Experimental Investigations on the Core Loss Effects

in an Inverter Fed Brushless Doubly Fed Machine

*

M. N. Hashemnia and F. Tahami

E. Oyarbide

Department of Electrical Engineering

Sharif University of Technology
Tehran, Iran
*
naserhashemnia@ee.sharif.edu

Aragon Institute of Engineering Research

University of Zaragoza
Zaragoza, Spain
eoyarbid@unizar.es

AbstractBrushless doubly fed machine (BDFM) shows

promising results for wind power and adjustable-speed drive
applications. Due to poor rotor magnetic coupling and relatively
high value of slip, core loss is more emphasized in this machine
than the conventional machines. By now, there are few
comprehensive researches on core loss effect on performance
characteristics of BDFM in the literature. In this paper, based on
the derived relations and by applying suitable rules for
transformation of parameters from one winding to another one,
the steady state equivalent circuit model of BDFM referred to
power winding stator side is obtained. Comparison between
simulation and experimental results verifies the accuracy and
effectiveness of the proposed model.
KeywordsAC machines, Brushless Doubly Fed Machine,
Core loss, Electric machines, Equivalent circuit, Steady state model,
Variable speed drives, Wind energy generation.

NOMENCLATURE

p
P
V
I
B
R
L
Lm
T
s1

Number of pole-pairs
Power
Voltage
Current
flux density
Resistance
leakage inductance
magnetizing inductance

s2
s

Rotor slip with respect to CW

generated torque
Rotor slip with respect to PW

CW slip with respect to PW

Subscripts
1, 2
p ,c , r

power winding stator, control winding stator

power winding, control winding, rotor

e,h
y,t

eddy current loss, hysteresis loss

yoke, tooth

978-1-4799-0224-8/13/$31.00 2013 IEEE

Superscripts
fe
of iron core
I.

INTRODUCTION

Recent developments in renewable energies have revitalized

research on doubly fed machines [1]. The expression doubly
fed usually applies to machines where electrical power can be
fed or extracted via two accessible three-phase terminals. The
Doubly Fed Induction Machine (DFIM) is a well-known
example where the stator winding is connected to the grid
directly and the rotor is connected to a bidirectional power
converter. The converter needs only to deliver a fraction of
total power if the required operating speed range is narrow.
This applies to variable speed wind turbines and adjustable
speed drives, like pumps and fans. The main disadvantages of
DFIMs are their brushes and slip rings which increase
maintenance costs and fault rate. Many studies have been
carried out in order to develop a machine which combines the
great advantages of DFIMs with high reliability and
maintenance free properties of ordinary induction machines.
Among the solutions, the use of the so-called Brushless
Doubly Fed Machine (BDFM) (also known as self-cascaded
induction machine) could overcome this problem.
It has been shown that the output power of a BDFM is less
than a conventional induction machine with the same volume
of active material under similar operating conditions [2]. It
means that a BDFM is larger in size than a DFIM with the
same rating. However, the aforementioned advantages make it
a good candidate for use in wind power generation [3],
particularly in offshore wind turbines (where the maintenance
time is of the highest priorities) as well as in pump drives [4]
and traction applications [5].
There are a lot of papers considering steady state and
dynamic modeling of the BDFM. Several investigators have
taken a BDFM virtually as the connection of two induction
machines with different pole pairs with their rotors electrically
and mechanically connected [6-10]. Modeling of this system
(known as Cascade Doubly Fed Machine (CDFM)) can be
carried out by appropriate connection of the equivalent circuits
of the two induction machines. It is worth noting that there is

