INDUCTION RlOTOR MODELLING AND INTERFACING TECHNIQUE FOR

FAST TRANSIENT STABILITY SIMULATION

Srccraina Kuniar R Rrrmnnui;im R Khincha H P Jenkins L

Dept. of Electrical Enginccring International Dcvclopmcnls & Indian Institutc or Science
Rcgional Enginccring Collcgc Enginccring Associates Ltd. Bangalorc, India
Calicut-673 60 I , Kcrala, India Bangalore, India
AUSTRACT: This papcr prcsciits a numerically rohust algorilhm
for the inclusion of induction motor loads for fxd transient st:rhility 2. MODELLING OF INDUCTION MOTOR
simulation of largc powcr systems. Thc proposed method
involves thc siniultancous solution of the cquations which For transient stahility simulation, induction motor is
dcscrilx: the induction motor dynamics with the equations o f rcprcscntcd as variahlc uitcrnal voltagc. E', behind thc stator
network and generators. The interlacing technique is bascd on the resistance. R I . and a transient rcactancc, X'. This modcl is similar
prcdiction 01' motor's slip cmfs using extrapolation. The application to the transient modcl of synchronous machine, and it includes
of :Iir proposed method in the analysis of motor dynamics during rotor. clcctrical transicnts of the motor. The transicnt reactance.
hus shorl circuit and frcc accclcralion are prcscntcd along with an X', is the apparcnt reactance when the rotor is locked. In the
indcpcndcnt corrnhoration. synchronously rotating reference Iramc, the equations describing
this modcl can he ohtaincd [7] as
Key Words: Transicnt Stability, Induction Motor Dynamics, V-EI = (Rl+jX I)II
Modclling, Intcrfacing (2. I )

1. INTRODIJCTION

TIlc detailcd rcprcsentation of induction motor loads

Ixccqncs necessary for transient stahility simulation if the starting
switching transients o f large Induction motors arc to hc analysed. A
lypical situ:ition would involvc hus transfer studies in an auxiliary
system of a powcr plant. Many mcthods arc availablc for
rcprcscnting induction motnr loads for transient stability simulation
r:rnging from thc use of stcady statc cquivalcnt circuit through
approximate ccjuations which should givc the asyniptotic behaviour
to cxact a~u;rtionsdcnved from the circuit analysis of the machinc.

In rcf.1 I ] , a high spccd algorithm fnr simulation or 1:irge

sc:ilc powcr systcm dynamics has hccn proposed. It is a modified
version of the siniultmcous implicit approach proposed hy
H.M.Dommcl and N. Sato [2], and hcncc rcfcrrcd to, in this papcr,
I !
A. Modified- Dommcl-Sail) (MDS) algorithm. The pcrfnrmancc of E,, = S E (2.71
the MDS algorithm has k e n evaluated and its computational
supcriority over thc Dommcl- Sato method has bccn cstahlishcd
through cxhaustivc invcstigations hy Srccrama Kuniar R,Ramanujam
R et. al. 131 on largc practical systems. In this approach, the Equations (2.3) to (2.8) describe tlic clcctrical part of the
dilfcrcniial cquations for thc intcrnal voltages of thc
induction motor. Assuming ncgligiblc windage and friction losscs,
synchronous machincs arc discrctiml using thc trapczoidal rulc, and
and smooth mcchanical shaft powcr, the equation of motion is
:uc comhincd with thc algebraic cquations to yicld a matrix equation
of the form pS = (112H)(Tn, - Tc) (2.9)

lYl[Vl= I J I 11.1) The mechanical torquc T., and clcctrical Toryuc T, arc assumed to
hc positivc when the machinc is motoring. Thc mechanical torquc
Thcn. at cacli tinic stcp, a rcal powcr (P)-rotor angle (6) Tni will vary with speed, the relationship depending on thc type of
convcrgcncc IS first ohtaincd itcrativcly, with the terminal voltage load. Expression for electrical torquc in per unit is given hy
hcing initially held constant at the value of the previous step.
Oncc this cnarsc convcrgcncc is ohtaincd, cquation ( I . I ) is I 1
Tc= ( G l ~ r + E m f ~ mWu
Y (2.10)
solvcd for the hus vollagc vector [VI. and is iteratively adjustcd
until linal convcrgcncc is obtaincd. The significant point is that
solving of equation ( I. I ) which arc coiiiputationally intensive, arc 3. DISCRETIZED MODEL
aviridcd i n getting P-6 convcrgcncc.
Tkc discrctizcd model of thc dilfcrcnrial ccluntions
This papcr dcscrihcs thc modelling of induction motor loads
lor Ihc simultancous solution of thc motor's dirfcrenti:il equations rcprcscnting the induction motor dynamics for simultaneous
solution with network cquations 1s ohtaincd by thc application of
with the network cquations. and presents a new numerically
robust algnritlim for intcrfacing this modcl with MDS mcthod. trapczoidal rulc. Applying trapczoidal rulc to equations (2.5) and
(2.6). simplirying and rearranging, one obtains
Thc proccdurc is hascd on the prediction of motor's slip c m k . This
i qimilar to thc approach adnptcd in synchronous machinc
inccrl'accs. which is hascd on the prcdiction of flux 1ink:rgcs. as
iniplcnicntcd in Elcctromagctic Transients Program (EMTP) 14-61,

