Progress Report

On

Dynamic Modelling Of Three Phase Induction Motor and its Control

Technique

By

Abhijeet Rajesh Geetey

M.Tech (Power Electronics & Drives)
ID No - 30695
Enroll No – MT23PED003

Research Guide

Dr. Ashwin Dhabale

Assistant Professor
Department of Electrical Engineering

RPC Members
Dr.B.S.Umre
Professor
Department of Electrical Engineering

Dr.Ramsha Karampuri Dr.Ritesh Kumar Keshri

Assistant Professor Associate Professor
Department of Electrical Engineering Department of Electrical Engineering

Department of Electrical Engineering

Visvesvaraya National Institute of Technology, Nagpur – 440 010
2023-24
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 CONTENTS

Topic

1 INTRODUCTION

2 BACKGROUND

GENERALIZED MODEL IN ARBITRARY REFERENCE

2.1
FRAME

2.2 STATOR REFERENCE FRAME

2.3 ROTOR REFERENCE FRAME

2.4 SYNCHRONOUS REFERENCE FRAME

RESULTS OF 3-PHASE DYNAMIC MODELLING OF

2.5 INDUCTION MOTOR IN SYNCHRONOUSLY ROTATING
FRAME
DIRECT TORQUE AND FLUX CONTROL OF THREE
3 PHASE INDUCTION MOTOR

4 CONCLUSION AND FUTURE SCOPE

5 REFERENCES

II
 1. Introduction
The steady-state model and its equivalent circuits are useful for studying the performance
of the machine in steady state. This implies that all electrical transients are neglected
during load changes and stator frequency variations. Such variations arise in applications
involving variable-speed drives. The variable speed drives are converter-fed from finite
sources, unlike the utility sources, due to the limitations of the switch ratings and filler
sizes. This results in their incapability to supply large transient power. Hence, we need to
evaluate the dynamics of converter-fed variable-speed drives to assess the adequacy of
the converter switches and the converters for a given motor and their interaction to
determine the excursions of currents and torque in the converter and motor. The dynamic
model considers the instantaneous effects of varying voltages/currents, stator frequency,
and torque disturbance. The dynamic model of the induction motor is derived by using a
two-phase motor in direct and quadrature axes. This approach is desirable because of the
conceptual simplicity obtained with two sets of windings, one on the stator and the other
on the rotor. The reference frames are chosen to be arbitrary and particular cases such as
stationary, rotor and synchronous reference frames are simple instances of the general
case. The differential equations describing the dynamics of the induction motor are
nonlinear. For stability and controller design studies, it is important to linearize the
machine equations around a steady - state operating point to obtain the small - signal
equations.
The following assumptions are generally made to derive the dynamic model of the
induction motor.
1. Uniform air gap
2. Balanced rotor and stator windings with sinusoidally distributed mmf
3. Inductance vs rotor position is sinusoidal
4. Saturation and parameter changes are neglected
2. Background
2.1 Generalized Model in Arbitrary Reference Frame
Reference frames rotating at an arbitrary speed are hereafter called arbitrary reference frames.
Other reference frames are particular cases of these arbitrary reference frames. From now on, the
three phase machine is assumed to have balanced windings and balanced inputs, thus eliminating
the zero sequence equations from further consideration. Note that the zero-sequence equations
have to be included only for unbalanced operation of the motor, a situation common with a fault
in the machine or converter.
The induction motor model in arbitrary reference frame is given by:

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Where ‘c’ denotes arbitrary reference frame and ω c represents the speed of the reference frame.
The electromagnetic torque developed by the motor is given by:

The electro-mechanical torque equation is:-

The three main reference frames used are:

1. Stator (or stationary) reference frame
2. Rotor reference frame
3. Synchronously rotating reference frame
2.2 Stator Reference Frame
Since the reference is stationary, the angular velocity of the reference frame would be ω c = 0 and
hence the equations become:

The electromagnetic torque developed by the motor is given by:

2.3 Rotor Reference Frame

The reference is with rotor which is rotating at a speed of ωr.
ωc = ωr

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Where ‘r’ denotes rotor reference frame. The electromagnetic torque developed by the motor is
given by:

2.4 Synchronous Reference Frame

Reference is rotating with synchronous speed for this case.
ωc = ωs

Where the superscript ‘s’ denotes synchronous reference frame. The electromagnetic torque
developed by the motor is given by:

2.5 Results of 3-Phase dynamic modelling of Induction Motor in Synchronous Frame:-

Parameters of 3-Ph Induction Motor:-
Vs=400 V J=0.053 kg- m2

Rs=0.73 Ohm ωs= (4*π*Freq)/Poles

Rr=0.74 Ohm Vm = Vs * sqrt(2/3)

Ls=3 mH Vas = Vm * sin(ωs * t)

Lr=3 mH Vbs = Vm * sin(ωs * t - 2*π/3)

Lm=124 mH Vcs = Vm * sin(ωs * t + 2*π/3)

Freq=50 Hz Poles =4

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 Fig(1) – Sinosuidal Voltages

