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should be handled using a system approach as motor, invertet, and sometimes the D C link. In
opposed to designing each component all papers reviewed, the motor was represeated
separately. The interPCtion of these EPS with the standard symmetrical two axis machine
components is vital consideration at the initial theory. The model used in this paper USBB
design stages to ensure proper matching of the different technique to model the motor as will
components to optimize the system performance be shown later. P. Franz has provided a
to satisfy all the required specifications for mathematical description of a wound rotor
telectridhybrid vehicles. Many system induction motor fed from a subsynchnous
simulation programs exist which include few of converter cascade with 6/12 pulse feedback
the EPS components, relying on an energy system. The calculation of the magnetic field in
balance technique which uses an approximate the airgap was limited only to the fundamea~td
representation of these components to determine while iron losses in the machine were ignored,
the vehicle overall performance and range. This resulting in limited accuracy of the predicted
is quite adequate for h s type of study, machine perfomce. A. M. sharaf 2 has
however, more detailed models of the EPS developed a digital simulation program for a
components in another simulation package are current source inverter feeding an induction
very desirable for optimum component motor to sssess the protection requirements for
matchmg to achieve the best performance under a large industrial motor drive system. He
all operating conditions including partial included the DC link and the AC system
component break down and limp home dynamics but represented the induction motor
capability of the vehlcle. using the standard d q model. The models of
the subsystems were developed separately and
The objective of this paper is to describe such a integrated using switching matrices. Many fault
simulation program which is concemed with the conditions in the inverter and the DC link could
detail design level of the main components of be simulated but no faults in the motor stator or
the EPS and the impact of the choice of those rotor could be studied.
components on the system performance. Thls is
done to give the EPS design engineers an inside Descriptionof the basic analysis approach
look on the effects of varying the system
The designers of the modem EPS components
component parameters on the system
are sometimes faced with the limitation of the
performance. This will allow better component
peak current of the readily available high power
sizing, proper matching, and parametric studies
solid state devices used in the inverter, and/or
(i.e., the effect of varying different component
space limitation for their packaging in the
parameters on system performance). It will also
vehicle. Under these conditions one of the best
allow studying of possible failure modes of the
solutions is to use two inverters to feed one
different EPS components on the overall system
motor, utilizing parallel windings in the stator
performance to determine the limp home
to achieve this goal. This approach is preferred
capability of the vehicle in case of failures in
to putting the devices in parallel which
one or more of the system components. It will
sometimes requires extensive device matching
also be possible to study the transient system
and lowers the reliability of the inverter. Such
performance to properly account for voltage
excitation configuration creates a need to
spikes, over current, thermal limit, ..., etc.
develop a mathematical model of the induction
The dynamic simulation program developed is
machine with multiple coupled circuits to
more useful for design purposes and not to
simulate the behavior of the mechine with
replace the more general existing simulation
arbitrary winding distribution and c o n n e ~ t i ~ n ~
packages which are essential to study vehicle
for different excitation requiremeuts. The
simulation for different driving cycles (e.g.,
conventional d q model of AC machines,
urban, federal and other driving cycles).
however, is based on symmetrical sinusoidally
?ere fore both Fimiilation m o m m s are needed
. ~ i ~ ~ n ~c.x~ CzU :aK C i z d k - z f o r e c rr,'
'3.:
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can represent any non-symmetric connections per Hz or constant stator frequency
and abnormal operating conditions, simulating operation.
various machine and inverter fault scenarios. i i i ) k e n t regulated PWM inverter
(CRPWM) which generates sinusoidal
The analysis method described in this paper is a currents from sine wave current
general purpose real time simulation tool for commands compared with a triangular
induction machines. All machine parameters, carrier.
especially the mutual inductancm between stator
and rotor windings, are time-varying, resulting Basic analysis approach
in a time-varying system. The majority of the Assume an induction machine with m stator
m a c h e parameters are computed in real time circuits and n rotor bars (note that there are m
while the secondary parameters such as end-turn stator circuits instead of m stator phases). The
effects and leakage inductances can be treated as cage can be represented by n identid equally
input constants. Transient and steady-state spaced rotor loops.
performance can be predicted prior to building
the machine by running the simulation program
to steady state from any prescribed starting
Stator Voltage Equations:
conditions. This digital simulation tool can
study the motor drive system transient and From Fig. 1 the stator voltage equations are:
steady state performance before building any
system components and provide understanding
c
of the EPS system performance. under normal
and fault operating conditions to evaluate the
limp home capability of the vehicle. ?Ius is
possible because the model developed here
computes real time machme parameters,
whereas, the standard d q model, used
extensively now, relies on inductance
measurements from the machme terminals to
obtain most of the parameters in the inductance Lsl .I
matrix to predict the system performance.