2821

one field component in each individual air-gap of the CDFM,

whereas in the BDFM there are simultaneously two pole-pair
stator field components in the same air-gap. The flux linking
the rotor and stator of the BDFM couples all three machine
windings and therefore modeling a BDFM can be more
complex than deriving a model for two separate induction
machines, as in the CDFM.
Under normal operating conditions in a squirrel cage
induction machine, the slip is low and therefore the rotor core
loss may be neglected. The stator core loss is then usually
included as part of the rotational losses. Some references
compensate the detuning effect of core loss in the induction
motor vector control by adding resistances in the d-q circuit
model [11]. Then the machine core loss is modeled as a
resistance in parallel with the stator magnetizing inductance of
each axis.
Although there are some researches on modeling stator and
rotor core losses of CDFM [12,13], the modeling of core
losses of BDFM has not been extensively studied in the
literature. Core loss effect is more severe in BDFM in
comparison with conventional induction machines. This is due
to larger value of slip and presence of more spatial harmonics
in the air gap magnetic field in BDFM which both increase the
core loss.
A dynamic unified reference frame model was proposed and
experimentally validated for nested loop rotor BDFMs in [14].
Although this model has good dynamic response and
facilitates the design of controllers, a small discrepancy,
especially at steady state, is observed between simulation and
experimental results which could be attributed to core loss
effect. In [15] the authors proposed a small signal model of
BDFM under closed loop scalar current control which can be
useful in stability margin analysis. Frequency-dependant
deviations were observed between experimental data and
theoretical results which were attributed to core loss. The
BDFM was simulated in [16] using 2D finite element method
taking core loss and saturation effects into account. To
calculate core losses, the hysteresis and the eddy current losses
were considered, but the hysteresis loss was calculated using
the classical model of the conventional induction machines,
which is not compatible with BDFM model. In [17] an
analytical model for calculation of hysteresis loss of BDFM
stator was proposed using the dissipation and restoring
function concepts. Although it is possible to find the value of
BDFM core loss using this mathematical model, but no
equivalent circuit is presented either at steady or transient state
to take core loss effect into account for performance study or
control of BDFM. In [18] a core loss model was developed for
BDFM based on the induction machine analogy. Separate core
loss resistances were considered at the power winding (PW)
and the control winding (CW) side to provide for the
possibility of unequal core losses related to the two windings.
An optimization method was then used to identify the values
of the two resistances. The core loss model however, was not
verified by experiments and the effect of core loss on dynamic
characteristics of BDFM was not considered.
This paper presents a steady state model of BDFM that

takes core loss into account and investigates its effect on

steady state characteristics of the machine.
The subject of core loss effect on the dynamic performance
of BDFM has also been studied by the authors in [19].
Although this paper does not deal with dynamic simulation of
BDFM, the steady state analysis of the machine can be useful
in studying its transient stability, as was reported in [20].
II.

OPERATION PRINCIPLE OF BDFM

The BDFM comprises of two, three-phase winding sets in

the same stator which are excited independently. To avoid
direct transformer coupling between the two windings, their
pole pair numbers should be different:
p1 p 2
(1)
where p1 and p2 are the numbers of pole pairs of the power
winding and the control winding, respectively. Furthermore, in
order to reduce the asymmetrical magnetic pull on the rotor,
that pole pair difference should be greater than unity [21], i.e.:
| p1 p 2 | 1
(2)
As shown in Fig, 1, the PW is connected directly to the grid
while the CW is connected to the grid via a bidirectional
frequency converter that controls the rotor speed and reactive
power supplied or absorbed by the machine [22, 23]. The
frequency converter consists of the machine-side inverter
(MSI) and the grid-side inverter (GSI) which are connected in
a back-to-back fashion.

Fig. 1 The BDFM System

The rotor bars are shorted in a certain number of circuits. It

can be shown that the following relation should hold in order
to have cross-coupling between PW and CW [24,25]:
p

2
1

p
r

Hence,
p1
Nr

2
2

2 q

1, 2, ...

(3)

p2
q

(4)

where N r is the number of rotor bars.

Fewer rotor bars result in a high rotor slot-leakage reactance
and large magnitude space harmonics which impair the
machines performance [7]. Therefore, q is usually set equal to
unity and the positive sign in the numerator is chosen:

2822

Nr

p1

p2

(5)

It can also be shown that the slot-leakage reactance

decreases as the number of rotor slots is increased [7].
Therefore, each rotor nest is distributed in several slots. The
most frequently used rotor structure produced for BDFMs to
date is the so-called nested loop although this is not the only
possible structure [25].
The dependence of rotor speed on PW and CW frequencies
at synchronous mode of operation for a BDFM having the
number of loops as Eq. 5 is expressed by:
1

(6)

P1 P2

An equivalent circuit representation for this type of BDFM,

excluding the effects of core losses, was given in [25] as
shown in Fig. 2.

