41

Chapter - 3

Dynamic Modelling of Induction Motor

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

accommodate the three distributed stator windings. The stator windings

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are formed by connecting coils of copper or aluminum conductors that

are insulated from the slot walls. The rotor consists of a cylindrical
laminated

iron

core

with

uniformly

spaced

peripheral

slots

to

accommodate the rotor windings. In this thesis a squirrel cage rotor

induction motor is used.
When the induction motor is connected to the appropriate ac
voltage source, there is a revolving flux in the air-gap. If there is a
difference in between revolving field speed and rotor speed then the
revolving field induces a voltage in the rotor winding. The difference
between the rotor and the revolving field speeds is called the slip speed.
The induced voltage results in a rotor current that generates a flux in the
counter direction to the flux generated by the stator windings.
However, the speed control of the induction motor is not easier
when compared with the dc motors. At light load conditions, the
induction motors take large starting currents and operate at a poor
lagging power factor. The 3-phase induction machine with a balance
input voltage can be evaluated by single-phase equivalent circuit. In the
steady state mode, the per-phase equivalent circuit of the induction
motor is given in fundamental frequency. The simplified per-phase
equivalent circuit model of the machine provides good performance
prediction for steady state operation of the machine with sinusoidal
supply voltages. But, it fails to give a good model for dynamic
performance. In an adjustable speed drives, the machine normally

43

constituted as element within a feedback loop, and therefore its transient

behavior has to be taken into consideration. Hence, an accurate dynamic
model of the induction motor is necessary which can explain the
dynamic behavior of the machine under both transient and steady state
conditions. This chapter presents two approaches for developing the
mathematical model of the induction motor.
3.2 Induction Motor Modelling:
A dynamic model of the machine subjected to a control must be
known in order to understand and design the vector controlled drives.
Such a model can be obtained by means of either the two-axis theory or
spiral vector theory of electrical machines. Following are the assumptions
made for the model:

Each stator winding is distributed so as to produce a sinusoidal

mmf along air gap, i.e. space harmonics are negligible.(Sinusoidal
induction repartition)

The slotting in stator and rotor produces negligible variation in

respective inductances.

Mutual inductances are equal

The harmonics in voltages and currents are neglected.

Saturation, hysteresis and eddy effects negligible.

3.2.1 Two-axis Theory:

The motor model can be represented by an equivalent two-phase
machine as shown in Fig. 3.1 (b). Though it is some what simple, the

44

problem of time varying parameters still remains.

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

The mathematical model of three-phase induction motor expressed in

stator reference frame is given by [2-3]

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

The dynamic equations of the induction motor in any reference frame

can be represented by using flux linkages as variables. This involves the
reduction of a number of variables in the dynamic equations. Even when
the voltages and currents are discontinuous the flux linkages are
continuous. The flux linkages of the stator and rotor in the stator
reference frame can be expressed as [3]

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)

From (3.1) - (3.5) we get

v ds R s ids

v qs R s i qs

dds
dt

dqs
dt

(3.6)

(3.7)

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0 Rr idr r qr

0 Rr i qr r dr

ddr
dt

(3.8)

dqr

(3.9)

dt

The d-q dynamic model equivalent circuits of an induction motor that

satisfy (3.6) (3.9) are shown in Fig. 3.2 [2].

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

The electro-mechanical equation of the drive can be given as [2]

(3.10)

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Te T L J

dm
2 dr
TL J
dt
P
dt

(3.11)

By using the equations (3.2) - (3.11), the induction motor model

can be developed in stationary reference frame.
3.2.2 Spiral Vector Theory:
The spiral vector is an exponential function of time with complex
variables, as given below
Y Ae t ,

- j , 0 and 0

(3.12)

where is the complex frequency and are real numbers and j is

complex operator. As time progress Y depicts as a spiral in the complex
plane as shown Fig. 3.3.
Im

t=0
Re

Fig. 3.3 Spiral vector in complex plane

When = 0 thenY Ae jt , it becomes a circular vector in the complex

plane and is called circular vector, this represents steady state

48

alternating current quantity. When 0 , it becomes Y Ae -t

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

Fig.3.4 Model of induction motor model

The voltage equations per phase are

Vas R s ias Ls pias Lm pirr

(3.13)

0 Rr irr Lr pirr Lm pias - jm Lm ias - jm Lr irr

(3.14)

From (3.12) and (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

where s Ls ias Lm irr , r Lr irr Lm ias

The electromagnetic torque equation from spiral vector theory is given by

49

Te

3p
Lm imag(ias * irr )
22

(3.17)

The electromechanical equation is obtained as follows

Te TL J

dm
dt

(3.18)

Induction motor is modeled in stator reference frame using (3.13) to

(3.18), which contains only variables and parameters of a and r which
are segregated of others phases. This approach is called phase
segregation method [11].
3.3 Results and Discussion:
To validate the proposed induction motor modelling approaches,
numerical

simulation

studies

have

been

carried

out

by

using

Matlab/Simulink. The simulation parameters and specifications of

induction motor used in this thesis are given in Appendix - I. The
induction motor responses (such as speed, currents and torque) using
the stationary reference frame are shown in Fig 3.5. Whereas the
responses of induction motor using spiral vector theory are shown in Fig
3.6. From the simulation results, it can be observed that the results are
almost same for the two approaches. As the d-q modelling approach of
the induction motor is popular, hence used for vector control algorithms.
Also, the real time implementation of spiral vector theory based vector
controlled induction motor drive is complex and hence this thesis focuses
on the d-q modelling approach in the next chapters.

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(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.