Finite element estimation

of induction motor parameters

for sensorless applications
Luigi Alberti and Nicola Bianchi
Department of Electrical Engineering, University of Padova, Padova, Italy, and
Samad Taghipour Boroujeni
Department of Engineering, Shahrekord University, Sharekord, Iran
Abstract
Purpose To purpose of this paper is to introduce a procedure to compute the d- and q-axis
parameters of the induction motor.
Design/methodology/approach A nite element procedure, based on the d- and q-axis model of
the induction motor is adopted.
Findings Such a procedure is well suited to analyse IM with anisotropic rotor, where an
intentionally created saliency is introduced in the rotor bar geometry, so as to detect the IM rotor
position without sensor.
Originality/value The proposed procedure allows one to evaluate the sensorless control capability
of the IM. It will be useful for both analysis of the IM performance and design of the machine itself.
Keywords Induction motor, Sensorless control, Equivalent circuit, Finite element analysis,
Induction machine parameters, Magnetic devices
Paper type Research paper
1. Introduction
The permanent magnet (PM) machine is adopted in several applications, thanks to its
high-torque density and high efciency. The PM is a key element of the machine which
is also the more expensive component. In addition, particular care has to be given
during operating conditions so as to avoid to demagnetize it. On the other hand, the
induction motor (IM) represents the workhorse of electrical machines thanks to its
robustness and reliability (Alberti et al., 2009). Moreover, the absence of expensive
components makes it cheap and easy of being manufactured. However, there are not
only advantages. When an IM drive is compared with a PM motor drive, the power
electronic has to be slightly oversized due to the lower power factor of the IM.
In large-scale production, the absence of the position sensor implies a worthwhile
cost reduction. In addition, the presence of a position sensor represents a possible
source of fault. This is not desirable in applications like transportation systems and
electrical vehicles, in which a high grade of fault tolerance is required. Therefore, a
sensorless IM drive is the candidate to compete with the PM drive in traction systems.
This paper focuses on a nite element (FE) procedure to compute the IM sensorless
capability. A rotating eld is imposed adopting a d-q model of the IM. The proposed
method allows to identify the rotor parameter along the d- and the q-axis from the
eld solutions. Therefore, the equivalent circuits exhibit different rotor parameters
according to the considered axis, highlighting the sensorless capability of the IM.
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Induction motor
parameters
191
COMPEL: The International Journal
for Computation and Mathematics in
Electrical and Electronic Engineering
Vol. 31 No. 1, 2012
pp. 191-205
qEmerald Group Publishing Limited
0332-1649
DOI 10.1108/03321641211184913
In addition, the proposed method allows to compute the d- and q-axis parameters from
the same eld solution, reducing the computation time.
2. Sensorless control of IM
The sensorless control of IM has been widely investigated in literature. Different
techniques and solutions have been proposed and discussed extensively ( Jansen and
Lorenz, 1996; Cilia et al. 1997; Degner and Lorenz, 1998; Holtz, 1998; Vas, 1998; Ha and
Sul, 2000; Holtz, 2002; Carmeli et al., 2005; Duran et al., 2005; Boussak and Jarray, 2006;
Holtz, 2006; Iwanski and Koczara, 2007; Pena et al., 2008). In this section, the principles
of sensorless control of IM by means of signal injection are summarized. In particular,
a rotating high-frequency signal is considered for the detection of the rotor saliency
following the approach described in Degner and Lorenz (1998) and Holtz (2002).
The injection of a carrier signal, in addition to the fundamental excitation, provides a
persistent excitation that allows for the continuous estimation of the rotor position and
ux angle.
Figure 1 shows a diagram of the control technique. In the left part of the gure, the
reference frame is xed to the rotor ux. Starting from the stator current reference

