Dynamic Equation of Cage IM - Introduction

S R R R

The 3 stator coils A,B,C can be represented by TWO stationary coils Each stationary coil has resistance and inductance and:

vs = is Rs +
S

d s dt

vs = is Rs +

d s dt

v s = i s Rs +

d s dt

The 3 rotor coils A,B,C can be represented by TWO moving coils Each moving coil has resistance and inductance and: d d d v r = i r Rs + r vr = ir Rs + r vr = ir Rs + r dt dt dt These are the equations of coils moving round at rotor speed

Dynamic Equation of Cage IM Stator

The equations of the TWO coils rotating at r can be written in a coordinate frame rotating with e

v s

d = i s Rs + s dt
j s

x d

v sdq = v s e j i sdq = i s e s
sdq = s e
j s

v s = v sdq e

j s

xq

i s = i sdq e

j s
j s

xd

s
d dt
sdq

sdq

v sdq = i sdq R s +

+ j e sdq

v sdq e j = i sdq e j R s + v sdq e j

d sdq e j dt d sdq j = i sdq e j R s + e + j e sdq e j dt

v sd = i sd R s +
v sq

d sd e sq dt d = i sq R s + sq + e sd dt

Dynamic Equation of Cage IM Rotor

The equations of the TWO coils rotating at r can be written in a coordinate frame rotating with e

0 = i r

d Rr + dt

x d

e
xd

v rdq = v r e j ( r )

v r = v rdq e j ( r )

i rdq = i r e

j( r )

i r = i rdq e

j( r )

xq

-r

j( r ) rdq = re j( r ) r = rdqe

0 = i rd R s +
0 = i rdq R s + d rdq + j sl rdq dt

d rd sl rq dt

0 = i rq R s +

d rq + sl rd dt

Dynamic Equation of Cage IM contd

The stator and rotor fluxes of the two coils in the dq rotating frame are:

sd = Ls isd + Lo ird

rd = Lo isd + Lr ird
rq = Lo isq + Lr irq

sq = Ls isq + Lo irq

These can be used to eliminate ird, irq,sd ,sq

The stator equations Had:

v sdq = i sdq R s +

d dt

sdq

+ j e sdq

In terms of is and r :

v sdq = Rs i sdq + Ls

L d L d i sd + je Ls i sdq + o rdq + je o rdq dt Lr dt Lr L d L d isd e Ls isq + o rd e o rq dt Lr dt Lr L d L d isq + e Ls isd + o rq + e o rd dt Lr dt Lr

vsd = Rs isd + Ls
Comparing real and imaginary terms :

vsq = Rs isq + Ls

These are the stator equations in a rotating dq axis frame

Dynamic Equation of Cage IM contd

The stator and rotor fluxes of the two coils in the dq rotating frame are:

sd = L s isd + Lo ird

rd = Lo isd + Lr ird
rq = Lo isq + Lr irq

sq = L s isq + Lo irq

These can be used to eliminate ird, irq,sd ,sq

The rotor equations
Had:

0 = i rdq R s +
0=

d rdq + j sl rdq dt

In terms of is and r :

L Rr d rdq o Rr i sdq + rdq + jsl rdq Lr Lr dt

Comparing real and imaginary terms :

Lo Rr d 0 = rd Rr isd + rd sl rq Lr Lr dt L R d 0 = r rq o Rr isq + rq + sl rd Lr Lr dt

These are the rotor equations in a rotating dq axis frame

Dynamic Equation of Cage IM

Consider equations in dq rotating frame orientated on rotor flux:
q r is d

rq= ? rq= 0!!

Hence all rq terms go zero

The stator equations under ROTOR FLUX ORIENTATION (RFO)

vsd = Rs isd + Ls vsq = Rs isq + Ls

L d d isd e Ls isq + o rd dt Lr dt L d isq + e Ls isd + e o rd dt Lr

Dynamic Equation of Cage IM

Consider equations in dq rotating frame orientated on rotor flux:
q r is d

rq= 0!!

Hence all rq terms go zero

The rotor equations under ROTOR FLUX ORIENTATION (RFO):

0=

L Rr d rd o Rr isd + rd Lr Lr dt

0=

Lo Rr isq + sl rd Lr

The vector control equations (RFO)

Consider rotor equations under ROTOR FLUX ORIENTATION (RFO)

L R d 0 = r rd o Rr isd + rd Lr Lr dt
Define the magnetising current imrd as:

Lo 0 = Rr isq + sl rd Lr rd = Loimrd

L R d 0 = r Loimrd o Rr isd + Lo imrd Lr Lr dt

Lr d imrd + imrd = isd Rr dt

Rr sl = isq Lr imrd

L 0 = o Rr isq + sl Loimrd Lr

These are often called the vector control equations

Equivalence to DC machine

Consider the d-axis vector control equation:

Lr d imrd + imrd = isd Rr dt

ia

Rf
Vf if Lf

d Vf = Rf i f + Lf i f dt
Comparing terms we see that:

Lf d Vf if + if = R f dt Rf

imrd i f

isd V f / R f

In steady state i.e. under constant field conditions

imrd = isd

isd is really the field forcing current, but is commonly called the field current Be aware of difference between isd and imrd under field weakening conditions

Slip gain and motor torque

Consider the q-axis vector control equation:

Rr sl = isq Lr imrd

Rr sl = isq Lr imrd

sl =

1 isq = ksl isq r imrd

This is true IF and ONLY IF we are orientated on the rotor flux axis Slip is directly proportional to the torque component of stator current The slip gain ksl depends on field level and the rotor time constant r The motor torque was:

T = kisq rd

And if

rd = Loimrd

T = kLoisqimrd

The value of k depends on the convention used for the 3-2 (3-phase to transformation) scaling:
For the 3/2 x peak convention:

2 P Lo k= 3 2 Lr

For the rms convention:

P Lo k =3 2 Lr