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1, 2006, 12–19
This paper describes a new approach for analysing the effect of the space distribution of rotor bars in squirrel cage
induction machines on the generation of rotor slot harmonics (RSH). An analytical expression of the stator current has
been developed. The proposed expression is based on the linkage inductance expression derived using the winding function
approach (WFA) and its decomposition into Fourier series. This approach describes the necessary relationship required for
the presence of rotor slot harmonics and explains how the stator current is influenced by voltage unbalance. Simulations
results have shown excellent match with theoretically predicted harmonic components.
K e y w o r d s: induction motor, rotor slot harmonics, voltage unbalance, Fourier series, diagnostics
∗ Electrical Laboratory of Constantine “LEC”, Department of Electrical Engineering, Mentouri University – Constantine, 25000 Con-
stantine, Algeria, E-mail: akhezzar@yahoo.fr
where:
2π
a = pN r
is the electrical angle of a rotor loop,
ϕh is the initial phase angle,
h = 1 and h = (6ν ± 1)ν=1,2,... ,
+1 if h ∈ F ,
ξh =
−1 if h ∈ B
F = {1, 7, 13, 19, . . . } is the set of forward components,
B = {5, 11, 17, . . . } is the set of backward components.
the beginning, frequency components of the stator current If a symmetrical three phase stator winding of a squir-
for a healthy machine are analytically calculated. In the rel cage induction motor is supplied by a symmetrical
second step, the proposed study was extended to calculate voltage system, a forward rotating field is induced in its
the frequency components of the stator current under an air gap.
unbalanced supply. The proposed approach is based on The rotor currents which flow in the rotor loops as a
the Park mesh model and the linkage inductance matrix result of the forward field can be expressed as:
derived using the winding function approach (WFA) and
developed into its Fourier series.
..
.
[ir,k ] = Irm cos(sω s t − ka − γ) (3)
2 DETERMINATION OF THE MUTUAL
..
INDUCTANCE MATRIX RESOLVED .
INTO ITS FOURIER SERIES
According to the winding function theory the mutual where: s is the slip, γ is the initial phase angle, Irm is
inductance between any two windings (i) and (j) in the maximum value of the current.
any electric machine can be computed by the following The stator flux equations in vector matrix form can be
equation [13]: written as:
Z 2π
ni (ϕ, θ)Nj (ϕ, θ)
Lij (ϕ) = µ0 L r dθ (1) [ψ3s ] = [Ls ] · [i3s ] + [Msr ] · [irk ] . (4)
0 e(ϕ, θ)
where: ϕ is the angular position of the rotor with respect
to some stator reference, θ is a particular angular position Park’s transform is a well-known three-phase to two-
along the stator inner surface, e is the air gap function, phase transform in machine analysis. The transformation
L is the length of stack and r is the average radius of the equation for the stator windings is of the form
air gap. ni (ϕ, θ) is the winding distribution of coil i; it is
introduced to describe the considered coil, and Nj (ϕ, θ) t t
is the winding function of coil j ; it represents the mmf [Xsodq ] = Xso Xsd Xsq = P3 (θs ) X3s (5)
of the air- gap produced by a unit current flowing in the
considered coil. where the odq transformation matrix is defined as
Consider an induction machine having three symmet-
rical stator phases and Nr rotor bars. Figure 1 shows the
P3 (θs ) =
mutual inductance Msa r1 between the first stator phase
√
(a) and the first rotor loop. This implies that the mu- r 1/ 2
cos(θs ) − sin(θs )
tual inductance matrix presents harmonics with respect 2 √
1/ 2 cos(θs − 2π/3) − sin(θs − 2π/3) (6)
to the electrical angle θ . Consequently, this matrix can 3 √
1/ 2 cos(θs + 2π/3) − sin(θs + 2π/3)
be resolved into its Fourier series [12], [14]:
∞
here θs is the angular displacement between the Park
X
[Msr ] = Msr h ×
h=1 reference and the first phase of the stator.
Transforming the above set of the stator flux to the
cos(h(θ + ϕh )) ... cos(h(θ + ϕh + ka)) ...
cos h(θ + ϕh ) − 2ξ3h π . . . cos h(θ + ϕh + ka) − 2ξ3h π . . . Park reference frame using (5) we obtain
Fig. 2. Electromagnetic and mechanical phenomena in the stator and the rotor
The resolution of equation (21) leads to the analytical and Irkn =
expression of the stator current
..
r .
