SIMULATION OF A THREE-

PHASE INDUCTION MACHINE

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 Induction Machine Model
Nomenclature:
Stator voltage equations
: Flux linkage
vqs  rs iqs  pqs  ds ……(1)
v: Voltage
vds  rs ids  pds  qs ……(2) i : Current
vos  rs ios  pos ……………………(3) r : Resistance
p : Derivative operator
Speed of the arbitrary reference frame
: of transformation (in electrical rad/s) Subscripts:
q : quadrature axis
Rotor voltage equations
d : direct axis
vqr'  rr'iqr'  p'qr    r 'dr ….(4) o : zero axis
vdr'  rr'idr'  p'dr    r 'qr ……(5) s : Stator quantities
r : Rotor quantities
vor'  rr'ior'  p'or ………………………….(6) m : Air gap quantities
r : Rotor Speed in electrical rad/s l : Leakage quantities
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 Induction Machine Model cont’d
qs  Lsiqs  Lmiqr'
Stator flux linkages:
ds  Ls ids  Lmidr' os  Llsios

'qr  Lmiqs  L'r iqr'

Rotor flux linkages: '
 L' '
dr  Lmids  Lr idr or
' ' ' lr ior

Air gap flux linkages: 

qm  Lm iqs  iqr'  dm  Lm ids  idr' 
3P

Torque Equation: Te  4 dsiqs  qsids
 m  2qm  2dm
2J
Rotor Speed Equation: pr  Te  TL ………………………….(7)
P
Ps  vqsiqs  vdsids  Qs  vqsids  vdsiqs 
3 3
Real and Reactive Powers:
2 2
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Real Power Reactive Power 3
 Simulation Model Equations:
(1) pqs  vqs  rs iqs  ds iqs   Ls 1
Lm  qs 
 '    '  ' 
(2) pds  vds  rs ids  qs
iqr   Lm Lr   qr 
(3) pos  vos  rs ios os
ios 
(4) p  v  r i    r 
' ' ' ' ' Lls

qr qr r qr dr '

p  v  r i    r  i 
' ' ' ' ' ' or
(5) dr dr r dr qr or '
L lr
(6) p  v  r i
' ' ' '
1
ids   Ls Lm  ds 
or or r or

(7) pr 
P
Te  TL  i '    L '   ' 
Lr  dr 
2J  dr   m
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 Transformation Matrices:
For Stator variables
 
cos  cos    cos   
Ts  sin   sin     sin    
2
2
3 1 1 1  
  3
 2 2 2 
For Rotor variables

 
cos   r  cos   r    cos   r   
Tr  sin    r  sin    r    sin    r   
2
3 1 1 1

 
 2 2 2 
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 Inverse Transformation Matrices:
For Stator variables

 cos  sin   1
Ts1  cos    sin     1 2

cos    sin     1 3

For Rotor variables

 : The angle of the arbitrary reference frame
of transformation (in electrical radians)

 cos   r  sin    r  1
Tr1  cos   r    sin    r    1
cos   r    sin    r    1
 r : The rotor angle (or position) in electrical radians
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 Simulink Model I: Large System
Lrr
rs
lds*iqs
Lr ldsiqs - lqsids
Lr*lambda_qs rs
lqs*ids
Lmm iqs Scope
Lr*lambda_qs - Lm*lambda_qr
(Lr*lambda_qs - Lm*lambda_qr)/(Ls*Lr - Lm*Lm) rs*iqs
v qs plam_qs
Lm 1
Lm*lambda_qr s lambda_qs

3/4 vqs - rsiqs - wlam_ds plqs

3/4 1
P*3/4 s
Te - TL w
Ls*Lr P/2/J*(Te - TL) pwr
TL
P w
w*lambda_ds
Ls*Lr - Lm*Lm
P
lambads_ds
Lm*Lm J 2 P/2/J rr vqr
v qr
J 2J plam_qr
rr vqr 1
s
iqr
rr*iqr vqr - rriqr - wlam_dr plqr
Lm*lambda_qs (-Lm*lambda_qs + Ls*lambda_qr)/(Ls*Lr - Lm*Lm)

w - wr
(w - wr)*lambda_dr
Lss -Lm*lambda_qs + Ls*lambda_qr plam_os
1
s
Ls ios
Ls*lambda_qr Lls vos - rs*ios plos
rs*ios
lambda_os/Lls
Lls lambda_dr
lambda_os

