Electr Eng (2017) 99:665–672
DOI 10.1007/s00202-016-0397-y
ORIGINAL PAPER
An analytical and experimental calculation of the inertia moment
of a squirrel-cage induction motor
M. A. Arjona1 · F. A. Ramirez1
Received: 19 April 2016 / Accepted: 3 August 2016 / Published online: 12 August 2016
© Springer-Verlag Berlin Heidelberg 2016
Abstract This paper presents a comprehensive analysis
for the analytic and experimental calculation of the inertia
moment of a squirrel-cage induction motor. The analytic cal-
culation and a simplified proposed analytical approach are
presented as an alternative for the attainment of the moment
of inertia. Such methodologies have advantages, as they do
not require the dismantlement of the motor neither the use
of complex measurement instruments when compared with
experimental approaches. The experimental setup is based on
unifilar and bifilar torsion pendulums that allow the indirect
calculation of the moment of inertia through the period mea-
surement of the angular oscillations. To measure the angle,
a measurement system was developed and it uses a quadra-
ture encoder and a digital signal controller. The acquired
angle waveforms are then used to estimate the oscillation
frequency and the moment of inertia. Simple geometry fly-
wheels are also used in the paper as an aid to verify the
analytical results. A comparison of four different methods is
carried out and it is concluded that both unifilar and bifilar
pendulums give good experimental results. Finally, a simpli-
fied approach for attaining the inertial moment is presented
and it offers a straightforward way of calculating it with
acceptable accuracy.
Keywords Induction motor · Parameters ·
Moment of inertia · Torsion pendulum
B M. A. Arjona
marjona@ieee.org
1 the measurement of the MOI is reduced to the frequency
Department of Electrical and Electronic Engineering,
Instituto Tecnológico de La Laguna, Paseo de las Gemas 52,
La Rosa, 27266 Torreón, Coah., Mexico
1 Introduction
In recent years, the widespread use of variable speed drives
has allowed the development and practical implementation
of systems that employ speed control algorithms [1,2]. Most
control algorithms rely on the proper tuning of the control
gains to assure speed regulation and the desired system over-
all dynamic response. Thus, the knowledge of the parameters
of the controlled system becomes an important asset [2–4].
Within the set of parameters, the moment of inertia (MOI)
is one of the needed parameters and it is usually supplied by
the machine manufacturer, because it depends of the geom-
etry and type of materials. Moreover, the global MOI will
strongly rely on the load attached to the motor’s shaft [5].
The MOI is related to objects that are free to rotate around
a fixed axis in space. Due to the body inertia, it will resist any
immediate change on its angular speed. Hence, the MOI is an
important parameter that must be considered when designing
a variable speed drive and simulating an electrical machine.
There are different experimental approaches to measure
the MOI of a given system [6–8,10]. Among the experimen-
tal methods, the slowdown test is a popular alternative [6,7].
Nevertheless, it requires the presence of a variable speed
drive. Furthermore, some applications do not allow for the
operation of the system at speeds above the nominal speed,
as the system may be damaged or destroyed [11]. A popular
alternative for such cases is the usage of a torsion pendulum
[11–14]. It is a widely used instrument for the measurement
of weak forces due to its high sensitivity [15,16]. Moreover,
the use of the torsion pendulum represents a straightforward
implementation, as the measurements are made indirectly
through the pendulum oscillation frequency [17]. Therefore,
measurement. Even though the torsion pendulum is set free to
oscillate around its own axis, there are some phenomena, such
123
666 Electr Eng (2017) 99:665–672

