774 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 19, NO.

2, APRIL 2004

Effects of Symmetrical and Unsymmetrical

Voltage Sags on Induction Machines
Luis Guasch, Felipe Córcoles, and Joaquín Pedra, Member, IEEE

Abstract—This paper analyzes the symmetrical and unsym-

metrical voltage sags consequences on the induction machines
behavior: current and torque peaks and speed loss. These effects
depend on several variables like sag magnitude and duration,
type of sag, and initial point-on-wave. A wide variety of sags has
been analyzed for different magnitudes, durations, and the most
severe initial point-on-wave, showing the machine sensitivity in
magnitude-duration plots (sensitivity curves). The severity of the
different sags types has been compared by means of the Euclidean
distance between the surfaces that represent the sensitivity curves.
This comparison allows sags types to be divided into several
groups: in general, the most severe sags are the symmetrical ones,
and the least severe are the single-phase ones. The sensitivity Fig. 1. Voltage sags types. All sags have a magnitude of 50% (h = 0:5).
curves can also be represented by using the positive-sequence (Obtained from [2].)
voltage for ordinates, giving a different sags classification.
Index Terms—Induction machine, sensitivity curve, symmetrical
and unsymmetrical voltage sags. (sensitivity curves) to graphically show the machine sensitivity
to the different sags types. The severity of the different sags
types has been compared in Section VIII by means of the
I. INTRODUCTION Euclidean distance between the surfaces that represent the
sensitivity curves. The use of the positive-sequence voltage to
V OLTAGE sags are currently a matter of great interest be-
cause they can pose a number of problems in the supplied
equipment depending on their particular sensitivity [1]. Voltage
represent the unsymmetrical sags effects is also suggested in
Section VIII.
sags can be either symmetrical or unsymmetrical, depending
on the causes. If the individual phase voltages are equal and II. SAGS TYPES AND CHARACTERIZATION
the phase relationship is 120 , the sag is symmetrical. Other- Voltage at the customer bus is transient during a fault and
wise, the sag is unsymmetrical. A three-phase short circuit or after clearing it (which means the voltage is nonsinusoidal). A
a large motor starting can produce symmetrical sags. Single voltage sag may also involve a phase angle shift (phase jump)
line-to-ground, phase-to-phase, or two phase-to-ground faults during the fault [2], and the type of sag may change when the
due to lightning, animals, accidents, and other causes, as well as fault is successfully cleared [5]. For simplicity purposes, in this
energizing of large transformers can cause unsymmetrical sags. paper it has been considered that the sag shape is rectangular,
Load and transformer connections can modify the type of sag no phase jump occurs and the sag type does not change when
experienced by a load. A sags classification is included in [2]. the fault is cleared.
The consequences of a voltage sag on the induction machine Reference [2] shows that voltage sags experienced by three-
behavior are speed loss and current and torque peaks that appear phase loads can be classified into seven types, denoted as A,
in the fault and recovery voltage instants [3], [4]. These transient B, C, D, E, F, and G. Fig. 1 shows their phasor diagrams and
effects can trigger the motor or system protection. Table I includes their expressions, where is the sag magnitude
Section II shows the voltage sags classification, and Sec- [in this paper, sag magnitude is the net root mean
tion III presents the induction machine model. The sags square (rms) voltage in percentage or per unit of system rated
consequences are analyzed in Section IV and the influence voltage]. Sag type A is symmetrical, whereas types B to G are
of the initial point-on-wave and sag duration is discussed unsymmetrical.
in Section V. Section VII includes magnitude-duration plots In this paper, the initial instant —or fault instant—is the in-
stant when the sag begins and the final instant —or recovery
Manuscript received April 29, 2003. This work was supported under Grant voltage instant—is the instant when the sag ends. As analyzed
DPI2000-0994. in Section V, the phase voltage point-on-wave at the instant
L. Guasch is with the Department of Electronic, Electrical, and Automatic En-
gineering, ETSE, Universitat Rovira i Virgili, Tarragona 43007, Spain (e-mail: when the sag begins (called initial point-on-wave ) is a param-
[email protected]). eter that also influences the current and torque peaks. If phase
F. Córcoles and J. Pedra are with the Department of Electrical Engineering, voltage is
ETSEIB-Universitat Politècnica de Catalunya (UPC), Barcelona 08028, Spain
(e-mail: [email protected]; [email protected]).
Digital Object Identifier 10.1109/TPWRD.2004.825258 (1)
0885-8977/04$20.00 © 2004 IEEE
GUASCH et al.: EFFECTS OF SYMMETRICAL AND UNSYMMETRICAL VOLTAGE SAGS ON INDUCTION MACHINES 775