i
*
s
,
the current error is computed and the stator voltage reference v
*
s
is generated.
Then, a change of reference frame is operated and the voltage reference is reported to
the stator frame by means of the operator e
j
~
q
lr
, where
~
q
l
r
is the estimated rotor ux
angle computed from the estimated rotor position angle
~
q
e
m
(the symbol over a letter
indicates the estimated quantities, and superscript e means electrical quantity).
A high-frequency carrier signal v
s
sc
is added to the fundamental excitation using the
PWM voltage source inverter. The high-frequency voltage can be written in the stator
reference frame as:
v
s
sc
V
sc
e
jv
c
t
v
s
scd
jv
s
scq
1
Figure 1.
Diagram of the control
scheme for sensorless
control of IM
Rotor flux reference frame Stator reference frame
IM PWM PI
LPF
i
s
*
u
s
*
i
s
BPF
Models
and PLL
+

J
l
~
e
jJ
l
~
e
jJ
l
~
+
+
u
sc
= V
sc
e
jw
c
t
(s)
w
c
J
e
~
m
~
w
m
e
Notes: The symbol ~ over a letter indicates estimated quantities; superscript e
means electrical
COMPEL
31,1
192
where the carrier voltage components along the two axes are:
v
s
scd
V
sc
cosv
c
t
v
s
scq
V
sc
sinv
c
t
_
_
_
2
With a properly high-carrier frequency v
c
, the IM is modeled for the high-frequency
signal, considering only the total leakage inductance (Degner and Lorenz, 1998), and
the voltage equation can be written as:
v
s
sc
. jv
c
L
s
s
_

i
s
sc
3
where L
s
s
is the inductance matrix in the stator reference frame. For a rotor with a
single sinusoidally distributed magnetic saliency, the inductance matrix can be written
in the rotor reference frame as:
L
r
s
_

L
sd
0
0 L
sq
_ _
4
where L
sd
and L
sq
are the two leakage inductances along the d- and q-axis,
respectively. Various rotor geometries can be used to achieve such magnetic saliency.
Two different examples will be considered in Section 4.
Then the inductance matrix is transformed to the stator reference frame as:
L
s
s
_
T L
r
s
_
T
21

L
savg
2L
sdif
cos 2q
e
m
2L
sdif
sin 2q
e
m
2L
sdif
sin 2q
e
m
L
savg
L
sdif
cos 2q
e
m
_ _
5
where q
e
m
is the rotor position in electrical radians, and the leakage inductances L
savg
and L
sdif
are dened as:
L
savg

L
sq
L
sd
2
L
sdif

L
sq
2L
sd
2
6
The interaction between the carrier voltage v
s
sc
, and the rotor saliency produces a
carrier signal current that contains information relating to the position of the rotor.
Solving equation (3), the carrier current results in:

i
s
sc
2jI
cp
e
jv
c
t
jI
cn
e
j 2q
e
m
2v
c
t
7
where:
I
cp

L
savg
L
sd
L
sq

V
sc
v
c
I
cn

L
sdif
L
sd
L
sq

V
sc
v
c
8
The carrier current is composed by a positive- and negative-sequences component.
As shown in equation (7), the negative-sequence component contains information
about the rotor position q
r
in its phase and it is generated by the difference of the
leakage inductance along the two rotor axes.
In order to extract the rotor position information from the negative-sequence
component, the motor current is processed by the two blocks in the bottom-right corner
of Figure 1. At rst, the carrier current is multiplied by e
2jv
c
t
and ltered to eliminate
the positive-sequence component, as:
Induction motor
parameters
193
HPF

i
s
sc
e
2jv
c
t
_ _
jI
cn
e
j 2q
e
m
22v
c
t
9
Then this signal is elaborated by means of a vector product with a signal
e
j2
~
q
e
m
22v
c
t
which contains the estimated rotor position
~
q
e
m
. In this way, the error signal
is obtained as:
1 I
cn
e
j 2q
e
m
22v
c
t
e
j 2
~
q
e
m
22v
c
t
_ _
I
cn
sin2
~
q
e
m
2q
e
m
_ _

