Model Scim PDF

Chapter 1
Mathematical Model of the Three-Phase

Induction Machine for the Study of Steady-State
and Transient Duty Under Balanced
and Unbalanced States
Alecsandru Simion, Leonard Livadaru and Adrian Munteanu
Additional information is available at the end of the chapter
http://dx.doi.org/10.5772/49983
1. Introduction
A proper study of the induction machine operation, especially when it comes to transients
and unbalanced duties, requires effective mathematical models above all. The mathematical
model of an electric machine represents all the equations that describe the relationships
between electromagnetic torque and the main electrical and mechanical quantities.
The theory of electrical machines, and particularly of induction machine, has mathematical
models with distributed parameters and with concentrated parameters respectively. The first
mentioned models start with the cognition of the magnetic field of the machine components.
Their most important advantages consist in the high generality degree and accuracy.
However, two major disadvantages have to be mentioned. On one hand, the computing
time is rather high, which somehow discountenance their use for the real-time control. On
the other hand, the distributed parameters models do not take into consideration the
influence of the temperature variation or mechanical processing upon the material
properties, which can vary up to 25% in comparison to the initial state. Moreover, particular
constructive details (for example slots or air-gap dimensions), which essentially affects the
parameters evaluation, cannot be always realized from technological point of view.
The mathematical models with concentrated parameters are the most popular and
consequently employed both in scientific literature and practice. The equations stand on
resistances and inductances, which can be used further for defining magnetic fluxes,
electromagnetic torque, and et.al. These models offer results, which are globally acceptable
but cannot detect important information concerning local effects (Ahmad, 2010; Chiasson,
2005; Krause et al., 2002; Ong, 1998; Sul, 2011).
2012 Livadaru et al., licensee InTech. This is an open access chapter distributed under the terms of the
Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits
unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
4 Induction Motors Modelling and Control
The family of mathematical models with concentrated parameters comprises different

approaches but two of them are more popular: the phase coordinate model and the orthogonal
(dq) model (Ahmad, 2010; Bose, 2006; Chiasson, 2005; De Doncker et al., 2011; Krause et al.,
2002; Marino et al., 2010; Ong, 1998; Sul, 2011; Wach, 2011).
The first category works with the real machine. The equations include, among other
parameters, the mutual stator-rotor inductances with variable values according to the rotor
position. As consequence, the model becomes non-linear and complicates the study of
dynamic processes (Bose, 2006; Marino et al., 2010; Wach, 2011).
The orthogonal (dq) model has begun with Parks theory nine decades ago. These models
use parameters that are often independent to rotor position. The result is a significant
simplification of the calculus, which became more convenient with the defining of the space
phasor concept (Boldea & Tutelea, 2010; Marino et al., 2010; Sul, 2011).
Starting with the classic theory we deduce in this contribution a mathematical model that
exclude the presence of the currents and angular velocity in voltage equations and uses total
fluxes alone. Based on this approach, we take into discussion two control strategies of
induction motor by principle of constant total flux of the stator and rotor, respectively.
The most consistent part of this work is dedicated to the study of unbalanced duties
generated by supply asymmetries. It is presented a comparative analysis, which confronts a
balanced duty with two unbalanced duties of different unbalance degrees. The study uses as
working tool the Matlab-Simulink environment and provides variation characteristics of the
electric, magnetic and mechanical quantities under transient operation.
2. The equations of the three-phase induction machine in phase

coordinates
The structure of the analyzed induction machine contains: 3 identical phase windings placed
on the stator in an 120 electric degrees angle of phase difference configuration; 3 identical
phase windings placed on the rotor with a similar difference of phase; a constant air-gap
(close slots in an ideal approach); an unsaturated (linear) magnetic circuit that allow to each
winding to be characterized by a main and a leakage inductance. Each phase winding has
Ws turns on stator and WR turns on rotor and a harmonic distribution. All inductances are
considered constant. The schematic view of the machine is presented in Fig. 1a.
The voltage equations that describe the 3+3 circuits are:
uas Rsias
uAR RRi AR
d as
d
d
, ubs Rsibs bs , ucs Rsics cs
dt
dt
dt
d
d AR
d
, uBR RRiBR BR , uCR RRiCR CR
dt
dt
dt
In a matrix form, the equations become:
(1)
(2)
Mathematical Model of the Three-Phase Induction Machine

for the Study of Steady-State and Transient Duty Under Balanced and Unbalanced States 5
d abcs
uabcs Rs iabcs
dt
(3)
d
uABCR RR i ABCR ABCR
dt
(4)
(b)
(a)
Figure 1. Schematic model of three-phase induction machine: a. real; b. reduced rotor
The quantities in brackets represent the matrices of voltages, currents, resistances and total
flux linkages for the stator and rotor. Obviously, the total fluxes include both main and
mutual components. Further, we define the self-phase inductances, which have a leakage
and a main component: Ljj=Ls+Lhs for stator and LJJ=LR+LHR for rotor. The mutual
inductances of two phases placed on the same part (stator or rotor) have negative values,
which are equal to half of the maximum mutual inductances and with the main self-phase
component: Mjk=Ljk=Lhj=Lhk. The expressions in matrix form are:
L s Lhs
Lss (1 / 2) Lhs
(1 / 2) Lhs
LR LHR
LRR (1 / 2) LHR
(1 / 2) LHR
(1 / 2) Lhs
L s Lhs
(1 / 2) Lhs
(1 / 2) LHR
LR LHR
(1 / 2) LHR
(1 / 2) Lhs
(1 / 2) Lhs
L s Lhs
(1 / 2) LHR
(1 / 2) LHR
LR LHR
cos R
cos R u cos R 2u
cos R
cos R u
LsR LRs t LsR cos R 2u
cos R
cos R u cos R 2u
(5-1)
(5-2)
(5-3)
where u denotes the angle of 1200 (or 2/3 rad).

The analysis of the induction machine usually reduces the rotor circuit to the stator one. This
operation requires the alteration of the rotor quantities with the coefficient k=Ws/WR by
complying with the conservation rules. The new values are:
uabcr k uABCR ; abcr k ABCR ; iabcr 1 / k i ABCR ;

2
W W2 W2
Rr k 2 RR ; Lhr k 2 LHR s R s Lhs ;
WR h h
(6)
W WR2
W W W
W2
s L s ; Lsr kLsR s s R Lhs
L r k 2 LR s
WR R r
WR h
where the reluctances of the flux paths have been used. The new matrices, with rotor
quantities denoted with lowercase letters are:
L r Lhs
Lrr k 2 LRR (1 / 2) Lhs

(1 / 2) Lhs
(1 / 2) Lhs
L r Lhs
(1 / 2) Lhs
(1 / 2) Lhs
(1 / 2) Lhs
L r Lhs
(7-1)
cos R
cos R u cos R 2u
Lsr k LsR Lrs Lhs cos R 2u

cos R
cos R u
t
cos R
cos R u cos R 2u
(7-2)
By virtue of these transformations, the voltage equations become:
d
d i d L i
uabcs Rs iabcs abcs Rs iabcs Lss abcs sr abcr
dt
dt
dt
d abcr
d i d Lsr t iabcs
Rr iabcr Lrr abcr

uabcr Rr iabcr
dt
dt
dt
(8)
By using the notations:
L L r 3Lhs L s L s 3Lhs L r
Ls L r Lhs L s L s 3Lhs L r
Lr L s Lhs L r L r 3Lhs L s
(9)
and after the separation of the currents derivatives, (8) can be written under operational
form as follows:

R Ls
2R L
RL L
s s
i as s hs r i bs i cs r hs i ar cos R i br cos R u i cr cos R 2u
L
L
L
L
L
s
s

L 3 Lhs 2 L r
i ar sin i br sin u i cr sin 2u
R hs
R
R
R
3 L 2 L r
L2
L r Lhs
2,6R hs i bs i cs
uas
uas ubs ucs hs
L s L
L
L
2 Lhs
uar cos R ubr cos R u ucr cos R 2u ,
R Ls
2R L
RL L
s s
i bs s hs r i cs i as r hs i br cos R i cr cos R u i ar cos R 2u
L
L
L
L
L
s
s

L 3 Lhs 2 L r
i sin i cr sin u i ar sin 2u
R hs
R
R
R
br
3 L 2 L r
L2
L r Lhs
ubs
2,6R hs i cs i as
uas ubs ucs hs
L s L
L
L
2 Lhs
ubr cos R ucr cos R u uar cos R 2u ,
R Ls
2R L
RL L
s s
i cs s hs r i as i bs r hs i cr cos R i ar cos R u i br cos R 2u
L
L
L
L
s
s

