ElectricalEngineering78(1995)241-z479 Springer-Verlag1995

Transient performance of the saturated induction machine

A. C~mpeanu

241
Contents In this paper saturation is introduced in space phasor J dco 3
equations of a.c. machines. On this basis there are rediscovered M - M r = - - - - ' z p d t ' M=~zpRe[j~,,i~*]
the particular forms of the equations in two orthogonal axes,
already known from the literature. The computational character The saturation occurs in the expression of the main flux
of the parameters involved in such equations is shown.
Significant quantitative data are given for a comparative analysis ~..._~h= L ~h( i~ + i~) = L~h ( im) i_.~_m; i._.~_m= i m e j~ (2)
of various models of saturation in an induction machine.
The notation is as usual; the rotor parameters are referred
Der nichtstation~ire Betrieb der ges~ittigten Induktionsmachine to the stator. In the analysis the following generally accepted
fdbersicht In diesem Aufsatz wird der Einflufl der S/ittigung assumptions are considered valid:
in Raumzeiger-Gleichungen der Wechselstrommaschine
eingefiihrt. Aufdieser Basis werden all gemein bekannte Forman - the stator and the rotor leakage fluxes __SUso= L is, ~P = Lro i_~
der Gleichungen im Orthogonalsystem d, q wiedergefunden. are not influenced by the main field saturation ~vh Lsh i =

Es wird gezeigt daft; die Parameter in den Gleichungen and conversely;

- the main flux is conditioned by the resulting current i and
Rechengri3t~en sind. Es werden Beispiele fiir den Vergleich
verschiedener S~ittigungen der Induktionsmachine angegeben. taking into account magnetic symmetry, there exists a unique
characteristic ~sh ( im);
- the iron losses are neglected; hence ~h and i are supposed
1
Introduction
to have the same direction.
The efficient modeling of the induction machine in automatic In (1) the derivative of (2) is required:
control systems for steady state and transient processes requires
inclusion of saturation. This is shown by several references in dl//,h d
the literature (e.g. [1, 2, 4] a. o.). dt - dtt [L ~h( i'~) im] (3)
In what follows a new approach including the saturation
effects in the general equations based on space phasors is we have,
presented. Known results of the literature are rediscovered on
a unitary basis. di m di m . drp.
(4)
2
General equations of the saturated induction machine
and
2.1
General equations in complex form dLsh(im) 1 di m
dt ( L ' h t - Lsh) i~ d~- (5)
The induction machine equations with respect to a d, q-frame
which rotates with the angular speed cG (Fig. 1) have the form:
In (5) L ht=d~tU~h/di m denotes the differential cyclic
d ~ u,--R,i,--j~r~ , L~h magnetizing inductance.
Taking into account (4), (5) one gets
d t l ~ r l = l - U__
r r - a r ~ - j_( g ~ 1 7 6 ~ = L:h Lr
(1) d ~Ps___Ah di m . dqo .
dt = Lsht d - t eJr + J d t Lsh Im
together with the motion equation
di m .
= L'ht--~ + J ~ t (L'h -- L'h) im (6)

Received: 20 September 1994 Equation (6) considers saturation in the space phasor plane.
Prof. Dr. A. C~mpeanu Hence it is compulsory to take into account the differential
University of Craiova, Str. A. I. Cuza-Republicii, ]31.B Ap. 11, RO-1100 inductance L h, attached to the static inductance L h, and by d(p/dt
Craiova, Romania the rotation speed of hrJ~hin the considered d, q-flame.
 ElectricalEngineering78 (1995)

d \a IA The stator voltage equation for the d axis is

CtJr.
cori m d ~ d~Csha
Usd ~---R~ i sd + ~ - -- ('Or~r

Taking into account (2A) and (8), (9) one gets

§ U,d = [R s + (L~o + L o + L z cos2~o)p] isa

Fig. 1. General d, q-flame + [(L2sin2cp) p - 09~L~]isq + (L o + L2cos2~)pi~d

242 + [(Lzsin2cp) p -- cooL,h] i~q

It is also obvious that when saturation is considered system
(1) completed by (6) becomes nonlinear; hence it can be solved
only numerically even for 09 = const. The existing literature
gives analytical approximations for the curve ~h(im) such that
functions L h (i~), L ht(im) can be derived.
where p = d/dt
We proceed in an analogous way with all equations in the
two axes of the system (1). The voltage matrix equation is