I1

R1 j

R r'
s1

1L1

V1

R 2''
s

j 1Lr'
'
r

Lm 1

I
L'm 2

L''2

Where subscripts 1 and 2 refer to the PW and CW,

respectively,
is the mechanical angle, and
is a constant
s

phase shift between the two fields.

Assuming that the flux lines pass radially through the gap
and circumferentially through the yoke, the stator/rotor yoke
flux density can be derived as:
B

B rd
g

Sin ( t
1

P )
1

Sin ( t
2

B Cos ( t
tot

2B B Cos [( P

P)

1/ 2

Cos ( t

(9)

Where Btot is the amplitude of total flux density:

2

B tot

B1

2B 1 B 2Cos [( P1

B2

P2 )

1/ 2

(10)

and is its phase angle.

Therefore, the time-averaged eddy current loss of stator
tooth at position is:

K est m st f 1 B tot ( )
2

Pets ( )

(11)

where K est is the coefficient of eddy current loss of stator

m st is its mass.

teeth and

The total eddy current loss of all stator teeth is then

calculated by integration of the last equation over position
( ):
2 K est m st f 1 ( B 1
2

(12)

B2 )

(8)

B1

r 2 2
2 K eys m ys ( ) f 1
y

Peys

CORE LOSS MODELING

s 2 '' A similar procedure yields the eddy current losses in the

V stator yoke ( Peys ):
s1 2

Accurate modeling of core losses is complex. A simple

approach will be used here, which is adequate for the
fundamental frequency equivalent circuit model of the BDFM.
Neglecting all harmonics, the resultant air-gap flux density
due to the two stator windings (PW and CW) and the rotor
winding (RW) can be expressed in a stationary reference
frame as [26]:
B g ( , t ) B Cos ( t p ) B Cos ( t p
)
(7)
1

Pets

''
2

Fig. 2 Equivalent circuit of BDFM excluding core loss

III.

B ( ,t )

B2

P1

(13)

P2

In a BDFM in synchronous operating mode, there is a single

frequency in the rotor circuit, neglecting all time harmonics.
Therefore, expressions given by Eqs. 12 and 13 can also be
applied to evaluate the eddy current losses of rotor yoke and
teeth but by replacing the stator frequency with the rotor
frequency, i.e.:
2

Petr

2 K etr m ts f r ( B 1

B1

r 2 2
2 K eyr m yr ( ) f r
y

Peyr

(14)

B2 )
2

B2

P1

(15)

P2

In the case where the applied frequencies to the BDFM

stator windings are not the same ( f 1 f 2 ), the eddy current
loss at stator yoke/teeth can be evaluated as follows.
Applying Faradays law the induced electromotive force
(E.M.F) will be:
B g ( ,t )
E ts
d
(16)
dt

where r is the airgap mean radius and y is the yoke depth of

stator/rotor and the coefficient of proportionality depends on
tooth to slot width ratio.

B 1Sin ( 1t p1 )
B 2Sin ( 2t p 2
)
s
2
The eddy current loss in a small element of stator tooth at time
t and position is thus in proportion to:

A. Eddy Current Losses in Stator and Rotor

As BDFM is supplied by two independent voltages at stator
side, two operating conditions arise depending on the
frequency of these two supplies. When rotor is at standstill,
the two frequencies are equal while the sequence of the two
three-phase supplies is opposite (
). Under these

P (t , )

circumstances:

E (t , )

ets

2
1

2
1

Sin ( t

2B B
1

ts

p )
1

Sin ( t
1

Sin ( t

p )Sin ( t
1

(17)

The total stator eddy current loss is calculated by averaging

the last equation over time and then integrating it over

2823

p1

position. As

p 2 , the last term of (17) always vanishes

after averaging over time and integration over position even if

the supply frequencies are the same ( 1
). The stator
2

ii. Scaling to conserve power on the rotor side.