as: swinging motions, heat distortion, and digitization errors

that if not addressed properly may affect the measurement
[18–20]. Therefore, a careful and reliable approach is needed
for the correct frequency measurement of the pendulum
oscillations. A common approach is to use the least-squares
estimation method for the estimation of ultralow frequencies
along with the FFT [18,19]. The main drawback of the torsion
pendulum is the necessity for removing both the rotor and
bearings to make the measurements. On the other hand, the
analytic calculation of the moment of inertia is an alternative
to the pendulum testing. It does not require the dismantling
of the motor neither the design of complex experimental tests
for estimating the MOI. Nevertheless, it requires knowledge
of the rotor geometry and the density of rotor materials.
In this paper, a comprehensive analysis for calculating the
inertia moment of a squirrel-cage induction motor (SCIM)
is presented. It is based on the inertia formulae and the com-
plete SCIM rotor geometry for the analytic calculation of the
rotor MOI, and two pendulum approaches are used to verify
experimentally the MOI. The proposed analysis is not found Fig. 1 Torsion pendulums. a Unifilar wire. b Bifilar wire
on available literature, where only simple geometries are
considered. Such lack of information becomes more evident it has capacity to twist around its axis. As the filament is
when it comes to the detailed analysis of an electric machine, twisted by θ degrees, the attached body will rotate along
where students wonder the MOI origin. In addition, a sim- the axis exhibiting the same angular displacement. Since the
plified MOI analysis is presented and compared against the filament is being deformed, it will resist such deformation
full analytic and experimental approaches. It allows the fast with a restoration torque.
MOI calculation without the need for a detailed knowledge The unifilar torsion pendulum is a well-understood sys-
of the rotor geometry. The motor used for the tests is a 220 V, tem, whose dynamic behavior is known. This mechanical
2.2 kW SCIM with an aluminum cage NEMA class A rotor. system will exhibit a simple harmonic motion when the load
The aforementioned techniques are also used to measure and is twisted along its rotational axis. The frequency and period
estimate the inertia of two flywheels for comparison pur- of the angular oscillations are given by the following:
poses, as they have simple geometries when compared with  ⎫
k ⎬
the SCIM rotor. The calculated MOI values are compared F= 1
J
2π
(1)
T = 2π kJ ⎭
with the experimental measurements of the unifilar and bifi-
lar torsion pendulums. An acquisition system was developed
to measure the angular displacement during the rotor oscilla-
where F and T are the frequency and period of oscillation,
tions. The measuring system is based on a quadrature encoder
respectively, J is the MOI of the suspended object, and k is
and a Digital Signal Controller (DSC). The good agreement
the torque constant of the metallic filament.
between the analytically calculated and the experimentally
When (1) is solved for J , the MOI is obtained from
measured MOI demonstrates the validity of the analytic and
the period of the pendulum oscillations. Unfortunately, the
the simplified MOI approaches.
torque constant of a metal filament is often an unknown
parameter. An alternative solution is to measure twice the
2 Mathematical model of pendulums pendulum period. The first measurement is done with the
object whose MOI is unknown. Afterwards, the test is
This section presents the mathematical model of the unifilar repeated with same object attached to a reference flywheel
and bifilar torsion pendulums. The expressions used for the whose MOI is known. The MOI can be obtained in terms of
measurement of the MOI are obtained from the model. The the test periods (2) [8]:
aforementioned pendulums are shown in Fig. 1.
Tu
2.1 Unifilar torsion pendulum Ju = Jr (2)
Tr2 − Tu2

Consider a body suspended with a metallic filament attached where Tr and Tu are the oscillation periods of the tests with
to its center. Such filament is essentially inextensible, but and without the reference object, respectively. The Ju and