L 3 Lhs 2 L r
i sin i ar sin u i br sin 2u
R hs
R
R
R
cr
2,6R
L
L2hs
i as i bs
L r Lhs
L s L
as
ubs ucs
3 Lhs 2 L r
ucs
2 Lhs
ucr cos R uar cos R u ubr cos R 2u ,
R Lr
L2
2L R
s r
i ar hs s i as cos R i bs cos R 2u i cs cos R u 2,6R hs i br i cr
L r L
L
L
L
Lhs
2 Lhs
uas cos R ubs cos R 2u ucs cos R u

u ubr ucr
L L ar
L
2 L s 3 Lhs
L s Lhs Rr
L r L
2 L 3 Lhs
uar R Lhs s
i as sin R i bs sin R 2u i cs sin R u
br
i cr ,
R Lr
L2
2L R
s r
i br hs s i bs cos R i cs cos R 2u i as cos R u 2,6R hs i cr i ar
L
L
L
L

r
L s Lhs
2 Lhs
ubs cos R ucs cos R 2u uas cos R u

u ubr ucr
L L ar
L
2 L s 3 Lhs
L s Lhs Rr
L r L
2 L 3 Lhs
ubr R Lhs s
i bs sin R i cs sin R 2u i as sin R u
cr
i ar ,
R Lr
2L R
L2
s r
i cr hs s i cs cos R i as cos R 2u i bs cos R u 2,6R hs i ar i br
L r L
L
L
L
Lhs
2 Lhs
s
ucs cos R uas cos R 2u ubs cos R u
u ubr ucr (10)
L L ar
L
r
2 L s 3 Lhs
2 L 3 Lhs
ucr R Lhs s
i cs sin R i as sin R 2u i bs sin R u
L
L
L s Lhs Rr
L r L
ar
i br ,
Besides (10), the equations concerning mechanical quantities must be added. To this end, the
electromagnetic torque has to be calculated. To this effect, we start from the coenergy
expression, Wm , of the 6 circuits (3 are placed on stator and the other 3 on rotor) and we
take into consideration that the leakage fluxes, which are independent of rotation angle of
the rotor, do not generate electromagnetic torque, that is:
Wm
1
1
i L L s 1 iabcs iabcr Lrr L r 1 iabcr iabcs Lsr R iabcr
t
t
2 abcs t ss
2
(11)
The magnetic energy of the stator and the rotor does not depend on the rotation angle and
consequently, for the electromagnetic torque calculus nothing but the last term of (11) is
used. One obtains:
Te
d Lsr R
1
iabcr
p iabcs
t
d R
2
1
pL sin R ias 2iar ibr icr ibs iar 2ibr icr ics iar ibr 2icr
2 hs
3
pLhs cos R ias icr ibr ibs iar icr ics ibr iar
2
(12)
The equation of torque equilibrium can now be written under operational form as:
Js kz 1
pLhs sin R ias 2iar ibr icr ibs iar 2ibr icr
p 2
ics iar ibr 2icr 3 cos R ias icr ibr ibs iar icr ics ibr iar
s R R R
Tst
(13)
where R represents the rotational pulsatance (or rotational pulsation).

The simulation of the induction machine operation in Matlab-Simulink environment on the
basis of the above equations system is rather complicated. Moreover, since all equations
depend on the angular speed than the precision of the results could be questionable mainly
for the study of rapid transients. Consequently, the use of other variables is understandable.
Further, we shall use the total fluxes of the windings (3 motionless windings on stator and
other rotating 3 windings on rotor).

It is well known that the total fluxes have a self-component and a mutual one. Taking into
consideration the rules of reducing the rotor circuit to the stator one, the matrix of
inductances can be written as follows:
1 l s
1 / 2
1 / 2
cos R
cos R u cos R 2u
1 l s
1 / 2
cos R 2u
cos R
cos R u
1 / 2
(14)
1 / 2
1 / 2
1 l s
cos R u cos R 2u
cos R
Labcabc Lhs
cos
cos R 2u cos R u
1 l r
1 / 2
1 / 2
R
Lhs cos R
cos R 2u
1 / 2
1 l r
1 / 2
cos R u
1 l r
cos R
1 / 2
1 / 2
cos R 2u cos R u
Now, the equation system (8) can be written shortly as:
d
uabcabc Rs ,r iabcabc abcabc , where : abcabc Labcabc iabcabc
dt
(15)
By using the multiplication with the reciprocal matrix:

1
Labcabc abcabc Labcabc Labcabc iabcabc , or iabcabc Labcabc abcabc
(16)
than (15) becomes:

d
1
uabcabc Rs ,r Labcabc abcabc abcabc
dt
(17)
This is an expression that connects the voltages to the total fluxes with no currents
involvement. Now, practically the reciprocal matrix must be found. To this effect, we
suppose that the reciprocal matrix has a similar form with the direct matrix. If we use the
1
condition: Labcabc Labcabc 1 , than through term by term identification is obtained:
Labcabc
LD
Ls
Lhs L2 r
Lhs L2 r
cos R
cos R u cos R 2u
2
2
Lhs L r
Ls
Lhs L r
cos R 2u
cos R
cos R u (18)
Lhs L2 r
Lhs L2 r
Ls
cos R u cos R 2u
cos R
2
2
cos R 2u cos R u
Lr
Lhs L s
Lhs L s
cos R
cos R
cos R 2u
Lhs L2 s
Lhs L2 s
Lr
cos R u
Lhs L2 s
Lhs L2 s
cos R
Lr
cos R 2u cos R u
where the following notations have been used:

(LD) 3 Lhs L s 3 Lhs L r 2 L r L s L r L s ;
2 Lhs L s L r ;
Ls Lhs L r 3 Lhs L s 2 L r L s L r ; Lr Lhs L s 3 Lhs L r 2 L r L s L s
(19)

1
Further, the matrix product is calculated: Rs ,r Labcabc abcabc , which is used in (17).
After a convenient grouping, the system becomes:
d as Ls Rs
L L2 R
L L L R
as uas hs r s bs cs hs s r s
dt
LD
LD
LD
(20-1)
2 ar br cr cos R 3 cr br sin R
d bs Ls Rs
L L2 R
L L L R
bs ubs hs r s cs as hs s r s
dt
LD
LD
LD
(20-2)
ar 2 br cr cos R 3 ar cr sin R
d cs Ls Rs
L L2 R
L L L R
cs ucs hs r s as bs hs s r s
dt
LD
LD
LD
(20-3)
ar br 2 cr cos R 3 br ar sin R
d ar Lr Rr
L L2 R
L L L R
ar uar hs s r br cr hs s r r
dt
LD
LD
LD
(20-4)
2 as bs cs cos R 3 bs cs sin R
d br Lr Rr
L L2 R
L L L R
br ubr hs s r cr ar hs s r r
dt
LD
LD
LD
(20-5)
as 2 bs cs cos R 3 cs as sin R
d cr Lr Rr
L L2 R
L L L R
cr ucr hs s r ar br hs s r r
dt
LD
LD
LD
(20-6)
as bs 2 cs cos R 3 as bs sin R
For the calculation of the electromagnetic torque we can use the principle of energy
conservation or the expression of stored magnetic energy. The expression of the
electromagnetic torque corresponding to a multipolar machine (p is the number of pole
pairs) can be written in a matrix form as follows:
1
d L
Te abcabc abcabc abcabc

t
2
d R
To demonstrate the validity of (21), one uses the expression of the matrix Labcabc
in order to calculate its derivative:
(21)
1
, (18),

1
d
L
3
d R abcabc
0
0
0
sin R
sin R u sin R 2u
0
0
0
sin
2
sin R
sin R u
u
R
0
0
0
sin R u sin R 2u
sin R
sin
sin R 2u sin R u
0
0
0
R
sin R
sin R 2u
0
0
0
sin R u
sin R
0
0
0
sin R 2u sin R u
(22)
where the following notation has been used:

3
1
(3 / 2)( L s L r ) L r L s / Lhs
(23)
This expression defines the permeance of a three-phase machine for the mathematical model
in total fluxes.
Observation: One can use the general expression of the electromagnetic torque where the
direct and reciprocal matrices of the inductances (which link the currents with the fluxes)
should be replaced, that is:
Te
d L
1 d L
1
1
1
abcabc iabcabc p abcabc L abcabc L abcabc
p i
t
t
2 abcabc t
2
d R
d R
d L
1
Te p abcabc abcabc
t
2
d R
(24)
abcabc
A more convenient expression that depends on sinR and cosR, leads to the electromagnetic
torque equation in fluxes alone:
Te 1 / 2 p 3 as 2 ar br cr bs 2 br cr ar cs 2 cr ar br sin R
3 as br cr bs cr ar cs ar br cos R
(25)
Ultimately, by getting together the equations of the 6 electric circuits and the movement
equations we obtain an 8 equation system, which can be written under operational form:
as s
L L2 R
L L L R
Ls Rs
uas hs r s bs cs hs s r s
LD
LD
LD
(26-1)
bs s
L L2 R
L L L R
Ls Rs
ubs hs r s cs as hs s r s
LD
LD
LD
(26-2)
L L2 R
L L L R
Ls Rs
ucs hs r s as bs hs s r s
LD
LD
LD
(26-3)
Lr Rr
L L2 R
L L L R
uar hs s r br cr hs s r r
LD
LD
LD
(26-4)
L L2 R
L L L R
Lr Rr
ubr hs s r cr ar hs s r r
LD
LD
LD
(26-5)
L L2 R
L L L R
Lr Rr
ucr hs s r ar br hs s r r
LD
LD
LD
as bs 2 cs cos R 3 as bs sin R
(26-6)
cs s
ar s
br s
cr s
R s kz / J p J 1 / 2 p 3 sin R as 2 ar br cr
bs 2 br cr ar cs 2 cr ar br 3 cos R
as br cr bs cr ar cs ar br Tst
(26-7)
d R
R R
dt
(26-8)
This equation system, (26-1)-(26-8) allows the study of any operation duty of the three-phase
induction machine: steady state or transients under balanced or unbalanced condition, with
simple or double feeding.
3. Mathematical models used for the study of steady-state under