Therefore for the core loss calculation, the slip of the rotor
with respect to the CW and PW must be taken into account.

tooth current loss becomes:

2

2 K m (f B

ets

ets

ts

f B )

(18)

R prfe (s1 )

Lm 1

R prfe | s1 |0.7

s 1E

A similar approach for the eddy current losses of the stator

yoke yields:
P

2 K m (

eys

eys

ys

r
y

2
1

2
2

(a)

(19)

Equations (12), (13), (14), (15), (18) and (19) reveal the fact
that as long as calculating the rotor eddy current loss is
concerned, a BDFM resembles a CDFM. In other words, the
two fundamental components of airgap flux density are
decoupled.
B. Hysteresis Losses in Stator and Rotor
It is noteworthy that at standstill, both the stator and rotor
are subjected to a single frequency, hence using the classical
Steinmetz method, calculation of the hysteresis losses of
teeth/yoke of stator/rotor is straightforward:
Phts

Phys

2 K hts m ts f 1 ( B 1

r 2
2 K hys m ys ( ) f 1
y

(20)

B2 )

B1
P1

B2
P2

(21)

Lm 1

MODELING CORE LOSS IN THE EQUIVALENT CIRCUIT

In this paper, the core losses are modeled classically using

resistors in parallel with the PW and CW magnetizing
branches. These resistors are generally frequency dependent
except for the case of the PW stator core loss where the supply
frequency is fixed.
As it was shown in [12], two facts should be taken into
account when dealing with the rotor core loss as well as the
stator core loss caused by the CW:
i. Dependence of rotor core loss on the variable slip;

R prfe s1

s1

| s1 |1.3

(b)
Fig. 3 a) Model of PW rotor core loss in the rotor and b) Model referred to
PW stator

The derivation procedure for rotor core loss due to PW is

presented subsequently. A similar procedure can be used for
the CW. The Rotor core loss depends on rotor frequency,
which is equal to PW frequency multiplied by rotor slip:
f r s1f 1
(22)
where f r and f 1 are frequencies of the rotor and the PW

s1 is the rotor slip with respect to the PW.

respectively and

Similar expressions hold for rotor hysteresis loss.

In the above equations the Steinmetz coefficient has been
assumed to be 2 (independent of flux density and frequency)
after [27] which can be considered accurate enough for the
present study.
As stated before, when BDFM runs at a nonzero speed, the
stator will be subjected to two flux waves of different
frequencies, while the rotor will always have a single
frequency. It implies that the evaluation of the hysteresis loss
of rotor teeth/yoke at any given speed is straight forward (the
expressions will be similar to the standstill case) while the
treatment of stator hysteresis losses under such conditions is a
complex task and is beyond the scope of this paper. Actually,
a previous study [17] has shown that under such conditions,
the effect of the two fields in stator hysteresis loss calculation
cannot be decoupled exactly. This fact is neglected in this
paper, which is justified by confirmation of the proposed
equivalent circuit model against experimental results.
IV.

R prfe | s 1 |0.7

Referring to Fig. 3.a, the rotor core loss caused by PW can

be expressed as:
2

s1 E

fe

Ppr

Ph

fe

R pr (s 1 )
s 1E

k1 f r

s1 E

Pe

k 1f r B 1

k2 fr

fr
2

k1

s 1E

k 2f r B 1

(23)

fr

2
2

k 2 s1 E

fr

The resistance R (s ) will thus be proportional to the

fe

pr

absolute value of the rotor frequency (and hence to the rotor

slip) to the power of a coefficient between zero and one. In
this paper, the coefficient is assumed to be 0.7 after [12]:
fe

fe

R pr (s 1 )

R pr | s 1 |

0.7

(24)

It should be noted that the model has to be referred to the

stator-side of PW. Therefore, a scaling is necessary to refer the
equivalent core loss resistor to the stator side. For this
purpose,
the
air-gap
power
relationship
is
considered:
Pag
rotor

Pag

2824

sync

(1 s 1 )
Ploss , rotor
s1

Ploss , rotor
sync

Pmech
Ploss , rotor

Pcu , rotor
Pcu , rotor

PFe , rotor
PFe , rotor

rotor

s 1 Pag

(25)

The referred rotor core loss resistance is therefore equal to

its physical value divided by the rotor slip (Fig. 3. b). The
complete steady state model is shown in Fig. 4.
SIMULATION AND EXPERIMENTAL RESULTS

The experimental data used in this study have been obtained

at the testing facilities located at the University of Mondragon,
Spain. Constructional details of the setup can be found in [28].
Table I shows the significant parameters of the prototype
machine. Experimental results are compared with the
simulation results obtained from the model running at the
same conditions as experiments.
TABLE I
BDFM ELECTRICAL PARAMETERS