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The matrix Rs is a diagonal m by m matrix In case of cage rotor, Vr = [ 0 1, the matrix R,
given by: is n by n symmetric and cyclic matrix:
Torque Equations
Rotor Voltage Equations
From Fig. 2 the rotor voltage equations are:
Mechanical Equation
d20
J 7 = T e - T ~
dt
where J is the inertia of the rotor.
Flux Model
Fig 2 Rotor Loops
Rewriting equations (2) and (10):
M
V, = Rr 1, +2 (9)
-1 -1 T
and
LKAr = L L I,
K sr
+ InIr
T where I, is an m by m unit matrix and I, is an
A+= L 1, + L, 1, (IO) -Ibv n unit matnx. Solviw eauations 15) and
~ - L) 1.dbu&.
where matrix LT is the transpose matrix of
sr
matrix Lsr
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1) Readindesigndata
This block reads in the design data for the
system components and calculates circuit
resistances, leakage inductances, volume of
From (1) and (9)
-
the stator teeth and core for estimating iron
losses.
START
dA
-= Vr-RrIr
I
dt [Read i n Design Datal
I
I Set lnltlal Conditions]
Thus, the flux model of an induction machine I
can be represented by equations (13) - (20). [Form Matrices Rs & Lss I
I
Calculation Of Inductances (Calculate and Store Cuwes LsdBladLsrlB Yd9 ]
The calculation of the machme inductances as IFrom Matrices Ftr h LrJndu1-
defined by the inductance matrices in the I
previous section is the key to the successful l F o m Matrices Lsr 6 dlsr/dS I
simulation of an induction m a c h e . The [Flnd Is. Ir. Tc 1
machine inductances can be calculated by a I
variety of means including field theory, various [ Flnd Vs b y CRPWMISlnrTrl.11
I
circuit approaches, and finite element method. 1 Integrate s. r. wr.
However, a particularly convenient approach 1
Icr I
known as the method of winding functions is t > tstp?
the most suitable for our case. The method
assumes no symmetry in the placement of any
motor coil in the slots. According to winding
function theory, the mutual inductance between
any two windings "i" and "j" in M Y electric Fig 3 Flowchart of Digital Simulation Program
machme can be computed by:
2??
2) Set initial conditions
Lij(8) = 1r g-'(0.4) Ni(0,d) Nj(e,4) dd(21) As we use flux linkage L, and Lr as state
0 variables, in this block we set zero initial
where 8 is the angular position of the rotor with conditions to all of them.
respect to some stator reference, 9 is a 3) Form matrices R, and Lss
dL& .
particular angular position along the stator inner 4) Calculate and store Lsr(B) and usmg
surface, g-l(&+) is termed the inverse gap the winding function method and store the
function which becomes l/g due to the values in two vectors. The values of these
assumption of a uniform airgap. 1 is the length WO functions are obiained from a look up
of the stack and r is the average radius of table in the derivative block.
airgap. The term Ni(8,d) is called the winding The following blocks are located in the dynamic
function and represents in effect the MMF block of the digital simulation program so that
distribution along the airgap for a unit current they can be repeatedly computed in every
flowing in winding i. The self inductance can integral step.
be calculated when i=j. 5 ) Form sine wave VSI excitation voltage
This block is to produce sine VSI excitation
''ln:v c':?dq:f"'.p P-nrr-a
Slmii; 1<:.*3 ..,:,>.. 'I . .:-e .,,.I-;?
...1:rs
1-2- ','.,:.: : ' - C
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'Ihis block is to produce PWM VSI
excitation only. It generatea PWM voltage
auxmling to sine wnve commrnde Aclolowledgment
compusd with high frequabcy triangular
The authors would like to thank T. Poor",
CIVTicT. It can produce e i k corlmm volts
W. Wylam, and R. P o w of DelCO Remy for
p e r H z o r c o ~ f t . d q u m c y ~ ~
supporting the developnrat of this work rad to
Form matrices R, and &
R. b f t a for reviewing thia paper.
Conclusions
A digit91 simulation progrun has been
developed to predict faults in the motor and/or
the inverter using the winding function
technique. This simulation tool is very useful
for EPS system component designers to help in
proper sizing and matching of the system ....... ."..-..
components. This program is also very helpful 4, !. 1, , L. 6. !.
for wide m g e of industrial applications of
induction motors to predict the current wave
.-,,-:s ,-- ,:' .,_ *.? :r.p
3;i-c.
.. 2 *>,r*:yT p . 2 -
.L.
.A
1 .
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