2 Vm
I cos (2 η + 1) − s)ω t + ka − γ
Isa = p cos(ωs t − δ)+ = rmn s n
.
3 Rs + (Ls ωs )2
2
..
(25)
q . k=0,1,2,...,Nr −1
∞ 1 3
X 2 2 Nr Msrh Irm 2πfsh (p, Nr , λ)
q 2 In the same manner as described above, the stator flux
h∈G Rs2 + Ls fsh (p, Nr , λ)2π equation can be written as
r
× sin 2πfsh (p, Nr , λ)t − δh ± hϕh − γ (22) 1 3
ψsd = Lsc Isd + Irmp αp cos(θs ) + βp sin(θs )
2 2
Ls ωs Ls fsh (p,Nr ,λ)2π
with tan δ = and tan δh = .
r
Rs Rs 1 3
+ Lsc Isd + Irmn αn cos(θs ) + βn sin(θs ) (26)
2 2
4 CURRENT FREQUENCY COMPONENTS where
FOR A HEALTHY MACHINE WITH ∞ NX
X r −1 n
UNBALANCED VOLTAGE SUPPLY αp = Msrh cos (2η + s)ωs t + h(θ + ϕh )
h=1 k=0
As explained in [15], unbalance in a three phase voltage 2πp
supply causes negative sequence currents (ie backward + k(h − 1) − γp + cos (2η + s)ωs t − h(θ + ϕh )
Nr
field) in the stator windings. The interaction of this neg- 2πp o
ative sequence current with the fundamental frequency − k(h + 1) − γp (27)
Nr
rotor currents produces a pulsating torque at double main
frequency. This pulsating torque produces a speed ripple. ∞ NX
X r −1 n
The rotor speed variation gives rise to other frequen- βp = Msrh sin (2η + s)ωs t + h(θ + ϕh )
cies in the stator windings: 3fs , 5fs , . . . , (2η + 1)fs (ie h=1 k=0
positive sequence currents) and −3fs , −5fs , . . . , −(2η + 2πp
1)fs . . . , (ie negative sequence currents) with η = + k(h − 1) − γp − sin (2η + s)ωs t − h(θ + ϕh )
Nr
1, 2.3. . . . . Consequently new harmonic components oc- 2πp o
cur in the rotor side at: (2 + s)fs , (s − 4)fs , (4 + s)fs , (s − − k(h + 1) − γp (28)
Nr
6)fs , . . . and (2η + s)fs , (s − 2(η + 1)fs .
The electromagnetic and mechanical phenomena in ∞ NX
X r −1 n
the stator and the rotor can be summarized as shown αn = Msrh cos (2(η + 1) − s)ωs t + h(θ + ϕh )
in Fig. 2. h=1 k=0
In this case, the rotor currents which flow in the rotor 2πp
+ k(h + 1) − γn + cos (2(η + 1) − s)ωs t − h(θ + ϕh )
loops due to the negative and positive sequences currents Nr
are of the form 2πp o
− k(h − 1) − γn (29)
Nr
Irk = Irkp + Irkn (23)
∞ NX
X r −1 n
where Irkp =
βn = Msrh sin (2(η + 1) − s)ωs t + h(θ + ϕh )
h=1 k=0
..
. 2πp
+ k(h + 1) − γn − sin (2(η + 1) − s)ωs t − h(θ + ϕh )
= Irmp cos (2η + s)ω s t − ka − γp
Nr
2πp
o
.. (24) − k(h − 1) − γn (30)
. k=0,1,2,...,Nr −1 Nr
16 M. Y. Kaikaa — F. Babaa — A. Khezzar — M. Boucherma: ANALYTICAL ANALYSIS OF ROTOR SLOT HARMONICS IN . . .
q
here also αp , βp , and βn are different from zero only 1 3
2 Nr Msrh Irmp 2πfshp (p, Nr , λ, η)
∞
X 2
when h belongs to the following set: + p
h∈G
Rs2 + (Ls fsh (p, Nr , λ, η)2π)2
n λN
r
G= h=1∪ h= ±1 ∩
× sin 2πfshp (p, Nr , λ, η)t − δh ± hϕhp − γ
p ν=1,2,3,...
