wbm*. The Vag represents the phase voltage in the stator.

As simulation was generally complicated, figure 16 displays the simplified flowchart of

the MATLAB Simulink program flow.

35
 Start of
Simulation

Initializing
of Parameters

Set Initial
Conditions to
zero

Set up
of Parameters
for the Motor

Computation
of values

Yes Go to Start
Error? (Check Settings)

No

Simulation of
MATLAB
Simulink Model

Display of
Simulation

End

Figure 16: Flowchart of Program Flow for Simulation

36
4.2.2 Discussion of First Simulation

From the figure 14, graphical display for the stator current showed an increase and
decrease in current as loading is simulated. There was a larger transient current during
the initial start up from stationary. This transient starting current can be as high as three
to eight times the rated value and might cause a glitch in the power system that supplied
the electrical power. From this simulation, the estimated starting current was
approximately three times the rated for the initial start up.

The mechanical torque showed in figure 14 showed a slight transient increase due to the
high start up current from stationary position. The mechanical torque graph showed the
increase and decrease of torque due to load disturbance at the specified timing as
mentioned earlier.

The rotor flux was relatively stable except for the larger initial transient during the start
up of the rotor flux from standstill. This increase in rotor flux transient behavior was
mechanically undesirable.

Figure 15 showed the frequency (wbm*). This value largely remains unchanged; it was
selected as a setting to show the differences from the base frequency. The base
frequency showed a slight drop in frequency when loading. The Vag represents the phase
voltage in the stator and is largely inaccurate as it was rather high in voltage.

On the overall, the simulation was a success as the output result from the simulation
generally conforms to the theoretical aspects of a three-phase induction machine.

37
4.2.3 Result of Second Simulation

This second simulated model was a current regulated pulse-width-modulated induction

motor drive with indirect field oriented control. For this second simulation, the time
duration was 2 seconds and values of the mechanical speed were generated by the
Simulink m-files (Appendix A) with a change in control settings. In the Simulink, the
externally applied mechanical torque for the time array was running at rated load torque
during start up to 1.0s and was running at half the rated torque from 1.0s to 1.5s. It ran
at no-load torque from 1.5s to 2.0s marking to demonstrate the transient behavior at
fixed reference speed. Appendix B shows the overall diagram of the Simulink block
diagram file.

Figure 17: Transient Behavior of Stator Current, Torque and Rotor Flux for Second
Simulation

38
The figure 17 above showed the undesirable transient behaviors of the three-phase
induction machine. The second simulation was relatively accurate and this shows that it
was a success. The alternating current for the stator showed the current at different
loading. Mechanical torque graph and flux in rotor was displayed in graphical format
for analysis purpose.

Figure 18: Transient Behavior of Mechanical Frequency, Base Mechanical Frequency

and Phase Voltage in Stator for Second Simulation

39
The second part of the simulation shown in Figure 18 in the previous page displayed
selected frequency (wbm*) for the Simulink simulation. The base frequency displayed
was similar to the wbm*. The Vag represents the phase voltage in the stator.

4.2.4 Discussion of Second Simulation

From the figure 17, graphical display for the stator current showed an increase and
decrease in current as loading is simulated. There was a very large transient current
during the initial start up from stationary when the model is running at full load. This
transient starting current can stall the induction machine and cause mechanical damage
to the induction machine. From the second simulation, the estimated starting current is
approximately 470A for the initial start up.

The mechanical torque showed in figure 17 shows a large transient increase of torque
due to the high start up current from stationary position. The initial start up torque was
approximately 190Nm. As specified in the loading timing earlier, the mechanical torque
graph showed the increase and decrease of torque due to load disturbance.

The rotor flux showed a large initial transient during the start up of the rotor flux from
standstill. This transient behavior shows a harmonic and stabilizes at 0.4s.This increase
in rotor flux transient behavior is undesirable mechanically.

Figure 18 showed the frequency (wbm*). It was relatively similar to the first simulation.
This value largely remains unchanged, as it was the selected setting to show the
differences between the base frequencies. The base frequency for the second simulation
showed a slight drop in frequency when loading. This base frequency showed a higher
frequency during start up due to the mechanical behavior of the machine. The Vag
represented the phase voltage in the stator and was largely inaccurate as it was rather
high in voltage.

Overall, the second simulation was a success as the output result from the simulation
behaved similarly to the theoretical aspects of a three-phase induction machine.

