Mathematical Modeling of Dynamic Induction Motor With Bearing Fault

Ashish Kamal * et al.
/ (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH

Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
Mathematical Modelling of Dynamic Induction

Motor and Performance Analysis with Bearing Fault
ASHISH KAMAL
V.K.GIRI
Department of Electrical, Madan

Mohan Malaviya Engineering College
Gorakhpur,(UP), INDIA
Department of Electrical, Madan

Mohan Malaviya Engineering College
Gorakhpur,(UP), INDIA
ABSTRACT: In this paper the modelling of 3 phase induction motor having bearing fault is being carried out with the
help of dq0 axis transformation. The theory of axis transformation is widely used to create such model because it
reduces the complexities of time-varying variables. In the present work, a step by step Simulink implementation of an
induction machine using dq0 axis transformations of the stator and rotor variables in the arbitrary reference frame
has been carried out. For this purpose, the relevant equations are derived and stated at the beginning, and then a
generalized model of a three-phase induction motor is developed. The implementation of developed mathematical
dynamic model of induction motor has been done using MATLAB -R2011a Simulink block set. Lastly, the
performance analysis of induction motor with bearing fault has been presented.
Keywords- 3-Phase Induction motor; Bearing Fault; Mathematical Modeling; MATLAB; Simulation
I.
INTRODUCTION
In adjustable speed drives, the machine are

normally constitutes an element within feedback
loop and therefore its transients behaviour has to be
taken into consideration [1]. High -performance
drive control, such as vector control and fieldoriented control, is based on dynamic d-q model of
the machine. The machine model can be described
by the differential equation with time-varying
mutual inductance; This model can be seen as quite
complex due to continuous change in the position
of rotor with respect to stator. Therefore to remove
this complexity the dynamic d-q model is used in
present work [3].
slots and space harmonics and consider an ideal

winding distribution then the 3 phase stator supply
is capable to create a rotating magnetic field whose
speed is considered as synchronous speed.
II.
DYNAMIC D-Q MODELLING OF

THREE PHASE INDUCTION MOTOR
The 3 phase ac machine can be represented by an

equivalent two phase machine as shown in fig. 2.
Fig. 2: Two Winding Representation of 3 Phase

Induction Motor
Fig. 1: Ideal 2 Pole 3 Phase Induction Motor

Fig. 1 shows idealised three phase induction motor
having 2 poles and winding on stator and rotor are
concentrated types. The three phase winding are
either in star (Y) or in Delta () form are
distributed sinusoidally and embedded in slots. In
case of squirrel cage machine, the rotor is shorted
by the end rings [4]. If we neglected the effect of
ISSN 2320 5547
Fig. 3: Stationary and Rotating Axes

s
Where, d -qs correspond to stator direct and

quadrature axis and dr-qr correspond to rotor direct
and quadrature axis.
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Page | 336
Ashish Kamal * et al. / (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH
Let us assume that the ds-qs are oriented at

s
s
angle as shown above. The voltage Vds
and Vqs
can be resolved into as-bs-cs components and can be
represented in matrix form as
Vas cos

V bs cos( 120 )
Vcs cos( 120 )
sin
sin( 120 )
sin( 120 )
V s
1 qs
1 Vdss
1 Voss
(1)
The corresponding inverse relation can be written
as
s
Vqs
s
Vds
s
Vos
cos
2
3 sin
.5
cos( 120)
sin( 120)
.5
cos( 120) Vas

sin( 120) Vbs
Vcs
.5
(2)
s
Here, Vos
shows the zero sequence component
which may or may not be present. The current and
flux can be transformed by similar equation [7].
So far, we have transformed the three axes variable

into two axis variable now we have to transform
two axes stationary variables into two axes rotating
variables, for that consider the fig.3 [8]. In fig.3, we
have considered de-qe as the rotating reference
frame which is rotating with speed e with
respect to ds-qs axes, we can relate e and e as
e = e t
s
(3)
The two phase d -q winding are transformed into

the hypothetical winding mounted on de-qe axes.
The voltages on ds-qs axes can be transformed into
de-qe frame by following equations,
e
s
s
Vqs
Vqs
cos e Vds
sin e
(4)
e
s
s
Vds
Vqs
sin e Vds
cos e
(5)
We can transform back again the rotating frame

into stationary frame by using following equation,
s
Vqs
Vqs cos e Vds sin e
(6)
Vds Vqs sin e Vds cos e
(7)
Since, we have considered that