V
sc
v
c

L
sdif
L
sd
L
sq
sin2
~
q
e
m
2q
e
m
_ _
10
When the error signal 1 is zero, the estimated rotor position
~
q
e
m
is equal to the actual
rotor position q
e
m
, and the sensorless detection of the rotor position of the IM rotor is
achieved. Then, the ux angle
~
q
l
r
is computed elaborating
~
q
e
m
(Novotny and Lipo,
1996).
It is worth noticing that equation (10) also shows the dependence of the error signal
on the difference leakage inductance dened in equation (6). In order to get the error
signal 1, a proper value of L
sdif
has to be achieved by introducing a variation in the
rotor slot geometry (Degner and Lorenz, 1998).
3. Parameter estimation based on d-q model
As illustrated in the previous section, it is possible to track the IM rotor position thanks
to the introduction of a rotor saliency, that is a difference in the d- and q-axis leakage
inductances L
sd
and L
sq
.
A rotor with an intentionally introduced saliency is considered. Some examples of
rotor structures will be considered in Section 4. The procedure to compute the IM
parameters is based on the two-axis IM model. The analysis is carried out in the rotor
reference frame, that is, the reference frame rotating at the same speed of the rotor,
i.e. v
e
m
, in electrical radians per second. The reference frames are shown in Figure 2.
The electrical angle between the rotor d
(r)
-axis and the stator d
(s)
-axis is indicated as
q
e
m
. Both d- and q-axis are excited together, since a rotating magnetic eld is imposed
in the simulations. Therefore, the parameters of both d- and q-axis are obtained
simultaneously from the same eld solution.
In the considered reference frame, the stator voltages are:
v
sd
R
s
i
sd

dl
sd
dt
2v
e
m
l
sq
v
sq
R
s
i
sq

dl
sq
dt
v
e
m
l
sd
11
The corresponding d-q model of the IM machine is shown in Figure 3, where all
parameters are referred to the stator. The G-type equivalent circuits are used, with all
leakage inductances considered on the rotor side. The stator resistances are omitted in
the circuits of Figure 3. Such stator resistance as well as all 3D parameters are not
included in the FE model of the motor, and they are computed analytically and added
to the circuits in a second time (Alberti et al., 2008; Dolinar et al., 1997).
COMPEL
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194
At steady state, the voltages and currents can be considered to be sinusoidal with time
so that the complex representation can be used. In the d
(r)
-q
(r)
reference frame, they
vary at the electrical speed (v 2v
e
m
), where v 2pf , with f the stator frequency.
Overline symbols will be used to highlight complex phasors. Thus, equation (11) are
rewritten as:

V
sd
R
s

I
sd
v 2v
e
m
_ _

L
sd
2v
e
m

L
sq

V
sq
R
s

I
sq
v 2v
e
m
_ _

L
sq
v
e
m

L
sd
12
A. Magnetizing inductances
For the computation of the magnetizing inductances, it is convenient to simulate the
rotor at synchronous speed that is, v
e
m
v. It results that the electrical quantities
(currents, voltages, ux linkages) in the d
(r)
-q
(r)
reference frame exhibit zero frequency,
i.e. they are constant (upper case letters, without overlines are used in this case).
The voltage equations (12) are rewritten as:
V
sd
R
s
I
sd
2vL
sq
V
sq
R
s
I
sq
vL
sd
13
Figure 2.
A sketch of the considered
IM with the adopted
reference frame
Figure 3.
Dynamic two-axis
equivalent circuits of
the IM
Induction motor
parameters
195
Since the frequency is zero, there are no rotor currents. The d-q ux linkages
correspond to the magnetizing d-q ux linkages of the motor. They depend on the d-q
currents imposed in the stator, since the iron is non-linear.
It is worth noticing that d- and q-axis currents can be imposed simultaneously.
Then, both d-q ux linkages, and d-q inductances, can be computed from the same eld
solution. Therefore, not only the saturation effect is considered, but also the mutual
effect between the d
(r)
- and the q
(r)
-axis, that is the d-q cross-saturation effect. In this
condition, the d-q circuits of IM model (Figure 3) are not independent.
Starting from the d-q axis magnetizing currents, i.e. I
d
and I
q
, the phase currents are
obtained from the Park transformation as:
I
a
I
d
cos q
e
m
_ _
I
q
sin q
e
m
_ _
I
b
I
d
cos q
e
m
2
2p
3
_ _
I
q
sin q
e
m
2
2p
3
_ _
I
c
I
d
cos q
e
m
2
4p
3
_ _
I
q
sin q
e
m
2
4p
3
_ _
14
The magnetizing inductances result in:
L
md
I
sd
; I
sq

