Dynamic Modeling and Simulation of Brushless

Doubly Fed Machine in Consideration of Core Loss

M. N. Hashemnia* and F. Tahami
Sharif University of Technology, Tehran, Iran

*naserhashemnia@ee.sharif.edu
Abstract- Brushless doubly fed machine (BDFM) has recently attracted attention in variable speed generators and motor drives.
Steady state and dynamic modeling of the machine is vital to its design, analysis and control. In order to have a high performance
control, a precise dynamic model is required. This paper aims at introducing a model of BDFM taking core loss into account. The
details of model derivation are outlined and the torque relation is expressed in the general reference frame. The model is then used
for simulation of the dynamic performance of the machine. The error introduced by neglecting core loss effect is also shown.
Keywords- Brushless Doubly Fed Machine, Core loss, Dynamic model, Reference frame, Torque

I.

pole-pair number

voltage

current
linkage flux

resistance

self inductance

Lh

coupling inductance
time derivative symbol

TL

load torque

T em

electromagnetic torque
angular speed

inertia

friction coefficient of the mechanical

system

Subscripts

p ,c , r

power winding, control winding, rotor

NOMENCLATURE

fe

of iron core

Superscripts

s ,g

stationary reference frame, general reference

frame
conjugate
space vector symbol

II.

INTRODUCTION

Recent developments 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 process a small amount 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
problem with a DFIM is its brushes and slip-rings which render it more vulnerable to faults than a cage induction machine.
Among other solutions, the use of the so-called Brushless Doubly Fed Machine (BDFM) could overcome this problem.
The BDFM (also known as self-cascaded machine) comprises of two three-phase windings in the same stator. One of them,
the Power Winding (PW) is connected directly to the grid, and the other one, the Control Winding (CW) is connected to a
Voltage Source Inverter (VSI). The rotor configuration is such that there is an indirect cross-coupling between the two stator
windings, so that the VSI can control, through the CW, the quantities at the PW side, including active and reactive powers.
Dynamic modeling of the BDFM is fundamental to machine control and its stability studies. So far numerous efforts have
been made in both areas. The BDFM coupled circuit model was elaborated and discussed in detail in [2]. As there are positionvarying parameters in the coupled circuit model, synthesis of controllers is hard and transformation of variables to a common
reference frame is needed. Moreover, simulation of this model is time-consuming due to its complexity. A dynamic unified
reference frame model was proposed and experimentally validated for nested loop rotor BDFMs in [3]. 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 [SARASOLA I., OYARBIDE E., ROYE D., RODRIGUEZ M.: Stability analysis of a brushless doubly-fed machine
under closed loop scalar current control. Proc. IEEE Industrial Electronics Society Conf. (IECON), Paris, France, 2006, pp.
15271532]

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.

In [4], Levi studied core loss as a source of performance deterioration in cage induction machines, proposing modifications
in the vector control scheme to compensate its effect. Core loss was included in the orthogonal d-q axis model of the machine
by connecting a resistance across the magnetizing branch. The BDFM was simulated in [
A. C. Ferreira and S. Williamson, "Time-Stepping Finite-Element Analysis of Brushless Doubly Fed Machine Taking Iron
Loss and Saturation into Account," IEEE Trans. on Industry Applications, vol. 35, no. 3, pp. 583-588, May/June 1999.
] using 2D finite element method taking core loss and saturation effects into account. To calculate core losses, hysteresis and
eddy current losses were considered, but hysteresis loss was calculated using classical models of conventional singly fed
machines, which is not compatible with BDFM model. In [M. Ahmadian, B. Jandaghi and H. Oraee

Hysteresis loss in Brushless Doubly Fed Induction Machines

International conference on renewable energy and power quality
Ahmadian] an analytical model for calculation of hysteresis loss of BDFM stator was proposed using dissipation and
restoring function concepts. Although it is possible to get the value of core loss using this mathematical model, 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 [Frequency-domain, parameter estimation for a brushless, doubly-fed machine

Frequency-domain, parameter estimation for a brushless, doubly-fed mac ...

Ashok Ramchandran
Thesis (Ph.D.)--Oregon State University, 1995.