balanced and unbalanced conditions
Generally, the symmetrical three-phase squirrel cage induction machine has the stator
windings connected to a supply system, which provides variable voltages according to
certain laws but have the same pulsation. Practically, this is the case with 4 wires
connection, 3 phases and the neutral. The sum of the phase currents gives the current
along neutral and the homopolar component can be immediately defined. The analysis of
such a machine can use the symmetric components theory. This is the case of the
machine with two unbalances as concerns the supply. The study can be done either using

the equation system (26-1...8) or on the basis of symmetric components theory with three
distinct mathematical models for each component (positive sequence, negative sequence
and homopolar).
The vast majority of electric drives uses however the 3 wires connection (no neutral).
Consequently, there is no homopolar current component, the homopolar fluxes are zero
as well and the sum of the 3 phase total fluxes is null. This is an asymmetric condition
with single unbalance, which can be studied by using the direct and inverse sequence
components when the transformation from 3 to 2 axes is mandatory. This approach
practically replaces the three-phase machine with unbalanced supply with two
symmetric three-phase machines. One of them produces the positive torque and the
other provides the negative torque. The resultant torque comes out through
superposition of the effects.
3.1. The abc-0 model in total fluxes

The operation of the machine with 2 unbalances can be analyzed by considering certain
expressions for the instantaneous values of the stator and rotor quantities (voltages, total
fluxes and currents eventually, which can be transformed from (a, b, c) to (, , 0) reference
frames in accordance with the following procedure :
1

s
2
0
s
3

2 / 2
0s
1 / 2
1 / 2
as
3 / 2 3 / 2 bs
2/2
2 / 2 cs
(27)
We define the following notations:
Ls Rs
Lhs L r 3 Lhs L s 2 L r L s Rs 2 Rs ;
st
( LD) 3 Lhs L r 3 Lhs L s 2 L r L s L s 3 L s
Lhs L2 r Rs
Lhs L r Rs
1 R
s sr ;
( LD)
3 Lhs L s 3Lhs L r 2 L r L s L s 6 L s
3 2 L r / Lhs
Rs 1 Rs
st sr

s
3 L r / L s 3 2 L r / Lhs L s 2 L s
(28-1)
Lr Rr
Lhs L s 3 Lhs L r 2 L r L s Rr
(LD) 3 Lhs L r 3 Lhs L s 2 L r L s L r
2 R
r rt ;
3 L r
2
Lhs L s Rr
Lhs L s Rr
1 R
r rs ;
( LD)
6
3
3
2
L
L
L
L
L
L
L
hs s hs r r s r L r
3 2 L s / Lhs
Rr 1 Rr
rt rs

3 L s / L r 3 2 L s / Lhs L r 2 L r r
(28-2)
Rs
3 Lhs L s L r Rs
3 L s
(LD)
3L s 3L r 2 L r L s / Lhs L s
1 Rs
;
2 L s s
(28-3)
Rr
3 Lhs L s L r Rr
3 L r
(LD)
3L s 3L r 2 L r L s / Lhs L r
1 Rr
2 L r
(28-4)
r ;
By using these notations in (17) and after convenient groupings we obtain:
d as
1
st as uas sr bs cs s
3
dt
(29-1)
d bs
1
st bs ubs sr cs as s
3
dt
(29-2)
d cs
1
st cs ucs sr as bs s
3
dt
(29-3)
d ar
1
rt ar uar rs br cr r
3
dt
(29-4)
d br
1
rt br ubr rs cr ar r
3
dt
(29-5)
d cr
1
rt cr ucr rs ar br r
dt
3
bs 2 cs as cos R 3 as bs sin R
(29-6)
Typical for the cage machine or even for the wound rotor after the starting rheostat is shortcircuited is the fact that the rotor voltages become zero. The equations of the six circuits get
different as a result of certain convenient math operations. (29-2) and (29-3) are multiplied
by (-1/2) and afterwards added to (29-1); (29-3) is subtracted from (29-2); (29-1), (29-2) and
(29-3) are added together. We obtain three equations that describe the stator. Similarly, (294), (29-5) and (29-6) are used for the rotor equations. The new equation system is:

d s
s s u s s r cos R r sin R
dt
d s
s s u s s r sin R r cos R
dt
d 0 s
st 2 sr 0 s u0 s
dt
(30-1, 2, 3)
d r
r r u r r s cos R s sin R
dt
d r
r r u r r s sin R s cos R
dt
d 0 r
rt 2 rs 0 r u0 r
dt
(30-4, 5, 6)
Further, the movement equation has to be attached. It is necessary to establish the detailed
expression of the electromagnetic torque in fluxes alone starting with (25) and using
convenient transformations:
Te 3 / 2 p 3 s r s r sin R s r s r cos R
(31)
Ultimately, the 8 equation system under operational form is:
(32-1)
(32-2)
s s s u s s r cos R r sin R
s s s u s s r sin R r cos R
0 s s st 2 sr u0 s
(32-3)
r s r u r r s cos R s sin R
r s r u r r s sin R s cos R
(32-4)
(32-5)
0 r s rt 2 rs u0 r
(32-6)
R s kz / J p J 3 / 2 p 3 s r s r sin R s r s r cos R Tst
d R
R R
dt
(32-7)
(32-8)
These equations allow the study of three-phase induction machine for any duty. It has to be
mentioned that the electromagnetic torque expression has no homopolar components of the
total fluxes.
3.2. The abc-dq model in total fluxes

For the study of the single unbalance condition is necessary to consider expressions of the
instantaneous values of the stator and rotor quantities (voltages, total fluxes and eventually
currents in a,b,c reference frame) whose sum is null. The real quantities can be transformed
to (d,q) reference frame (Simion et al., 2011). By using the notations (28-1), (28-2), (28-3) and
(28-4) then after convenient grouping we obtain (Simion, 2010):
d s
s s u s s r cos R r sin R
dt
d s
s s u s s r sin R r cos R
dt
d r
r r r s cos R s sin R
dt
d r
r r r s sin R s cos R
dt
(33-1, 2)
(33-3, 4)
Further, the movement equation (31) must be attached. The operational form of the equation
system (4 electric circuits and 2 movement equations) is:
(34-1)
(34-2)
s s s u s s r cos R r sin R
s s s u s s r sin R r cos R
(34-3)
(34-4)
r s r r s cos R s sin R
r s r r s sin R s cos R
R s kz / J p J 3 / 2 p 3 s r s r sin R s r s r cos R Tst
(34-5)
d R
R R
dt
(34-6)
The equation sets (33-1...4) and (34-1...6) prove that a three-phase induction machine
connected to the supply system by 3 wires can be studied similarly to a two-phase machine

(two-phase mathematical model). Its parameters can be deduced by linear transformations of

the original parameters including the supply voltages (Fig. 2a).
Figure 2. Induction machine schematic view: a.Two-phase model; b. Simplified view of the total fluxes
in stator reference frame; c. Idem, but in rotor reference frame
The windings of two-phase model are denoted with (s, s) and (r, r) in order to trace a
correspondence with the real two-phase machine, whose subscripts are (as, bs) and (ar, br)
respectively. We shall use the subscripts xs and ys for the quantities that corresponds to the
three-phase machine but transformed in its two-phase model. This is a rightful assumption
since (s, s) axes are collinear with (x, y) axes, which are commonly used in analytic
geometry. Further, new notations (35) for the flux linkages of the right member of the
equations (33-1...4) will be defined by following the next rules:
-
projection sums corresponding to rotor flux linkages from (r, r) axes along the two
stator axes (denoted with x and y that is xr, yr) when they refer to the flux linkages
from the right member of the first two equations, Fig. 2b.
projection sums corresponding to stator flux linkages from (s, s) axes along the two
rotor axes (denoted with X and Y that is XS, YS) when they refer to the flux linkages
from the last two equations, Fig. 2c.
xr r cos R r sin R , yr r sin R r cos R
XS s cos R s sin R , YS s sin R s cos R
(35)
Some aspects have to be pointed out. When the machine operates under motoring duty, the
pulsation of the stator flux linkages from (s, s) axes is equal to s. Since the rotational
pulsation is R then the pulsation of the rotor quantities from (r, r) axes is equal to
r=ss=s R. The pulsation of the rotor quantities projected along the stator axes with the
subscripts xr and yr is equal to s. The pulsation of the stator quantities projected along the
rotor axes with the subscripts XS and YS is equal to r. The equations (33-1...4) become:
s ( s s ) u s s xr
(36-1)
s ( s s ) u s s yr
(36-2)
r ( s r ) r XS
(36-3)
r ( s r ) r YS
(36-4)
The first two equations join the quantities with the pulsation s and the other two, the
quantities with the pulsation r = ss. The expression of the magnetic torque, in total fluxes
and rotor position angle becomes:
(37)
Te (3 / 2) p 3 r YS r XS
(38)
Te 3 / 2 p 3 s yr s xr
or a second equivalent expression:
which shows the total symmetry of the two-phase model of the three-phase machine
regarding both stator and rotor. The equations of the four circuits together with the
movement equation (37) under operational form give:
(39-1)
(39-2)
s s s u s s xr
s s s u s s yr
(39-3)
(39-4)
r s r r XS
r s r r YS
R s kz / J p J 3 / 2 p 3 s xr s yr Tst
(39-5)
d R
R R
dt
(39-6)
This last equation system allows the study of transients under single unbalance condition. It
is similar with the frequently used equations (Park) but contains as variables only total fluxes
and the rotation angle. There are no currents or angular speed in the voltage equations.
4. Expressions of electromagnetic torque