IEEE Catalogue No: 98EX137

0-7803-4495-2/98/$10.001998 IEEE 548
 synchronous machine interface to EMTF', linear extrapolation is
uscd for the prediction of slip emfs. The flow of computations in
the time step loop for the induction motor interface is as follows:

i. Predict slip emfs using extrapolation equations given by

I I I

I 1
E,(t) = 2Es,(t-h)-Em(t-2h) (4.1)
G,(t-h) = -azE,(I)+G, (1-h) (3.4)
(4.2)
with the past history tcrms given by
I
U. Compute G(t-h) using equations (3.13) and an approximate
G, (t-h) = a,E:(t-h)+a2E,'(t-h)-alIl,(t-h) (3.5) value of the Norton current injection at the induction motor bus
using equation (3.15).
...
UI. Compute motor's stator current as
and the constants given by
I I I
Il=IN + YNV (4.3)
a1 = (h/2To) (Xo-X)/ (l+(h/2T0)) (3.7)
iv. Compute Er'(t) and Em'(t) using equations (3.1) and
(3.2),and then the electrical torque using equation (2.10).
(3.8)
v. Compute mechanical torque exerted by the load from its
(3.9) characteristics.
Equations (3.1) and (3.2) inserted into the equations (2.3) and (2.4) vi. Compute approximate value of slip (S.(t)) using the
gives the complete dcscription of the electrical part of the expression (3.16).
induction motor reduced to an equivalent of two algebraic
equations, given by vii. Check the absolute value of the difference between the
htest computed slip and the slip computed in the preceding
iteration. If it is within limits. go to step (ix).

viii. Correct slip emfs using the expressions

(3.10) (4.4)
where
X mod= X mod + ai (3.1 1) (4.5)

From equation (3.10). one obtains and set ER.; to E,,' and E
L;to Em:. Then return to step (ii).

ix. Update past history terms, and advance time step.

where
G(t-h) = G,(t-h)+j G,(t-b) (3.13) 5. SIMULATION RESULTS

The dynamics of a 4-pole. 60 Hz,3-phase induction motor

The Norton cquivalent circuit can be deduced from this equation, in
which the Norton admittance and the Norton current source are during bus short-circuit, free acceleration and bus transfer have been
givcn by simulated. The machine is rated 2250 hp, 2300 volts (rms,line-
to-line) and 1786 rpm. The inertia (J) of the load is assumed to be
yNnlod= 11 (RI+ j2mod) (3.14)
equal to the inertia of the rotor and is equal to 63.87 Kgm2. The
parameters, referred to the stator side, of the motor are given in
IN .,,od(t-h)= -YN mod G(t-h) (3.15)
Table 1 [8].

Application of the trapezoidal rule to the equation (2.9) yields
S(t) = (h/4H)CT,(t)-Te(
t))+(b14H)(Tm(
t-b)-TJt-h))+S(l-h) (3.16)
4. INTERFACING ALGORITHM
In order to solve the network equation (1.1) at time 't', in
addition to the current injections at generator buses, current
injections at the induction motor buses also are to be known. As
given by equation (3.15), the Norton current source is a function of
Gr(t-h) and Gm(t-h), and hence the function of the slip emfs. But,
the slip which is described by thc equation (3.16) is not yet
obtained. Thus, for interfacing the induction motor model with the
MDS algorithm, first the slip emfs are to be predicted. As in the
Table-1 Induction Motor Parameters in Ohms
1 R I = 0.029 X I = 0.226 X, = 13.04 R 2 = 0.022 X2 = 0.226 I
Fig.1 shows the variation of the electromagnetic torque of
the motor due to bus short-circuit and its removal. In this case, the
motor is assumed to initially operate with a base load torque of
8.9x103Nm. The step size of numerical integration was 0.lsecond.
The bus short-circuit was applied on the induction motor bus at t
= 0.3 scconds, and is cleared after 0.033 seconds (2 cycles of 60
Hz). If rotor electrical transients were neglected, the motor
torque, would instantaneously become zero at the time of fault.
The speed would decrease, obeying the dynamic relationship
between the load torque and the rotor speed.