Lr*lambda_ds plam_ds 1
ids
s
Lr*lambda_ds - Lm*lambda_dr rs*ids
(Lr*lambda_ds - Lm*lambda_dr)/(Ls*Lr - Lm*Lm) vds - rsids + wlam_qs plds
Lm*lambda_dr
w*lambda_qs

vdr
v dr
plam_dr
Lm*lambda_ds vdr 1
idr
s
(-Lm*lambda_ds + Ls*lambda_dr)/(Ls*Lr - Lm*Lm) rr*idr vdr - rridr + wlam_qr pldr
-Lm*lambda_ds + Ls*lambda_dr
1 vor
v or
s cos (w - wr)*lambda_qr lambda_qr
Ls*lambda_dr vor
Vm theta0 ptheta
wt + theta0 cos(wt+t0) plam_or
1 1
we Vm theta0 s
s cos ior
Llr rr*ior vor - rr*ior plor
we pthetae vas lambda_or/Llr
wet + thetae0 cos(wet+te0)
vasct Llr v ds
thetae0 lambda_or
cos
thetae0 cos
wet + thetae0-2pi/3 vbs 2/3
cos(wet+te0-2pi/3)
2*pi/3 wt + theta0-2pi/3 cos(wt+t0)2
cos vbsct vqs 2/3vqs
2*pi/3 vcs
wet + thetae0+2pi/3 cos(wet+te0+2pi/3) cos

wt + theta0+2pi/3 cos(wt+t0)3
vcsct
1/3

vos 1/3vos
sin

cos(wt+t0)1

vasst

sin
2/3

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cos(wt+t0)4
vbsst vds 2/3vds

sin

cos(wt+t0)5
vcsst
 Simulink Model II: Subsystems
v qs
Ps
v ds

iqs
Qs Scope5
ids

PQs

Scope3
wr
v qs v qs
Te

lam_m
Scope
w w v ds v ds
iqs iqs ias

w ids ids
ibs
ios ios
v os v os
iqr w ics Scope1

vqdos idr
iabcs
w
ior

IM_Model Scope4

iqr
iar
idr

ior ibr

w
Scope2
icr
wr

iabcr

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Simulink Model III: Embedded Matlab Function

1
lam_qs plam_qs
s
plam_qs
1
lam_ds plam_ds
s
plam_ds
1
lam_os plam_os
s
plam_os
1
lam_qr plam_qr
s
plam_qr
1
lam_dr plam_dr
s
plam_dr
1
lam_or plam_or
s
plam_or
1
wr pwr
s
pwr

v as fcn Te

vas Scope
v bs lam_m

vbs

v cs pin

vcs

w qin Scope1

1
2*pi*60 theta iabcs
s
w ptheta

0 theta0 iabcr Scope2

theta0
1
thetar iqdos
s
pthetar iqdos Scope3

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TL iqdor

IM Model iqdor Scope4

TL
 0.5
Stator Flux Linkages: λqs, λds and λos
0.5
qs [Wb]

qs [Wb]
0
0

-0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -0.5
0 0.5 1 1.5 2 2.5 3
1
1
ds [Wb]

ds [Wb]
0.5
0.5

(I) 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(II) 0
0 0.5 1 1.5 2 2.5 3
1
1
os [Wb]

os [Wb]
0
0

-1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 -1
Time [sec] 0 0.5 1 1.5 2 2.5 3
-3
x 10 Time [sec]
10
qs [Wb]

6
2.5 3 3.5 4 4.5 5
(I) Starting and Loading
0.48
ds [Wb]

0.47 (II) Starting Transients

(III)
0.46
2.5 3 3.5 4 4.5 5
1 (III) Loading Transients
os [Wb]

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2.5 3 3.5 4 4.5 5
10
Time [sec]
 0.5
Rotor Flux Linkages: λqr, λdr and λor
0.5
qr [Wb]

qr [Wb]
0 0

-0.5 -0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
0.5 0.5

dr [Wb]
dr [Wb]

0 0

(I) -0.5
(II) -0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3

1 1

or [Wb]
or [Wb]

0
0

-1
-1 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Time [sec]
Time [sec]
0.02
qr [Wb]

-0.02

-0.04
2.5 3 3.5 4 4.5 5
(I) Starting and Loading
0.47
dr [Wb]

0.46 (II) Starting Transients

(III)
0.45
2.5 3 3.5 4 4.5 5
1
(III) Loading Transients
or [Wb]