40
 5
Conclusion
5.1 Final Thoughts

In this thesis, MATLAB Simulink has been implemented for simulation of the three-
phase induction machine. As previously mentioned, the purpose of this approach is to
understand the transient phenomena of an induction machine.

An increase or decrease in load will trigger a transient response from a three-phase

induction machine. These transient phenomena existed in all three-phase induction
machines, and had posted tremendous challenges to the power system engineers. From
the first simulation, transient harmonics can be observed in most graphical displays. As
the simulation was not running at full load during the start up, the transient harmonics
was only minimal. When the three-phase machine was running at full load for the initial
start up in the second simulation, it showed extremely high transient harmonics for the
current in the stator and the rotor flux. Such abnormally high transient could only be
observed in simulation. If it were in a real life situation, there would be mechanical
damages to the machine or a trip in the main circuit breaker (MCB) of the electricity
supply.

The simulation results showed a similarity as mention in (2.1.3). Such similarity as

shown in theoretical findings proved that the simulation was a thorough success.
41
This thesis posted a tremendous challenge in terms of achieving the objectives.
Consequently, a more in-depth understanding on three-phase induction machine
behavior was achieved. The limitations in a three-phase induction machine proved in
this thesis could be used as a precaution by achieving such understanding. This in return
would prevent unnecessary damage to any induction machine when starting up at full
load. Most importantly, the skill for time management applied during the research of
this thesis had been tested and improved.

Therefore, this thesis has achieved the objectives of obtaining the transient response of a
three-phase induction machine using MATLAB Simulink. It also demonstrated the
loadings and the effects by changing the control settings.

5.2 Future Developments

Although this thesis has provided significant study on the simulation of the a three-
phase induction machine using MATLAB Simulink, the other areas to be explored for
future studies can be:

Simulation on the Real-Life three-phase induction machine found in 50-S106

of University of Queensland to get the results as shown in chapter 4 of this
thesis. A comparison of the experimental and simulated result can subsequently
be achieved.
Enhancing of the MATLAB Simulink program with a Graphical User Interface
(GUI) to facilitate easy control for settings.
Further detailed analysis of the three-phase induction machine behavior need to
be found to create a more Real-Like model to increase the accuracy of the
simulation.

The above are just some suggestion that the author feel worth researching to improve
the thesis. Overall, the thesis met the objectives stated.

42
Reference
[1] Using Various Computer Tools In Electrical Transients Studies
http://fie.engrng.pitt.edu/fie2000/papers/1018.pdf

[2] Overview of MATLAB Simulink

http://www.mathworks.com/products/simulink/description/overview.shtml

[3] P.C. Sen, Principle of Electrical Machines and Power Electronics

(2nd Edition), Canada: John Wiley, 1996.

[4] Theodore Wildi, Electrical Machines, Drives, and Power System, Upper
Saddle River, N.J.: Prentice Hall, 2000.

[5] Douglas Griffiths, Principles and problems of Electrical Machines,

Hertfordshire,U.K.: Prentice Hall, 1995.

[6] Allan R. Hambley, Electrical Engineering Principles & Applications,

Prentice Hall Inc, 1997.

[7] John Hindmarsh & Alasdair Renfrew, Electrical Machines and Drive System,
(3rd Edition), Oxford :Butterworth-Heinemann, 1999.

[8] Chee-Mun Ong, Dynamic Simulation of Electrical Machinery Using MATLAB

Simulink, Upper Saddle River, N.J.: Prentice Hall, 1999.

43
Bibliography
1) Pal K Kovacs, Transient Phenomena in Electrical Machines, Amsterdam:
Elsevier, 1984.

2) The Math Work Inc, The Student Edition of MATLAB, Version 4 Users
Guild, Englewood Cliff: Prentice Hall.

3) Bo Dolman, Analysis of the Rotor: Stator Transfer function using MATLAB,

University of Queensland, Dept. of Information technology and Electrical
Engineering, Oct. 2001.

