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Possibilities of program EMTP - ATP to analyze the starting current of

induction motor in frequent switching

Conference Paper · May 2015

DOI: 10.1109/EPE.2015.7161062

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 Possibilities of Program EMTP – ATP to
Analyze the Starting Current of Induction Motor
in Frequent Switching
Stanislav Rusnok, Pavel Sobota, Veleslav Mach, Petr Kaþor, Stanislav Mišák
Department of Electrical Power Engineering
VSB – Technical University of Ostrava
Ostrava, Czech Republic
rus109@vsb.cz

Abstract — Program EMTP ATP is a very effective tool ª di º di

for solving and analysis of transients of various electrical U = −e = − « − L ⋅ » = L ⋅ (2)
¬ dt ¼ dt
circuits. We used this program for analysis energy stored
in inductance of induction motor and the influence to The energy supplied at the time dt:
starting current. Paper deals with the situation repeating
the induction motor starting, that occurs immediately di
W = L⋅ ⋅ i ⋅ dt = L ⋅ di ⋅ i (3)
follow each other. During such repeating induction motor dt
starting the influence of already existing magnetic field in
Now we perform the integration of equation (3):
the motor is applied. Is is caused by energy stored in main
inductance of induction motor. We performed a simulation I I I
ªi2 º ªI 2 º 1
in EMTP ATP and after that we made measurement. W=
³
0
³
L ⋅ di ⋅ i = L di ⋅ i = L ⋅ « » = L ⋅ «
0 ¬« ¼» 0
2 ¬« 2
− 0» = ⋅ L ⋅ I 2 (4)
»¼ 2
Keywords: energy stored, starting current, model,
induction motor In our case we are dealing with a rotating system, which has a
fixed part - the stator and the rotating part - rotor. Because it is
a rotating system with two windings, the coupled fluxes are a
I. INTRODUCTION function of two independent variables i1, i2 is possible to write:
The emergence of the magnetic field, which is instrumental ψ 1 = ψ 1 (i1 , i 2 )
in the conversion of electrical energy into mechanical energy, (5)
ψ 2 = ψ 2 (i1 , i 2 )
is associated with starting the motor from zero to operating
speed. It is a transient. The speed and smoothness of the If we consider a linear relationship between the magnetic flux
transient can have a significant effect not only on motor, but on and current so we can for the coupled magnetic fluxes write:
driven equipment also. This is particularly true in a situation
when the number of starts per time is a many. For example, in ψ 1 = L11 ⋅ i1 + L12 ⋅ i 2
induction motors of cranes is the number of starts to 600-900 ψ 2 = L21 ⋅ i1 + L22 ⋅ i 2 (6)
per 1 hour.[5] In this case, there may be times when the motor
L12 = L21 = M
is started again when the magnetic field is not yet extinct from
the previous motor operation. Talking about the magnetic field Now we can write equation for ȥ1 and ȥ2 (6) in matrix form
of the motor, we mean the use of magnetic energy that is and determine the determinant of the system:
accumulated in induction motor mutual inductance. This
energy decreases gradually after exponential curve. [3] L11 ⋅ i1 M ⋅ i2
D= = L11 ⋅ L 22 ⋅ i1 ⋅ i 2 − M ⋅ M ⋅ i1 ⋅ i 2 =
M ⋅ i1 L 22 ⋅ i 2 (7)
II. MAGNETIC FIELD ENERGY STORED = L11 ⋅ L 22 − M 2

Generally, it is possible to describe the energy stored in the

magnetic field based on the following considerations:
For the electromotive force induced in the coil applies: Now we continue the calculation of current i1:

di ψ 1 M ⋅ i2
e = −L ⋅ (1) i1 = = ψ 1 ⋅ L22 ⋅ i2 − M ⋅ i2 ⋅ψ 2 =
dt ψ 2 L22 ⋅ i2 (8)
ψ 1 ⋅ L22 − M ⋅ψ 2
The voltage then: = ψ 1 ⋅ L22 − M ⋅ψ 2 Ÿ
D

And the calculation of current i2:

This work was supported by project SGS SP 2014/49 and

SGS SP 2015/170

614

978-1-4673-6788-2/15/$31.00 (C)2015 IEEE

 L ⋅ i ψ1 1 1
i2 = 11 1 = L11 ⋅ i1 ⋅ ψ 2 − ψ 1 ⋅ M ⋅ i1 = ⋅ L22 ⋅ (L11 ⋅ i1 + M ⋅ i2 )2 + ⋅ L11 ⋅ (M ⋅ i1 + L22 ⋅ i2 )2 −
M ⋅ i1 ψ 2 2 2
(9)
L ⋅ψ − ψ1 ⋅ M
− M ⋅ (L11 ⋅ i1 + M ⋅ i2 ) ⋅ (M ⋅ i1 + L22 ⋅ i22 )
Wmag = =
= L11 ⋅ ψ 2 − ψ 1 ⋅ M Ÿ 11 2 L11 ⋅ L22 − M 2
D
1
2
2
⋅ L22 ⋅ L11 ( 1
) (
⋅ i12 + M 2 ⋅ i22 + ⋅ L11 ⋅ M 2 ⋅ i12 + L222 ⋅ i22 −
2
)
Now we consider that the first it will excite the winding by =
(
− M ⋅ M ⋅ L11 ⋅ i12 + L11 ⋅ L22 ⋅ i1 ⋅ i2 + M 2 ⋅ i1 ⋅ i2 + M ⋅ L22 ⋅ i22 )=
current i1 to the size of the coupled magnetic flux ȥ1. In this L11 ⋅ L22 − M 2
case, the flux ȥ2 is zero. For this consideration we can the
equation (8) to modify:
1
2
( 2
⋅ L22 ⋅ L11
1
) (
⋅ i12 + L22 ⋅ M 2 ⋅ i22 + ⋅ L11 ⋅ M 2 ⋅ i12 + L11 ⋅ L222 ⋅ i22 −
2
)
i1 =
ψ 1 ⋅ L22
(10) =
(
− M 2 ⋅ L11 ⋅ i12 + M ⋅ L11 ⋅ L22 ⋅ i1 ⋅ i2 + M 3 ⋅ i1 ⋅ i2 + M 2 ⋅ L22 ⋅ i22 ) =
D L11 ⋅ L22 − M 2
1 2 1 1 1
⋅ L22 ⋅ L11 ⋅ i12 + ⋅ L22 ⋅ M 2 ⋅ i22 + ⋅ L11 ⋅ M 2 ⋅ i12 + ⋅ L11 ⋅ L222 ⋅ i22 −
2 2 2 2
After reaching value of the magnetic flux ȥ1, the second
− M 2 ⋅ L11 ⋅ i12 − M ⋅ L11 ⋅ L22 ⋅ i1 ⋅ i2 − M 3 ⋅ i1 ⋅ i2 − M 2 ⋅ L22 ⋅ i22
winding will be excited. In this case, the first winding is by flux = =
ȥ1 already excited, and therefore applies ȥ1 = ȥ1. Current i2 L11 ⋅ L22 − M 2
remains intact, so: 1 2 1 1
⋅ L22 ⋅ L11 ⋅ i12 + ⋅ L11 ⋅ L222 ⋅ i22 − ⋅ M 2 ⋅ L11 ⋅ i12 −
2 2 2
ψ 2 ⋅ L11 − ψ 1 ⋅ M
i2 = (11) − M ⋅ L11 ⋅ L22 ⋅ i1 ⋅ i2 + M 3 ⋅ i1 ⋅ i2 − M 2 ⋅ L22 ⋅ i22
D = =
L11 ⋅ L22 − M 2

To define the energy of the magnetic field we now need to

1
2
( 1
) (
⋅ L11 ⋅ i12 ⋅ L11 ⋅ L22 − M 2 + ⋅ L22 ⋅ i22 ⋅ L11 ⋅ L22 − M 2 +
2
)
integrate the sum of the currents i1 (equation 10) and i2 + M ⋅ i1 ⋅ i2 ⋅ (L
11 ⋅ L22 −M ) 2
= =
(equation 11). It can therefore write:
(L ⋅ L
11 22 −M2 )
ψ1 ψ2 ψ1 ψ2 1 1
ψ 1 ⋅ L22 ψ 2 ⋅ L11 −ψ 1 ⋅ M ⋅ L11 ⋅ i12 + ⋅ L22 ⋅ i22 + M ⋅ i1 ⋅ i2
³ ³ ³ ³
Wmag = i1 ⋅ dψ 1 + i 2 ⋅ dψ 2 = ⋅ dψ 1 + ⋅ dψ 2 = =
D D 2 2
0 0 0 0
ªψ 1 ψ2 º
(14)
³ ³
= ⋅ « L22 ⋅ψ 1 ⋅ dψ 1 + (L11 ⋅ψ 2 − M ⋅ψ 1 )⋅ dψ 2 »
1
D « » This equation defines energy of magnetic field of induction
«¬ 0 0 »¼ motor. Individual parameters from (14) are shown in equivalent
(12) circuit of induction motor in Fig. 1.

