Electric Machines IIIA

COURSE EPM 405A

FOR
4th Year Power and Machines
ELECTRICAL DEPARTMENT

Lecture 04

Dr. Amr AbdAllah

Induction Machine Modeling

Electromagnetic torque equation:

The electromagnetic torque is change of the stored magnetic
energy with respect to the angular displacement

f
Te
m
It is clear that the energy stored in the leakage inductances is not part
of the energy stored in the coupling field, thus the energy stored in
the coupling field may be written as:
1
1
W (i
)T (L L I) (i
) (i
)T (L ) (i
)
f 2 abcs
s
ls
abcs 2 abcs
sr
abcr
1
1
(i
)T (L ) (i
) (i
)T (L L I) (i
)
abcr
rs
abcs
abcr
r
lr
abcr
2 (Ls-Lls.I), (Lr-Llr.I) are not
2 function of the rotor position.
Notice that

Dr. Amr AbdAllah

Induction Machine Modeling

Electromagnetic torque equation, Contd:

For a P-pole machine

where P
P W f

Te

2 r

2 m

also
T
1
1

T
T
(i
) (L ) (i
) (i
) (L ) (i
)
abcr
rs
abcs
abcs
sr
abcr
2
2

Finally we can compute the electromagnetic torque

developed from the following equation:
Te

(i
)T
(L ) (i
)
sr
abcr
2 abcs

Dr. Amr AbdAllah

Induction Machine Modeling

Electromagnetic torque equation, Contd:

The torque equation can thus be written in the

expanded form as:
Te

P
L
2 ms

1
1
1
1

i
i

i
i

as ar 2 br 2 cr
bs
br
ar
2
2 cr

1
1
3

sin r

ics icr
i iar
ias i icr
br
br
2
2
2

iar
ics iar
i cos r
i icr
bs
br

The above equation shows the electromagnetic

equation as function of the stator and rotor currents as
well as the rotor position.

Dr. Amr AbdAllah

Induction Machine Modeling

Induction Machine Mechanical Equations:

In addition to the 6 differential equations representing the three phase
induction machine the following mechanical equations are governing the
electromechanical transformation

Te T J
l

dm
dt

Where Tl : Load torque, J : moment of inertia, and m is the rotor speed and
since

2 m

Then

Te T J
l

2 dr
P dt

(4.1)

We have also

r
dt

(4.2)

Dr. Amr AbdAllah

Induction Machine Modeling

Induction Machine Mechanical Equations:

Equations 4.1 and 4.2 represent the two mechanical

equations that in addition to the 6 electromagnetic
represent the dynamic model of the induction machines.
These 8 equations should be solved simultaneously to
obtain the instantaneous value of the system variables (for
the induction motor as an example these are the stator and
rotor currents as well as the rotor position and rotor speed).
These equations can be arranged in the state space model
in the form of:
REPORT
A XXrepresent
X
BU
Where
the vector of state variables, U represent
the vector of input variables.

Dr. Amr AbdAllah

Reference Frame Theory Applied to Induction

Machine

Equations of Transformation for Stator

circuits:
From the previous chapter it has been shown that the
transformation of the abc stationary circuits of the
stator to an arbitrary reference frame is obtained by
2 transformation
2

mean
of the
matrix Ks:
cos( ) cos( ) cos( )

3
3
2
2
2
K s sin( ) sin( ) sin( )
3
3
3
1
1
1

2
2

f qd 0 s K s f abcs

To get

(K s ) 1

cos( )
sin( )
1

2
2
cos( ) sin( ) 1
3
3

2
2

cos( ) sin( ) 1
3
3

Dr. Amr AbdAllah

Reference Frame Theory Applied to Induction

Machine

Equations of Transformation for rotor circuits:

It can be shown by analogy that that the
transformation of the abc rotor circuits to the arbitrary
reference frame is obtained by mean of the
2
2

)
transformation
K r:
cos( ) cos( 3 ) cos( matrix
3

Kr

2
2
2
sin( ) sin( ) sin( )
3
3
3
1

1
1
2

2
2

r
Where

d
dt

d r
dt

0 r K r f abcr

f qd
To obtain

(K r ) 1

cos( )
sin( )
1

2
2
cos( ) sin( ) 1
3
3

2
2

cos( ) sin( ) 1
3
3

Dr. Amr AbdAllah

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The stator and rotor voltage equations of the induction

machine in the abc reference frame was shown to be
given
v as: r i p
abcs

s abcs

abcs

vabcr rriabcr pabcr

abcs L s Lsr
abcr Lrs Lr

Where

i abcs

iabcr

Applying
the Ks transformation
to-1 the stator voltage
-1
-1
K s v qd 0 s rs K s i qd 0 s ( pK s qd 0 s )
equation
-1
-1

v qd 0 s K s rs K s i qd 0 s K s ( pK s qd 0 s )
Dr. Amr AbdAllah

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The stator voltage equation in the arbitrary reference

frame can thus be shown to be given by:

v qd 0 s rs i qd 0 s K s K s-1 p qd 0 s K s ( pK s-1 ) qd 0 s
Where

( pK )
-1
s

sin( )
cos( )
0
sin( 120) cos( 120) 0
sin( 120) cos( 120) 0

0
( K s pK ) 1
0
-1
s

1
0
0

0
0
0

Which leads to:

v qd 0 s rs i qd 0 s p qd 0 s dqs

with

dqs ds - qs 0

(4.3)