Vas Vm cos(t), Vbs Vm cos(t 120) andVcs Vm cos(t 120)
therefore, variable in stationary reference frame and

rotating reference frame can be written as,
s
Vqs
Vm cos(e t )
(8)
s
Vds
Vm sin(e t )
(9)
Vqs Vm cos
ISSN 2320 5547
Vds Vm sin
(11)
From equations (8) and (9) it can be seen that

s
s
Vqs
and Vds
are balanced two phase voltage of equal
peak values and the latter /2 angle phase lead with
respect to other component.
The equation (10) and (11) shows that, sinusoidal
variable in stationary frame appears as a d.c.
quantities in a synchronously rotating reference
frame. This is an important derivation. One thing is
important to note that the stator variables are not
necessarily balanced sinusoidal wave. In fact, they
may be any arbitrary time function.
We can write the following stator circuit equation
in stationary frame as [5],
s
Vqs
R s i sqs
d s
qs
dt
(12)
s
Vds
R s i sds
d s
ds
dt
(13)
Where, sqs and sds are q-axis and d-axis stator

flux linkage respectively.
When these equation are converted to de-qe frame,
the following equation can be written
Vqs R s i qs
d
qs e ds
dt
(14)
Vds R s i ds
d
e qs
dt ds
(15)
The last term in equation (14) and (15) can be

defined as speed e.m.f due to rotation of axes, that
is, when e =0, the equation reverts to stationary
form. It is important to note here that flux linkage
in de and qe axis induces e.m.f in qe and de axes
respectively, with /2 angle (lead).
When all the variable and parameter are referred to
the stator, since the rotor actually moves at
speed r , the d-q axis fixed on rotor moves at a
speed e r relative to synchronously rotating
frame. Therefore, in de-qe frame, the rotor equation
can be modified as,
Vqr R r i qr
d
qr ( r ) dr
dt
Vdr R r i dr
d
( r ) qr
dt dr
(16)
(17)
(10)
Page | 337
From equations (24), (25), (26), (27), and (28)

gives the complete model of electro-mechanical
dynamics of induction machine in synchronous
frame [6].
III.
EFFECT OF BEARING DAMAGE ON

INDUCTION MOTOR
If we consider damage in either in outer race or in

inner race of the bearing then rotor shifts toward
the line joining centre of bore and the point of
damage, and from the figure 5, it can be seen that
the air-gap is no longer remains uniform[11].
Fig. 4: de qe Dynamic Model Equivalent Circuit

In fig. 4, the flux linkage expression in terms of
current can be written as follow
qs L1s i qs L m (i qs i qr )
(18)
qr L1r i qr L m (i qs i qr )
(19)
qm L m (i qs i qr )
(20)
ds L1s i ds L m (i ds i dr )
(21)
dr L1r i dr L m (i ds i dr )
(22)
dm L m (i ds i dr )
(23)
Putting equation (18) & (21) in equation (14) and

(15),
Vqs (R s sLs )i qs sLmi qr e Lsi ds e L mi dr
Vds (R s sLs )i ds sLmi dr e Lsi qs e L mi qr
(24)
(25)
Similarly putting equation (19) & (22) in equation

(16) & (17), we get
Vqr (Rr sLr )iqr sLmiqs (e r )Lridr (e r )Lmids
(26)
Vdr (Rr sLr )iqr sLmids (e r )Lriqr (e r )Lmiqs (27)
The development of torque by the interaction of

air-gap flux and rotor MMF is discussed before.
Here, it will be expressed in more general form
relating the d-q component if variable.
T
3P
i qm i dr
2 2 dm qr
ISSN 2320 5547
(28)
Fig. 5: Schematic Diagram of Static Eccentricity