44
Appendix A
This section lists the source code [8] of the simulation of this thesis project. The
simulated induction machine is rated at 5hp. Attached are the parameter and is as
follows:

P5HP.m

Sb = 20*746; % rating in VA
Vrated = 415; % rated line-to-line voltage in V
pf = 0.13655; % rated power factor
Irated = Sb/(sqrt(3)*Vrated*pf); % rated rms current
P= 4; % number of poles
frated = 50; % rated frequency in (Hz)

wb = 2*pi*frated; % base electrical frequency

we=wb;
wbm = 2*wb/P; % base mechanical frequency
Tb = Sb/wbm; % base torque
Zb=Vrated*Vrated/Sb; % base impedance in ohms
Vm = Vrated*sqrt(2/3); % magnitude of phase voltage
Vb=Vm;
Tfactor = (3*P)/(4*wb); % factor for torque expression

srated=0.0287; % rated slip

Nrated = 1413; % rated speed in rev/min
wmrated=2*pi*Nrated/60; % rated speed in rad/sec
Trated = Sb/wmrated; % rated torque
iasb= 11; % rated rms phase current

rs = 0.318; % stator wdg resistance in ohms

xls = 3.406; % stator total leakage reactance in ohms
xplr = xls; % rotor leakage reactance in ohms
xm = 3.963; % stator magnetizing reactance in ohms
rpr = 0.418; % referred rotor wdg total resistance in ohms
xM = 1/(1/xm + 1/xls + 1/xplr);
J = 2.8; % rotor inertia in kg m2 (assumed)
H = J*wbm*wbm/(2*Sb); % inertia constant in sec
Domega = 1.5; % rotor damping coefficient

45
5HP.m
5hp.m sets up the machine parameters, simulated disturbances, and also plots the
results.

clear all % clear workspace

% Parameters of 5 hp machine

P5hp

% Calculation of torque speed curves

vas = Vrated/sqrt(3); % specify rms phasor voltage
we = wb; % specify excitation frequency
xls = (we/wb)*xls; % reactances at exctiation frequency
xplr = (we/wb)*xplr; % reactances at exctiation frequency
xm = (we/wb)*xm; % reactances at exctiation frequency

xM = 1/(1/xm + 1/xls + 1/xplr);

xs = xls + xm; % stator self reactance
xr = xplr + xm; % rotor self reactance
xsprime = xs - xm*xm/xr; % stator transient reactance

% Thevenin's equivalent
vth = abs((j*xm/(rs + j*(xls + xm)))*vas);
zth = (j*xm*(rs + j*xls)/(rs + j*(xls + xm )));
rth = real(zth);
xth = imag(zth);

% Compute rotor resistances

% rotor resistance for max torque at s=1
rpr1 = sqrt(rth^2 + (xth + xplr)^2);
%rprm = 0.4*sqrt(rth^2 + (xth + xplr)^2);

%set up vector of rotor resistances

%rprv = [rpr rprm rpr1]
rprv = [rpr];
Nrr=length(rprv);

s = (1:-0.01:0.02);
N=length(s);

for n=1:N
sn = s(n);
46
wr(n)=2*we*(1-sn)/P;
for nrr = 1:Nrr
rrn = rprv(nrr);
zin=(rs +j*xls) + j*xm*(rrn/sn + j*xplr)/(rrn/sn + j*(xm + xplr));
ias = vas/zin;
Sin =3*vas*conj(ias);
pin = real(Sin);
pfin(nrr,n)=cos(-angle(ias));
iin(nrr,n)=abs(ias);
te(nrr,n)=(3*P/(2*we))*(vth^2*rrn/sn)/((rth + rrn/sn)^2 + (xth + xplr)^2);
pe(nrr,n)=te(nrr,n)*wr(n);
eff(nrr,n)=100*pe(nrr,n)/pin;

end % nrr for loop

end % n for loop

% add in synchronous speed values

size(te);
z=[0];
inl=vas/(rs +j*(xls+xm));
inlm = abs(inl);
inla = cos(-angle(inl));
iin=[iin [inlm]'];
pfin=[pfin [inla]'];
eff=[eff z'];
te=[te z'];
pe=[pe z'];
s=[s 0];
wr=[wr 2*we/P];
% determine the rotor flux at no-load

eprime = vas - (rs +j*xsprime)*inl; % voltage behind

% stator transient reactance
lambdadr = real(eprime)*(xr/xm)/we;

% set up speed and flux vectors in lookup table of simulation

speed = [-2: 0.1: 2];

mask = abs(speed)>1.1;
notmask=~mask;
i=find(speed==0); %find index of zero speed element
speed(i) = realmin; % and replace it with smallest usable positve number
invspeed = abs(1./speed); % before dividing to avoid divide by zero
% scale flux and speed axis
lambdadre = lambdadr.*(invspeed.*mask + notmask);
speed = wbm*speed;