2.2 u----z.i
Particular forms of introducing the saturation
Considering Eq. (6) by the projections on the axes d, q of the where
d, q-frame we have
u = [U,dU,vUraUrqIT; i = [i~ai, qirdirq[ r
~t ( i/ishd_]_J @shq) = L sht ~dt ( l.ma + JZ
.. mq) + j -do
- ~ ( L sh - - L sht) ( i md + j i mq) and
(7)
R, + (L~ + L o + L2 cos2cp)p (LEsin2cp) p -- (OrL s (Lo + LEcos2cp) p (L2sin 2~p)p -- 09rZsh
(L2sin2cp)p + (OrL s R, + (L,, + L0 -- L2cos2~p) p (L2sin2~p)p + ~Lsh (L o - Lzcos2co)p
Z=
(Lo + L2cos2~o) p (L2sin2q~)P - (09r -- 09) L,h R r + (Lro + L o + L2cos2cp) p (L2sin2~~ -- (09r - 09) L r
(L2sin2~~ + (09r -- co)Lsh (L 0 -- L2 cos2~o)p (L2sin2~p)P + (~r -- 6~ L~ R r + (L m + Lo -- L2cos2cp) p

By rearrangement other forms of the saturated equations can Introducing the abbreviations
be obtained [2, 4] (see A2). Equations (2A) can also assume the
form L~ + L 0 + L2cos2cp = Lso + Lmd = L~a

Ls~ + L 0 - - L2cos2( p = Ls, + Lmq = L q

Lmd = Lsh t COS2~ + Lsh sin2~ = L0 + L 2 COS2cp
L 2sin 2r = L2s, L 2 COS2 q9 = L2c
L~q = Lsh t sin2q9 + Lsh COS2fp= L0 -- L 2 cos2~o
L m + Lo+ LzCOS2Cp= Lrd
1
Lmq d = Lmd q - - ~ (Lsh t - - Lsh ) sin 2~p = L2 sin2~o (8) Lr,z + L o -- L2cos2~0 = Lrq

one rediscovers the equations established by taking into account

Lsh t + Lsh Lsht -- Lsh (9) saturation in [1].
L o -- - - , L 2 -- _ _
2 2
Remark. From Eqs. (8), (9) the computation character of the
cross-coupling inductances Lmdq as well of the inductances Lind,
We have from Eq. (1A) Lmq, which are dependent of the considered d, q-frame can be
clearly seen. In particular, in a d, q-frame with the real axis
d~o 1 f di~ dime .
coinciding with _ira (~o = 0), we have Lmd=Lsht, Lmq =Lsh ,
dt- i m ~ - ~ COSCp ~ sm q~ (10) Lmaq=Lmqa=O and the cross-coupling inductances
J Lindq disappear. In the general case it follows that L,~d ~ L,,q, these
become equal only in a d, q-frame when ~o= 7z/4. In that case
Equations (1A) resp. (10) contain informations on the speed
Lmd = Lm~ = (Lsh t + Lsh)/2, Lma~ = Lmqd = (Lsh t -- Lsh)/2.
c% of the main field of the machine during the transient
process. 2.3
General equations in the d, q frame
d System (1) together with (6) and taking into account the
09~=~(~o+/~3 = +09~
two-axes projections assumes the general form
A. C~mpeanu:Transientperformanceof the saturatedinductionmachine

L,,~ + Lmd Lindq L d L~,tq isd have also co~ = d~oldt and
Lmdq Ls,~ -~ Lmq Lindq Lmq d i,q
u,a = x / 2 Ucos (co 1t + ~oA), u,q = x/2 Usin(co 1t + q~A)
Lmq L,~@ Lm + Lmq Iirql
When conventional inclusion of saturation is considered the
u,a -- R, i~a + ~(L~o i,q + L,himq ) cross-coupling inductance Lmaq disappears. The classical
approximative form of the equations is obtained from (11) by
= u q -- R,i,q -- o~, (L~ i,d + L~h i ~ )
(11) taking L,h , = Lsh = L h (ira).
Urd -- R~ird + ( ~ -- O9) (Lr~i~q + L,hi~q ) For computations with L h Lsh t ~ - c o n s t the inductance
=