L
sd
I
sd
; I
sq

I
sd
L
mq
I
sd
; I
sq

L
sq
I
sd
; I
sq

I
sq
15
and they are functions of both magnetizing currents. Of course, without considering
cross-saturation effect, the magnetizing inductances are simplied as:
L
md

L
sd
I
sd

I
sq
0
L
mq

L
sq
I
sq

I
sd
0
16
B. Rotor parameters
For the computation of the rotor parameters, the analysis is carried out again in the
rotor reference frame. At steady state, all electrical quantities vary at the rotor
frequency which is v 2v
e
m
.
Neglecting the stator resistance, R
s
, the voltages (equation 12) are rewritten as:

V
sd
v 2v
e
m
_ _

L
sd
2v
e
m

L
sq

V
sq
v 2v
e
m
_ _

L
sq
v
e
m

L
sd
17
and they vary at the electrical frequency (v 2v
e
m
).
Therefore, in order to compute the rotor parameters, time harmonic FE simulations
are carried out, setting the frequency f
r
v 2v
e
m
=2p. Both rotor and stator are
xed (as at standstill), and the d-q stator windings are supplied at the rotor frequency
f
r
. The two-axis circuits of Figure 3 reduce to those shown in Figure 4. Since rotor
parameters depend on the rotor frequency, they are obtained from various time
harmonic FE simulations imposing different rotor frequencies. A linearized iron
COMPEL
31,1
196
lamination is considered in the FE time harmonic simulations, assigning a proper
constant value to the relative magnetic permeability in the various machine parts.
Hence, superposition of the effects can be applied.
In order to estimate the rotor parameters, the d-q stator currents in the simulations
are xed to:

I
sd


I

I
sq
2

I
18
where j

Ij

2
p
I
rms
is the current amplitude.
Thus, the magnetic eld is rotating, but modulated by the rotor anisotropy.
Currents are induced in the rotor bars, and the rotor parameters of the two-axis model
of Figure 4 can be computed. The ux linkages

L
sd
and

L
sq
are determined from the
eld solution and the voltages are achieved from equation (17). Therefore, the d-axis
equivalent parameters are computed from ux linkages, as:
L
eq;d
R
eal

L
sd

I
sd
_ _
R
eq;d
2 v 2v
e
m
_ _
I
mag

L
sd

I
sd
_ _ 19
so that the d-axis rotor parameters R
rd
and L
sd
of the circuits of Figure 4 are computed as:
L
sd
L
md
L
eq;d
L
md
2L
eq;d
2R
eq;d
=v 2v
e
m