For the steady state analysis of the symmetric three-phase induction machine, one can
define the simplified space phasor of the stator flux, which is collinear to the total flux of the

(s) axis and has a 3 times higher modulus. In a similar way can be obtained the space
phasors of the stator voltages and rotor fluxes and the system equation (39-1...6) that
describe the steady state becomes:
U sR 3 s js sR 3 s rR 3 s j s sR 3 e
j s
j s rR 3 e
j r
0 r sR 3 r jss rR 3 j r sR 3 e j s j r ss rR 3 e j r
(40)
Te 3 / 2 p 3 sR 3 rR 3 sin s r
When the speed regulation of the cage induction machine is employed by means of voltage
and/or frequency variation then the simultaneous control of the two total flux space vectors
is difficult. As consequence, new strategies more convenient can be chosen. To this effect, we
shall deduce expressions of the electromagnetic torque that include only one of the total flux
space vectors either from stator or rotor.
4.1. Variation of the torque with the stator total flux space vector
One of the methods used for the control of induction machine consists in the operation with
constant stator total flux space vector. From (40), the rotor total flux space vector is:
rR 3
r jss
r sR 3
s2 s2 r2
sR 3
r sR 3
s2 s2 r2 s2 s2 r2
e j ;( s r ); sin
ss
s2 s2 r2
s2 s2 r2
ss
; cos
(41)
s2 s2 r2
where is the angle between stator and rotor total flux space vectors. This angle has the
meaning of an internal angle of the machine.
The expression of the magnetic torque that depends with the stator total flux space vector
becomes:
r
3
3
sR 3 (cos j sin )
Te p 3 Re j sR 3 rR 3 p 3 Re j sR 3
2
2
2
s s2 r2
(42)
ss r
3 r
3 r
2
2
p 3 sR
p 3 sR
3 2 2
3 sin 2 .
2
2 r
4
r
s s r
Assuming the ideal hypothesis of maintaining constant the stator flux, for example equal to
the no-load value, then the pull-out torque, Temax , corresponds to sin2 = 1 that is:
2 sin cos 1 scrs r , and Te max
2
or Te max
3 r
2
p 3 sR
3;
4 r
U
r
3
r p 3 sR 3
2
2
2
s s r / s 2 s r r / s tt2 2 r2
(43)
Now an observation can be formulated. Let us suppose an ideal static converter that
operates with a U/f=constant=k1 strategy. For low supply frequencies, the pull-out torque
decreases in value since the denominator increases with the pulsatance decrease, s (Fig. 3).
Within certain limits at low frequencies, an increase of the supply voltage is necessary in
order to maintain the pull-out torque value. In other words, U/f = k2, and k2>k1.
1300
Electromagnetic torque Te [Nm]
1200
UN
fN
1100
1000
900
800
0.36UN
0.25fN
700
600
0.58UN
0.5fN
0.79UN
0.75fN
500
400
300
200
100
00
0
20
40 60 80 100 120 140 160

Angular velocity R [rad/s]
Figure 3. Mechanical characteristics, Me=f(R) at sR3=const.

700
600
Voltage UsR3 [V]
500
400
s=0.3
s=0.1
300
s=0
200
100
0
0.2
0.4
0.6
s/sN
0.8
Figure 4. Resultant stator voltage vs. pulsatance UsR3=f(s) at sR3=const. (1,91Wb)

A proper control of the induction machine requires a strategy based on U/f = variable. More
precisely, for low frequency values it is necessary to increase the supply voltage with respect
to the values that result from U/f = const. strategy. At a pinch, when the frequency becomes
zero, the supply voltage must have a value capable to compensate the voltage drops upon
the equivalent resistance of the windings. Lately, the modern static converters can be
parameterized on the basis of the catalog parameters of the induction machine or on the
basis of some laboratory tests results.
From (40) we can deduce:
sR 3 j
U sR 3
2sR 3s2 As2 2 Bs C

( ss j r )
2
U sR
3
ss tt j r s s
s2 s2 r2
(44)
and further:
2
U sR
3
s2
2 s2 2 s 2
U
s r
tt
2sR 3 1 s
sR 3 sR 3
2 2
2
s
s
r
where : F( s)
s2 s2
r2 ;
G( s )
s2 s
F( s)
F( s) sG( s)
(45)
2 s r
if the term tt was neglected. By inspecting the square root term, which is variable with the
slip (and load as well), we can point out the following observations.
-
Constant maintaining of the stator flux for low pulsations (that is low angular velocity
values including start-up) can be obtained with a significant increase of the supply
voltage. The additional increasing of the voltage depends proportionally on the load
value. Analytically, this fact is caused by the predominance of the term G against F,
(45). From the viewpoint of physical phenomena, a higher voltage in case of severe
start-up or low frequency operation is necessary for the compensation of the leakage
fluxes after which the stator flux must keep its prescribed value.
Constant maintaining of the stator flux for high pulsations (that is angular speeds close
or even over the rated value) requires an insignificant rise of the supply voltage. The U/f
ratio is close to its rated value (rated values of U and f) especially for low load torque
values. However, a certain increase of the voltage is required proportionally with the
load degree. Analytically, this fact is now caused by the predominance of the term F
against G, (45).
In conclusion, the resultant stator flux remain constant for U/f =constant=k1 strategy if
the load torque is small. For high loads (especially if the operation is close to the pullout point), the maintaining of the stator flux requires an increase of the U/f ratio, which
means a significant rise of the voltage and current.
If the machine parameters are established, then a variation rule of the supply voltage can be
settled in order to have a constant stator flux (equal, for example, to its no-load value) both
for frequency and load variation.
Fig. 4 presents (for a machine with predetermined parameters: supply voltage with the
amplitude of 490 V (Uas=346.5V); Rs=Rr=2; Lhs=0,09; Ls= Lr=0,01; J=0,05; p=2; kz=0,02;
1=314,1 (SI units)) the variation of the resultant stator voltage with the pulsatance (in per
unit description) for three constant slip values. The variation is a straight line for reduced
loads and has a certain inflection for low frequency values (a few Hz). For under-load
operation, a significant increase of the voltage with the frequency is necessary. This fact is
more visible at high slip values, close to pull-out value (in our example the pull-out slip is of
0,33).
The variation rule based on UsR=f(s) strategy (applied to the upper curve from Fig. 4)
provide an operation of the motor within a large range of angular speeds (from start-up to
rated point) under a developed torque, whose value is close to the pull-out one. Obviously,
the input current is rather high (4-5 I1N) and has to be reduced. Practically, the operation
points must be placed within the upper and the lower curves, Fig. 4. It is also easy to notice
that the operation with higher frequency values than the rated one does not generally
require an increase of the supply voltage but the developed torque is lower and lower. In
this case, the output power keeps the rated value.
4.2. Variation of the torque with the rotor total flux space vector
Usually, the electric drives that demand high value starting torque use constant rotor total
flux space vector strategy. The stator total flux space vector can be written from (41) as:
s2 s2 r2
s2 s2 r2
r jss
; sR 3
rR 3 sR 3 rR 3
rR 3 e j ;
r
r
r
ss
r
( s r ); sin
; cos
2 2
2
2 2
s s r
s s r2
sR 3
(46)
and the expression of the electromagnetic torque on the basis of rotor flux alone becomes:
3
3 p 3 2
Te p 3 Re j sR 3 rR 3
s
2 r rR 3 s
2
(47)
Assuming the ideal hypothesis of maintaining constant the rotor flux, for example equal to
the no-load value, then the electromagnetic torque expression is:
2
Te
2
3 p 3 2
3 p 3 rU sR 3
3 p 3 r U sR 3
2 s p R
rR 30 ss
ss
2
2 r
2 r rs
2 r s
(48)
where the voltage and pulsation is supposed to have rated values. Taking into discussion a
machine with predetermined parameters (supply voltage with the amplitude of 490 V
(Uas=346.5V); Rs=Rr=2; Lhs=0,09; Ls= Lr=0,01; J=0,05; p=2; kz=0,02; 1=314,1 (SI units)) then the
expression of the mechanical characteristic is:
Te
2
3 2 32,14 96,43 U sR 3 N
2
2
103,57 2
sN
s 2 R 3,17 s 2 R
(49)