123
Electr Eng (2017) 99:665–672 667

Jr are the unknown and the reference moments of inertia, where R is the distance of the mass from the rotation axis, m
respectively. is the mass, and τ is the torque applied to the body.
The MOI of any desired body can be estimated without The angular moment of inertia of a body is related to (5)
the previous knowledge of the string torque constant. Nev- as:
ertheless, it is important to point out that the accuracy of the
measurement will depend on the reference moment of inertia. d2 θ
τ=J (6)
dt 2
2.2 Bifilar torsion pendulum
where J is the MOI of the suspended object. The moment of
When a body with a known MOI is not available and the inertia J (7) can be obtained from (5) and (6):
string torque constant is unknown, it is possible to measure  
the MOI by means of a bifilar torsion pendulum. Such pen- J= R 2 dm = R 2 ρdv (7)
dulum is illustrated in Fig. 1. When the suspended object is
subject to an angular displacement (θ ) along its rotational
axis, the suspension filaments are subject to an inclination where ρ is the material density and v is the volume of the
angle (α). The vertical component of the string tension cor- body.
responds to the weight of the suspended object, while the According to (7), the effect of the mass on the MOI
horizontal component of the tension will exert a torsional depends on its distance to the rotational axis. Hence, the
force on the object. The dynamic behavior of the pendu- geometry of any object will have an important effect on its
lum may be expressed as a system with complex roots as global MOI.
expressed by the following equation [19]:
3.1 SCIM MOI analytical approach
d2 θ mga 2
J 2 = θ (3)
dt 4L To calculate the SCIM MOI, it is necessary to know the den-
where L is the length of the filaments, a is the separation sity of the materials and the geometry of the rotor itself. The
between them, m is the mass of the object, and g is the gravi- rotor analyzed in this section corresponds to an NEMA class
tational acceleration. Solving (3) for the moment of inertia in A, 220 V, 2.2 kW SCIM. It is composed of three main com-
terms of the period of oscillation yields the following equa- ponents: shaft, aluminum cage, and the magnetic core. These
tion [9,19]: components are made of different materials. Hence, it is pos-
sible to obtain the inertia associated with each component
Td2 mga 2 individually. The geometry of the magnetic core is shown in
J= (4) Fig. 2. The contribution of inertia of the rotor is then given
(4π )2 L
by the following:
where Td is the oscillation period of the pendulum.
It is important to point that (4) does not depend either Jcore = Jbody − Jbarspac − Jbr (8)
on a reference flywheel with known MOI nor in the torque
characteristics of the filaments. Therefore, it is possible to where Jbody , Jbr , and Jbarspac are defined as follows:
obtain the moment of inertia of the suspended body without
⎫
proper knowledge of the string filaments and without the L c 2π
 Rco ⎪
Jbody = ρc r 3 dr dθ dz ⎪
⎪
necessity for any known reference. ⎪
⎪
0 0 Rci ⎪
⎪
⎪
L c 2π
 Rh L c 2π
 Rh ⎬
Jbr = Pρc r 3 dr dθ dz + (Rh + d)2 dr dθ dz (9)
⎪
⎪
3 Analytical calculation of the inertia moment 0 0 0 0 0 0 ⎪
⎪
L c β+γ
 ·z Rbe ⎪
⎪
Jbarspace = Nρc r 3 dr dθ dz ⎪
⎪
⎭
0 γ ·z Rbi
The inertial moment of a given body can be calculated by
decomposing it into differential bits of mass. When a torque
is applied to the object, each particle around the axis of rota- where ρc is the density of the rotor laminations, N is the
tion will be accelerated. The relationship between the applied number of bars in the cage, P is the number of circular holes
torque and the angular acceleration of every part of the body in the core, L c is the length of the core, and γ corresponds to
is given by the following: the bars skew per length unit.
For the given rotor geometry, it is possible to have a closed

d2 θ form solution by solving the integrals and it is given by the
τ= R 2 dm (5) following:
dt 2

123
668 Electr Eng (2017) 99:665–672

Jcage = Jrings + Jbars + Jend (11)

where the terms Jrings , Jbars , and Jend are defined by the fol-
lowing: L
⎫
 2π
cage  Rro ⎪
⎪
Jrings = 2ρcg r dr dθ dz ⎪
⎪
⎪
⎪
0 0 Rri ⎪
⎪
⎪
⎬
 c β+γ
L  ·z Rbe
Jbars = Nρcg r dr dθ dz
γ ·z ⎪
⎪
0 Rbi
⎪
⎪
⎪
 R p
L p 2π  2 L p 2π
 R p ⎪
⎪
⎪
Jend = Qρcg r 3 dr dθ dz + R p + dc dr dθ dz ⎪
⎭
0 0 0 0 0 0
(12)

where ρcg is the cage density, dc is the distance of the discs

center of mass from the rotor axis, and Q is the number of
discs located at the end rings.
For the cage geometry presented in Fig. 3, the integrals
may be derived as follows:

  ⎫
Jrings = πρc L c β Rri4 − Rro
4
⎪
⎬
 4 
Jbars = 41 Nρc L c β Rbe − Rbi4
  ⎪⎭
Jend = 21 Qρcg L c π Rh4 + 2Rh2 d 2 + 4Rh d 3 + 2d 4 .
Fig. 2 Rotor geometry of the SCIM
(13)
 4  ⎫
Jbody = 21 ρc L c π Rci − Rco
4
⎪
⎬ The third element that should be considered is the rotor shaft.
 4 
Jbr = 41 Nρc L c β Rbe − Rbi4 (10) The MOI contribution of the shaft is the least of the three
 4  ⎪
⎭ elements, as the mass is concentrated along the rotational
Jbars = 2 Pρc L c π Rh + 2Rh d + 4Rh d + 2d .
1 2 2 3 4
axis. However, it must be considered to achieve an accurate
calculation. The geometry arrangement of the shaft may be
For the inertia contribution of the cage, it becomes necessary
considered as a group of coaxial cylinders. The amount of
to consider the bars (Jbars ), the end rings (Jrings ), and the discs
cylinders considered will depend on the different changes in
located at the end rings (Jend ) that are commonly attached to
the radius along the shaft longitude.
them.
Such inertia contribution may be expressed as the follow-
The geometry of a typical squirrel cage is shown in Fig. 3.
ing:
The inertia contribution of the squirrel cage is expressed as
the following:
Jshaft = Jcil1 + Jcil2 + . . . Jcilk (14)

where Jcil1 , Jcil2 . . . , and Jcilk , represent the different cylin-

drical sections of the shaft considered. The inertia contribu-
tion for such sections is given by the following:

1
Jcilx = π L sx Rsx
4
ρs (15)
2

where ρs is the shaft density, while Rsx and L sx are the radii
and lengths of different shaft sectors being analyzed.
Once the inertia contributions of the different components
are obtained, the net MOI of the rotor will be found by adding
the moment of inertia of the three components (16):

Fig. 3 Squirrel cage of the rotor J = Jcore + Jcage + Jshaft (16)

123
Electr Eng (2017) 99:665–672 669

3.2 SCIM MOI simplified calculation

It was discussed in the previous section that the exact attain-

ment of the MOI requires detailed information of both the
geometry and the density of rotor materials. However, this
information is not always available, e.g., the rotor geometry
is usually not given by the manufacturer. As an alternative, a
simplified estimation of the MOI is proposed here, it is based
on data that can be easily obtained, such as the rotor weight
and the external dimensions of the rotor core, its shaft, and by
considering the rotor as a single homogeneous cylinder. The
overall rotor mass (Mrotor ) may be obtained by subtracting Fig. 4 Analyzed flywheels: a solid flywheel with 19.269E-3 kg m2 and
b hollow flywheel with 32.759E-3 kg m2
the mass of the shaft from the weighted mass of the rotor.
Since the rotor shaft is made of steel, its density is given
in literature. Thus, the average density (ρavg ) of the rotor is
given by the following equations.

Vshaft = Vcil1 + Vcil2 + . . . Vcilk (17)

Vcilx = π L sx Rsx
2
(18)
 2 
π L c Rco 2 −V
− Rci shaft
ρavg = (19)
Mrotor − ρs Vshaft

where Vcil1 , Vcil2 . . . , Vcilk represent the volume of the dif-

ferent cylindrical shaft sections.
When the average density of the rotor has been obtained,
the net MOI of the rotor can be approximated by the follow-
ing:
 4 
πρavg L c Rco − Rci
4
J= + Jshaft (20)
2

Thus, an approximate MOI can be easily attained without Fig. 5 Flywheel geometry
the need to consider the complex rotor geometry and the
aluminum squirrel cage.
where ρfw is the density of the flywheel material, and Rfix
and Rfox correspond to the internal and external radii of the
3.3 Flywheel MOI calculation cylinder components, respectively. The Jhollow corresponds
to an auxiliary term that is calculated to remove the inertia
The torque measurements based on the unifilar pendulum contribution associated to any bore that may be present in the
require a reference flywheel with a known MOI. The geo- flywheel.
metrical analysis of a flywheel for the attainment of the MOI The geometry of the bores present in a flywheel may dif-
is presented in this section. Two different flywheels are ana- fer from one flywheel to another (Fig. 5). The formulae for
lyzed and they are shown in Fig. (4). The moment of inertia obtaining the inertia contribution for three common geome-
for a flywheel may be obtained with relatively simple calcu- tries are given by (22) for circular cuts, (23) for cuts alongside
lations due to the non-complex geometry of such bodies. and arc, and (24) for radial bores.
A flywheel may be decomposed as a group of cylinders
with the same rotation axis. Thus, the moment of inertia for 1  
Jhollow = 2 + 4R d + 2d 2
W π L f Rfh ρfw 3Rfh (22)
fh f f
a given flywheel can be obtained as the following: 2
1  
Jhollow = W L f β f ρfw Rho 2 − R2 (23)
1     4 hi
Jfw = πρfw L f 1 Rfi1 2
− Rfo1
2
+ L f2 Rfi2
2
− Rfo2
2
1  
2 ρ
= W L bo Rbore 2 2 2
2   Jhollow fw 4L bi + 4L bi L bo + L bo + 2Rbore
4
+ . . . + L fk Rfik2
− Rfok
2
− Jhollow (21) (24)