Urq -- Rri,q -- (o0 r -- co) (L~o ird + L~h ima) matrix of (11) becomes invariant, and the solving of the system
describing a given dynamical process becomes much simpler. 243
which displays the computation inductances of the two axes
(non-equal in the general case), and the mutual coupling 3
L~a q given by (8). The application of Eq. (11) to the saturation
The electromagnetic torque is given by effect analysis
Equations (11) are applied in dynamic process analysis of
M = ~zpL,h(i, qird -- i,di~q) induction motor starting. We computed the transient
electromagnetic torque M(t), the transient current im(t), the
we have also transient main flux qs~, angular electrical speeds coy(t), co(t)
of the rotating magnetic field and of the rotor, respectively.
u,a = x / 2 Ucos (~o 1 t+ (PA -- fl,), U,q -- ~ Usin (co~t + cpA-- fl,) Saturation is taken into account by considering various supply
voltages U for the motors.
For the stator-fixed d, q-frame and the d axis coinciding with The quantitative results of this paper were obtained in
the axis of the phase A, o~r = 0 has to be introduced in (11). We 3 cases:

100

80

60
k .

40

Z
20

-20
. . . . . . . . b

a -4( l I I I
350

300

250 f
2OO
,o
-- 150
3

100

50

1 r I I
0 0.05 0.10 0.15 0.20 0.25 Fig. 2a, b. Transient characteristics of the motor for
b Time (s) U= UN= 220V; aM(t), b co(t)
 Electrical E n g i n e e r i n g 78 (1995)

2oo .

244

a -50
if ] ]
350

300

250 I

T
200
,5
0
& 150
3
I "
100

50

i I I I I
0.05 0.10 0.15 0.20 0.25 Fig. 3a, bo Transient characteristics of the motor for
Time (s) U= 300V; aM(t), b co(t)

(a) with Eq. (11) using Lsh(i,~ ), L h,(i,~),

(b) with conventional inclusion of saturation using L h (i~) =
Lsht ( im),
(C) with L h = L ht = const.

The aim of the numerical approach is to compare the three

computing methods. I
The parameters of the analyzed motor are presented in
appendix (A3). For integration of the differential equations, the
/
fourth order Runge-Kutta method was utilized. The variable 160
inductances have been computed using the data of Fig. 7
quadratically interpolated within the language CSMP
(Continuous System Modelling Program) simulation package.
Z
The motor rotor is of squirrell cage type and the stator frame ,4, ,//~/b
E
is applied (O)r= 0). A zero load torque is considered.
With small supplying voltage when the saturation is not 80
presented the three computing methods lead to practically
identical results. This was to be expected and validates the
general system of Eq. (11). " c L~, =ct.
In Fig. 2a there are given the curves M ( t ) for a normal i._~r b Lsh ~ct.
0 Lsh,Lsht ~ ct.
saturation level (U = UN = 220 V). L 9 J: J
Some differences of waveform and amplitude are to be 100 200 300
remarked; for instance we can observe different values (around U(V)
80 Nm) for the maximum torques M m of the first amplitude of Fig. 4. Characteristics M,~(U) obtained by the three computation
the transient process. methods
A. C~mpeanu: Transient performance of the saturated induction machine

245

I [ I I
0 0.05 0.10 0.15 0.20 0.25 Fig. 5. Transient characterisitcs ira(t) of the motor for
Time (s) U = 300 V

The small waveform differences and the short period of
different torques Mm do not practically influence the
characteristics describing the variation of the rotor speed co (t)
given in Fig. 2b. Also the run-up time is the same regardless
of the computational method.
For an abnormal high saturation level ( U = 300 V) the
differences between the curves M(t) are increased (Fig. 3a). The
torque amplitudes M m are quite different (the exact method (a)
shows M m = 200Nm and the classical method (b) gives
M m = 130 Nm). The latter part of the transient process shows
more differences, method (a) displaying damped torque
oscillations.
Oscillations of the rotor speed around the synchronous speed
correspond to the torque oscillations and are due to the
interaction of electromagnetic and mechanical transients. But
even in the case of high saturation the final rotor speed is