Dr. Amr AbdAllah

10

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Similar voltage equation can be written for the rotor circuits in

the arbitrary reference frame by applying the K r transformation
to the abc voltage equation of the rotor:

K r-1 vqd 0 r rr K r-1 iqd 0 r ( pK r-1 qd 0 r )

vqd 0 r K r rr K r-1 iqd 0 r K r ( pK r-1 qd 0 r )

That is:

-1

qd 0 r
v

(
p
K
)

qd
0
r
r
qd
0
r
qd
0
r
r
r
It can also be shown that

0
(K r pK ) ( r ) 1
0

-1
r

Thus
with

1
0
0

0
0
0 (4.4)

vqd 0 r rr iqd 0 r p qd 0 r ( r ) dqr

T
dqr dr - qr 0

Dr. Amr AbdAllah

11

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Equations 4.1 and 4.2 represent the induction machine

voltage equations in the arbitrary reference frame as
function of currents and flux linkages

v qd 0 s rs i qd 0 s p qd 0 s dqs

vqd 0 r rr iqd 0 r p qd 0 r ( r ) dqr

The flux linkages of the stator in the abc frame can be

also transformed to the arbitrary reference frame as:

abcs L s i abcs Lsr iabcr

K s-1 qd 0 s L s K s-1 i qd 0 s Lsr K r-1 iqd 0 r
qd 0 s K s L s K s-1 i qd 0 s K s Lsr K r-1 iqd 0 r
Dr. Amr AbdAllah

12

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The flux linkages of the stator in the dq arbitrary

reference frame is given as:
(4.5)

L i
L i
qd 0 s

sqd 0

qd 0 s

srqd 0

qd 0 r

with

0
Lls LM
L sqd 0 K s L s K s-1
0 Lls LM

0
0
Student assignment
LM 0
Lsrqd 0 K s Lsr K -r1 0 LM
0 0
Student assignment
Dr. Amr AbdAllah

0
0
0

0
0
Lls

where

3
LM Lms
2
13

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The flux linkages of the rotor in the abc frame can be

also transformed to the arbitrary reference frame as:

abcr Lrs i abcs Lr iabcr

K r-1 qd 0 r Lrs K s-1 i qd 0 s Lr K r-1 iqd 0 r
-1
-1

qd 0 r K r L rs K s i qd 0 s K r L r K r iqd 0 r

Thus qd 0 r

Lrsdq 0 i qd 0 s Lrdq 0 iqd 0 r

0
0
Llr LM
Lrqd 0 K r Lr K r-1
0 Llr LM
0

0
0
L
lr
Student assignment
T
Student assignment
Lrsqd 0 K r Lsr K s-1 Dr.
Lsrqd
0
Amr AbdAllah

(4.6)

14

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The machine voltage equations in the arbitrary reference

frame can thus bevwritten
r ias: p
qs

vds
v0 s
vqr
vdr
v0 r

qs

ds

qs

rs ids qs pds
rs i0 s p0 s
rr iqr ( r ) dr pqr
rr idr ( r ) qr pdr
rr i0 r p0 r

(4.7)

The flux
qs linkages
Lls iqs in
LMthe
(iqsarbitrary
iqr ) reference frame can thus be
written as:

ds
0 s
qr
dr
0 r

Lls ids LM (ids idr )

Lls i0 s
Llr iqr LM (iqs iqr )
Llr idr LM (ids idr )
Llr i0 r
Dr. Amr AbdAllah

(4.8)

15

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Substituting the flux linkages from equation 4.8 in the

voltage equations 4.7 the stator voltage equations as
function of the current can be written as:

vqs rs iqs pqs ds

rs iqs p ( Lls LM )iqs p ( LM )iqr ( Lls LM )ids ( LM )idr
vds rs ids pds qs
rs ids p ( Lls LM )ids p ( LM )idr ( Lls LM )iqs ( LM )iqr
v0 s rs i0 s p0 s
rs i0 s p ( Lls )i0 s
Dr. Amr AbdAllah

16

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Similar equations for the rotor voltage equations as

function of the current can be written as:

vqr rr iqr pqr ( r ) dr

rr iqr p ( LM )iqs p ( Llr LM )iqr
( r )( LM )ids ( r )( Llr LM )idr
vdr rr idr pdr ( r ) qr
rr idr p ( LM )ids p ( Llr LM )idr
( r )( LM )iqs ( r )( Llr LM )iqr
v0 r rr i0 r p0r
rr i0 r p ( Llr )i0 r
Dr. Amr AbdAllah