549
 The variation of the elcctromagnctic torque during free
accelcration is given in Fig.2. The torque-speed characteristic is
given in Fig.3. Since friction and windage losses are not
rcpresented, thc machine accelerates to synchronous speed. At the
instant of starting, the electromagnetic torque, immediately
following the application of the stator voltage, varies about an
average positive value. Further. from the torque-speed
charactcristics, it can be observed that the rotor speed overshoots
synchronous specd and the torque and the rotor speed show
dccaying oscillations about the fmal operating point. These
oscillations about synchronous speed is determined primarily by the
rotor circuit.
The results of simulation of induction motor dynamics are
validatcd by comparing them against those obtained from
TUTSIM simulation [9]. For TUTSIM simulation, induction
motor is represented by voltage equations based on flux linkages.
The results lrom TUTSIM simulation for the free acceleration of
the motor, is given in Fig.4. The comparison of the results
obtained with MDS algorithm, against thcse results, indicate that
the characteristics match closely.
7. TUTSIM Reference Manual, TUTSIM Products. 200
California Avenue, Palo Alto.
8. Brereton, D.G. Lewis, C.C. Young, "Represcntation of
Induction Motor Loads During Power Systcm Stability
Studies", N E E Trans. on Power Apparatus and Systems,
V01.76, pp.451-461, Aug. 1957
9. Course Material on "Dynamics and Control of AC Drives",
Extension Course, May 13-16, 1985, Madison, University
of Wisconsin.
10. R.Sreerama Kumar,"AIgorithms and Interfacing Techniques for
Simulation of Large Scale Power System Dynamics", Ph.D
Thesis, Indian Institute of Science, Bangalore, India, 1991.
PRINCWAL SYMIIOJS
[Y] : bus admittance malrix
[VI : bus voltagc vector

6. CONCLUSIONS [I] : bus currcnt injection vector

A ncw method of interfacing Induction motor with a V : V,+jV,, voltage (phasor)

transicnt stability simulation algorithm based on simultaneous-
hplicit approach is proposed. The interface is based on E' : E,+jE.,, motor intemal voltage (phasor)
prediction of slip emfs at the start of each time step to initiate
network solution iterations due to the presence of induction 1, : l,,+.jI,,,,,motor stator current (phasor)
motors at a given time step. The proposcd method makes the
algorithm numerically more robust. The differential equations S : per unit slip
describing the dynamics of the motor are solved simultaneously
with the equations of the network and the generators. The W, : synchronous angular frequency
proposed mcthod will be useful in the analysis of induction motor
dynamics during starting and bus transfer. W, : rotor spccd

X' : transient reactance

REFERENCES

1. Sreerama Kumar. R, Ramanujam.R, Khincha.H.P., Jenkins.L X, : open circuit reactance

" A High Speed Algorithm for Simulation of Large Scale Power
To' : rotor open circuit time constant
System Dynamics", Electric Machines and Power Systems
(U.S.A.). Vo1.18, No.3, pp.225-239, May-June 1990.
T, : electromagnctic torque
2. Dommel, N. Sato, "Fast Transient Stability Solutions", IEEE
Trans. on Power Apparatus and Systems, Vol. PAS-91, pp. T,,, : mechanical torquc
1643-1650, JuIY/Au~.1972.
H : Inertia constant
3. Sreerama Kumar. R, Ramanujam.R, Khincha.H.P, Jenkins.L,
"Performance Evaluation of the High Speed Algorithm for h : s k p size of numerical integration
Simulation of Large Scale Power System Dynamics",
Electric Machines and Power Systems (U.S.A.), Vo1.23, No.1,
pp.205-222, Jan. 1992.

4. R.Ramanujam,"A Method of Interfacing Olive's Model of

Synchronous Machine in an Electromagnetic Transients
Program", EMTP Newsletter, Vo1.3, No. 1,pp. 46-59, Aug. 1982.

5. Arriiaga, C.P. Arnold, B.J. Harker, "Computer Modelling of

Electrical Power Systems". John Wiley & Sons Ltd., New York,
1983.

6 Paul C. Krause, "Analysis of Electric Machinery", McGraw-Hill

Book Company, New York, 1987.

550
 3
*10

-02-
0
Rotor speed(rpm1 -
LOO 800 no0 1600 2000

Fig.1. Bus Short Circuit and its Removal: Fig.3 Free Acceleration: Torque-Speed Characteristic
Motor Torque in Nm

251

-12 MDS Algorithm

-20
0 0.6 1.2 1.8 24 3.0
Time (seconds1--+

6 -20
Fig2 Free Acccleration: Motor Torque in Nm G -25
0 20 0
Rotor s p e e d (RPM)--,

Fig.4 Free Acceleration: Toque-Speed Characteristic

TUTSIM Output

55 1