which is a straight line, A1 in Fig. 5. The two intersection points with the axes correspond to
synchronism (Te=0, R=s/2=157) and start-up (Te=995 Nm, R=0) respectively.
The pull-out torque is extremely high and acts at start-up. This behavior is caused by the
hypothesis of maintaing constant the rotor flux at a value that corresponds to no-load
operation (when the rotor reaction is null) no matter the load is. The compensation of the
magnetic reaction of the rotor under load is hypothetical possible through an unreasonable
increase of the supply voltage. Practically, the pull-out torque is much lower.
Another unreasonable possibility is the maintaining of the rotor flux to a value that
corresponds to start-up (s = 1) and the supply voltage has its rated value. In this case the
expression of the mechanical characteristic is (50) and the intersection points with the axes
(line A2, Fig. 5) correspond to synchronism (Te=0, R=s/2=157) and start-up (Te=78 Nm,
R=0) respectively.
Te
3 2 32,14 2
rRk s 2 R 0,25 s 2 R
2 96,43
(50)
The supply of the stator winding with constant voltage and rated pulsation determines a
variation of the resultant rotor flux within the short-circuit value (rRk=0,5Wb) and the
synchronism value (rR0=1,78Wb). The operation points lie between the two lines, A1 and
A2, on a position that depends on the load torque. When the supply pulsation is two times
smaller (and the voltage itself is two times smaller as well) and the resultant rotor flux is
maintained constant to the value rR0=1,78Wb, then the mechanical characteristic is
described by the straight line B1, which is parallel to the line A1. Similarly, for rRk=0,5Wb,
the mechanical characteristic become the line B2, which is parallel to A2.
150
rR0=1.78Wb
s=314 s-1
135
rR0=1.78Wb
s=157s-1
Electromagnetic torque Te[Nm]
120
A1
105
B1
90
rRk=0.5Wb
s=314s-1
75
60
45
rRk=0.5Wb
s=157s-1
30
B2
15
0
0
20
A2
40 60 80 100 120 140 160

Angular velocity R [rad/s]
Figure 5. Mechanical characteristics Te=f(R), rR=const.

700
600
Voltage UsR [V]
500
3
400
2
s=0.3
300
1
200
s=0.1
s=0.001
100
0
0
78.5
157
235.5
Rotational pulsatance s [rad/s]
314
Figure 6. Resultant stator voltage vs. pulsatance, UsR=f(s) at rR=const. (1.3Wb)
When the applied voltage and pulsation are two times smaller regarding the rated values
then the operation points lie between B1 and B2 since the rotor flux varies within
rRk=0,5Wb (short-circuit) and rR0=1,78Wb (synchronism).
The control based on constant rotor flux strategy ensures parallel mechanical characteristics.
This is an important advantage since the induction machine behaves like shunt D.C. motor.
A second aspect is also favorable in the behavior under this strategy. The mechanical
characteristic has no sector of unstable operation as the usual induction machine has.
The modification of the flux value (generally with decrease) leads to a different slope of the
characteristics, which means a significant decrease of the torque for a certain angular speed.
The question is what variation rule of UsR/s must be used in order to have constant rotor
flux? The expression of the modulus of the resultant rotor flux can be written as:
2
U sR
3
s2
2
rR
3
As2 2 Bs C
2 r
U sR 3
rR 3
As2 2 Bs C
(51)
with : A s2 s2 ; B s r ; C r2 tt2 ; tt2 ( s r s r )2 / s2 .
Fig. 6 presents the variation of the stator voltage with pulsatance at constant resultant rotor
flux (1,3 Wb), which are called the control characteristics of the static converter connected to
the induction machine. The presented characteristics correspond to three constant slip
values, s=0,001 (no-load)-curve 1, s=0,1 (rated duty)-curve 2 and s=0,3 (close to pull-out
point)-curve 3. It can be seen that the operation with high slip values (high loads) require an
increased stator voltage for a certain pulsation. As a matter of fact, the ratio UsR3/s must be
increased with the load when the pulsatance (pulsation) and the angular speed rise as well.
Such a strategy is indicated for fans, pumps or load machines with speed-dependent torque.

When the pulsation of the stator voltage is low (small angular velocities) then the torque
that has to be overcame is small too, but it will rise with the speed and the frequency along a
parabolic variation. Since the upper limit of the torque is given by the limited power of the
machine (thermal considerations) then this strategy requires additional precautions as
concern the safety devices that protect both the static converter and the supply source itself.
The analysis of the square root term from (51) generates similar remarks as in the above
discussed control strategy.
Finally is important to say that a control characteristic must be prescribed for the static
converter. This characteristic should be simplified and generally reduced to a straight line
placed between the curves 1 and 2 from Fig. 6.
5. Study of the unbalanced duties

The unbalanced duties (generated by supply asymmetries) are generally analyzed by using
the theory of symmetric components, according to which any asymmetric three-phase
system with single unbalance (the sum of the applied instantaneous voltages is always zero)
can be equated with two symmetric systems of opposite sequences: positive (+) (or direct)
and negative (-) (or inverse) respectively. There are two possible ways for the analysis of this
problem.
a.
When the amplitudes of the phase voltages are different and/or the angles of phase
difference are not equal to 2/3 then the unbalanced three-phase system can be replaced
with an equivalent unbalanced two-phase system, which further is taken apart in two
systems, one of direct sequence with higher two-phase amplitude voltages and the other
of inverse sequence with lower two-phase amplitude voltages. Usually, this equivalence
process is obtained by using an orthogonal transformation. Not only voltages but also
the total fluxes and eventually the currents must be established for the two resulted
systems. The quantities of the unbalanced two-phase system can be written as follows:
1
U s
2
0
U s
3
U
0s
1 / 2
1 / 2
1 / 2 U
3
3 U bs U cs
as
U as ; U s
U
3 / 2 3 / 2 U bs s
2
2
3
U 0; U U U 0
1 / 2 1 / 2 U cs
as
bs
cs
0s
(52)
Further, the unbalanced quantities are transformed to balanced quantities and we obtain:
U s( ) 1 1 j U s

U , or:
U s( ) 2 1 j s
j /6
U
jU bs / 2;
s( ) U as e
j /6
jU bs / 2
U s( ) U as e
(53)
The quantities of the three-phase system with single unbalance can be written as follows:
uas U 2 cos t U as Ue j 0 ; U bs kUe j ; U cs U (1 ke j )
(54)
and further:
U s( ) U ( e j /6 ke j( /2 ) ) / 2; U s( ) U ( e j /6 ke j( / 2 ) ) / 2
(55)
Modulus of these components can be determined at once with:
U s( ) U 1 k 2 2 k sin( / 6) / 2; U s( ) U 1 k 2 2 k sin( / 6) / 2
(56)
For the transformation of the unbalanced two-phase quantities in balanced two-phase

components (53) must be used:
U s U s( ) U s( )
U s jU s( ) jU s( )
(57)
The matrix equation of the two-phase model is written in a convenient way hereinafter:
U s s js
0
0
js
s
s
0 0
r

0
0 r
0
s
( r js )
R
s

s
yr
R

( r js ) xr
s
(58)
Using elementary math (multiplications with constants, addition and subtraction of

different equations) we can obtain the equations of the two-phase direct (M2D) and inverse
(M2I) models:
(M2D)
U s( ) s js
0 r
s( )
r jsds xr ( )
(59)
(M2I)
U s( ) s js
0 r
s( )
s
r jsis xr ( )
(60)
We have defined the slip values for the direct (+) and respectively inverse (-) machines:
R
R
with the interrelation expression: si 2 s .
sd s s
; si s
The two machine-models create self-contained torques, which act simultaneously upon
rotor. The resultant torque emerges from superposition effects procedure (Simion et al.,
2009; Simion & Livadaru, 2010). The equation set (59), for M2D, gives two equations:
U s( ) ( s js ) s( ) s xr ( ) ; 0 r s( ) r jss xr ( )
which give further
(61)

s( )
r jss U s( ) ;
( )
xr ( )
r U s( )
( )
; ( ) s js r jss s r
(62)
Similarly, for M2I we obtain:
U s( ) ( s js ) s( ) s xr ( ) ; 0 r s( ) r j(2 s)s xr ( )
(63)
r j 2 s s U s( )
r U s( )
s( )
; xr ( )
; ( ) s js r j 2 s s s r (64)
( )
( )
To determine the electromagnetic torque developed under unbalanced supply condition we

use the symmetric components and the superposition effect. The mean electromagnetic torque
M2D results from (25) but transformed in simplified complex quantities:
Te( )
2U2 s( )s
3 p r 3
3p
3 2 Re j s( ) xr ( )
2
2
2s
As 2 Bs C
(65)
Similarly, the expression of the mean electromagnetic torque M2D is:
Te( )
2U2 s( ) 2 s
3 p r 3
3p
3 2Re j s( ) xr ( )
2
2
2s
A 2 s 2B 2 s C
(66)
The mean resultant torque, as a difference of the torques produced by M2D and M2I, can be
written by using (65) and (66):
Terez
2
2 s 2U2 s( )
3 p r 3 s 2U s( )
2s As2 2 Bs C A(2 s)2 2 B(2 s) C
(67)
where we have defined the notations: s2 s2 A; s r B; r2 tt2 C ; and

