A Contribution to the Study on the Effects of

Variation for the Rotor Slot Inclination

The Three-Phase Induction Motor Case.
R.B. Lehmann,MSc
C.H. Salerno,Dr.

J.R. Camacho,PhD
A.T. Leo,MSc.

Universidade Federal de Uberlndia, School of Electrical Engineering

UFU/FEELT/LabMaq
P.O.Box: 593 - Campus Santa Mnica
38400-902 - Uberlndia - MG Brasil
e.mail: jrcamacho@ufu.br

ABSTRACT
The main proposal in this work is the theoreticalexperimental analysis of the three-phase induction motor
operation under different rotor slot inclination. The linear
mathematical model[2] for the motor takes in consideration
space harmonics of magnetomotive force (MMF)
distribution. The motor feeding is done through a PWM
inverter with sinusoidal modulation (PWSM), which means
that the time harmonics must be also considered. This study
allow us to draw some conclusions on how the slot rotor
inclination can change the induction motor behavior.
Keywords: Induction machine, magnetomotive force, slot
inclination

model is possible to obtain the influence of winding distribution

on phase voltage and current waveforms.
2.1 Magnetomotive Force Spatial Distribution
When currents begin circulate in the induction machine
windings, the magnetomotive force spatial distribution (MMF)
builds up in the air-gap of the machine. The distribution of
MMF can be described[3] considering only one coil from
winding mentioned above with coil pitch equal and for a
generic phase j.

2
MMF ( ) = N N 1 sen cos
(1)
b
jh
j j h =1 h h
where;

1 INTRODUCTION
Nowadays the electrical motors design, despite of its
importance, is an area that is not under severe scrutiny. The
comprehension of the methodology, the objectives that lead to a
motor design, and the optimization of existing designs, it is not
an easy but necessary task. Such necessity is very modern. It is
easy to realize that recently the driving systems philosophy
have changed dramatically the design concepts, and the
induction motors importance grew enormously in the electrical
system.

= h ( )
h
2

(2)

= h ( )
b
b

(3)

ij = current of phase j
Nj = number of turns for phase j
= air-gap angular position from a fixed reference
b= position of the coil b
2.2 Magnetic Flux Density

Induction motors are not driven anymore only for sinusoidal

sources, but also through rich harmonics converter sources. The
interest in such equipment, was raised also by its importance in
conservation and quality of energy programs around the world,
requiring more efficient machines and driving systems.

The magnetic field density spatial distribution Bjh caused by

MMFjh is obtained from Ampere Law.

This work presents a study about an specific item on the

induction motor design: the rotor slot inclination[1]. Laboratory
tests and computational simulation have been done using the
ordinary rotor inclination obtained from design and other
inclinations with a diversity of values.

where;

2 MATHEMATICAL MODEL
While doing this work a three-phase induction motor linear
model has been used. This model takes into consideration the
space harmonics of stator distributed MMF[2]. With this

B jh =

MMF jh

(4)

0 = air magnetic permeability

= air-gap width
Now considering the effects of whole winding of generic phase
j located at an angle j, can be written;
B
where;

jh

( ) =

2 0
N q Kp Kd K '
j j
jh
jh

(5)

K'=

ij
h

cos[ h( )]
j

i = Lmiii + h j Lmijhi j

(6)

(12)

Where:

qj
= number of distributed coils,
Kpjh = pitch factor for the harmonic order h,
Kdjh = distribution factor for the harmonic order h.

Lmi = leakage inductance in phase i

Lmijh =
hth order harmonic leakage inductance between
phases i and j.

The linkage flux in a coil of order b of phase winding

caused by field of the phase j and considering the spatial
harmonic order h is given by:

Considering Lmi constant and using equations (11) and (12) can
be obtained the following phase i voltage equation:

bjh = 2 pN i

+
b i2

b i2

vi = Riii + Lmi
B jh LRd

di j
dLmijh

+ h j Lmijh
+ij
dt
dt
dt

dii

(13)

(7)

The electromagnetic torque is obtained

from
magnetic co-energy variation of the system (Wc)
relatively to the electrical displacement of the rotor (R).

Where:
Tel = p

L = magnetic rotor length,

R = air-gap average radius,
2p = pole number for the induction machine.

ijh

= K Kw Kw K ''
1

ih

jh

I const

(14)

The magnetic co-energy related with hth order harmonic

inductance Lmijh [2] and phase currents is given by;

Solving equation (7) it can be written:

Wc

(8)
W =
c

1
j Lmijhiii j
2 h i

(15)

Where:
K1 = 4

K '' =

2 pLR0q q N N
i j i j

ij

where;
(9)
Lmijh =

cos[ h(i j )]

ij

(16)

(10)

2.4 Slot rotor inclination effect

and
Kwih
Kwjh
qi
qj
Ni
Nj

ijh

Figure (1) shows the slot rotor inclination, its effect[3] can be
obtained from the following equation:
= winding factor of phase i
= winding factor of phase j
= distribuited coil number of phase i
= distribuited coil number of phase j
= turns number of phase i
= turns number of phase j

q j . Rj =

Where:
s = rotor slot inclination angle,
Rj = angular displacement between slots,

2.3 Electrical and Electromagnetic torque equations

Basic voltage equations of the phase i in an induction motor
is given by:
vi = Riii +

dt

s
2

(11)

Where;
Ri = winding resistance of phase i,
ii = current of phase i,
i = total linkage flux of phase i.