2
L
md
2L
eq;d

2
R
eq;d
=v 2v
e
m

2
R
rd
R
eq;d
L
md
L
sd

L
md
2L
eq;d
20
Similar computations are adopted for the q-axis parameters R
rq
and L
sq
of the circuit of
Figure 4(b).
It is worth noticing that jI
sd
j jI
sq
j are imposed in the time-harmonic FE
simulation. As a consequence, jV
sd
j jV
sq
j, since the ux linkages and the
corresponding voltages are modulated by the rotor anisotropy. In the actual operating
conditions, it is jV
sd
j jV
sq
j, while jI
sd
j jI
sq
j.
The described technique allows the computation of the IM parameters along the
d
(r)
- and q
(r)
-axis. Since the possibility to achieve information about the rotor position
from the carrier signal depends on the difference in the d- and q-axis inductances,
i.e. on L
sdif
as in equation (10), this procedure is an useful tool to investigate the
sensorless control capability of the IM. Computing the machine parameters for
different frequency it is also possible to study the impact of the carrier frequency.
Figure 4.
Steady-state two-axis
equivalent circuits
(a) d-axis (b) q-axis
Induction motor
parameters
197
4. Different rotor geometries
In this section, the procedure illustrated above is adopted to compute the parameters of
three IMs with different rotor geometry. The motor is a 2-pole machine with Q
s
24
stator slots and Q
r
28 rotor slots. At rst, a rotor without any introduced saliency,
i.e. a standard rotor, is considered. Then, two different modications in the rotor
lamination is considered.
A. Regular rotor slots
In this subsection, a standard IM is considered. The rotor has a standard lamination
geometry, with regular rotor slots. Since there is not intentionally introduced magnetic
saliency in the rotor, equal parameters are expected along the d
(r)
- and q
(r)
-axis.
The computed parameters are reported in Figure 5 versus the rotor position.
A frequency of 50 Hz has been considered even though this frequency is low for carrier
signal injection in sensorless control, but such a simulation allows to get the typical
values of the machine parameters at standstill. Figure 5(a) shows the rotor resistance
along the two axes and Figure 5(a) shows the total leakage inductance. It can be noted
that both the two-axis parameters R
r
and L
s
have the same average value. The periodic
variation of the parameters with the rotor position is due to the slot harmonics and it is
investigated in detail later on.
Figure 6 shows the same parameters, computed setting a rotor frequency equal to
300 Hz which is a frequency more suitable for signal injection in sensorless control of
IM. Considering the average values, it can be noted that there is signicant increasing
of the rotor resistances while the leakage inductances decreases. Also in this case there
is a variation of the parameters with the rotor position.
Figure 7 shows the ux linkages computed during the simulations at 300 Hz.
Figure 7(a) and (b) shows the ux linkage of the phase a and of the d-axis versus the
Figure 5.
Simulations at 50 Hz, rotor
without saliency
1.30
1.40
1.50
1.60
1.70
11.0
11.5
12.0
12.5
0 12 18 24 30 36 42 48 54 60
Rotor position (deg)
10 0 20 30 40 50 60
Rotor position (deg)
(a) Rotor resistance (b) Leakage inductance
6
d-axis q-axis d-axis q-axis
R
r

(

)
L

(
m
H
)
Figure 6.
Simulations at 300 Hz,
rotor without saliency
0 12 18 24 30 36 42 48 54 60
10.5
11.0
11.5
12.0
1.50
2.00
2.50
3.00
3.50
4.00
R
r

(

)
Rotor position (deg)
10 0 20 30 40 50 60
Rotor position (deg)
d-axis q-axis
(a) Rotor resistance
L

(
m
H
)
d-axis
(b) Leakage inductance
q-axis
6
COMPEL
31,1
198
rotor position, respectively. Both the real and imaginary values achieved by the time
harmonic simulations are reported.
As expected, the phase a ux linkage, l
a
, varies as a cosine function with the
rotor position. The d-axis ux linkage is almost constant with the rotor position. Both l
a
and l
d
exhibit a superimposed high-frequency components. Figure 8 shows the
harmonic content of the phase a ux linkage. Besides, the main harmonics of order
p 1, the higher harmonics are those of order Q
r
^ 1 (they are the harmonics of order 27
and 29 for the considered machine). There are also the harmonics of order Q
r
^ 3 (i.e. 25
and 31 but their amplitude is lower (a semilogarithmic scale is adopted in Figure 8).
In order to reduce the slot harmonic effects, the rotor is skewed. In order to consider
the rotor skewing in the FE analysis, for each rotor position, a set of simulations is
carried out considering a skewing step of one mechanical degree. Then, the results
are averaged and the IM parameters computed. Figure 9 shows the phase a ux
linkage computed according to two different skewing angles. For the sake of
comparison, the ux linkage without skewing is also reported. In Figure 9(a), a
skewing angle of 11 8 is considered. With such a skewing angle the slotting effects
Figure 7.
Simulations at 300 Hz,
rotor without saliency
20
10
0
10
20
0 30 60 90 120 150 180

a

(
m
V
s
)
Rotor position (deg)
0 30 60 90 120 150 180
Rotor position (deg)

d

(
m
V
s
)
real
imag
(a) Phase a flux linkage
4
0
4
8
12
16
20
real
imag
(b) d-axis flux linkage
Figure 8.
Harmonic content of the
phase a ux linkage l
a
0.1
1
10
100
0 10 15 20 25 30 35
A
m
p
l
i
t
u
d
e