2U s( ) U 1 k 2 2 k sin( / 6); 2U s( ) U 1 k 2 2 k sin( / 6)
(68)
Finally, the expression of the mean resultant torque with the slip is:
Terez
3 p r 3U 2 1 k 2 2 k sin( / 6)
1 k 2 2 k sin( / 6)
s
2 s
2
2
2s
As 2 Bs C
A(2 s) 2 B(2 s) C
(69)
The influence of the supply unbalances upon Te=f(s) characteristic are presented in Fig. 7. To
this effect, let us take again into discussion the machine with the following parameters:
supply voltages with the amplitude of 490 V (Uas=346.5V) and 2/3 rad. shifted in phase;
Rs=Rr=2; Lhs=0,09; Ls= Lr=0,01; J=0,05; p=2; kz=0,02; 1=314,1 (SI units). The characteristic
corresponding to the three-phase symmetric machine is the curve A (the motoring pull-out
torque is equal to 124 Nm and obviously Uas(-) = 0). If the voltage on phase b keeps the same
amplitude as the voltage in phase a, for example, but the angle of phase difference changes
with /24=7,5 degrees (from 2/3=16/24 to 17/24 rad.) then the new characteristic is the B
curve. The pull-out torque value decreases with approx. 12% but the pull-out slip keeps its
value. Other two unbalance degrees are presented in Fig. 7 as well.
125
100
75
50
25
0
A
B
k=1, =16/24; un=0%

k=1, =17/24; un=8%
k=1, =18/24; un=16%
k=0.71, =2/3; un=27%
-25
-50
-75
-100
-125
-150
-175
-200
-225
-1
-0.75 -0.5 -0.25 0 0.25

Slip s [-]
0.5
0.75
Figure 7. Te=f(s) characteristic for different unbalance degrees
Usually, the unbalance degree of the supply voltage is defined as the ratio of inverse and
direct components:
un
U s( )
U s( )
1 k 2 2 k sin( / 6)
1 k 2 2 k sin( / 6)
100[%]
(70)
The curves A, B, C, and D from Fig. 7 correspond to the following values of the unbalance
degree: un= 0; 8%; 16% and 27%. The highest unbalance degree (27% - curve D) causes a
decrease of the pull-out torque by 40%.
b.
The second approach takes into consideration the following reasoning. When the
amplitudes of the three-phase supply system and/or the angles of the phase difference
are not equal to 2/3 then the unbalanced system can be replaced by two balanced threephase systems that act in opposition. One of them is the direct sequence system and has
higher voltages and the other is the inverse sequence system and has lower voltages. A
transformation of the unbalanced voltages and total fluxes into two symmetric systems
is again necessary. In other words, there is an unbalanced voltage system (Uas, Ubs, Ucs),

which is replaced by the direct and inverse symmetric systems. The mean resultant
torque is the difference between the torques developed by the two symmetric machinemodels. Taking into consideration their slip values (sd = s and si = 2-s) we can deduce the
torque expression:
Terez 3 / 2 p 3 [3Re j as1 ar 1 3Re j as 2 ar 2 ]
Terez
2
2
3 2 s U as
3 p r 3
3sU as
2
1
2s As2 2 Bs C A(2 s)2 2 B(2 s) C
(71)
(72)
and this is the same with (69) as we expected.
6. Simulation study upon some transient duties of the three-phase

induction machine
6.1. Symmetric supply system
The mathematical model described by the equation system (26-18) allows a complete
simulation study of the operation of the three-phase induction machine, which include startup, any sudden change of the load and braking to stop eventually. To this end, the machine
parameters (resistances, main and leakage phase inductances, moments of inertia
corresponding to the rotor and the load, coefficients that characterize the variable speed and
torque, etc.) have to be calculated or experimentally deduced. At the same time, the values
of the load torque and the expressions of the instantaneous voltages applied to each stator
phase winding are known, as well. The rotor winding is considered short-circuited. Using
the above mentioned equation system, the structural diagram in the Matlab-Simulink
environment can be carried out. Additionally, for a complete evaluation, virtual
oscillographs for the visualization of the main physical parameters such as voltage, current,
magnetic flux, torque, speed, rotation angle and current or specific characteristics
(mechanical characteristic, angular characteristic or flux hodographs) fill out the structural
diagram.
The study of the symmetric three-phase condition in the Matlab-Simulink environment takes
into consideration the following parameter values: three identical supply voltages with the
amplitude of 490 V (Uas=346.5V) and 2/3 rad. shifted in phase; uar=ubr=ucr=0 since the rotor
winding is short-circuited; Rs=Rr=2; Lhs=0,09; Ls= Lr=0,01; J=0,05; p=2; kz=0,02; 1=314,1 (SI
units). The equation system becomes:
s 135,71
as
uas 32,14 bs cs 32,14 2 ar br cr cos R 55,67( cr br )sin R
s 135,71
bs
ubs 32,14 cs as 32,14 2 br cr ar cos R 55,67( ar cr )sin R
s 135,71
cs
ucs 32,14 as bs 32,14 2 cr ar br cos R 55,67( br ar )sin R
s 135,71
ar
0 32,14 br cr 32,14 2 as bs cs cos R 55,67( bs cs )sin R
s 135,71
br
0 32,14 cr ar 32,14 2 bs cs as cos R 55,67( cs as )sin R
s 135,71
cr
0 32,14 ar br 32,14 2 cs as bs cos R 55,67( as bs )sin R
R s 0, 4 40 32,14 sin R as 2 ar br cr bs 2 br cr ar
cs 2 cr ar br
3 cos
cr bs cr ar cs ar br
R
as br
R R
uas
490
2
e j(314,1t ) ; ubs
U as max
490
Tst
(73-8)
e j(314,1t 2,094) ; ucs
2
U bs max Ucs max 490
(73-1-7)
490
2
e j (314,1t 4,188) ;
(73-9)
It has to be mentioned again that the above equation system allows the analysis of the threephase induction machine under any condition, that is transients, steady state, symmetric or
unbalanced, with one or both windings (from stator and rotor) connected to a supply
system. Generally, a supplementary requirement upon the stator supply voltages is not
mandatory. The case of short-circuited rotor winding, when the rotor supply voltages are
zero, include the wound rotor machine under rated operation since the starting rheostat is
short-circuited as well.
The presented simulation takes into discussion a varying duty, which consists in a no-load
start-up (the load torque derives of frictions and ventilation and is proportional to the
angular speed and have a steady state rated value of approx. 3 Nm) followed after 0,25
seconds by a sudden loading with a constant torque of 50 Nm. The simulation results are
presented in Fig. 8, 10, 12, 14 and 15 and denoted by the symbol RS-50. A second simulation
iterates the presented varying duty but with a load torque of 120 Nm, symbol RS-120, Fig. 9,
11 and 13. Finally, a third simulation takes into consideration a load torque of 125 Nm,
which is a value over the pull-out torque. Consequently, the falling out and the stop of the
motor in t0,8 seconds mark the varying duty (symbol RS-125, Fig. 16, 17, 18 and 19).
The RS-50 simulation shows an upward variation of the angular speed to the no-load value (in
t 0,1 seconds), which has a weak overshoot at the end, Fig. 8. The 50 Nm torque enforcement
determines a decrease of the speed corresponding to a slip value of s 6,5%. In the case of the
RS-120 simulation, the start-up is obviously similar but the loading torque determines a much
more significant decrease of the angular speed and the slip value gets to s 25%, Fig. 9.
Rotational pulsatance R [rad/s]

150
100
50
0.1
0.3
Time t [s]
0.5
Figure 8. Time variation of rotational pulsatance RS-50
150
100
50
0.1
0.3
Time t [s]
0.5
Figure 9. Time variation of rotational pulsatance RS-120
In the first moments of the start-up, the electromagnetic torque oscillates around 100 Nm
and after the load torque enforcement, it gets to approx. 53 Nm for RS-50, Fig. 10 and to
approx. 122 Nm for RS-120, Fig. 11. The operation of the motor remains stable for the both
duties.
The behavior of the machine is very interesting described by the hodograph of the resultant
rotor flux (the locus of the head of the resultant rotor flux phasor), Fig. 12 and 13. With the
connecting moment, the rotor fluxes start from 0 (O points on the hodograph) and track a
corkscrew to the maximum value that corresponds to synchronism (ideal no-load
operation), S points on the hodographs.
200
100
0
0.1
0.3
Time t [s]
0.5
Figure 10. Time variation of electromagnetic torque RS-50
200
100
0
0.1
0.3
Time t [s]
0.5