123
670 Electr Eng (2017) 99:665–672

where Rbore corresponds to the inner radius of the bore and W

is the times a cut is present in the flywheel. The aforemen-
tioned equations can be easily adapted for different rotors
and flywheels, as the main differences will correspond to the
dimensions of the objects. Any difference on the geometry
of the rotor can be straightforwardly adapted.

4 Inertia moment results

This section shows the experimental measurements of the

MOI of different bodies based on the torsion pendulum. The
measured moments of inertia are compared with the analyti-
cal calculations described above. Since MOI measurement is
strongly dependent in the frequency acquisition of the pendu-
lum oscillations, an angle measurement unit was developed
for the proper quantification of the pendulum oscillations.
The aforementioned system is based on a WG-58B quadra-
ture encoder and a 40 MIPS dsPIC33FJ128MC802 DSC. The
block diagram for such system and the experimental setup
are portrayed in Figs. 6 and 7, respectively. The developed
system has a resolution of 0.045◦ and a memory capacity to
store 262144 samples at different sampling rates. The pen-
dulum oscillations were acquired at a sampling frequency of
500 Hz during 524 s that stores a total of 262144 samples.
An example of the experimental angular displacement
waveforms that were obtained with the developed system
is shown in Fig. 8. The captured waveform corresponds to
a damped sinusoidal waveform. The presence of damping
is associated with the bearings of the quadrature encoder.
Nonetheless, the captured waveforms present enough oscil-
lations for the appropriate frequency estimation.
Fig. 6 Block diagram of the developed acquisition system
Fig. 7 Experimental setup of torsional pendulum
Fig. 8 Experimental angular displacement
Although the suspended object is properly leveled, kept
in axis by the encoder and the pendulum is held in an envi-
ronment where it is free of wind gusts, there still exists
possibility of wave distortion. The distortion is possible due
to the presence of heat variations, external vibrations, and
quantization errors that must be considered. These effects
may end up adding harmonic distortion to the waveform.
Hence, the angular displacement data acquired by the sys-
tem were fed to a personal computer for its post-processing.
The sampling rate and the amount of samples stored during
each test result in a spectrum with a length of 250 Hz and a
resolution of 1.9 mHz.
This spectrum represents an excellent approximation
for frequencies above 0.3 Hz, as the resolution represents
changes of less than 20 ms on the signal period. These vari-
ations represent differences of less than 0.7 % between each
successive frequency point. The spectrum correspondent to
the oscillations of Fig. 8 is depicted in Fig. 9, where a fun-
damental frequency of 396.7 mHz is found. An alternate
method for the estimation of frequencies below 0.3 Hz is
the use of the least-squares method for the frequency estima-
tion. It is a more computer intensive than the FFT, but it is
more suitable for the estimation of lower frequency signals.
A comparison between an experimental angle displacement
and its approximated counterpart is shown in Fig. 10. The
estimated frequency of the signal corresponds to 77.1 mHz.