TABLE I
SAGS TYPES IN EQUATION FORM (OBTAINED FROM [2])

Fig. 2. Machine behavior for voltage sag type A: magnitude 10%, duration
5.5 cycles (110 ms), and initial point-on-wave 45 .

the initial point-on-wave at the initial instant is

(2)

If the sag begins at the initial instant s, the angle of the

phase voltage matches up with the initial point-on-wave:
. In all of the examples of this paper, sags begin at the
initial instant , which gives .
As the implemented sags in this paper are rectangular, they
are univocally defined by their magnitude , their duration ,
and their initial point-on-wave .

III. INDUCTION MACHINE MODEL

The chosen motor for the simulation is an actual motor that
drives a ventilator in a chemistry plant: 4 MW, 6300 V (isolated
Wye), 50 Hz, 25.8 kNm, 1483 r/min, and 420 A. Its operating
point is close to the nominal (or rated) conditions.
The model for the induction machine is a linear single-cage Fig. 3. Machine behavior for voltage sag type B: magnitude 10%, duration
5.5 cycles (110 ms), and initial point-on-wave 90 .
dynamic model. When the Ku transformation [6] in the synchro-
nously reference frame is applied, the transformed equations are
of the machine, and load and mechanical inertia. Irrespective of
the type of sag, the observed voltage sag effects on the induction
machine behavior are speed loss and current and torque peaks.
(3) As an example, Figs. 2 and 3 show the machine behavior for
sags types A and B of magnitude , duration 5.5 cycles
( ms) and initial points-on-wave and
IV. VOLTAGE SAG EFFECTS . The maximum current and torque peaks can be ob-
Transient effects depend on many elements such as sag mag- tained after the fault instant or after the recovery voltage instant.
nitude and duration, initial point-on-wave, electrical parameters Transients shape depends on the type of sag:
776 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 19, NO. 2, APRIL 2004

• transients due to symmetrical sags only depend on sag

magnitude and duration (in a periodic way) [3];
• transients due to unsymmetrical sags depend on sag mag-
nitude and duration (in a periodic way), but also on the ini-
tial point-on-wave (this influence is studied in Section V);
moreover, the negative-sequence voltage produces non-
damped oscillations on the torque and speed (Fig. 3).
When the machine is nongrounded, sags types E and G of
the same magnitude and duration have identical consequences
since they have the same positive- and negative-sequence volt-
ages (Table VI)—they only differ in the zero-sequence voltage.
Therefore, we will only deal with sags type E in this paper.

V. VARIABLES OF INTEREST FOR MACHINE SENSITIVITY

In this paper, the chosen variables to study the machine sen-
sitivity to voltage sags are the current and torque peaks and
the speed loss (which is measured by the mechanical slip
). These values are calculated in per unit as referred
to the nominal or rated current, torque, and slip

(4)

