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Modelling of the three-phase induction motor


using SIMULINK
CONFERENCE PAPER JUNE 1997
DOI: 10.1109/IEMDC.1997.604326 Source: IEEE Xplore

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Retrieved on: 01 July 2015

Int. J. Elect. Enging. Educ., Vol. 36, pp. 163172. Manchester U.P., 1999. Printed in Great Britain

MODELLING AND SIMULATION OF THE THREE-PHASE


INDUCTION MOTOR USING SIMULINK
K. L . SHI, T . F. CHAN, Y. K. WONG and S. L . HO
Department of Electrical Engineering, Hong Kong Polytechnic University,
Hong Kong
ABSTRACT This paper describes a generalized model of the three-phase induction motor and its
computer simulation using MATLAB/SIMULINK. Constructional details of various sub-models
for the induction motor are given and their implementation in SIMULINK is outlined. Direct-online starting of a 7.5-kW induction motor is studied using the simulation model developed.
KEYWORDS

MATLAB; modelling; simulation; SIMULINK; three-phase induction motor

LIST OF SYMBOLS
L
stator inductance
s
L
mutual inductance
m
L
rotor inductance
r
R
stator resistance
s
R
rotor resistance
r
R
cable resistance
c
v
rotor speed
0
P
pole number
V ,V
d-axis and q-axis components
ds qs
V ,V
d-axis and q-axis components
dr qr
i ,i
d-axis and q-axis components
ds qs
i ,i
d-axis and q-axis components
dr qr
J
moment of inertia of rotor
J
moment of inertia of load
L

of
of
of
of

the
the
the
the

stator voltage vector V


s
rotor voltage vector V
r
stator current vectors i
s
rotor current vectors i
r

1 INTRODUCTION
Simulation of the three-phase induction machine is well documented in the
literature and a digital computer solution can be performed using various
methods, such as numeric programming, symbolic programming and the electromagnetic transient program (EMTP)1,2. With the rapid development in
computer hardware and software, new simulation packages which are faster
and more user friendly are now available. This paper discusses the use of one
such product, the SIMULINK software of MATLAB, in the dynamic modelling
of the induction motor. The main advantage of SIMULINK over other programming softwares is that, instead of compilation of program code, the simu163

164

lation model is built up systematically by means of basic function blocks.


Through a convenient graphical user interface (GUI), the function blocks can
be created, linked and edited easily using menu commands, the keyboard and
an appropriate pointing device (such as the mouse). A set of machine differential
equations can thus be modelled by interconnection of appropriate function
blocks, each of which performing a specific mathematical operation.
Programming efforts are drastically reduced and the debugging of errors is
easy. Since SIMULINK is a model operation programmer, the simulation
model can be easily developed by addition of new sub-models to cater for
various control functions. As a sub-model the induction motor could be incorporated in a complete electric motor drive system35.
2 INDUCTION MOTOR MODEL CONSTRUCTED USING
SIMULINK
A generalized dynamic model of the induction motor consists of an electrical
sub-model to implement the three-phase to two-axis (3/2) transformation of
stator voltage and current calculation, a torque sub-model to calculate the
developed electromagnetic torque, and a mechanical sub-model to yield the
rotor speed. In addition, a stator current output sub-model is needed for
calculating the voltage drop across the supply cables.
2.1 Electrical sub-model of the induction motor
The three-phase to two-axis voltage transformation is achieved using the following equation6:

DC

C D C

1 1/2 1/2
ds =
V
0 E3/2 E3/2
qs
agggbgggc
V

V
as
V
bs
V
cs

[A]

FIG. 1

Electrical model of an induction motor in SIMUL INK.