Therefore, air-gap at any point P is given by,
(29)
() a * cos
Since, permeance of the air-gap is inversely

proportional to the air-gap length. Therefore,
ec
1
1
1
() a * cos (1 * cos )
(30)
The Fourier series expansion of equation (30),

gives the harmonics contents in the permeance due
to static eccentricity and given by,
ec
1
( 0 1 cos ......)
(31)
This can be also written as

ec i 0 i se cos i se
se
(32)
Where ise =1,2,3, the value of magnitude of

harmonics content can be found from
i se
2 1 1 2

i se 1 2
ise
(33)
the permeance of a slotted rotor and stator can be

expressed as,
rt ,st (, t ) i i rt st cosi rt R i st S i rt Rr t
rt
st
(34)
MMF produced by stator and rotor winding

comprised of space and time harmonics.
Page | 338
Ft (, t )
Fi i s cos i s p i s 1t
s
is 1 is
(35)
Fi i r cos i r p i r s 1 n r pr t
r
ir 1 ir
Now the flux density distribution in the air-gap is

given as the product of the permeance and the mmf.
Hence, combining equations (34) and (35) to get
complete expression of flux density distribution as
B(, t )
Mist ist
Mi rt i rt
Mist ist cos Mist ist t s
Mi rt i rt cos Mirt irt t r
(36)
Where,
Fig. 7: Rotor and Stator Current of Healthy

Induction Motor
M i rt mp i r R i s S i ec 2i sa p
M i st np i r R i s S i ec 2i sa p
i st i r R r 2i sa
i rt i r R r 2i sa s n mp r
IV.
It can be seen from fig.6. that the 3-phase supply is

given to B 1 ,where, it is converted into dynamic dq voltage variable. In block B 2 and B 3 separate
fluxes of stator and rotor are produced. Now, the
output of block B 2 and B 3 is given to block B 4,
where both fluxes interacts each other. The output
of block B 4 is again fed back to B 2 and B 3, after
which, the influenced rotor and stator current are
taken into consideration. The input in block B 6 is
produced by the interaction of electromagnetic
torque and load torque.
SIMULATION MODEL , TEST RESULT

AND DISSCUSSION
Fig. 7. shows the behaviour of stator and rotor

current of healthy induction motor. The transient
state of stator and rotor current is complete in
around in 0.75 sec and after that steady state
reaches.
On the basis of mathematical equation following

simulation model has been designed in Simulink.
Two bearing damages; 5mm and 10mm are tested
on simulated model of 5.4 HP, 3 phase induction
motor with following specification:
HP= 3
VL =400V
f= 50Hz
R s =0.435
Xl s =0.004
R r =0.816
XlT =0.002
J=0.089Kgm
X m =0.06931
rpm=1430
P=4
Fig. 8: Electromagnetic Torque of Healthy

Induction Motor
Fig. 8 shows the behaviour of electromagnetic
torque. The transient state of electromagnetic
torque ends after 0.85 sec.
Fig. 6: Simulation Model of 5.4 Hp Motor

ISSN 2320 5547
Page | 339
Fig. 9: Stator and Rotor Current with Load

Torque 15N and Coefficient of Friction 0.1
motors. The two bearing fault in machines have

given a significant response in terms of stator and
rotor current. From the simulation results of
presented work it may be concluded that the wave
shape of stator and rotor changes as the percentage
of severity of damage increases. The harmonic
analyses further justify the presented result.
REFERENCES
[1] P. C. Krause, O. Wasynczuk, S. D. Sudhoff
Analysis of E Machinery and Drive
Systems,Wiley&Sons,Inc. IEEE Publication
Second Edition, 2002.
Fig. 10: Electromagnetic torque with Load

Torque 15N and Coefficient of Friction 0.1
As the bearing fault occurs in the induction
machine the transient state of induction machine
increases. It becomes around 1.2 sec for stator and
rotor current and 1.75 sec for electromagnetic
torque. It can be seen from fig. 9 and fig. 10. As the
severity of the bearing damage increases the
transient time also increases. If the harmonic
analysis of either stator or rotor current spectrum is
performed then we find that a particular harmonic
component is observed for certain degree of
damage.
The comparisons of different parameter of the
induction motor are shown in table 1.
TL
HIM
11.9
0
8.66
7.7
14.2
(N-m)
kc
(A)
I r (A)
Te (N-m)
Is
IMBF
15
0.1
20.15
20.5
33.33
IMBF
20
0.2
36.88
36.77
45.9
Where, k c = Coefficient of Friction, HIM= Healthy