] a core loss model was developed for BDFM based on the induction machine analogy. Separate core loss resistances were
considered at PW and 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. However, the core loss model was not tested
on actual data and the effect of core loss on dynamic characteristics of BDFM was not considered.
Core loss effect is expected to be more severe in BDFM in comparison with conventional induction machines. This is due to
larger value of slip and presence of more rotor space harmonics in BDFM which both increase the core loss. However, there is
still no comprehensive study appearing in the literature regarding core loss effect on dynamic behavior of BDFM. This paper
intends to fill this gap and analyzes the dynamic equivalent circuit of BDFM including core loss.

In section III the dynamic equations of BDFM are expressed in consideration of core loss. In section IV the power balance
equations are written to derive the torque relation. In section V an approximation is introduced to simplify the equations.
III.

MODIFIED VECTOR MODEL

In this part, the existing unified reference frame model of BDFM in [3] will be modified in order to model the core loss
effect. The authors have proposed in a previous paper [5] a method of taking core loss effects of both stator and rotor assigned
to PW and CW into account in the steady state model. Although it is also possible to introduce all these effects in the dynamic
model, a fixed resistance at stator PW side will just be considered for the sake of simplicity.
It is common to take implicitly or explicitly the following assumptions when modeling core losses of induction machines for
control or performance analysis [6]:
1) The fundamental component of core loss is just taken into account.
2) Saturation in the magnetic circuit is neglected.
3) Core loss phenomenon is modeled statically. This assumption is supported by the fact that equivalent time constant of the
core loss phenomena is much smaller than that of dominant dynamics of the stator circuit [7] as well as requirement of model
compactness.
The dynamic electrical equations of BDFM are first considered in a stationary reference frame (fixed to the PW). Moreover,
core loss is initially neglected. It suffices to set

0 in the general reference frame equations appearing in [3], which are as

follows:
vp
j
vc

R sp i p L
g

ip

R sc i c L
j

vr

4L

sc i c

L r ir

Thereupon:

L hp (i p

ir )

(i c ) L hc (i c i r )

sc

4 L hc (i c

(i r ) L hp (i p i r ) L hc (i c i r )

L hp (i p

i r ),

(1)

Rr i r L
j

(i p ) L hp (i p i r )

sp

ir )

L hc (i c

(pp

i r ),

pc )

pp

vp

R sp i p L

vc

R sc i c L
j (pp

vr

pc )

Rr i r L

(i p ) L hp (i p i r )

sp

(i c ) L hc (i c i r )

sc

sc

ic

j (pp

pc )

L hc (i c

ir )

(2)

(i r ) L hp (i p i r ) L hc (i c i r )

j .p p . r L r i r

j . p p . r L hp (i p

ir )

j . p p . r L hc (i c

ir )

Based on the above equations, the space vector equivalent circuit model of Fig. 1 can be drawn for BDFM at stationary
reference frame. The core loss effect can be taken into account by simply connecting a resistance in parallel to the magnetizing
branches. Since this paper is only dealing with stator core loss assigned to the PW, it suffices to add a fixed resistance ( R fe ) in
parallel with the PW magnetizing branch ( L hp ).
It should be clarified that it is just in the stationary reference frame that this resistance appears simply in parallel with the
magnetizing branch. In all other reference frames, a voltage source depending on the magnetizing current of the other axis will
arise in series with core loss resistance, as will be shown. It is also worthy of attention that due to adoption of the third
assumption, no inductance appears in modeling the core loss phenomenon.
R sp

ip

sp

i fe

R fe

vp

Rr

ir

j .p p .

sc

R sc

j (pp

p r ).

i hp
L hc

L hp

i hc

vc

ic

Fig. 1. Space vector model of BDFM with core loss in a stationary reference frame

In order to model the core loss effect in a general reference frame, KCL and KVL are written respectively in the last circuit:
KCL : i ps i rs
KV L : R fe i

i fes i hps

s
fe

L hp d

(3)

i hps
dt

These equations are then transformed to a reference frame rotating with an electrical speed of
currents:
i pg .e

i pg i rg

i rg .e

i feg i hpg

And for voltages:

i feg .e

i hpg .e

(4)

rad/s, which yields for

R fe i feg .e

R fe i feg

Lhp d

L hp d

(i hpg .e

i hpg
dt

dt
jL hp

i hpg

Lhp d

dt

L hp

i hpg .e

i hpg

(5)