Resistance
)
Self
Inductance
(mH)
Mutual
Inductance
with rotor
(mH)

PW

CW

Rotor

1.732

1.079

0.473

In Fig. 5 variations of the PW and CW currents versus

speed are depicted. It is apparent that inclusion of the core loss
resistances leads to a reduction of error in estimation of CW
current from 10% to 2.3%.
It is obvious from Fig. 6 that the control winding voltage
assumes an approximately constant

rn

714.8

121.7

132.6

242.1

59.8

The prototype machine is run at rotating speeds from 350 to

1250 rev/min. The PW active and reactive powers are
controlled by a closed loop control system. The inverter feeds
the CW in such a way that the desired PW active and reactive
powers are achieved. The speed depends on CW frequency
and the power depends on CW voltage amplitude and phase
angle.
In the simulations, for the sake of simplicity, only two
resistances out of four resistances that stand for stator core
fe
fe
loss ( R ps and R cs ) have been included in the equivalent

The simulated and experimental rotor currents are depicted

in Fig. 7. Considering the equivalent circuit and keeping in
mind that the PW current is a fixed input to the system, it is
justified why the rotor current is a constant value in the
simulations both with and without core loss.
It is also interesting that taking core loss into account leads
to a very good improvement in estimation of the rotor current;
the average error has decreased from 16.8% to 2.45%.
14

R1

I psfe

V1

R psfe

I prfe
j 1 Lm1

|i | Simulation without Core Loss

c

|i | Simulation with Core Loss

c

10

|i | Experimental
c

8
6
4
2
0
200

400

600

800
1000
Rotor Speed (rpm)

1200

1400

Fig. 5 Variation of power and control winding RMS currents with speed

Rr'
s1

j 1 L1

|i |

12

circuit model. There is therefore one constant resistance at the

power winding side and a slip dependent resistance at the
control winding side. The values of these two resistances have
been identified using the experimental results acquired from

I1

vc
which reflects a
fc

nearly constant CW flux. It is also seen that the inclusion of

the core loss resistances leads to better estimation of CW
voltage especially in speeds far from the natural synchronous
speed ( ), where the core-loss effect is more significant.

|Ip|, |Ic| (A)

I.

the BDFM operating in the simple induction mode, when one

winding is left open.
It is noteworthy that in the constant power mode of
operation, flux amplitudes of the PW and CW are essentially
fixed; therefore the variation of parameters is negligible. It is
thus rational to consider fixed values for the core loss
fe
fe
resistances ( R ps and R cs ).

R 2''
s

j 1 L'r
I r'

s1 R prfe
1.3

| s1 |

I crfe

s1 Rcrfe
| s1 |1.3

I csfe

j 1 L'm 2

Fig. 4 Proposed model of BDFM including core loss

2825

sRcsfe
| s |1.3

j 1 L''2

I 2''

s2 ''
V2
s1

[8]

120

Simulation without Core Losss

Simulation with Core Loss
Experimental

100

[9]

|Vc| (V)

80
60

[10]

40

[11]

20
0
200

400

600

800
1000
Rotor Speed (rpm)

1200

1400

[12]

Fig. 6 Variation of control winding voltage amplitude with speed

12

[13]

11

|Ir| (A)

10
|i | Simulation without Core Loss

[14]

|i | Simulation with Core Loss

r

|i | Experimental
r

[15]

6
5
200

400

600

800
rotor speed (rpm)

1000

1200

1400

[16]

Fig. 7 Variation of rotor current amplitude with speed

II.

CONCLUSION

[17]

In this paper, an equivalent circuit for the Brushless Doubly

Fed Machine including core loss effect was proposed. In order
to validate the effectiveness of the proposed model, simulation
results were compared with experimental measurements of the
prototype machine. It was observed that inclusion of core loss
resistances given by the proposed model improves estimation
of different parameter values, especially the rotor current.
III.

[18]
[19]

[20]

ACKNOWLEDGEMENTS

The authors would like to thank Dr. Javier Poza gratefully

for his help providing us with the experimental data from the
test bench at Mondragn University.

[21]
[22]

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