2
-2
[Wb]
2
[Wb]
N
-2
Figure 12. Hodograph of resultant rotor flux RS-50

2 [Wb]
-2
0
O
2
[Wb]
F
-2
Figure 13. Hodograph of resultant rotor flux RS-120
The enforcement of the load torque determines a decrease of the resultant rotor flux, which is
proportional to the load degree, and is due to the rotor reaction. The locus of the head of the
phasor becomes a circle whose radius is proportional to the amplitude of the resultant rotor
flux. The speed on this circle is given by the rotor frequency that is by the slip value. It is
interesting to notice that the load torque of 50 Nm causes a unique rotation of the rotor flux
whose amplitude becomes equal to the segment ON (Fig. 12) whereas the 120 Nm torque causes
approx. 4 rotations of the rotor flux and the amplitude OF is significantly smaller (Fig. 13).
Stator phase current ias [A]
If the expressions (1) and (2) are also used in the structural diagram then both stator and
rotor phase currents can be plotted. The stator current corresponding to as phase has the
frequency f1=50 Hz and gets a start-up amplitude of approx. 70 A. This value decreases to
approx. 6 A (no-load current) and after the torque enforcement (50 Nm) it rises to a stable
value of approx. 14 A, Fig. 14. The rotor current on phase ar, which has a frequency value of
f2 = s f1, gets a similar (approx. 70 A) start-up variation but in opposition to the stator
current, ias. Then, its value decrease and the frequency go close to zero. The loading of the
machine has as result an increase of the rotor current up to 13 A and a frequency value of
f23Hz, Fig. 15. The fact that the current variations are sinusoidal and keep a constant
frequency is an argument for a stable operation under symmetric supply conditions.
80
60
40
20
0
-20
-40
-60
0
0.2
Time t [s]
Figure 14. Time variation of stator phase current RS-50
0.4
0.6
Rotor phase current iar [A]
60
40
20
0
-20
-40
-60
-80
0
0.2
0.4
Time t [s]
0.6
Figure 15. Time variation of rotor phase current RS-50
150
100
50
0
0.2
0.4
Time t [s]
0.6
Figure 16. Time variation of rotational pulsatance RS-125 (start-up to locked-rotor)
200
100
0
0.2
0.4
0.6
Time t [s]
The third simulation, RS-125, has a similar start-up but the enforcement of the load torque
determines a fast deceleration of the rotor. The pull-out slip (s33%) happens in t0,5
seconds after which the machine falls out. The angular speed reaches the zero value in t0,8
seconds, Fig. 16, and the electromagnetic torque get a value of approx. 78 Nm. This value
can be considered the locked-rotor (starting) torque of the machine, Fig. 17.

The described critical duty that involves no-load start-up and operation, overloading, falling
out and stop is plotted in terms of resultant rotor flux and angular speed versus
electromagnetic torque. The hodograph (Fig. 18) put in view a cuasi corkscrew section,
corresponding to the start-up, characterized by its maximum value represented by the
segment OS. The falling out tracks the corkscrew SP with a decrease of the amplitude, which
is proportional to the deceleration of the rotor. The point P corresponds to the locked-rotor
position (s=1). Fig. 19 presents the dynamic mechanical characteristic, which shows the
variation of the electromagnetic torque under variable operation condition. During the noload start-up, the operation point tracks successively the points O, M, L and S, that is from
locked-rotor to synchronism with an oscillation of the electromagnetic torque inside certain
limits (+200Nm to -25Nm). The enforcement of the overload torque leads the operation
point along the downward curve SK characterized by an oscillation section followed by the
unstable falling out section, KP. The PKS curve, together with the marked points (Fig. 19)
can be considered the natural mechanical characteristic under motoring duty.
+2 [Wb]
-2
+2
[Wb]
-2
Figure 18. Hodograph of resultant rotor flux RS-125 (start-up to locked-rotor)

S
K
100
50
M
0
100
P
200
Figure 19. Rotational pulsatance vs. torque RS-125 (start-up to locked-rotor)
6.2. Asymmetric supply system

A simulation study of the three-phase induction machine under unbalanced supply
condition and varying duty (start-up, sudden torque enforcement and braking to stop
eventually) is possible by using the same mathematical model described by the equation
system (26-18). The values of the resistant torques and the expressions of the
instantaneous phase voltages have to be stated. Since the rotor winding is short-circuited,
the supply rotor voltages are uar=ubr=ucr=0. On this basis, the structural diagram has been put
into effect in the Matlab-Simulink environment. As regards the unbalanced three-phase
supply system, it has to be mentioned that the phase voltages are no more equal in
amplitude and the angles of phase difference may have other values than 2/3 rad. In any
event, the sum of the instantaneous values of the applied voltages must be zero, that is
uas+ubs+ucs=0. As an argument for this seemingly constraint stands the fact that the vast
majority of the three-phase induction machines are connected to the industrial system via
three supply leads (no neutral).
The simulation presented here takes into discussion an induction machine with the same
parameters as above that is: Rs=Rr=2; Lhs=0,09; Ls= Lr=0,01; J=0,05; p=2; kz=0,02; 1=314,1 (SI
units). Consequently, the equations (73-1) - (73-8) keep unchanged. The expressions (73-9)
have to be modified in accordance with the asymmetry degree.
Two varying duties under unbalanced condition have been simulated. The first (denoted
RNS-1) is characterized by an asymmetry degree, un = 16,5% and the following supply
voltages:
uas
490
2
e j(314,1t ) ; ubs
375
2
e j (314,1t 1,96) ; ucs
490
2
e j (314,1t 3,927) ; un 16,5%
(74)
The simulation results are presented in Fig. 20, 22, 24, 25 and 28. The second study
simulation (denoted RNS-2) has an asymmetry degree of un = 27% given by the following
stator voltages:
uas
490
2
e j(314,1t ) ; ubs
346,43
2
e j(314,1t 2,357) ; ucs
346,43
2
e j(314,1t 3,295) ; un 27%
(75)
The simulation results are presented in Fig. 21, 23, 26, 27 and 29. The varying duties are
similar to those discussed above and consist in a no-load start-up (the load torque derives of
frictions and ventilation and is proportional to the angular speed and have a steady state
rated value of approx. 3 Nm) followed after 0,25 seconds by a sudden loading with a
constant torque of 50 Nm.
In comparison to symmetric supply, the unbalanced voltage system causes a longer start-up
time with approx. 20% for RNS-1 (Fig. 20) and with 50% for RNS-2 (Fig. 21). Moreover, the
higher asymmetry degree of RNS-2 leads to the cancelation of the overshoot at the end of
the start-up process. At the same time, significant speed oscillations are noticeable during
the operation (no matter the load degree), which are higher with the increase of the
asymmetry degree. These oscillations have a constant frequency, which is twice of the
supply voltage frequency. They represent the main cause that determines the specific noise
of the machines with unbalanced supply system.

150
100
50
0.1
0.3
Time t [s]
0.5
Figure 20. Time variation of rotational pulsatance RNS-1 (start-up + sudden load)
150
100
50
0.1
0.3
Time t [s]
0.5
Figure 21. Time variation of rotational pulsatance RNS-2 (start-up + sudden load)
The inspection of the electromagnetic torque variation (Fig. 22 and 23) shows the presence of a
variable oscillating torque, whose frequency is twice the supply voltage frequency (in our case
100 Hz) and overlaps the average torque. This oscillating component is demonstrated by the
analytic expression of the instantaneous torque, which is written using nothing but total flux linkages
(25). The symmetric components theory, for example, is not capable to provide information
about these oscillating torques. At the most, this theory evaluates the average torque, probably
with inherent errors. Coming back to the torque variations, one can see that the amplitude
oscillations increase with the asymmetry degree, but their frequency keeps unchanged.
150
100
50
0
0.1
0.3
Time t [s]
Figure 22. Time variation of electromagnetic torque RNS-1
0.5
100
50
0
0.1
0.3
Time t [s]
0.5
Figure 23. Time variation of electromagnetic torque RNS-2
60
40
20
0
-20
-40
0
0.2
0.4
0.6
0.4
Time t [s]
0.6
Time t [s]
Figure 24. Time variation of stator phase current RNS-1

60
40
20
0
-20
-40
-60
0
0.2
Figure 25. Time variation of rotor phase current RNS-1
60
40
20
0
-20
-40
-60
0
0.2
Time t [s]
0.4
Figure 26. Time variation of stator phase current RNS-2
0.6

60
40
20
0
-20
-40
-60
0
0.2
0.4
Time t [s]
0.6
Figure 27. Time variation of rotor phase current RNS-2
The stator currents variation, Fig. 24 and 26, have a sinusoidal shape and an unmodified
frequency of 50 Hz. Their amplitude increases however with the asymmetry degree (approx.
18 A for RNS-1 and approx. 32 A for RNS-2). As a consequence of this fact, both power
factor and efficiency decrease. The rotor currents (Fig. 25 and 27) include besides the main
component of f2=s f1 frequency a second oscillating component of high frequency, f'2=(2-s)f1,
which is responsible for parasitic torques and vibrations of the rotor. The amplitude of these
oscillating currents increases with the asymmetry degree.
2
-2
[Wb]
-2
Figure 28. Hodograph of resultant rotor flux RNS-1

2
-2
-2
Figure 29. Hodograph of resultant rotor flux RNS-2
[Wb]
Figure 30. Structural diagram of the three-phase induction machine