(
m
V
s
)
harmonic order
5
Figure 9.
Phase a ux linkages
considering two different
skewing angles in the
rotor
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
4.0
6.0
8.0
10.0
12.0
14.0
16.0
18.0
0 10 20 30 40 50 60 70 80
l
a

(
m
V
s
)
l
a

(
m
V
s
)
Rotor position (deg)
0 10 20 30 40 50 60 70 80
Rotor position (deg)
no skewing
11 degskewing
(a) 11 deg skewing
no skewing
15 degskewing
(b) 15 deg skewing (one stators lot)
Induction motor
parameters
199
is almost completely canceled. Figure 9(b) shows l
a
when the rotor skewing angle
is equal to the stator slot angle, which is 15 8. In this case the slotting effects is not
completely canceled, and the high-frequency components in the ux linkage due to the
slotting is in opposition with respect to the original component.
B. Variation in the rotor slot opening height
A modied rotor is now considered. The rotor geometry is modied in order to
introduce a magnetic saliency. In particular, the rotor slot geometry remains the same,
but a modulation in the rotor slot opening height is introduced, as shown in Figure 10.
The width of the rotor slot openings are equal for all the slots.
The adopted rotor reference frame is reported in Figure 10. The d
(r)
-axis is xed on
a rotor slot with the higher slot opening. Figure 11 shows the ux lines of a simulation
with only d-axis current at 300 Hz. As can be noted, the ux lines do not enter deeply in
the rotor, but they are mainly concentrated in the upper part of the rotor where the
rotor slot openings height is lower. Similarly, Figure 12 shows the ux line when only
q-axis current is imposed. In this case, the ux lines are concentrated where the rotor
slot openings height is higher. This means that a lower d-axis inductance is expected
with respect to the q-axis.
The IM parameters are computed as described above but without considering rotor
skewing. Figure 13(a) shows the rotor resistance at 300 Hz. Comparing Figures 6(a)
and 13(a), there is not a signicant variation in the rotor resistance since the rotor
shape is not changed.
Figure 13(b) shows the leakage inductances at 300 Hz. In this case the mean value
of the two-axis parameters are not equal, due to the introduced magnetic saliency.
As expected, the d-axis inductance is lower than the q-axis inductance.
In both (a) and (b) of Figure 13, the slot harmonics effect is visible. It represents a
disturbance in the detection of the rotor position, since it inuences the inductance L
sdif
and the error signal 1 given in equation (10). Therefore, the rotor skewing represents a
benet according to this sensorless technique.
Figure 10.
Rotor structure of the rst
rotor (rotor no. 1)
q
(r)
d
(r)
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200
C. Variation in the rotor slot opening width
A different rotor slot modication is now analyzed. The rotor slot geometry remains
again the same, a modulation is introduced in the slot opening width, as shown in
Figure 14 while the heights of the slot openings are equal for all the slots.
The adopted rotor reference frame is reported in Figure 14. The d
(r)
-axis is xed on
a rotor slot with the thinnest slot opening. Also in this case, similarly to the simulation
reported in Figures 11 and 12, when only d-axis current is imposed the ux lines are
mainly concentrated in the upper part of the rotor, and so a lower d-axis inductance is
expected as well.
Figure 15(a) shows the rotor resistance computed at 300 Hz. As above, there is not a
signicant variation in the rotor resistance with respect to the previous rotor geometries.
Figure 15(b) shows the leakage inductances at 300 Hz. The mean value of the d- and
q-axis parameters are not equal due to the introduced magnetic saliency. As expected,
the d-axis inductance is lower than the q-axis inductance. Finally, Figure 15(a) and (b)
highlights again the disturbance due to the rotor slot harmonics.
Comparing the results shown in Figures 13(b) and 15(b), it can be noted that in rotor
no. 2 the difference of the d- and q-axis inductances is lower with respect to the rotor
no. 1. So that it results:
L
sdif rotor#1
. L
sdif rotor#2
21
From equation (20) a better sensorless capability is expected from an IM with a rotor of
type no. 1.
5. Conclusions
A FE procedure is presented to compute the high-frequency parameters of an IM. Such
a procedure is based on the two-axis IM model. A machine with an intentionally
introduced saliency in the rotor has been studied. Two different magnetic geometries
have been analyzed in the paper. The proposed procedure helps to evaluate the
Figure 11.
Flux lines when only
d-axis current is imposed
(rotor no. 1)
Induction motor
parameters
201
sensorless capability of the IM and to predict the variation of the machine parameters.
In addition, the effect of slot harmonics is highlighted and the skewing is taken
into account in the simulations. It is a helpful tool during the design of the rotor
geometry.
Figure 13.
Simulations at 300 Hz,
rotor no. 1
12.0
13.0
14.0
15.0
16.0
17.0
1.50
2.00
2.50
3.00
3.50
4.00
0 10 20 30 40 50 60
R
r