VI. INFLUENCE OF THE INITIAL POINT-ON-WAVE

AND THE SAG DURATION

If the sag is symmetrical, type A, the initial point-on-wave

has little influence on the current peak and no influence on the
torque peak or the speed loss [3]. However, this point-on-wave
has a great influence on the current and torque peaks when the
fault is unsymmetrical, and little influence on the speed loss.
Figs. 4 and 5 display the current and torque peaks versus the
initial point-on-wave for sags types A, B, C, D, E, and F, with
magnitude and durations of five cycles and 5.5 cycles
( ms and ms). Fig. 4. Current peaks for sags types A, B, C, D, E, and F of different initial
In Fig. 4, it can be observed that the maximum current points-on-wave, and durations five cycles (thin line) and 5.5 cycles (thick line).
peaks for sags types B, D, and F are obtained when the Sags magnitude is 10%.
initial point-on-wave is approximately 90 [ is null and
decreasing]. However, the maximum peaks are obtained in sags
types C and E when the initial point-on-wave is approximately
F) has been simulated for different magnitudes and durations
0 [ is maximum]. The same behavior is seen in the torque
and the most unfavorable initial point-on-wave mentioned in
peaks (Fig. 5).
Section V. The algorithm has a high calculation speed because
The comparison of sags of different durations (Figs. 4 and 5)
it makes use of previous calculations whenever possible.
shows that higher current and torque peaks are obtained when
The necessary variables at each transient simulation are cur-
sag duration is half a period plus any number of full periods
rent, torque, and speed loss. The maximum value for each vari-
( , where is an integer . Thus,
able (which is usually produced near the initial or the final in-
the most severe current and torque peaks are produced for the
stants, Figs. 2 and 3) is searched as in (4) and recorded in the
specific initial points-on-wave and sag durations of Table II.
corresponding matrix. These calculations produce a set of ma-
trices which are
VII. EXTENSIVE RANGES OF SAGS SIMULATION
• –the current peak matrix for sags type ;
An algorithm has been developed to analyze the extensive • –the torque peak matrix for sags type ;
ranges of sags. The transient for each different sag type (A to • –the maximum speed loss matrix for sags type .
GUASCH et al.: EFFECTS OF SYMMETRICAL AND UNSYMMETRICAL VOLTAGE SAGS ON INDUCTION MACHINES 777

(from 0% to 97.5%). Thus, the dimension of each matrix is

125 40. The calculation time to obtain the matrices of each
type of sag is about 95 min in a Pentium II MMX 300-MHz
computer with 64 Mb of random-access memory (RAM).

VIII. SENSITIVITY CURVES

The different matrices can be interpreted as surfaces,

and their data can be represented as three-dimensional (3-D)
surfaces, Fig. 6, [3], although the most usual representation
is as level curves in magnitude-duration plots (Figs. 7, 8, and
9). These curves represent the induction machine sensitivity
to voltage sags, and are therefore called sensitivity curves as
well. Fig. 7 shows the current peaks, Fig. 8 shows the torque
peaks and Fig. 9 shows the speed loss. The axes of these
plots represent the sag magnitude and the duration —in
logarithmic scale—of the events. The curves drawn in the
magnitude-duration plots are horizontal cutouts to different
levels from the corresponding 3-D surface. For example, the
level curve of 2 p.u. is a horizontal cutout made at a height of
2 p.u.
It is clear that the current and torque peaks and the maximum
speed loss of the examples in Figs. 2 and 3 are specific points
of Figs. 7, 8, and 9 [e.g., ( p.u. when
cycles].
In general, the sensitivity curves have several features as
follows.
• Exactly the same information as the 3-D surfaces.
• Comparison of sags severity can be made by comparison
of corresponding level curves. For example, sags type A
seems to be more severe than sags type B as regards cur-
rent peaks (Fig. 7) because type A level curves of 2 p.u.
and 4 p.u. involve sags of higher values of (these level
curves involve sags type A that are less severe.) In other
words, the value of needed to obtain a specific current
peak in a sag type A is higher than in a sag type B.
• These magnitude-duration plots are particularly in-
teresting when they are merged with protective relay
Fig. 5. Torque peaks for sags types A, B, C, D, E, and F of different initial coordination curves to analyze the ride-through capability
points-on-wave, and durations five cycles (thin line) and 5.5 cycles (thick line). of the equipment [2]. The sensitivity curves can also be
Sags magnitude is 10%. combined with sag density data to estimate the expected
faults in the equipment [2]. In a first assessment of the
sensitivity curves, some differences between the sags
TABLE II
MOST UNFAVORABLE INITIAL POINT-ON-WAVE AND SAG DURATION
types can be visually established.
• Clearly, the symmetrical sags, type A, and the
single-phase voltage sags, type B, are different from
the rest (e.g., level curves of 4 p.u. in all sags types can
be compared).
• Fig. 7 shows that the maximum current peaks are usually
obtained in sags type A (e.g., level curves of 4 p.u. are
produced for higher values of ), whereas sags types C,
where represents the type of voltage sags: A, B, C, D, E, or D, E, and F have similar level curves.
F. Each element of the matrix is the maximum • Fig. 8 suggests that the maximum torque peaks are usually
value of the studied variable for a sag type with a magnitude obtained in sags types C and D (torque peaks of 4 p.u. in
and duration . sags of cycles are obtained for depth
For each sag type, 5000 different sags have been simulated: in sags types C and D, whereas depth must be
125 durations (from 0.1 to 500 cycles) and 40 magnitudes in sags type A.)
778 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 19, NO. 2, APRIL 2004