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11
2.5 3 3.5 4 4.5 5
Time [sec]
 Stator Currents: Iqs, Ids and Ios
100 100

[A]
[A]

50 50

qs
qs

i
i

0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3

100 100

[A]
[A]

(I) 50
(II) 50

ds
ds

i
i

0
0 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
1
1

[A]
[A]

os
0

i
os
i

-1
-1 0 0.5 1 1.5 2 2.5 3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 Time [sec]
Time [sec]
10

(I) Starting and Loading

[A]

5
qs
i

0
2.5 3 3.5 4 4.5 5
7.5 (II) Starting Transients
7
[A]

(III)
ds

6.5
i

6
2.5 3 3.5 4 4.5 5
(III) Loading Transients
1
[A]

0
os
i

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-1
2.5 3 3.5 4 4.5 5
Time [sec]
 Rotor Currents: Iqr, Idr and Ior
50 50

0 0
[A]

[A]
qr

qr
-50 -50
i

i
-100 -100
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
50 50

0 0
[A]

[A]
(I) (II)
dr

dr
-50 -50
i

i
-100 -100
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
1 1
[A]

[A]
0 0
or

or
i

i
-1 -1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
Time [sec] Time [sec]
5

0
[A]
qr

-5
i

-10
(I) Starting and Loading
2.5 3 3.5 4 4.5 5
0.5

(III) 0
(II) Starting Transients
[A]
dr

-0.5
i

-1
2.5 3 3.5 4 4.5 5
1
(III) Loading Transients
[A]

0
or
i

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-1
2.5 3 3.5 4 4.5 5
Time [sec]
 Rotor Speed (ωr), Electromagnetic Torque (Te) and Air gap Flux Linkage (λm)
400
400
r [rad/s]

r [rad/s]
200
200

0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
200 200
[Nm]

100

T [Nm]
100
(I) 0
(II)
e

e
T

-100 -100
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
1 1

m [Wb]
m [Wb]

0.5 0.5

0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
Time [sec] Time [sec]

380
r [rad/s]

370

360
(I) Starting and Loading
2.5 3 3.5 4 4.5 5
20

(III) (II) Starting Transients

[Nm]

10

0
e
T

-10
2.5
0.47
3 3.5 4 4.5 5
(III) Loading Transients
m [Wb]

0.46

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2.5 3 3.5 4 4.5 5
14
Time [sec]
 Input Power Components: Real Power (Pin or Ps) and Reactive Power (Qin or Qs)
4 4
x 10 x 10
3 3

2 2
[W]

[W]
in

in
P

P
1 1

0 0
(I) 0

4
0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
(II) 0

4
0.5 1 1.5 2 2.5 3

x 10 x 10
3 3

2 2
[var]

[var]
in

in
Q

Q
1 1

0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
Time [sec] Time [sec]
2500

2000
[W]

1500

(I) Starting and Loading

in

1000
P

500

0
(III) 2.5 3 3.5 4 4.5 5
(II) Starting Transients
1950

1900
(III) Loading Transients
[var]

1850
in

1800
Q

1750

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2.5 3 3.5 4 4.5 5 15
Time [sec]
 Phase Currents: ABC Stator and Rotor Currents: (ias, ibs, ics and iar, ibr, icr)
200 200

ias ibs ics ias ibs ics

100 100

[A]
[A]

0 0

is
is

i
i

-100 -100

-200 -200
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
(I) (II)
100 100

50 iar ibr icr 50 iar ibr icr

[A]
[A]

0 0

ir
ir

i
i

-50 -50

-100 -100
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 0.5 1 1.5 2 2.5 3
Time [sec] Time [sec]
20

10

(I) Starting and Loading

[A]

0
is
i

-10

-20
(III) 2.5 3 3.5 4 4.5 5 (II) Starting Transients
10

5 (III) Loading Transients

[A]

0
ir
i

-5

-10
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Time [sec]
4 4.5 5
16
 Phase Currents: ABC Stator and Rotor Currents: (ias, ibs, ics and iar, ibr, icr)
Three cycles of the stator frequency (60 Hz)
15
10
5
[A]

0
is
i

-5
-10
-15
4.95 4.955 4.96 4.965 4.97 4.975 4.98 4.985 4.99 4.995 5

10

5
[A]

0
ir
i

-5

-10
4.95 4.955 4.96 4.965 4.97 4.975 4.98 4.985 4.99 4.995 5
Time [sec]

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