The above two equations propose the equivalent circuit of Fig. 2. a. It is visible that there are five inductors in the d-q axis
equivalent circuit with two all-inductor cut-sets. After insertion of core loss resistance at the PW side, one of the all-inductor
cut-sets vanishes and therefore the number of electrical state variables will increase to eight. It is customary to move the
voltage source in series with R fe through its above node to the other branches. Shifting this voltage source yields the equivalent
circuit in Fig. 2. b., where:

L lsp i sp ,

lsp

ip

hp

(6)

L hp i hp

R sp

sp

i fe

jLhp

ip

R sp

sp

lsp

sc

R sc j ( p p _ pc )

L hc

L hp
i hc

Rr

ir

R feps

i hp

i fe
vp

j (p p

i hp

R feps

vp

Rr

ir

hp

j ( pp

vc

ic

sc

R sc j ( p p _ pc )

i hp
L hc

L hp
j

i hc

hp

vc

ic

Fig. 2. a) Space vector model of BDFM with core loss in a general reference frame
b) same as the previous model with voltage source shifted

IV.

DERIVATION OF TORQUE EQUATION IN CONSIDERATION OF CORE LOSS

The input power to the machine can be expressed by:

Pin (t )

Pp (t ) Pc (t )

3
Re v p i p
2

Re v c i c

(7)

It has been assumed that the space vector amplitude is equal to the maximum voltage of phase windings. Note that the input
power via the rotor is zero as the rotor is short circuited ( v r
Considering:

0 ).

vp

R sp i p

vc

R sc i c

vr

Rr i r

j(

(pp

j(

pp

pc )
r

(8)

and:

sp

L hp i hp

sc

L hp i hp L hc i hc L r i

(9)

Lhc i hc

Equation (7) can be expressed as:

Pin (t )

3
R sp | i p |2
2

3
Re d sc i c
dt
2
3
Re (
2

3
Re j
2

j (pp

3
R sc | i c |2
2

pc )

3
sp
ip
Re d
dt
2

sp

sc

ip

ic

(10)

which after some manipulations results in:

Pin (t )

3
R sp | i p |2
2

3
R sc | i c |2
2

3
R fe | i fe |2
2

ip
3
Re L sp d i p
dt
2

i
3
Re L sc d c i c
dt
2

i hp
3
i hp
Re L hp d
dt
2

i
3
Re L hc d hc i hc
dt
2

3
Re jp p
2

3
Re j ( p p
2

ir

pc )

3
R r | i r |2
2

i
3
Re L r d r i r
dt
2

ic

(11)

It is possible to distinguish three different terms in the above relation:

1) Dissipative terms
Ploss

3
R sp | i p |2
2

3
R sc | i c |2
2

3
R fe | i fe |2
2

3
R r | i r |2 (12)
2

Where Ploss represents the resistive active power losses.

2) Magnetic power terms

Pmag

3
Re L
2

sp

ip
dt

i
3
Re L hc d hc i hc
2
dt

i hp
3
Re Lhp d
i hp
2
dt

i
3
Re L sc d c i c
2
dt

ip

i
3
Re L r d r i r
2
dt

(13)

Where Pmag is the stored magnetic power.

3) Mechanical power terms
3
Re jp p
2

Pmech

3
Re j ( p p
2

ir

pc )

(14)

ic

Equation (14) implies although there are four voltage sources all being dependent on the reference frame speed (Fig. 2. a),
they interact in such a way that the power absorbed by them (which is equal to the developed mechanical power) is
independent of the reference frame speed, and so will be the developed torque.
Electromagnetic torque can be calculated using (14) as follows:
T em

Pmech

3
Re jp p
2

3
Im p p
2

ir

ir

3
Im ( p p
2

3
Re j ( p p
2
pc )

pc )

ic
(15)

ic

To further simplify the last equation, flux linkages are expressed in terms of currents:
T em

3
Im p p (L hp i hp L hc i hc L r i r ) i r
2

3
Im ( p p
2

pc )(L

sc

i c L hc i hc ) i c

3
3
p p L hp Im(i hp i r )
pc L hc Im(i hc i r )
2
2

(16)

Note that the product of a complex number and its conjugate is purely real. Therefore:

Im(i r i r )

Im(i c i c )

(17)
V.