Fig. 6. 3-D surfaces of instantaneous current peaks for sags types A and B. Distances to the null matrix and distance between both surfaces.

Fig. 7. Sensitivity curves of instantaneous current peaks for sags types A, B, C, D, E, and F.

However, the normalized distance proposed in the next sec- Then, the expression of the normalized distance between two
tion allows a more rigorous comparison of the severity of the surfaces and is defined in percentage as
different sags types on the machine behavior to be made.

IX. COMPARISON OF SAGS

To compare the severity of the different sags types, it is nec- (6)
essary to measure the distance between two matrices or surfaces
and . The chosen distance is the Euclidean distance [7], where is the distance between the max-
whose definition and properties are described in the Appendix. imum matrix and the null matrix.
This distance is normalized to make easier the numerical values Fig. 6 shows 3-D surfaces of instantaneous current peaks for
interpretation. The normalization needs a new reference matrix sags types A and B, where the distance from these surfaces to
or surface. In this case, the maximum matrix is chosen. the null matrix and the distance between both surfaces have been
Each element of this maximum matrix symbolically marked.
is the maximum value between the corresponding elements of Table III shows the comparison between the current peaks
matrices , and matrices for sags types A to F and the reference matrix
MAX. Each cell of the table represents the normalized distance
(5) between matrices and . For example, element
GUASCH et al.: EFFECTS OF SYMMETRICAL AND UNSYMMETRICAL VOLTAGE SAGS ON INDUCTION MACHINES 779

Fig. 8. Sensitivity curves of instantaneous torque peaks for sags types A, B, C, D, E, and F.

Fig. 9. Sensitivity curves of speed loss for sags types A, B, C, D, E, and F.

% is the distance between the symmetrical tance to the maximum matrix %. This is
sag, type A, and the single-phase sag, type B. The row MAX why this sag produces the most severe effects.
shows the distance of each matrix to the maximum matrix. Nevertheless, there are some points where other
The normalized distance allows an interesting interpretation sags types can produce higher current peaks than type A, as is
of the numerical results. The row MAX shows when a sag type the case of point P in types C and D of Fig. 7 (
has the highest current peaks. Sag type A has the minimum dis- cycle).
780 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 19, NO. 2, APRIL 2004