o q
1 3
h = (6ν ± 1)ν=1,2,3,... . (31) 2 Nr Msrh Irmp 2πfshn
∞
X 2
+ p
h∈G
Rs2 + (Ls fsh (p, Nr , λ, η)2π)2
Considering the stator reference frame (θs = 0) and
× sin 2πfshn (p, Nr , λ, η)t − δh ± hϕhn − γ (37)
substituting θ by (1 − s)ωs t in (26) leads to
Ls ωs Ls fshp (p.Nr , λ, η)2π
ψsd = Lsc Isd + with tan δ = , tan δhp = ,
Rs Rs
∞ r
X 1 3 Ls fshn (p.Nr , λ, η)2π
Nr Msrh Irmp cos 2πfshp (p, Nr , λ, η)t±hϕh −γp tan δhn = .
2 2 Rs
h∈G
∞ r
X 1 3
+Lsc Isd + Nr Msrh Irmn cos 2πfshn (p, Nr , λ, η)t 5 SIMULATIONS AND DISCUSSIONS
2 2
h∈G
± hϕh − γn (32) 5.1 For balanced voltage
Expression (32) shows that in addition to the fundamen- The simulated machine has 36 stator slots 28 bars, 2
tal component, there exist also a series of high harmonics poles and a rated power of 1.1 kW. The stator windings
of frequencies fshp (p, Nr , λ, η) and fshn (p, Nr , λ, η). are connected in star. Simulation results were obtained
Where using three phases, 380 V, 50 Hz ac source and were car-
ried out at a slip around 0.038. The spectral estimates
• the frequencies of the rotor slot harmonics which are
of stator currents have been normalized with respect to
caused by the positive sequence currents are
their respective fundamental components.
h λN
r
i Figure (3) shows the spectral content of the stator
fshp1 (p, Nr , λ, η) = fs (1 − s) + 1 + 2η current of the machine under healthy condition (balanced
p
λN supply). In addition to the fundamental harmonic appear
r
related to the orders h = +1 , (33) rotor slot harmonics.
p λ=1,2,3,...
h λN i
r
fshp2 (p, Nr , λ, η) = fs (1 − s) − 1 − 2η
p
λN
r
related to the orders h = −1 , (34)
p λ=1,2,3,...
h λN i
r
fshn2 (p, Nr , λ, η) = fs (1 − s) − 1 − 2η Table 1. Stator current frequency components predicted by equa-
p tions (15) and (18)
λN
r
related to the orders h = +1 . (36)
p λ=1,2,3,... Nr λ = 0 λ=1 λ=2 λ=3
fsh1 (1, 28, 3)
It is significant to note that the case of η = 0 cor- 28 fs fsh1 (1, 28, 1) fsh2 (1, 28, 2) &
responds to the case of neglected speed ripples. Finally, fsh2 (1, 28, 3)
in the same manner as above, the stator current can be
29 fs X fsh1 (1, 29, 2) X
written as
fsh1 (1, 30, 1) fsh1 (1, 30, 2) fsh1 (1, 30, 3)
r
2 Vm 30 fs & & &
Isa = 2 p cos(ωs t − δ) fsh2 (1, 30, 1) fsh2 (1, 30, 2) fsh2 (1, 30, 3)
3 Rs + (Ls ωs )2
2
Journal of ELECTRICAL ENGINEERING 57, NO. 1, 2006 17
[3] JOCSIMOVIC, G.—KJUROVIC, M.—PENMAN, J. : Cage [15] FILIPETTI, F.—FRANCESCHINI, G.—TASSONI, C.—VAS,
Rotor MMF: Winding Function Approach, Power Engineering P. : AI Techniques in Induction Machines Diagnosis Including
Review, IEEE 21 No. 4 (2001), 64–66. the Speed Ripple Effect, Industry Applications, IEEE Transac-
[4] FERRAH, A.—BRADLEY, K. J.—ASHER, G. M. : An FFT- tions on 34 No. 1 (1998), 98–108.
Based Novel Approach to Non-Invasive Speed Measurement in
Induction Motors Drives, IEEE Transactions on Instrumenta- Received 14 April 2005
tion and Measurement Technology .41 No. 6 (1992), 797–802.