Now perform the integration of equation (12):

ª ψ1 ψ2 º
³ ³
1 «
Wmag = ⋅ L22 ⋅ ψ 1 ⋅ dψ 1 + (L11 ⋅ψ 2 − M ⋅ψ 1 ) ⋅ dψ 2 » =
D « »
«¬ 0 0 »¼
ª ªψ 2 º
ψ1
ªψ 2 º
ψ2 º
= ⋅ « L22 ⋅ « 1 » + L11 ⋅ « 2 » − M ⋅ψ 1 ⋅ψ 2 » =
1
(13)
D « ¬« 2 ¼» 0 ¬« 2 ¼» 0
»
¬« ¼»
1 ª º
ªψ 2 º ªψ 2 º Fig. 1 Equivalent circuit of induction motor
= ⋅ « L22 ⋅ « 1 − 0» + L11 ⋅ « 2 − 0» − M ⋅ψ 1 ⋅ψ 2 » =
D « «
¬ 2 »
¼ «
¬ 2 »
¼ »¼
¬
Network voltage is possible write by relation in complex form:
1 §1 1 ·
= ⋅ ¨ ⋅ L22 ⋅ψ 12 + ⋅ L11 ⋅ψ 22 − M ⋅ψ 1 ⋅ψ 2 ¸
D ©2 ¹
u1 = U m e j (ω 0 −ω k )t ⋅ e jγ
2
(15)

Where Um is maximal value of voltage, ω0 is angular

Now to equation (13) we substitute expressions (6) and (7) and synchronous speed, ωk is angular speed of electromagnetic
we make adjustments: field and Ȗ is angle of switching.
Expression of total magnetic flux of rotor is given by relation:

α r' ⋅k s
jγ
Um (α s ⋅α r ⋅σ − s ) + j (α r' + s⋅α s' )
' '
Ψ2ust (t ) = ⋅e ⋅ e j (ω0 −ωk )t (16)
ω0
where αr and αs are coefficients of damping of rotor and
damping of stator, ks is stator dissipation factor, ı is dissipation
factor, s is slip

If we put t = t vyp :
615
 § · damped oscillations. If the motor is starting at the maximum
Um ¨ α r' ⋅ k s ¸ of voltage phase eg. u1 + e01 , so repeated starting will be most
Ψ2 (0) = ⋅ exp¨ jγ ¸⋅
ω0 ¨ (α s' ⋅ α r' ⋅ σ − s )2 + j (α r' + s ⋅ α s' ) 2 ¸ adverse.[4]
© ¹
§ − (α ' + s ⋅ α s' ) ·¸
⋅ exp¨ jarctg ' r '
¨
(
⋅ exp j (ω0 − ωk )tvyp )
© α s ⋅ α r ⋅ σ − s ¸¹
(17)
By using (18) and (19):
Ψ1 = k r ⋅ Ψ2 (18)
−ω 0α t t − j (ω k −ω )t (19)
Ψ02 = Ψ2 (0) ⋅ e ⋅e