The hodographs of the resultant rotor flux show a very interesting behavior of the
unbalanced machines, Fig. 28 and 29. In comparison to the symmetric supply cases where
the hodograph is a circle under steady state, the asymmetric system distort the curve into a
gear wheel with a lot of teeth placed on a mean diameter whose magnitude depends
inverse proportionally with the asymmetry degree. Generally, these curves do not overlap
and prove that during the operation the interaction between stator and rotor fluxes is not
constant in time since the rotor speed is not constant. Consequently, the rotor vibrations are
usually propagated to the mechanical components and working machine.
In order to point out the superiority of the proposed mathematical model, Fig. 30 shows the
structural diagram used in Simulink environment. The diagram is capable to simulate any
steady-state and transient duty under balanced or unbalanced state of the induction
machine including doubly-fed operation as generator or motor by simple modification of
the input data. To prove this statement, a simulation of an unbalanced doubly-fed operation
has been performed. The operation cycle involves: I. A no-load start-up (the wound rotor
winding is short-circuited); II. Application of a supplementary output torque of (-70) Nm (at
the moment t=0.4 sec.) which leads the induction machine to the generating duty (over
synchronous speed); III. Supply of two series connected rotor phases with d.c. current
(Uar=+40V, Ubr= 40V, Ucr=0V), at the moment time t=0.6 sec., which change the operation of
the induction generator into a synchronized induction generator (SIG).
Fig. 31 and 32 show the dynamic mechanical characteristic, Te=f(R) and the hodograph of
the resultant rotor flux respectively. The start-up corresponds to A-S1 curve, the over
synchronous acceleration is modeled by S1-S curve and the operation under SIG duty
corresponds to S-S2 curve. A few observations regarding Fig. 32 are necessary as well. The
rotor flux hodograph is rotating in a counterclockwise direction corresponding to motoring
duty, in a clockwise direction for generating duty and stands still at synchronism. The in
time modification and the position of the hodograph corresponding to SIG duty depend on
the moment of d.c. supply and the load angle of the machine.
200
S
S2
S1
100
-100
100
Figure 31. Dynamic mechanical characteristic
[Wb]
+2
S2
S
A
[Wb]
S1
-2
-2
+2
Figure 32. Hodograph of resultant rotor flux
7. Conclusion
The mathematical model presented in this contribution is characterized by the total lack of
the winding currents and angular speed in the voltage equations. Since these parameters are
differential quantities of other electric parameters, they usually bring supplementary
calculus errors mainly for the dynamic duty analysis. Their removal assures a high accuracy
of the results. If their variation is however necessary to be known then simple subsequent
calculations can be performed.
The use of the mathematical model in total fluxes is appropriate for the study of the electric
machines with permanent magnets where the definitive parameter is the magnetic flux and
not the electric current.
The coefficients defined by (28.1-4), which depend on resistances and inductances, take into
consideration the saturation. Consequently, the study of the induction machine covers more
than the linear behavior of the magnetization phenomenon.
The most important advantage of the proposed mathematical model is its generality degree.
Any operation duty, such as steady-state or transients, balanced or unbalanced, can be
analyzed. In particular, the double feeding duty and the synchronized induction machine
operation (feeding with D.C. current of a rotor phase while the other two are short-circuited)
can be simulated as well.
The results obtained by simulation are based on the transformation of the equations in
structural diagrams under Matlab-Simulink environment. They present the variation of
electrical quantities (voltages and currents corresponding to stator and rotor windings), of
mechanical quantities (expressed through rotational pulsatance) and of magnetic

parameters (electromagnetic torque, resultant rotor and stator fluxes). They put in view the
behavior of the induction machine for different transient duties. In particular, they prove
that any unbalance of the supply system generates important variations of the
electromagnetic torque and rotor speed. This fact causes vibrations and noise.
Author details
Alecsandru Simion, Leonard Livadaru and Adrian Munteanu
Gh. Asachi Technical University of Iai, Electrical Engineering Faculty, Romania
8. References
Ahmad, M. (2010). High Performance AC Drives. Modeling Analysis and Control, Springer, ISBN
978-3-642-13149-3, London, UK
Boldea, I. & Tutelea, L. (2010). Electric Machines. Steady State, Transients and Design with
MATLAB, CRC Press, ISBN 978-1-4200-5572-6, Boca Raton, USA
Bose, B. (2006). Power Electronics and Motor Drives, Elsevier, ISBN 978-0-12-088405-6, San
Diego, USA
Chiasson, J. (2005). Modeling and High-Performance Control of Electrical Machines, IEEE Press,
Wiley Interscience, ISBN 0-471-68449-X, Hoboken, USA
De Doncker, R.; Pulle, D. & Veltman, A. (2011). Advanced Electrical Drives. Analysis, Modeling,
Control, Springer, ISBN 978-94-007-0179-3, Dordrecht, Germany
Krause, P.; Wasynczuk, O. & Sudhoff, S. (2002). Analysis of Electric Machinery and Drive
Systems (sec. ed.), IEEE Press, ISBN 0-471-14326-X, Piscataway, USA
Marino, R.; Tomei, P. & Verrelli, C. (2010). Induction Motor Control Design, Springer, ISBN
978-1-84996-283-4, London, UK
Ong, C-M. (1998). Dynamic Simulation of Electric Machinery using Matlab/Simulink, Prentice
Hall, ISBN 0-13-723785-5, New Jersey, USA
Simion, Al.; Livadaru, L. & Lucache, D. (2009). Computer-Aided Simulation on the
Reversing Operation of the Two-Phase Induction Machine. International Journal of
Mathematical Models and Methods in Applied Sciences, Iss. 1, Vol. 3, pp. 37-47, ISSN 19980140
Simion, Al. (2010). Study of the Induction Machine Unsymmetrical Condition Using In Total
Fluxes Equations. Advances in Electrical and Computer Engineering, Iss. 1 (February 2010),
pp. 34-41, ISSN 1582-7445
Simion, Al. & Livadaru, L. (2010). On the Unsymmetrical Regime of Induction Machine. Bul.
Inst. Polit. Iai, Tomul LVI(LX), Fasc.4, pp. 79-91, ISSN 1223-8139
Simion, Al.; Livadaru, L. & Munteanu, A. (2011). New Approach on the Study of the SteadyState and Transient Regimes of Three-Phase Induction Machine. Buletinul AGIR,
Nr.4/2011, pp. 1-6, ISSN-L 1224-7928
Sul, S-K. (2011). Control of Electric Machine Drive Systems, IEEE Press, Wiley Interscience,
ISBN 978-0-470-87655-8, Hoboken, USA
Wach, P. (2011). Dynamics and Control of Electric Drives, Springer, ISBN 978-3-642-20221-6,
Berlin, Germany

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Chapter 1

Mathematical Model of the Three-Phase

4 Induction Motors Modelling and Control

The family of mathematical models with concentrated parameters comprises different

2. The equations of the three-phase induction machine in phase

In a matrix form, the equations become:

Mathematical Model of the Three-Phase Induction Machine

Figure 1. Schematic model of three-phase induction machine: a. real; b. reduced rotor

6 Induction Motors Modelling and Control

where u denotes the angle of 1200 (or 2/3 rad).

uabcr k uABCR ; abcr k ABCR ; iabcr 1 / k i ABCR ;

Lrr k 2 LRR (1 / 2) Lhs

Lsr k LsR Lrs Lhs cos R 2u

By virtue of these transformations, the voltage equations become:

Rr iabcr Lrr abcr

By using the notations:

Mathematical Model of the Three-Phase Induction Machine

uas cos R ubs cos R 2u ucs cos R u

ubs cos R ucs cos R 2u uas cos R u

8 Induction Motors Modelling and Control

where R represents the rotational pulsatance (or rotational pulsation).

Mathematical Model of the Three-Phase Induction Machine

Now, the equation system (8) can be written shortly as:

By using the multiplication with the reciprocal matrix:

Labcabc abcabc Labcabc Labcabc iabcabc , or iabcabc Labcabc abcabc

than (15) becomes:

where the following notations have been used:

Ls Lhs L r 3 Lhs L s 2 L r L s L r ; Lr Lhs L s 3 Lhs L r 2 L r L s L s

10 Induction Motors Modelling and Control

Te abcabc abcabc abcabc

Mathematical Model of the Three-Phase Induction Machine

where the following notation has been used:

12 Induction Motors Modelling and Control

3. Mathematical models used for the study of steady-state under

Mathematical Model of the Three-Phase Induction Machine

3.1. The abc-0 model in total fluxes

We define the following notations:

(LD) 3 Lhs L r 3 Lhs L s 2 L r L s L r

14 Induction Motors Modelling and Control

By using these notations in (17) and after convenient groupings we obtain:

Mathematical Model of the Three-Phase Induction Machine

Ultimately, the 8 equation system under operational form is:

R s kz / J p J 3 / 2 p 3 s r s r sin R s r s r cos R Tst

16 Induction Motors Modelling and Control

3.2. The abc-dq model in total fluxes

R s kz / J p J 3 / 2 p 3 s r s r sin R s r s r cos R Tst

Mathematical Model of the Three-Phase Induction Machine

(two-phase mathematical model). Its parameters can be deduced by linear transformations of

xr r cos R r sin R , yr r sin R r cos R

XS s cos R s sin R , YS s sin R s cos R

18 Induction Motors Modelling and Control

4. Expressions of electromagnetic torque

Mathematical Model of the Three-Phase Induction Machine

20 Induction Motors Modelling and Control

Electromagnetic torque Te [Nm]

40 60 80 100 120 140 160

Figure 3. Mechanical characteristics, Me=f(R) at sR3=const.

Voltage UsR3 [V]

Figure 4. Resultant stator voltage vs. pulsatance UsR3=f(s) at sR3=const. (1,91Wb)