Fig(2) – Clarkes’ Transformation

Fig(3) – Parks, Transformation

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2.5(a) With Load Torque = 0

Fig(4) – Ia,Ib,Ic Stator Currents

Fig(5) – Ia,Ib,Ic Rotor Currents

Fig(6) – Torque & Speed Characteristics

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2.5(b) With Load Torque =0.02*ωr2

Fig(7) – Ia,Ib,Ic Stator Currents

Fig(8) – Ia,Ib,Ic Rotor Currents

Fig(9) – Torque & Speed Characteristics

3 DIRECT TORQUE AND FLUX CONTROL OF THREE PHASE INDUCTION MOTOR
Induction motors are widely used in industrial applications. They rely on electromagnetic

induction to generate torque. DTC offers a way to control these motors efficiently.
Traditional methods like V/F control are simple but limited. Vector control improves
performance but adds complexity. DTC provides fast dynamic response without feedback

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 loops. DTC directly controls the motor's torque and flux. Inverter switching states are adjusted to
control output.
Principle:DTC directly controls the motor's torque and flux by selecting appropriate voltage vectors
through a lookup table.
Torque: By adjusting the relative position of the stator flux vector to the rotor flux vector.
Flux Magnitude: By either increasing or decreasing the stator flux linkage.

3.1 Torque Equation:-

Te =(3/2) * (P/2) * (Ψds *iqs -Ψqs *ids ) ------------- (1)
Te = Electromagnetic torque
P = Number of poles
Ψds , Ψqs = Stator fluxes in the d- and q-axes (direct and quadrature axes)
iqs , ids = Stator currents in the d- and q-axes
Present torque equation got 2 variables flux and current, converting this equation into one
variable time i.e only flux so in order to eliminate the currents from the equation.
Ψds = Lsids + Lmidr
= Lsids + Lm(Ψdr – Lmids)/Lr
= Lsids +( Lm/Lr )* Ψdr –( Lm2/Lr )* ids
= (Ls – Lm2/Lr)ids +( Lm/Lr )*Ψdr
= Ls(1 - Lm2/LsLr)ids + (Lm/Lr )*Ψdr
Ψds = σLsids + (Lm/Lr )* Ψdr
2
where σ= (1 - Lm /LsLr) ----- Leakage Factor

Zero Leakage Factor: Since there's no leakage flux, the leakage factor (σ) would be zero. The leakage factor is defined as the proportion of total
2
flux that is "lost" (i.e., does not link the rotor). In this ideal case, it would be σ=0.Using the formula for the leakage factor: σ = (1 - Lm /LsLr)
2
With 100% coupling, the magnetizing inductance Lm would be maximized, and the ratio Lm /Ls*Lr would equal 1. Therefore: σ=1−1=0.

ids=(1/(σ*Ls))*( Ψds-(Lm/Lr)* Ψdr) --------(2)

Similarly,

iqs=(1/(σ*Ls))*( Ψqs-(Lm/Lr)* Ψqr) --------(3)

Te =(3/2) * (P/2) * (Lm / (σ* Ls * Lr))*(Ψqs *Ψdr -Ψds *Ψqr )

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So, this is the expression for the torque in terms of the stator flux and the rotor flux in the stationary reference frame.

Fig(10) – Flux Representation

We have the expressions Ψds ,Ψqs ,Ψdr ,Ψqr and we will try to find what are the meanings of this four. So, suppose in the stationary reference

frame we have the rotor flux that is ⃗

Ψ r which is a vector and then we have the stator flux ⃗
Ψ s which is also a vector and both the fluxes are
rotating in the space at synchronous speed. So, in the steady state condition one can imagine that the stator flux and the rotor flux both are

rotating in an induction machine at synchronous speed. But both are stationary with respect to each other i.e relative velocity between them will

be equal to 0 and that is how there is a torque production.

Projection of stator and rotor flux along d and q axis respectively as follows-

1. Components of Ψqs and Ψds:

Ψds = Ψs * cos(θfs)

Ψqs = Ψs * sin(θfs)

2. Components of Ψqr and Ψdr:

Ψdr = Ψr * cos(θfr)

Ψqr = Ψr * sin(θfr)

3. Expression for Electromagnetic Torque Te:

Te = (3/2) * (P/2) * (Lm / (σ*Ls* Lr)) * [Ψs * Ψr * sin(θfs) * cos(θfr) - Ψs * Ψr * sin(θfr) * cos(θfs)]

Simplified form:

Te = (3/2) * (P/2) * (Lm / (σ* Ls * Lr)) * Ψs * Ψr * sin(θfs - θfr)

4. Final Form of Torque Equation:

Te = k * Ψs * Ψr * sin(γsr)

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where k= (3/2) * (P/2) * (Lm / (σ* Ls * Lr)) and "γsr" is the angle between Ψs and Ψr.

This constant k combines these motor parameters into a single expression that can be used in torque control or other motor performance

calculations. Thus, k provides a scaling factor that accounts for the motor’s geometry, inductances, and the degree of coupling between the

stator and rotor fluxes.

The expression for the torque is given by the product of the 2 flux magnitude Ψs and Ψr into sine of the angle between them. To control or

change the torque change Ψs and Ψr or change γsr . By changing the angle between the 2 fluxes one will be able to control the torque.