(1)

165

where V , V , and V are the three-phase stator voltages, while V and V are
as bs
cs
ds
qs
the two-axis components of the stator voltage vector V .
s
In the two-axis stator reference frame, the current equation of an induction
motor can be written as5,6:

C D P GC
i

t
qs =
i
dr
t=0
i
qr
i

s
0

AC D C
V

0 1
m
L
0 L
s
m
L
0 L
0
m
r
0 L
0 L
m
r
aggbggc
[B]

ds

R
s
0

0
R
s

0
0

0
0

DC DBH

ds
V
P
P
qs
0
v L
R
v L
r
V
2 0 m
2 0 r
dr
V
P
P
qr
v L
0
v L
R
0
m
r
2
2 0 r
aggggggggbggggggggc
[C]

ds
i
qs
i
dr
i
qr

dt

(2)

As shown in Fig. 1, Matrix [A] in Equation (1) and matrix [B] in


Equation (2) can be implemented by the Matrix Gain block of SIMULINK7,
while matrix [C] in Equation (2) can be implemented by four Fcn blocks of
SIMULINK whose detail is illustrated in Fig. 2.
In the electrical model, the three-phase voltage [V , V , V ] is the input and
as bs cs
the current vector [i , i , i , i ] is the output vector. The rotor voltage vector
ds qs dr qr

FIG. 2 Matrix [C] implemented using four Fcn blocks of SIMUL INK.

166

is normally zero because of the short-circuited cage rotor winding, i.e. V =0


dr
and V =0.
qr
2.2 T orque sub-model of induction motor
In the two-axis stator reference frame, the electromagnetic T is given by6:
T=

PL
m (i i i i )
3 dr qs qr ds

(3)

Fig. 3 shows how the torque sub-model is realized in SIMULINK.


2.3 Mechanical sub-model of induction motor
From the torque balance equations and neglecting viscous friction, the rotor
speed v may be obtained as follows8:
0
v =
0

t=0

T T
L dt
J

(4)

where J is the moment of inertia of the rotor and load and T is the load torque.
L
Fig. 4 shows the implementation of the mechanical sub-model.

FIG. 3

T orque sub-model.

FIG. 4 Mechanical sub-model.

167

2.4 Stator current output sub-model


The stator current output sub-model is used to calculate the stator current
amplitude according to the following equation6:
2
|i |= (ie )2+(ie )2
s
ds
qs
3

(5)

A SIMULINK Fcn block is used to implement the above equation.


The electrical sub-model in Fig. 1, the torque sub-model in Fig. 3, the
mechanical sub-model in Fig. 4, and the stator current output sub-model are
grouped together to form the induction motor model as shown in Fig. 5.
3 SIMULATION SYSTEM OF INDUCTION MOTOR
The complete simulation system of the induction motor includes the induction
motor model in Fig. 5 and a power supply sub-model.
3.1 Power supply sub-model
The voltage supply block consists of a three-phase sinusoidal voltage generator
and a terminal-voltage calculation block which accounts for the voltage drop
in the supply cable.
The three-phase sinusoidal voltage generator is based on Equation (6) and
one of the three phase voltages is modelled as shown in Fig. 6.

V =|V | cos(vt+h)
as
V =|V | cos(vt2p/3+h)
(6)
bs
V =|V |cos(vt+2p/3+h)
cs
where |V | is the amplitude of the terminal voltage, v is the supply frequency,
and h is the initial phase angle.
Due to the voltage drop in the supply cable, the terminal voltage is given
by Equation (7):
|V |=ER |i |
c s

FIG. 5

(7)

Induction motor model in SIMUL INK.

168

FIG. 6

Modelling one supply phase in SIMUL INK.

where E is the supply voltage and R is the cable resistance. Fig. 7 shows how
c
the equation is modelled in SIMULINK.
Grouping the voltage generator block of Fig. 6 and terminal-voltage calculation block of Fig. 7, the power supply block is formed as shown in Fig. 8.
3.2 Simulation model of the induction motor
The induction motor model in Fig. 5 and the power supply sub-model in Fig. 8
are grouped together to form the complete induction motor simulation model
as shown in Fig. 9. The XY-graph block7 is used to display the dynamic
torque/speed characteristic of the induction motor, while the scope block
enables the speed, stator current, and stator voltage of the motor to be observed.