17

Voltage Equations of the Induction Machine

in Arbitrary reference frame

The machine voltage equations in the arbitrary reference

frame can be written in matrix form as:

vqs
rs pLs
Ls
0
pLM
LM
0
v
Ls
rs pLs
0
- LM
pLM
0
ds

v
0
0
r

pL
0
0
0
s
ls
0s

pLM
( r ) LM 0
rr pLr ( r ) Lr
0
vqr
v - ( r ) LM
pLM
0
- ( r ) Lr rr pLr
0
dr

0
0
0
0
0
r

p
L
v
r
lr

0r
(4.9)

iqs
i
ds
i0 s
iqr
i
dr
i0 r

Ls Lls LM
Lr Llr LMNotice that is the reference frame speed while r is the
speed of the rotor

Dr. Amr AbdAllah

18

Dynamic Equivalent circuits of the Induction

Machine in Arbitrary reference frame
The machine equivalent circuits can be derived from the
above deduced equations
e.g. vqs rs iqs pqs ds rs iqs pLls iqs pLM (iqs iqr ) ds
rr iqr pqr ( r ) dr rr iqr pLlr iqr pLM (iqs iqr ) ( r ) dr
vqr

Dr. Amr AbdAllah

19

Voltage Equations of the Induction Machine

for commonly used reference frames
Commonly used Reference frames
1. Stator reference frame (=0)

vqss
r pLs
0
s s
rs pLs
vds 0
v0s s 0
0

v s
pLM
r LM
qrs
pLM
r LM
vdr
0
v s 0
0r

0
pLM
0
0
rs pLls
0
0
rr pLr
0
r Lr
0
0

0
0

pLM
0

0
0

r Lr
0
rr pLr
0
0
rr pLlr

iqss
s
ids
i0ss
i s
qrs
idr
i s
0r

(4.10)

2.rotor reference frame (= r)

3. Synchronously Rotating reference frame ( = e)

Dr. Amr AbdAllah

20

Steady State Equivalent Circuit of the

Induction Machine

Steady State equivalent circuit using stator reference frame

(=0)
At steady state p=Jrel , where rel is the relative speed of the
rotating field and speed of reference frame (rel = s -)

vqs rs iqs p ( Lls LM )iqs p ( LM )iqr ( Lls LM )ids ( LM )idr

rs iqs J s ( Lls LM )iqs J s ( LM )iqr
vds rs ids p ( Lls LM )ids p ( LM )idr ( Lls LM )iqs ( LM )iqr
which we can write:

rFrom
s ids J s ( Lls LM )ids J s ( LM )idr
vs rs is J s ( Lls LM )is J s(4.11)
( LM ) ir
Dr. Amr AbdAllah

vs vqs Jvds
is iqs Jids
ir iqr Jidr

21

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Similar interpretation can be applied to the rotor equations

rr iqr J s ( LM )iqs J s ( Llr LM )iqr

vqr
(1 s ) s ( LM )ids (1 s ) s ( Llr LM )idr
rr idr J s ( LM )ids J s ( Llr LM )idr
vdr
(1 s ) s ( LM )iqs (1 s ) s ( Llr LM )iqr
Jvdr
) rr (idr Jidr ) J s ( LM )(iqs ids ) J s ( Llr LM )(iqr Jidr )
(vqr
(1 s ) s ( LM )(ids Jiqs ) (1 s ) s ( Llr LM )(idr Jiqr )
vr rr ir J s ( LM )is J s ( Llr LM ) ir
J(1 s ) s ( LM )is J (1 s ) s ( Llr LM ) ir(4.12)
vr rr
ir J s ( LM )is J s ( Llr LM ) ir
s
s
Dr. Amr AbdAllah

22

Voltage Equations of the Induction Machine

in Arbitrary reference frame

Using equations 4.11 and 4.12 the steady state

equivalent circuit can be drawn as below:

rr s , Llr

rs , Lls

vs

is

LM

i r

vr
s

vs rs is J s ( Lls LM )is J s ( LM ) ir
vr rr
ir J s ( LM )is J s ( Llr LM ) ir
s
s
Dr. Amr AbdAllah

23

Torque Equation of the Induction Machine

in Arbitrary reference Frame
It has been shown that the torque of the induction machine
in the abc frame can be computed as:
P

Te (i
)T
(L ) (i
)
sr
abcr
2 abcs

r
Substituting for the stator and rotor current vectors in the dq
arbitrary reference frame we get:

P -1
T
Te (K i
)
(L ) (K - 1i
)
s
qd0s
sr
r
qd0r
2
r

P
T
1
T
(i
) (K )
(L ) (K - 1) (i
)
s
sr
r
qd0r
2 qd0s

r
This equation Yields the torque expressed in terms of currents as:

Te

3 P
LM (iqs idr ids iqr )
2 2

REPORT

Dr. Amr AbdAllah

24

Torque Equation of the Induction Machine

in Arbitrary reference Frame

Other Forms of torque equation:

3 P
Te (qr idr dr iqr )
2 2
3 P
Te (ds iqs qs ids )
2 2

REPORT

Dr. Amr AbdAllah

25

NEXT LECTURE

CHAPTER III
Synchronous Machine Dynamic Modeling

Dr. Amr AbdAllah

26