the equation for flux of rotor Ȍ02 and stator Ȍ01 is possible to
define after it’s disconnecting from the network:
§ ·
Um ¨ α r' ⋅ ks ¸
Ψ02 = ⋅ e j (γ − ∆γ ) ⋅ exp¨ jδ1 ⋅
ω0 ¨ ' ' 2 ' ' 2 ¸¸
© (α ⋅
s r α ⋅ σ − s ) + (α r + s ⋅ α )
s ¹
⋅ exp(− ω0α r ∆t − j (ωk − ω )∆t )
(20)
§ ·
Um ¨ α r' ⋅ ks ⋅ kr ¸
Ψ01 = ⋅ e j (γ − ∆γ ) ⋅ exp¨ jδ1 ¸¸ ⋅
ω0 ¨ (α s' ⋅ α r' ⋅ σ − s)2 + (α r' + s ⋅ α s' )2 Fig. 2 Curves for repeated starting of induction motor
© ¹
⋅ exp(− ω0α r ∆t − j (ωk − ω )∆t )
(21)
where: ∆γ = (ω0 − ω k )tvyp III. PARAMETERS OF USED MOTOR
The table 1 shows the nominal value of our used motor.
− (α r' + sα s' ) For a detailed motor analysis we will use its equivalent circuit
δ1 = arctg
α r' ⋅ α s' ⋅ σ − s (Fig. 1). For this scheme we have to perform the calculation of
ǻȖ is difference of angles of switching and ǻt is time, which is the parameters. These parameters are also shown in Table I.
subtracted from moment of disconnecting of motor from TAB. I MOTOR PARAMETERS
network. The induced voltage from non - defunct field is
characterized by amplitude: P2N = 75000 W Rs = 0.0788 Ÿ

α r2 + (1 − s) 2 (22) U1N = 400 V Lıs = 0.00154 H

E01m = U m ⋅ (1 − σ ) ⋅ α r' ⋅
(α s' α r' σ − s ) 2 + (α r' + sα s' ) 2 f1 = 50 Hz R’r = 0.203 Ÿ
and by factor of disappearance Įr of rotor winding when stator IN1 = 128 A L’ır = 0.0007 H
winding is disconnected. Amplitude E01m from non – defunct
-1
field is close to the amplitude of network when slips are near nN = 2975 min Lȝ = 0.694 H
zero. The value E01m and speed are decreasing very rapidly 2
J = 0.844 kg.m p=1
when the motor is disconnected from network in high speeds.
The value E01m is negligible in slow speeds. From there it is MN = 241 Nm IK = 1021,7 A
possible to deduce, the disappearing field from repeated
starting of induction motor has little effect on electromagnetic I0N = 36.4 A cosij0N = 0.072
transients during slow speeds. Coefficients of disappearance Įs cosijK = 0.406 Connection - D
and Įr are usually in the order of hundredths and thousandths.
For induction motor are around Įs,Įr ~0,002÷0,05. Therefore
π and δ ≈ − π . Thus the previous:
δ1 ≈ − 2 IV. MOTOR MODEL AND SIMULATION
2 2
Simulation model of induction motor has been compiled in
δ1 + δ 2 ≈ −π .
EMTP - ATP to assess the starting currents. The motor
We write equations for each phase of induction motor in form: parameters are set exactly to the Table I. The complete model
§ ∆ω · ∆ω is shown in Figure 3.
u A + e0 A s = 0 = −2 ⋅U m sin¨ ω0 ∆t + γ + ∆γ − ⋅ ∆t ¸ ⋅ sin ⋅ ∆t
© 2 ¹ 2
(25)
§ ∆ω · ∆ω
u B + e0 B s = 0 = −2 ⋅ U m sin¨ ω0 ∆t + γ + ∆γ − ⋅ ∆t − 120° ¸ ⋅ sin ⋅ ∆t
© 2 ¹ 2
(26)
§ ∆ω · ∆ω
uC + e0C s = 0 = −2 ⋅ U m sin¨ ω0 ∆t + γ + ∆γ − ⋅ ∆t + 120° ¸ ⋅ sin ⋅ ∆t
© 2 ¹ 2
(27)
Favorable and unfavorable conditions for repeated starting of
induction motor at high speed is possible determine from Fig.
2. As we can see in Fig.2 from envelope curves the voltage of
phases are symmetrical and continuously varies according to Fig.3 Complete motor model in EMPT - ATP
616
Individual parts of model:
1 – Voltage source
2 – Switches for control starting of motor
3 – Parameters (resistance and inductance) of wires
4 – Induction motor
5 – Load of motor
6 – Factor of friction and moment of inertia

A. Simulation of repeated starting in no-load state

Following figures show situation of repeated starting of

motor in no-load state. After each starting the motor was
disconnected from network and again connected to the
network after following time distances: 20 ms, 120 ms, 200 Fig. 7 Time distance 500 ms
ms, 500 ms, 1 s, 1.5 s, 1.8 s, 2.5 s and 30 s. I was sensing
current in all three phases and mechanical angular speed.