Nj.I

Nj.I

Nj.I

Radial view

Figure 1- Equivalent coil with inclination s

The total magnetic flux linkage is given by:

The above relationship in equation (17) can be shown as:

(17)

 hq Rj
hq Rj
h
h
cos
= sin s cos s
sin
(18)
2
2
2
2

knowing that Rj is an angle between slots and when it is close

to zero we would have the ideal condition to the induction
machine because this condition is for the largest uniformity;

h Rj qh Rj h s
=
lim q j sen
=
2
2
4
0
Rj

(19)

Fmm ( ) =
jh

4 N jI
K K K
2h ph dh sh

3 RESULTS
The digital computer simulation results can be observed
through Figures 2 to 7. Figures 2 to 4 show stator currents, its
harmonic spectrum, and electromagnetic torque when the
induction motor is operating with ordinary slot inclination of 7
mechanical degrees.

Using equations (1), (18) and (19), the following equation can
be obtained:

4 N jI
Fmm ( ) =
jh
2h

h
h
sen s cos s
4
4

(20)

However;
h
sen s
4

h
cos s

1
h
= sen s
2
2

(21)

Equation (20) becomes;

4 N j I
Fmm jh ( ) =
K
2h sh

Fig. 2 Phase current of the induction motor for a 7 mechanical

degrees rotor slot inclination.

(22)

Where the variable;

h
sen s
2

K =
sh
h

(23)

2
is called inclination factor to harmonic order h. Considering
Z as an arc established between slots, it can be written;
=
s

(24)

Fig. 3 Phase current harmonic spectrum of the induction motor

for a 7 mechanical degrees rotor slot inclination

where;
p = polar step measured on stator surface.
Therefore Ksh can be written as:

Z
sen h
2
p
K sh =

Z
h
2
p

(26)

(25)

and finally, can be obtained the final mmf expression.

Fig. 4 Eletromagnetic torque of the induction motor for a
7 mechanical degrees rotor slot inclination .

Figures 5 to 7 show the stator current, its harmonic

spectrum, and electromagnetic torque when the induction
motor is operating with an rotor slot inclination of 13
mechanical degrees.

Fig. 5 Phase current of the induction motor for a 13 mechanical

degrees rotor slot inclination.

Fig. 6 Phase current harmonic spectrum of the induction motor

for a 13 mechanical degrees rotor slot inclination

Fig. 7 Electromagnetic torque of the induction motor for a

13 mechanical degrees rotor slot inclination .

The following figures are obtained from laboratory tests where

two situations were taken into consideration: induction motor
operation with ordinary rotor slot inclination (7 mechanical
degrees) and (13 mechanical degrees). Figures 8 to 11 show the
stator current and its harmonic spectrum.

Fig. 8 Phase current of the induction motor for a 7 mechanical

degrees rotor slot inclination.

Fig. 9 Phase current harmonic spectrum of the induction motor

for a 7 mechanical degrees rotor slot inclination

Fig. 10 Phase current of the induction motor for a 13 mechanical

degrees rotor slot inclination.

It can be noticed that 3rd harmonic do not appear in simulation

results and can be seen in laboratory tests. That is because the
non-linear behavior of the induction machine is not represented
in the linear mathematical model used in the simulation.
Electromagnetic torque can be observed in Figures (4) and (7)
where can be seen a better torque behavior when the slot
inclination has 13 mechanical degrees than when it has 7
mechanical degrees.

5 REFERENCES
Fig. 11 Phase current harmonic spectrum of the induction motor
for a 13 mechanical degrees rotor slot inclination

4 CONCLUSION
Through the analysis of computer simulation and laboratory
results, can be observed an improvement on the motor phase
current performance for the operating condition where the
rotor has its slots inclined of 13 mechanical degrees. This fact
becomes evident through the phase current harmonic spectrum
shown in Figures 3 and 6 in the simulation results and Figures
9 and 11 in laboratory tests, where a decrease can be seen in the
3rd, 5th, 7th harmonic.

[1] R.B. Lehmann, A Contribution to the Study of the Rotor

Slot Inclination Effects on the Three-Phase Induction Motor,
MSc Dissertation, Universidade Federal de Uberlndia,
Electrical Engineering Department, August 1999 (In
Portuguese).
[2] Neto, L.M.; Camacho, J.R.; Salerno, C.H. & Alvarenga,
B.P.; Analysis of a Three-Phase Induction Machine Including
Time and Space Harmonic Effects: The A, B, C Reference
Frame; PES-IEEE Transactions on Energy Conversion, Volume
14, Nr. 1, March 1999. Article no.: PE-154-EC-0-10-1997.
[3] LIPO, T.A. ; Introduction to AC Machine Design, Vol. I,
Madison, Wisconsin, University of Wisconsin, U.S.A.,1996.