123
Electr Eng (2017) 99:665–672 671

The physical dimensions and the density of the materi-

als of the SCIM rotor are given in Table 1. The results of
the analytic calculations, the simplified methodology, and
the experimental measurements of the rotor and flywheels
are given in Table 2. The flywheel B was not tested on the
unifilar torsion pendulum, because it was used as the refer-
ence body in the other tests. As it can be seen, there is a
little difference (2 %) between the measured and the ana-
lytical values of the MOI on the measurements based on
the unifilar torsion pendulum. On the other hand, the bifilar
Fig. 9 Experimental frequency spectrum of the acquired waveform torsion pendulum-based measurements present a better accu-
racy when compared with the analytical approach with only
1 % of difference. This difference is associated with the lack
of dependence on a reference body for the measurements.
Moreover, the bifilar pendulum method is not dependent on
the string parameters, as the restoration torque applied to the
suspended body is not based on the mechanical deformation
of the wires.
The MOI obtained using the simplified methodology is
also given in Table 2. It presents a difference of 2.4 % with
respect to the values obtained using the bifilar torsion pen-
dulum; therefore, the analytical expressions are considered
as acceptable. It would have been interesting to apply the
Fig. 10 Experimental angular displacement signal and its least-
squared approximation
simplified MOI approach to induction machines of different
geometry, mass, and bars; however, this was not possible due
Table 1 Physical dimensions of the SCIM rotor to the difficulty in obtained design information from manu-
facturers.
Core parameter Value Cage dimension Value

Rco 63.5E-3 m Rri 42E-3 m

Rci 22.225E-3 m Rro 62E-3 m 5 Conclusion
Rbi 48.39E-3 m Rp 3.965E-3 m
Rbe 62.61E-3 m Lp 9.34E-3 m A comprehensive analysis for calculating the inertia moment
Rh 6.35E-3 m L cage 12.97E-3 m of a squirrel-cage induction motor was presented in this
D 26E-3 m N 32 paper. The inertia constant was analytically derived and
B 5.6249◦ Q 32 experimentally verified. The MOI was obtained from the
Rri 42E-3 m P 5 rotor geometry and the material densities of the SCIM.
Rro 62E-3 m Lc 146.88E-3 m The detailed analysis presented in this work along with
Rp 3.965E-3 m 1.3368 rad/m the equations derived from the rotor analysis can be used
ρc 7650 kg/m3 ρcg 2712.61 kg/m3 for calculating the MOI of a SCIM. In addition, a sim-
ρs 7850 kg/m3 dc 55.385E-3 m plified MOI calculation was presented and it is based on
Mrotor 14.654 kg
considering the rotor as a homogeneous cylinder. The main
advantage of this methodology is that it does not require
a detailed knowledge of the rotor geometry. The values
obtained both analytically and using the simplified approach

Table 2 MOI results using

Analytical MOI Simplified MOI Measured MOI Measured MOI
different calculation methods
(kg m2 ) estimation (kg m2 ) unifilar pendulum bifilar pendulum
(kg m2 ) (kg m2 )