- I

(s

a --1 b

-1 Fig. 6a, b,c. Transient characteristics ~,h, ~shd(t), ~shq(t) of the motor
13 for U = 220 V; a fish, b ~b,hd(t)ct~,h~(t) - -
 Electrical Engineering 78 (1995)

reached after a time interval which is independent of the Introducing

computation method (Fig. 3b).
The fact that the maximal torques M m are different for irng
intensely magnetized machines leads only to negligible COSfp = "7--
lm
differences between mechanical transients. Nevertheless these
torques have to be shown in order to estimate correctly the results in
mechanical stresses on the machine.
The torque peak M~ dependence on the saturation level and dco f. dimq . dime"~ 1
on the computation method is shown in Fig. 4. (1A)
d )G
We consider also the transient characteristic i~ (t). Figure 5
displays the curves i,~(t) at U = 300 V computed according to
(A2) From Eqs. (7) and (8) we obtain [2], [4]:
246 the three computational methods. The representation
significance is as in Fig. 2a. The need to apply the exact method
died di~q
(a) is obvious in all cases of high level saturation. L,ne ~ - + L mqd~ -
Without enlarging the present paper, we have to mention = (2A)
that the characteristics i~ (t) obtained by the three methods are ~t q di~q dime
very close for U = 220 V and identical for U = 100 V. Lmq ~ + Lineq
Figure 6 displays $,._~hand the components ~tshd(t), @shq(t) for
U = 220 V; they have been obtained using the simplified method where
(c).
The characteristics clearly show important oscillations of "2 i2ma i2 "2
Line = ~sht
[ trod'2 ---I- Lsh~; Lmq --L
- - sht "~q
"2 Z-L
" sh r~a
"2
the speed and of the main flux amplitude during electro- lm l,n lm lrn
mechanical transients. These oscillations are the origin of the
electromagnetic torque and rotor speed that are shown in Fig. 2.
lmd Zmq
L mdq = L ~qe = (L ,ht -- L sh) -Z
tm
4
Conclusions
(A3) Machine parameters:
In this paper saturation has been considered within space
phasor theory. The basic importance of the characteristic
PN = 4kW, UN = 220/380 V
~h (i~) is pointed out. The mutual coupling, due to the interac-
tion of orthogonal axes, mentioned in the literature [1, 2, 4, 6]
m = 3, f = 50 Hz
is represented by the computational inductances Lind,L q, Lm~q
which depend both on saturation and on the reference frame.
R , = 1.16 f2, Rr = 3.515 f~,
The decomposition on orthogonal axes is necessary for
computer determination and not for physical reasons.
Ls~ = 0.024 H, Lr~ = 0.0034 H,
According to the considered d, q-frame the equations assume
specific forms for the analysis of a given steady-state or transient
p = 2, ] = 0.024 k g m 2
regime.
System (1) to which Eq. (6) is assoicated in agreement with
relations from [1, 2, 4]. The relations of [1] and [2] which seem
to be equivalent represent two valuable ways, with equal
precision of taking into account the saturation in the main flux
circuit.
The characteristics contained in the paper show in
0.450
a convincing manner that for high saturation application of the
programme (a) is compulsory and programme (b) is the most
unconvenient. Even the simplified programme (c) (Lsh const) =
0.375
is preferable. It can also be seen that for normal saturation the
results obtained by all these programmes are quite close and 0.300
I
can be accepted.
0.225
Appendix
(A1) From Fig. 1 we have .._J

0.150

imq
tan cp = __ 0.075
lind

Differentiating we get I I I I I._ I

1.7 3.4 5.1 6.8 8.5
l d~o 1 di~q i~qdi~a G(A)

cos 2~p dt imd dt t,,

e'2 dt Fig. 7. Characteristics L h(i,~), L h,(i,) for the considered motor
A. Cfimpeanu: Transient performance of the saturated induction machine
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