Fig. 8 Time distance 1 s

Fig. 4Time distance 20 ms

Fig. 9 Time distance 1.5 s

Fig. 5 Time distance 120 ms

Fig. 10 Time distance 1.8 s

Fig. 6 Time distance 200 ms

617
Fig. 11 Time distance 2.5 s Fig. 14 Time distance 100 ms

B. Simulation of repeated starting in full-load state

In this case the similar situation was investigated, but the

motor is operating under its almost nominal mechanical load.
Now four cases only were simulated. Time distances between
connecting and repeated connecting are 20 ms, 120 ms, 200
ms and 500 ms. Influence of field has not applied yet in next
times.

Fig. 12 Time distance 30 s

Following two figures show situation, when the motor was

disconnected and again connected during starting, so motor is
not in steady-state operation yet.

Fig. 15 Time distance 20 ms

Fig. 13 Time distance 20 ms

Fig. 16 Time distance 120 ms

618
 As shown in tab. II. the magnetic field and current peaks
are not applied in first milliseconds during repeated starting
but rather in time the order of seconds (it corresponds with fig.
2). Higher current peaks were observed in full – load state of
induction motor. The main dangerous state (highest value of
current peak) is during repeated connection of motor in 20 ms
after disconnection from network during initial starting – 1940
A peak value.

CONCLUSION
The aim of the article was a research the influence of
magnetic energy stored in inductance of induction motor to
starting current during repeated starting. We used the program
ETMP –ATP for solving this problem and we showed
Fig. 17 Time distance 200 ms possibilities of this problem. In adverse time current peaks can
arise during a repeated starting of motor, which are higher
than the starting currents during starting from zero. These
currents peaks are very dangerous. If we are thinking use the
motor for drive of crane, the frequently switching is quite
common, because of accuracy in placing of weight. Currents
(voltages) peaks which are caused by this operation are very
dangerous due to degradation of the insulation system of the
machine.

REFERENCES
[1] S. Rusnok, PĜechodné dČje pĜi provozu asynchronních
elektromotorĤ. Ostrava, 2012. „Transients Effects by
Asynchonous Motors Operation“.VSB – Technical University of
Ostrava
[2] K. Chmelík, Magnetické pole v okolí asynchronního stroje, jeho
zjišĢování a využití. ElectroScope. 2007, þ. 2. ISSN 1802-4564.
Fig. 18 Time distance 500 ms [3] P. C. Krause, O. Wasynczuk a S. D. Sudhoff. Analysis of
Electric Machinery And Drive Systems. 2nd ed. New York:
IEEE Press, 2002, 613 s. ISBN 978-0-471-14326-0.
V. RESULTS [4] I. Boldea, S. Nasar. The induction machines design handbook.
Following table (Tab. II.) shows results from individual 2nd ed. Boca Raton, FL: CRC Press/Taylor, c2010, 827 p.
Electric power engineering series. ISBN 14-200-6668-4.
simulations. Value of starting current during first connection
to network and starting was quite similar in all simulated [5] M. N. Bandyopadhyay, Electrical machines: theory and
practice. Eastern economy ed. New Delhi: Prentice-Hall, 2007.
states and its value was around 1500 A – peak value. Value of ISBN 978-812-0329-973.
second starting current during disconnection and repeated
[6] Ch.-M. Ong, Dynamic simulation of electric machinery: using
connection to network is important for us. This value of MATLAB/SIMULINK. Upper Saddle River, N.J.: Prentice Hall
current is in the table II. PTR, c1998, xv, 626 p. ISBN 01-372-3785-5.
[7] V. Bartoš, Teorie elektrických strojĤ. 1. vyd. V Plzni:
TAB. II. LIST OF INDIVIDUAL CURRENT PEAKS Západoþeská univerzita, 2006, 230 s. ISBN 80-704-3509-7.
Full-load
Time No-load (A - peak) (A - peak)
20 ms 136 520
120 ms 536 2530
200 ms 767 976
500 ms 1383 1760
1s 1689 -
1.5 s 1593 -
1.8 s 1607 -
2.5 s 1597 -
5s 1597 -

30 s 1604 -

No-load state during starting

20 ms 1940 -

100 ms 1670 -
619

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