TABLE III TABLE IV

NORMALIZED DISTANCE (%) BETWEEN SURFACES OF CURRENT PEAKS NORMALIZED DISTANCE (%) BETWEEN SURFACES OF TORQUE PEAKS

The single-phase sags, type B, have the longest distance to the

TABLE V
maximum matrix %. Then, these are the NORMALIZED DISTANCE (%) BETWEEN SURFACES OF SPEED LOSS
least severe sags. The normalized distance also allows studying
if two or more sags types are similar or not. For example, the
single-phase sags, type B, have a normalized distance to the
other sags types where can be the surface of sags
type A, C, D, E, or F, which is always superior to 26%; then,
sags type B are clearly separated from the others. The distances
between sags types C, D, E, and F are always less than 10%;
thus, these unsymmetrical sags types can be considered similar.
Consequently, three groups of sags can be considered in order
of severity

• type A: %, where is any of the surfaces TABLE VI

of sags B, C, D, E, or F; SYMMETRICAL COMPONENTS FOR EACH SAG TYPE
• types C, D, E, and F: %, where and
are any of the surfaces of sags C, D, E, or F;
• type B: %, where is any of the surfaces
of sags A, C, D, E, or F.
This methodology has been followed with the torque peaks
matrices and the speed loss matrices . The numerical
results are shown in Tables IV and V, respectively.
A careful analysis of the normalized distances between the
torque peaks matrices in Table IV suggests that sags types can
be classified in order of severity into four groups

• types C and D: %;
• types E and F: %;
• type A: %, where is any of the
surfaces of sags B, C, D, E, or F;
• type B: %, where is any of the sur-
faces of sags A, C, D, E, or F. • types E and F: %;
The most severe sags types are C and D, with a distance • types C and D: %;
% to the maximum • type B: %, where is any of the
matrix. The symmetrical sag has a distance surfaces of sags A, C, D, E, or F.
% to the maximum matrix. This effect can be due to the Although the order is different, this classification is identical
negative-sequence voltage influence on the torque. Point P in to that obtained for the torque peaks. The highest speed loss is
Fig. 8 cycle) is an example where the unsym- produced with the symmetrical sag, type A,
metrical sags can produce higher torque peaks than the symmet- %. The lowest case is the single-phase voltage sag, type B,
rical ones. %.
Finally, the numerical results in Table V for the distances be-
tween the speed-loss matrices lead to a classification into four A. Sensitivity Curves Using Positive-Sequence Voltage for
groups in order of severity Ordinates
• type A: %, where is any of the Another possible way to classify the different types of voltage
surfaces of sags B, C, D, E, or F; sags is by using positive-sequence voltage.
GUASCH et al.: EFFECTS OF SYMMETRICAL AND UNSYMMETRICAL VOLTAGE SAGS ON INDUCTION MACHINES 781

Fig. 10. Sensitivity curves of instantaneous current and torque peaks, and speed loss for sags types B, D, and F, using the positive-sequence voltage.

The Fortescue transformation (symmetrical components are identical to those represented in Figs. 7, 8, and 9 since this
transformation) allows positive-, negative-, and zero-sequence sag is symmetrical .
voltages to be calculated from real phase voltages Except for some small differences, the curves for sags types
E and F are very similar. Something similar is true of curves
for sags types B, C, and D. Nevertheless, it must be taken into
(7) account that the minimum positive-sequence voltage for sags
type B is only .
Thus, if sensitivity curves are plotted using positive-sequence
By applying the Fortescue transformation to the expressions voltage for ordinates, the study of voltage sags can be grouped
of the seven sags types (see Table I), the sequence voltages in into three typologies in order of severity: unsymmetrical types
Table VI are obtained. This table shows that the minimum pos- B, C, and D; unsymmetrical types E, F, and G; and symmetrical.
itive-sequence voltage is in sags type B, in sags
types C and D, and in sags types E and F. As has been
X. CONCLUSION
previously commented, it can also be observed that sags types
E and G only differ in the zero-sequence voltage, which implies The effects of the different sags types on the induction ma-
that Delta or ungrounded Wye connected loads have the same chine behavior have been studied. In a first stage, the influence
behavior, as is the case of the induction motor in this paper. of the initial voltage phase (initial point-on-wave) and the sag
Fig. 10 shows the sensitivity curves of current and torque duration have been analyzed. The most severe peaks are ob-
peaks, and speed loss for sags types B, D, and F, using posi- tained for specific initial points-on-wave and for sag durations
tive-sequence voltage for ordinates. The curves for sags type A of half a period plus any full periods. Each sag type has been
782 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 19, NO. 2, APRIL 2004