Induction Motor, and IMBF= Induction Motor with
Bearing Fault
It can be seen from the table 1, that as the bearing
damage is getting severe, the magnitude of stator
and rotor current also increased. The
electromagnetic torque is also increases.
V.
CONCLUSION
In this paper, an implementation and dynamic

modelling of a three-phase induction motor using
Matlab/Simulink are presented in a step-by-step
manner, by using differential equation. It can be
observed that how bearing damage affects the
performances of induction motor. The model was
tested by two different bearing damage of induction
ISSN 2320 5547
[2] P.C. Krause and C. H. Thomas, Simulation

of Symmetrical Induction Machinery, IEEE
Transaction on Power apparatus and Systems,
Vol. 84, pp. 1038-1053, November 1965.
[3] M. L. de Aguiar, M. M. Cad, The concept of
c applied to the modeling, Power Engineering
of Society inductio Winter Meeting, pp. 387
391, 2000.
[4] D. C. White and H. H. Woodson,
Electromechanical Energy Conversion,John
Wiley and Sons, New York, 1959.
[5] S. Wade, M. W. Dunnigan, B. W. Wil
induction machine vector control with rotor
resistance identification, IEEE Transactions
on Power Electronics, vol. 12, No. 3, pp. 495
506, May 1997.
[6] H. C. Stanley, An Analysis of the Induction
Motor,AIEE
Transactions,
Vol.
57(Supplement), pp. 751-755, 1938.
[7] R. H. Park, Two-Reaction Theory of
Synchronous Machines-Generalized Method
of Analysis,Part I, AIEE Transactions, Vol.
48, pp. 716-727, July 1929.
[8] D. S. Brereton, D. G. Lewis, and C. G.
Young, Representation of Induction Motor
Loads During Power System Stability
Studies, AIEE Transactions, Vol. 76, pp.451461, August 1957.
[9] G. Kron, Equivalent Circuits of Electric
Machinery, John Wiley and Sons, New
York, 1951.
[10] D. S. Brereton, D. G. Lewis, and C. G.
Young, Representation of Induction Motor
Loads During Power System Stability
Studies, AIEE Transactions, Vol.76,
pp.451461, August 1957.
[11] Ashish kamal and V.K.Giri Detection of
Bearing Fault in 3 Phase Induction Motor
Using Wavelet, VSRD Journal, pp. 199206, May 2013.
Page | 340

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Ashish Kamal * et al.

/ (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH

Mathematical Modelling of Dynamic Induction

Department of Electrical, Madan

Department of Electrical, Madan

In adjustable speed drives, the machine are

slots and space harmonics and consider an ideal

DYNAMIC D-Q MODELLING OF

The 3 phase ac machine can be represented by an

Fig. 2: Two Winding Representation of 3 Phase

Fig. 1: Ideal 2 Pole 3 Phase Induction Motor

Fig. 3: Stationary and Rotating Axes

Where, d -qs correspond to stator direct and

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Let us assume that the ds-qs are oriented at

cos( 120) Vas

So far, we have transformed the three axes variable

The two phase d -q winding are transformed into

We can transform back again the rotating frame

Vds Vqs sin e Vds cos e

Since, we have considered that

therefore, variable in stationary reference frame and

ISSN 2320 5547

From equations (8) and (9) it can be seen that

Where, sqs and sds are q-axis and d-axis stator

The last term in equation (14) and (15) can be

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From equations (24), (25), (26), (27), and (28)

EFFECT OF BEARING DAMAGE ON

If we consider damage in either in outer race or in

Fig. 4: de qe Dynamic Model Equivalent Circuit

Putting equation (18) & (21) in equation (14) and

Similarly putting equation (19) & (22) in equation

Vdr (Rr sLr )iqr sLmids (e r )Lriqr (e r )Lmiqs (27)

The development of torque by the interaction of

ISSN 2320 5547

Fig. 5: Schematic Diagram of Static Eccentricity

Since, permeance of the air-gap is inversely

The Fourier series expansion of equation (30),

This can be also written as

Where ise =1,2,3, the value of magnitude of

the permeance of a slotted rotor and stator can be

MMF produced by stator and rotor winding

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Now the flux density distribution in the air-gap is

Mist ist cos Mist ist t s

Mi rt i rt cos Mirt irt t r

Fig. 7: Rotor and Stator Current of Healthy

It can be seen from fig.6. that the 3-phase supply is

SIMULATION MODEL , TEST RESULT

Fig. 7. shows the behaviour of stator and rotor

On the basis of mathematical equation following

Fig. 8: Electromagnetic Torque of Healthy

Fig. 6: Simulation Model of 5.4 Hp Motor

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Fig. 9: Stator and Rotor Current with Load

motors. The two bearing fault in machines have

Fig. 10: Electromagnetic torque with Load