N=size(te);
47
M=size(te);
subplot(2,2,1)
plot(wr,te(1,:),'-')
xlabel('Rotor speed in (rad/sec)')
ylabel('Torque in Nm')
subplot(2,2,2)
plot(wr,pe(1,:),'-')
xlabel('Rotor speed in (rad/sec)')
ylabel('Developed power in Watts')
subplot(2,2,3)
plot(wr,iin(1,:),'-')
xlabel('Rotor speed in (rad/sec)')
ylabel('Stator current in Amps')
subplot(2,2,4)
plot(wr,eff(1,:),'-')
xlabel('Rotor speed in (rad/sec)')
ylabel('Efficiency in percent')

% setting all initial conditions in SIMULINK simulation to zero

Psiqso = 0;
Psidso = 0;
Psipqro = 0;
Psipdro = 0;
wrbywbo = 0;

tstop = 2.; % run duration in seconds

% set up speed reference signal for load cycling
time_wref=[0 0.5 tstop];
speed_wref=[0 wbm wbm];
% set up Tmech signal for load cycling
time_tmech=[0 0.75 0.75 1.0 1.0 1.25 1.25 1.5 1.5 2];
tmech_tmech=[0 0 -Trated -Trated -Trated/2 -Trated/2 -Trated -Trated 0 0 ];
disp('Simulation set up to start from standstill and ')
disp('load cycling at fixed frequency.')
disp('Run simulation then return for plots')
% Transfer to keyboard for simulation
keyboard

subplot(3,1,1)
plot(y(:,1),y(:,2),'-')
xlabel('Time in sec')
ylabel('wbm* in rad/sec')
subplot(3,1,2)
plot(y(:,1),y(:,3),'-')
xlabel('Time in sec')
ylabel('Base Freq. in rad/sec')
subplot(3,1,3)
plot(y(:,1),y(:,4),'-')
48
axis([-inf inf -200 200])
xlabel('Time in sec')
ylabel('Vag in V')
H2_fig=figure;
subplot(3,1,1)
plot(y(:,1),y(:,5),'-')
xlabel('Time in sec')
ylabel('Ia in A')
subplot(3,1,2)
plot(y(:,1),y(:,6),'-')
xlabel('Time in sec')
ylabel('Tem in Nm')
subplot(3,1,3)
plot(y(:,1),y(:,7),'-')
xlabel('Time in sec')
ylabel('Rotor Flux in V')
disp('Save plots before typing return to proceed to next study')
keyboard
close(H2_fig);

% set up speed reference signal for speed cycling

time_wref=[0 0.25 0.5 1.0 1.25 1.5];
speed_wref=[0 wbm/2 wbm/2 -wbm/2 -wbm/2 0];
% set up Tmech signal
time_tmech=[0 tstop];
tmech_tmech=[0 0];
disp('Simulation now set up for speed cycling at no_load')
disp('Run simulation then return for plots')
% Transfer to keyboard for simulation
keyboard

subplot(3,1,1)
plot(y(:,1),y(:,2),'-')
xlabel('Time in sec')
ylabel('wbm* in rad/sec')
subplot(3,1,2)
plot(y(:,1),y(:,3),'-')
xlabel('Time in sec')
ylabel('Base Freq. in rad/sec')
subplot(3,1,3)
plot(y(:,1),y(:,4),'-')
axis([-inf inf -200 200])
xlabel('Time in sec')
ylabel('Vag in V')
H2_fig=figure;
subplot(3,1,1)
plot(y(:,1),y(:,5),'-')
xlabel('Time in sec')
49
ylabel('Ia in A')
subplot(3,1,2)
plot(y(:,1),y(:,6),'-')
xlabel('Time in sec')
ylabel('Tem in Nm')
subplot(3,1,3)
plot(y(:,1),y(:,7),'-')
xlabel('Time in sec')
ylabel('Rotor Flux in V')
disp('Save plots before typing return to exit')
keyboard
close(H2_fig);

50
Appendix B
This appendix shows the entire relevant MATLAB Simulink model for the three-phase
induction machine [8].

Main MATLAB Simulink Block Diagram

Field Orient Transfer Block Function

51
qde2abc Transfer Block Function for Converting Two-Phase to Three-Phase.

abc2qds Transfer Block Function for Converting Three-Phase to Two-Phase

52
Transfer Block Function for Induction Machine in Stationary qd0

Transfer Block Function of Q-Axis

53
Transfer Block Diagram of D-Axis

Transfer Block Function of Rotor

Transfer Block Function for Zero Sequencing

54
Qds2abc Transfer Block Function

55