studied for 5000 different cases, of different magnitudes and du- [6] J. Lesenne, F. Notelet, and G. Seguier, Introduction a l’Electrotechnique
rations and the most severe initial point-on-wave. The results Approfondie, Technique et Documentation, Paris, France, 1981.
[7] F. Szidarovszky and S. Yakowitz, Principles and Procedures of Numer-
have been displayed in sensitivity curves. The effects of the ical Analysis. New York: Plenum, 1978, pp. 112–117.
different sags types have been compared by means of the Eu-
clidean distance between the surfaces that represent the sensi-
tivity curves. The current peaks comparison shows that sags can
be classified into three groups. With regard to the torque peaks Luis Guasch was born in Tarragona, Spain, in 1964.
and speed loss effects, these can be classed into four groups. He received the B.S. degree in industrial engineering
from the Universitat Politècnica de Catalunya (UPC),
Furthermore, the use of the positive-sequence voltage to clas- Barcelona, Spain. He is currently pursuing the Ph.D.
sify the effects of the different sags types has also been studied. degree at the UPC.
Currently, he is a Professor in the Electrical Engi-
neering Department of the Universitat Rovira i Vir-
APPENDIX gili, Tarragona, Spain, where he has been since 1990.
EUCLIDEAN DISTANCE His research interest lies in the areas of electric ma-
chines and power system quality.
The Euclidean distance between two matrices and
is [7]

Felipe Córcoles was born in Almansa, Spain, in

(8) 1964. He received the B.S. degree in industrial en-
gineering and the Ph.D. degree in engineering from
the Universitat Politècnica de Catalunya (UPC),
Barcelona, Spain, in 1990 and 1998, respectively.
which satisfies the following three properties: , Currently, he is a Professor in the Electrical Engi-
and if and only if ; neering Department of the UPC, where he has been
; and . since 1992. His research interests include electric ma-
chines and power system quality.

REFERENCES
[1] R. C. Dugan, M. F. McGranaghan, and H. W. Beaty, Electrical Power
Systems Quality. New York: McGraw-Hill, 1996.
[2] M. H. J. Bollen, Understanding Power Quality Problems: Voltage Sags
and Interruptions. New York: IEEE Press, 2000. Joaquín Pedra (S’85–M’88) was born in Barcelona,
[3] F. Córcoles and J. Pedra, “Algorithm for the study of voltage sags on Spain, in 1957. He received the B.S. degree in indus-
induction machines,” IEEE Trans. Energy Conversion, vol. 14, pp. trial engineering and the Ph.D. degree in engineering
959–968, Dec. 1999. from the Universitat Politècnica de Catalunya (UPC),
[4] L. Guasch, F. Córcoles, and J. Pedra, “Effects of unsymmetrical voltage Barcelona, Spain, in 1979 and 1986, respectively.
sag types E, F, and G on induction motors,” in Proc. 9th Int. Conf. Har- Currently, he is a Professor in the Electrical Engi-
monics Quality Power, vol. III, Orlando, FL, Oct. 2000, pp. 796–803. neering Department of the UPC, where he has been
[5] M. H. J. Bollen, “Voltage recovery after unbalanced and balanced since 1985. His research interests include the areas of
voltage dips in three-phase systems,” IEEE Trans. Power Delivery, vol. power system quality and electrical machines.
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