[5] ALLER, J. M.—RESTREPO, J. A.—BUENO, A.—GIMENEZ,
M. I.—PESSE, G. : Squirrel Cage Induction Machine Model for Mohamed Yazid Kaikaa was born in Oran, Algeria, in
the Analysis of Sensorless Speed Measurement Methods, De- 1977. He received the BSc degree in electrical engineering from
vices, Circuits and Systems, 1998, Proceedings of the Second
the University of Constantine, Algeria, in 2002, and the MSc
IEEE International Caracas Conference on, 2-4 March 1998.
degree in electrical and computer engineering from the Electri-
[6] NANDI, S.—AHMED, S.—TOLIYAT, H. A.—BHARADWAJ,
R. M. : Selection Criteria of Induction Machines for Speed-Sen- cal Engineering Institute of Constantine University, Algeria,
sorless Drive Applications, IEEE Transactions on Industry Ap- in 2005. He is a member of the Research Laboratory of Electric
plications 39 No. 3 (2003), 704–712. Machines and Drives Control and Diagnosis of Constantine,
[7] TOLIYAT, H. A.—AREFEEN, M. S.—PARLOS, A. G. : A Algeria. He currently works on his PhD thesis.
Method for Dynamic Simulation and Detection of Air Gap Ec-
Fatima Babaa was born in Chambéry, France, in 1975.
centricity in Induction Machines, IEEE Trans. on Industry Ap-
plication 32 No. 4 (1996), 910–918.
He received the BSc degree in electrical engineering from the
[8] THOMSON, W. T. : A Review of Online Condition Monitoring University of Constantine, Algeria, in 2003, and the MSc de-
Techniques for Squirrel Cage Induction Motors — Past, Present gree in electrical and computer engineering from the Electrical
and Future, Proceedings of the 1999 IEEE International Sympo- Engineering Institute of Constantine University, Algeria, in
sium on Diagnostic for Electrical Machines, Power Electronics 2005. He is a member of the Research Laboratory of Electric
and Drives, SDEMPED’99, 1999, pp. 3–18. Machines and Drives Control and Diagnosis of Constantine,
[9] THOMSON, W. T.—MCRAE, C. J. : On Line Current Moni- Algeria. He currently works on his PhD thesis.
toring to Detect Inter-Turn Stator Winding Faults in Induction
Motors, Proceedings of the 24th Universities Power Engineering Abdelmalek Khezzar (Ing, PhD), born in 1969, received
Conference, 1989, pp. 477–481. the BSc degree in electrical engineering in 1993 from Batna
[10] JOCSIMOVIC, G. M.—PENMAN, J. : The Detection of In- University, Algeria, and PhD degree from INPL “Institut Na-
ter-Turn Short-Circuits in the Stator Windings of Operating tional Polytechnique de Lorraine” Nancy, France in 1997. He is
Motors, IEEE Transactions on Industrial Electronics 47 No. 5 currently an assistant professor at Mentouri University, Con-
(2000), 1078–1084. stantine, Algeria, in the Department of Electrical Engineering.
[11] LU, Q. F.—RITCHIE, E.—CAO, Z. T. : Experimental Study of
His main research interests are power electronics and drives
MCSA to Detect Stator Winding Inter-Turn Short Circuit Faults
on Cage Induction Motors, In proc. International Conference on
and analysis of electrical machines with special emphasis on
Electrical Machine ICEM’2004, Lódź, Poland, 5–8 Sep. 2004. fault diagnosis.
CD proceeding. Mohamed Boucherma was born in Jijel, Algeria, in
[12] KHEZZAR, A.—KAIKAA, M. Y.—BOUCHERMA, M. : Ana- 1959. He received the BSc degree in Electrical Engineering,
lytical Investigation of Rotor Slot Harmonics in a Three Phase from the University of Annaba, Algeria, in 1985, the MSc
Induction Motor with Broken Rotor Bars, EPE 2005, Dresden,
degree in power system Engineering from the University of
11-14 Septemper, number 0350.pdf, CD proceeding.
Strathclyde Scotland, in 1989, and the PhD in Electrical En-
[13] LUO, X.—LIAO, Y.—TOLIYAT, H. A.—EL-ANTABLY, A.—
LIPO, T. A. : IEEE Transactions on Industry Applications. gineering, from Sheffield University, England, in 1994. He is
[14] CHENY, C.—KAUFFMANN, J. M. : Information Losses in currently a lecturer at Mentouri University Constantine, Al-
Decoupling Space Harmonics Effects for an Induction Drive, geria, in the Department of Electrical Engineering. His main
Mathematics and Computers in Simulation 46 (1998), 361–372. research interests are power systems and electrical machines.