(

)
Rotor position (deg)
0 10 20 30 40 50 60
Rotor position (deg)
d-axis q-axis
(a) Rotor resistance
L

(
m
H
)
d-axis
(b) Leakage inductance
q-axis
Figure 12.
Flux lines when only
q-axis current is imposed
(rotor no. 1)
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Figure 15.
Simulations at 300 Hz
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1.50
2.00
2.50
3.00
3.50
4.00
0 10 20 30 40 50 60
R
r

(

)
Rotor position (deg)
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(a) Rotor resistance
L

(
m
H
)
7.0
8.0
9.0
10.0
11.0
12.0
300 Hz
d-axis
(b) Leakage inductance
q-axis
Figure 14.
Rotor structure of the
second rotor (rotor no. 2)
q
(r)
d
(r)
Induction motor
parameters
203
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About the authors
Luigi Alberti received the Laurea and PhD degrees in Electrical Engineering from
the University of Padova, in 2005 and 2009, respectively. Currently he is a
Research Assistant at the University of Padova. His research activities are
concentrated on the electromechanical analysis and design of electrical motors,
in particular, for electric drives applications. He is also a Consultant to various
electromechanical industries.
Nicola Bianchi received the Laurea and PhD degrees in Electrical Engineering
from the Department of Electrical Engineering, University of Padova, Padova,
Italy, in 1991 and 1995, respectively. In 1998, he joined the Department of
Electrical Engineering of the same University, as Assistant Professor in
Electrotechnique. Since 2005 he has been an Associate Professor in Electrical
Machines, Converters and Drives. He works at the Electric Drive Laboratory,
Department of Electrical Engineering at the University of Padova. His teaching
activity deals with the design methods of electrical machines, where he introduced the nite
element analysis of the machines. His research activity is in the eld of the design of electrical
machines especially for drives applications. In the same eld, he is responsible for various
projects for local and foreign industries. He is a member of IEEE IAS and IEEE PES. He is a
member of the Electrical Machines Committee and the Electrical Drives Committee of the IEEE
IA Society. He is author and co-author of several scientic papers on electrical machines and
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drives, and two international books on the same subject. Nicola Bianchi is the corresponding
author and can be contacted at: edlab@die.unipd.it
Samad Taghipour Boroujeni was born in 1981. He received the BSc., MSc, and
PhD degrees in Electrical Engineering from the University of Amirkabir (Tehran
Polytechnic), Iran, in 2003, 2005, and 2010, respectively. He is currently Assistant
Professor at the Electrical Engineering Faculty of Shahrekord University (SKU),
Shahrekord, Iran. He is working on the design, analysis and optimization of
electric machines.
Induction motor
parameters
205
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