FIG. 7

T erminal-voltage calculation block.

FIG. 8

Power supply block.

169

FIG. 9 Simulation system of an induction motor in SIMUL INK.


4 SIMULATION RESULTS
The induction motor chosen for the simulation studies has the following
parameters:
Type: three-phase, 7.5 kW, 6-pole, wye-connected, squirrel-cage induction
motor
R =0.288 V/ph
R =0.158 V/ph
s
r
L =0.0425 V/ph
L =0.0412 V/ph
s
m
L =0.0418 V/ph
J=0.4 kg m2
r
J =0.4 kg m2
L
To illustrate the transient operation of the induction motor, a simulation study
of direct-on-line starting is demonstrated. At t=0, the motor, previously
de-energized and at standstill, is connected to a 220 V, 60 Hz three-phase
supply through a cable. The load torque, T , is constant at 20 N.m. Figs. 10
L
to 15 show the results of computer simulation using the SIMULINK model.
The results are similar to those obtained using the traditional simulation
method involving differential equations. It is noticed that when the supply
cable has a large resistance, the torque oscillations in the torque/speed charac-

FIG. 10 Simulation results with cable resistance R =0.2 V.


c

170

FIG. 11

Simulation results with cable resistance R =0.05 V.


c

FIG. 12

T orque/speed characteristic with cable resistance R =0.2 V.


c

FIG. 13

T orque/speed characteristic with cable resistance R =0.05 V.


c

teristic are reduced and decay more rapidly, but the run up time of the motor
is longer.
5 CONCLUSION
SIMULINK is a powerful software package for the study of dynamic and
nonlinear systems. Using SIMULINK, the simulation model can be built up

171

FIG. 14 Stator phase current with cable resistance R =0.2 V.


c

FIG. 15

Stator phase current with cable resistance R =0.05 V.


c

systematically starting from simple sub-models. The induction motor model


developed may be used alone, as in the direct-on-line starting example presented, or it can be incorporated in an advanced motor drive system, e.g. fieldoriented control. The authors believe that SIMULINK will soon become an
indispensable tool for the teaching and research of electrical machine drives.
ACKNOWLEDGEMENT
The work reported in this paper was funded by the Hong Kong Polytechnic
University research grant V157.
REFERENCES
[1] Krause, P. C., Simulation of symmetrical induction machinery, IEEE T rans. Power
Apparatus Systems, Vol. PAS-84, No. 11, pp. 10381053 (1965)
[2] Ghani, S. N., Digital computer simulation of three-phase induction machine dynamics a
generalized approach, IEEE T rans Industry Appl., Vol. 24, No. 1, pp. 106114 (1988)
[3] Wade, S., Dunnigan, M. W. and Williams, B. W., Modeling and simulation of induction
machine vector control and rotor resistance identification, IEEE T rans. Power Electronics,
Vol. 12, No. 3, pp. 495505 (1997)

172
[4] Shi, K. L., Chan, T. F. and Wong, Y. K., Modelling of the three-phase induction motor
using SIMULINK, Record of the 1997 IEEE International Electric Machines and Drives
Conference, USA, pp. WB3-6 (1997)
[5] Shi, K. L., Chan, T. F. and Wong, Y. K., Modelling and simulation of direct self control
system, IAST ED International Conference: Modelling and Simulation, Pittsburgh, USA,
pp. 231235 (May 1998)
[6] Trzynadlowski, A. M., T he Field Orientation Principle in Control of Induction Motors,
Kluwer (1994)
[7] Using SIMUL INK, Dynamic System Simulation for MAT L AB, The Mathworks Inc. (1997)
[8] Krause, P. C., Wasynczuk, O. and Sudhoff, S. D., Analysis of Electric Machinery, IEEE (1995)

ABSTRACTS FRENCH, GERMAN, SPANISH


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