SCIM rotor 24.20E-3 24.78E-3 24.1E-3 24.2E-3

Flywheel A 19.26E-3 − 18.8E-3 19.52E-3
Flywheel B 32.75E-3 − − 32.4E-3

123
672
were compared against experimental measurements for val-
idation purposes and good results were obtained. Such
experimental measurements were carried out using the bifi-
lar and unifilar torsion pendulums. A measurement system
for acquisition of the angular displacement waveforms was
developed. Such system is based on the use of a digi-
tal signal controller and a quadrature encoder. The angular
displacement was sampled at 500 Hz during 524 s. The cap-
tured waveform was then used for estimating the oscillation
frequency based on both the FFT and the least-squares algo-
rithm. The obtained analytical MOI results were compared
with the unifilar and bifilar torsion pendulum experiments,
and the accuracies of 98 and 99 % were attained, respec-
tively. Meanwhile, the simplified MOI calculation gave an
accuracy of 97.6 %; this approach allows a practical MOI
determination of an SCIM rotor using only its rotor weight
and external dimensions. Finally, it was concluded that
the measurements made with the bifilar torsion pendulum
present a better approximation to the analytic approach than
the unifilar pendulum, because there is no dependence on
the accuracy of any reference body and the wire parame-
ters.
Acknowledgements The authors thank to Instituto Tecnológico de La
Laguna, TNM, PRODEP and SENER, IIE, and CONACYT for the
financial support.
References
1. Chai JY, Roesler KJ (2009) Development of a switched-reluctance
motor drive with PFC front end. IEEE Trans Energy Convers
24(1):30–42. doi:10.1109/TEC.2008.2002328
2. Cimuca G, Breban S, Radulescu MM et al (2010) Design and
control strategies of an induction-machine-based flywheel energy
storage system associated to a variable-speed wind generator.
IEEE Trans Energy Convers 25(2):526–534. doi:10.1109/TEC.
2010.2045925
3. Dymond JH, Ong R, McKenna P (2000) Locked rotor and acceler-
ation testing of large induction machines-methods, problems and
interpretation of the results. IEEE Trans Ind Appl 36(4):958–964.
doi:10.1109/28.855947
4. Seok JK, Moon SI, Su SK (1998) Induction machine parameter
identification using PWM inverter at standstill. IEEE Trans Energy
Convers 12(2):127–132. doi:10.1109/60.629694
5. Kim KH, Van TL, Lee DC et al (2013) Maximum output power
tracking control in variable-speed wind turbine systems consider-
ing rotor inertial power. IEEE Trans Ind Electron 60(8):3207–3217.
doi:10.1109/TIE.2012.2200210
123
Electr Eng (2017) 99:665–672
6. Babau R, Boldea I, Miller TJE et al (2007) Complete para-
meter identification of large induction machines from no-
load acceleration–deceleration tests. IEEE Trans Ind Electron
54(4):1962–1972. doi:10.1109/TIE.2007.895080
7. Standard IEEE, 115–2009 (2010) Test procedures for synchro-
nous machines part I– acceptance and performance testing. Part
II–test procedures and parameter determination for dynamic analy-
sis. doi:10.1109/IEEESTD.2010.5464495
8. BS EN 60034-4:2008 (2008) Rotating electrical machines. Part
4: methods for determining synchronous machine quantities from
tests
9. IEC 34-4 (1995) Methods for determining synchronous machine
quantities from tests, International Electrotechnical Standard
10. Ringegni PL, Actis MD, Patanella AJ (2001) An experimental
technique for determining mass inertial properties of irregular
shape bodies and mechanical assemblies. Measurement 29(1):63–
75. doi:10.1016/S0263-2241(00)00028-2
11. Andoh F (2007) Moment of inertia identification using the time
average of the product of torque reference input and motor position.
IEEE Trans Power Electron 22(6):2534–2542. doi:10.1109/TPEL.
2007.909309
12. Zhi-Chao H, Yi-ning L, Yao-xin L et al (2009) A new trifilar pen-
dulum approach to identify all inertia parameters of a rigid body
or assembly. Mech Mach Theory 44(6):1270–1280. doi:10.1016/
j.mechmachtheory.2008.07.004
13. Fan XD, Liu Q, Liu LX et al (2008) Coupled modes of the torsion
pendulum. Phys Lett A 372(5):547–552
14. Yan Z, Xiaolin Z, Jun W et al (2013) Measurement of moment of
inertia based on Hilbert transform. Trans tianjin Univ 19(3):225–
230. doi:10.1016/j.physleta.2007.08.020
15. Jiang D, Xiao J, Li H et al (2007) New approaches to data acqui-
sitions in a torsion pendulum experiment. Eur J Phys 28(5):977.
doi:10.1088/0143-0807/28/5/020
16. Marini RL, Galian ES (2010) Torsion pendulum investigation of
electromagnetic inertia manipulation thrusting. J Propuls Power
26(6):1283–1290. doi:10.2514/1.46541
17. Luo J, Wang DH (2008) An improved correlation method for
determining the period of a torsion pendulum. Rev Sci Instrum
79(9):1–5. doi:10.1063/1.2981694
18. Chitrapu PR, Pan Z (1993) Constrained least squares estimation
of sinusoidal frequencies and application to fast estimation of very
low frequency tones. Proc 1993 IEEE workshop on applications of
signal processing to audio and acoustics. New Paltz, NY 1:119–
122. doi:10.1109/ASPAA.1993.379982
19. Tan ACH, Choudhury A, Ong YS et al (2002) Ultra low frequency:
a neglected apportion, Proc 2002 9th international conference on
neural information processing, Singapore 1:2195–2199. doi:10.
1109/ICONIP.2002.1201882
20. De Bois JL, Lieven NAJ, Adhikari S (2009) Error analysis in trifi-
lar inertia measurements. Exp Mech 49(4):533–540. doi:10.1007/
s11340-008-9142-4