Now, with this background we can say that torque can be controlled in 2 different ways. So, we can either control the flux or control the angle.

So, if we control the flux it will be flux control if we control the angle we call that to be the torque control.

Now, usually in induction motor we keep the flux constant. Because the flux of the machines should be kept constant at the rated value. If we

do not keep the flux constant the machine may going to saturation or the machine may operate in a operating point with reduced flux it means

the machine cannot deliver the rated power. So we should operate the machinery at rated flux. So, flux should be kept constant. We should be

keeping the flux constant and here we can control γsr to control the torque that is called the direct torque and flux control of induction motor.

3.2 Space Vector Pulse Width Modulation

Space vector modulation (SVM) is a common technique in field oriented control for induction motors and permanent magnet synchronous

motors (PMSM). Space vector modulation is responsible for generating PWM signals to control the switches of an inverter, which then

produces the required modulated voltage to drive the motor at the desired speed or torque.

Fig(11) – SVPWM

Each switching configuration results in a specific voltage applied to the motor terminals. The voltages are basic space vectors and

represent their magnitude and direction in a space vector hexagon.

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 Fig(12) – 2 Level 3 phase Voltage Source Inverter

Three-phase inverter circuit connected to the stator windings of a motor.

* The states of switches S2, S4, and S6 are complimentary to S1, S3, and S5 respectively.

3.3 Flux Comparator (2 Level Hystersis Comparator)

Fig(13) – Hystersis Flux band

• If ψs* - ψs > hψ, then dψ = 1
• If -hψ < ψs* - ψs < hψ and dψ = 1, then dψ = 1
• If ψs* - ψs < -hψ, then dψ = 0
• If -hψ < ψs* - ψs < hψ and dψ = 0, then dψ = 0
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 • 2 hψ = Bandwidth (i.e. +hψ & - hψ)
• Flux Hysteresis Comparator: Maintains the flux magnitude within a defined band

3.4 Torque Comparator (3 Level Hystersis Comparator)

Fig(14) – Hystersis Torque band

• If Te* - Te > hm, then dm = 1

• If 0 < Te* - Te < hm and dm = 1, then dm = 1

• If Te* - Te < -hm, then dm = -1

• If Te* - Te > -hm, then dm = -1

• If -hm < Te* - Te < 0 and dm = -1, then dm = -1

• If 0 < Te* - Te < hm and dm = 0, then dm = 0

• If -hm < Te* - Te < 0 and dm = 1, then dm = 0

• Torque Hysteresis Comparator: Ensures the torque stays within a specified range

Equations for Stator Flux:-

dΨ̅s/dt = V̅ s - Rs I̅ s

Ψ̅s = ∫ V̅ s dt - Rs ∫I̅ s dt + Ψ̅s | t=0

After neglecting IsRs drop we get:-

Ψ̅s = ∫ V̅ s dt + Ψ̅s | t=0

Ψ̅s = V̅ s Δt + Ψ̅s | t=0

Lookup Table Of DTC

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 Fig(15) – Voltage Vector Representation

Control Block Diagram of DTC of 3 phase IM

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Equations of Torque and Flux Estimator:-
• Ψds = ∫ (Vds - Rs * ids) dt
• Ψqs = ∫ (Vqs - Rs * iqs) dt
• Ψs = √(Ψds² + Ψqs²)
• θ = tan⁻¹(Ψqs / Ψds)
• Tₑ = (3/2) * (P/2) * (Ψds * iqs - Ψqs * ids)

4. Conclusion and Future Scope:

1. Dynamic modelling of three phase induction motor with analysis of waveforms has been
done.
2. DTC control will be implemented and this will be done in five phase induction motor.

5. References
 Ratnani, Punit L., and A. G. Thosar. "Mathematical modelling of an 3 phase induction
motor using MATLAB/Simulink." International Journal Of Modern Engineering
Research (IJMER) 4.6 (2014): 62-67.
 Menghal, P. M., and A. Jaya Laxmi. "Dynamic modeling, simulation & analysis of
induction motor drives." 2014 International Conference on Science Engineering and
Management Research (ICSEMR). IEEE, 2014.

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 Bellure, Anand, and M. S. Aspalli. "Dynamic dq model of induction motor using
simulink." International Journal of Engineering Trends and Technology (IJETT) 24.5
(2015): 252-257.
 Kianinezhad, R., et al. "A novel direct torque control (DTC) method for dual three phase
induction motors." 2006 IEEE International Conference on Industrial Technology. IEEE,
2006.
 Hiba, Hosni, Hmidet Ali, and Hasnaoui Othmen. "DTC-SVM control for three phase
induction motors." 2013 International Conference on Electrical Engineering and
Software Applications. IEEE, 2013.
 Ben Rhouma, A., & Masmoudi, A. (2008). A DTC strategy dedicated to three‐switch
three‐phase inverter‐fed induction motor drives. COMPEL-The international journal for
computation and mathematics in electrical and electronic engineering, 27(5), 1098-1109.
 Electric Motor Drives: Modeling, Analysis, and Control by R Krishnan

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