SIMPLIFICATION OF THE DYNAMIC EQUATIONS

The synchronous reference frame is chosen (

) in the simulations as the quantities are DC at steady state in this

frame. Although it seems straight forward to simulate the equations of BDFM with core loss, very long simulation time makes
it almost impossible to simulate the exact equations. Therefore, an approximation is used to solve the issue of simulation time.

Consider the following equation:

R fe i fe

i hp

L hp d

jL hp

dt

(18)

i hp

As the first right-side term is the time derivative of the current in the magnetizing inductance expressed in the synchronous
reference frame, this term (being called transformer voltage) is small enough in comparison with the other one (being called
speed voltage) and can therefore be neglected. It should be mentioned that this approximation has already been used in
conventional induction machines with core loss in order to estimate the core loss currents [8].
Using the aforementioned approximation results in:
R fe i fe

jL hp

R fe i fed

p
p

R fe i feq

i hp

Lhp (i pq

i feq )

i rq

L hp (i pd

i rd

(19)

i fed )

Solving the above set of equations for i fed and i feq yields:

i fed

L hp (i pq

2
p

R fe

i feq

2
p

i rq )

L hp (i pd

i rd )
2
p

R fe

2
L hp

L 2hp

2
p

2
hp

2
hp

R fe

(i pd

i rd )

R fe
R fe

(20)
(i pq

i rq )

R fe

These equations can be used to omit the core loss currents from the electrical equations and hence decrease the number of
electrical state variables from eight to six.
The mechanical part is simulated using the dynamic mechanical equation:
T em T L

Jd

dt

(21)

VI.

SIMULATION RESULTS

The dynamic equations of a BDFM were simulated using Matlab Simulink. The PW is directly connected to 400V-50Hz
grid. The CW is assumed to be short circuited. This mode of operation is known as the cascade induction mode which is
usually used for startup of the machine [2]. Both PW and CW are connected in delta. The mechanical parameters are
J

0.1 Kgm 2 and D

0.05 Kgm 2 / s . The number of pole-pairs of the PW and CW are three and one, respectively. Other

parameters of the system are as depicted in Table I.

TABLE I
BDFM ELECTRICAL PARAMETERS
PW

CW

Rotor (referred to PW)

Resistance ( )

7.28

4.81

Self Inductance (mH)

17.1

15.2

99.4

Magnetizing Inductance (mH)

1125

333

The machine is started up at no-load till it accelerates to a speed around 900 rev/min which is equal to the synchronous
speed of an induction machine with p p

pc pole-pairs [5].

The free acceleration torque-speed curves of the machine with and without core loss are compared in Fig. 3. It is visible that
the model neglecting core loss has more transients. Moreover, the value of torque reduces as the core loss resistance is taken
into account. Time variation of rotor speed is illustrated in Fig. 4 with and without core loss. It is apparent that inclusion of
core loss reduces the acceleration and increases the settling time. However, it doesnt affect the steady state value of rotor
speed which is in agreement with simulation results of the steady state equivalent circuit in [5]. Comparison of input powers to
PW near synchronous speed is performed in Fig. 5.
20

Electromagnetic Torque (N.m)

15
10
5
0
R Included
fe

-5

R Neglected
fe

-10
-15
-20
0

100

200

300

400

500

600

700

800

900

Rotor Speed (Rev/min)

Fig. 3. Comparison between free-acceleration curves with and without core loss

1000
900

Rotor Speed (Rev/min)

800
700

R Included
fe

600

R Neglected
fe

500
400
300
200
100
0
0

Time (sec)

10

Fig. 4. Comparison between rotor speed transients with and without core loss

2000
1800

Input Power (W)

1600
1400
1200
Rfe Included
R Neglected

1000

fe

800
600
400
600

650

700

750

Rotor Speed (Rev/min)

800

850

900

Fig. 5. Comparison between input powers for free acceleration of BDFM near synchronous speed with and without core loss

It is visible that an error occurs in both transient and steady state input power calculation if the core loss resistor is neglected.
This is important especially for evaluating the effect of core loss on the efficiency of BDFM.

VII.

CONCLUSION

A method of improving the unified reference frame equivalent circuit of BDFM has been presented. It has been previously
reported that neglecting the core loss is the cause of detuning effects in vector control schemes for ordinary induction
machines, and the same issue is expected to apply to BDFM. The proposed model is only marginally more complex than the
previous model, yet enables the design of controllers with compensation of core loss effect.
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