Dynamic Modelling of Induction Motor
Dynamic Modelling of Induction Motor
Dynamic Modelling of Induction Motor
Chapter - 3
3.1 Introduction:
AC motors are invading into the application areas of motor drive,
where DC motors have been predominantly used. Advancements of
inverter technique have made AC power supply very controllable.
Variable frequency power supplies have freed AC motors from the fixed
synchronous speed, and they have become adjustable speed motors. It is
evident that the identification of induction motor is of wide importance in
several industrial applications. Among all the types of ac machines, the
cage type induction motor is widely used in industry.
The induction machine is also called as the asynchronous
machine. The induction motor has numerous advantages such as simple
construction and robustness. The name induction refers to the principle
of the machine operation. Most induction motors are of the rotary type
with basically a stationary stator and a rotating rotor. The stator has a
cylindrical magnetic core that is housed inside a metal frame. The stator
magnetic core is formed by stacking thin electrical steel laminations with
uniformly
spaced
slots
stamped
in
the
inner
circumference
to
42
iron
core
with
uniformly
spaced
peripheral
slots
to
43
44
To overcome this
problem, the reference frame theory was introduced. Such a model can
be described uniquely in rotor reference frame or stationary reference
frame or synchronously rotating reference frame. As the stationary
reference frame is simple, it is used in variable speed drives to study the
transient and steady state performance of the drive.
The symmetrical three phase induction motor has a three phase
system of coils on the stator and a cage on the rotor which can be
considered to be an equivalent to a three phase winding as shown in Fig.
3.1 (a) [2].
(a)
qr
qs
dr
ds
(b)
Fig. 3.1 (a) coupling effect in three-phase stator and rotor windings
of motor (b) Equivalent two-phase machine
45
v qs R s L s p
0
Lm p
0
i qs
0
Rs Ls p
o
Lm p ids
v ds
0 Lm p
r Lm
R r Lr p
r Lr i qr
Lm p
r Lr
Rr Lr p idr
0 r Lm
where r
(3.1)
d
d
and p
dt
dt
qs L s i qs Lm i qr
(3.2)
ds L s ids Lm idr
(3.3)
qr Lr i qr Lm i qs
(3.4)
dr Lr idr Lm ids
(3.5)
v qs R s i qs
dds
dt
dqs
dt
(3.6)
(3.7)
46
0 Rr idr r qr
0 Rr i qr r dr
ddr
dt
(3.8)
dqr
(3.9)
dt
ids
idr
Rs
Lls
ds
v ds
Llr
Rr
-
r qr
dr
Lm
(a)
iqs
iqr
Rs
Lls
Llr
qs
v qs
Lm
Rr
qr
r dr
(b)
Fig. 3.2 (a) dequivalent circuit (b) q-equivalent circuit
The electromagnetic torque of the induction motor in stator
reference frame can be expressed as [2-3]
T e
3 P
ds i qs qs ids
22
(3.10)
47
Te T L J
dm
2 dr
TL J
dt
P
dt
(3.11)
- j , 0 and 0
(3.12)
t=0
Re
48
this
represents steady state DC. Thus the spiral vector can express almost all
kinds of state variables. [2]. Fig 2 shows model of an induction motor.
Vas
ias
irr
ibs
isr
itr
Vbs
ics
Vcs
(3.13)
(3.14)
ias =
irr =
s Lr
r L s
Ls - Lr - Lm 2
L s - Lr - Lm 2
r Lm
(3.15)
s Lm
(3.16)
L s - Lr - Lm 2
L s - Lr - Lm 2
49
Te
3p
Lm imag(ias * irr )
22
(3.17)
dm
dt
(3.18)
simulation
studies
have
been
carried
out
by
using
50
(a)
(b)
(c)
Fig. 3.5 Responses of induction motor using d-q transformation
(a) Mechanical speed (b) Electromagnetic torque (c) Stator currents
51
(a)
(b)
(c)
Fig. 3.6 Responses of induction motor using spiral vector theory
(a) Mechanical speed (b) Electromagnetic torque (c) Stator currents
52
3.4 Summary:
In adjustable speed drives, the transient behavior of the induction
motor has to be taken into consideration. Hence, to study the dynamic
behavior of the induction motor under both transient and steady state
conditions, accurate mathematical models of the induction motor have
been developed in the stationary reference frame by using d-q modelling
and spiral vector theory approaches. From the results, it can be observed
that the two approaches give similar results. Moreover, d-q modelling is
popular approach for the practical implementation of vector controlled
induction motor drives when compared with the spiral vector theory
approach.