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Thus;
Va = RsIa + (La + Lls) dIa/dt + Lab dIb/dt + Lac dIc/dt
Tem = Ia (IrkdLak/dr) + Ib ( IrkdLbk/dr) + Ic ( IrkdLck/dr)
+ d/dt (La1Ir1 + La2Ir2 + + LanIrn + LaeIe) (5)
(10)
Vb = RsIb + (Lb + Lls) dIb/dt + Lba dIa/dt + Lbc dIc/dt where, r is the rotor angular position, Tem is the
+ d/dt (Lb1Ir1 + Lb2Ir2 + + LbnIrn + LbeIe) (6) electromagnetic torque produced by the motor.
Vc = RsIc + (Lc + Lls) dIc/dt + Lca dIa/dt +Lcb dIb/dt
C. Electromechanical Equation
+ d/dt (Lc1Ir1 + Lc2Ir2 + + LcnIrn + LceIe) (7) The rotor mechanical equation can be written as:
where, Va, Vb, and Vc are the stator phase voltages, Ia, Ib, and
Ic are the stator phase currents, La, Lb, and Lc are the stator Tem = J dr/dt + Fr + TL (11)
phase self inductances, Lab, Lbc, and Lca are the stator phase to Where, J is rotor inertia, r is rotor angular speed, F is
phase mutual inductances, Lls is the stator leakage inductance, the friction coefficient, TL is the load torque.
(Ir1, Ir2, , Irn) are the rotor loops currents, Ie is the end ring
current, (La1, La2, , Lan, Lae) are phase A to rotor loops C. Inductance Equations
mutual inductances, (Lb1, Lb2, , Lbn, Lbe) are phase B to rotor The main key of this model is to get inductances
loops mutual inductances, and (Lc1, Lc2, , Lcn, Lce) are phase formulas. In [2,3] winding function theory is used to calculate
C to rotor loops mutual inductances. motor inductances in terms of rotor angular position r.
Any rotor loop is mutually coupled with the other rotor Referring to the appendix, the motor inductances formulas can
loops and with the stator windings. From (2) and (4) and with be written as:
the aid of Fig.1, the voltage equation for any rotor loop k can
be written as: La = Lb = Lc = (Ns/2p)2 (oLr/g) = Lms (12)
2
Lab = Lbc = Lca = - (Ns/2p) (oLr/2g) = -Lms/2 (13)
0 = 2(Rb + Re) Irk Rb (Ir(k-1) + Ir(k+1)) ReIe
+2( Lb + Le) dIrk/dt Lb (dIr(k-1)/dt + dIr(k+1)/dt) Lkk = (oLr/g) (1-r/2) r (14)
+ (Lk1dIr1/dt + Lk2dIr2/dt ++ Lkk dIrk/dt ++ LkndIrn/dt) Lk1= Lk2== Lkn= Lki = - (oLr/g) (r) /2 2
(15)
LedIe/dt + d/dt (LakIa + Lbk Ib + LckIc) (8) Lak = Lm cos(p(r + (k - 1)r + )) (16)
where, Rb, Lb are the rotor bar resistance and inductance, Re, Lbk = Lm cos(p(r + (k - 1)r + ) - 2/3) (17)
Le are the end ring segment resistance and inductance, Lkk is
the rotor loop self inductance, (Lk1, Lk2, , Lk(k-1), Lk(k+1), , Lck = Lm cos(p(r + (k - 1)r + ) + 2/3) (18)
Lkn) are loop k to the other rotor loops mutual inductances, where, Ns is the effective number of turns of any stator phase,
and (Lak, Lbk, and Lck) are the rotor loop k to the stator p is the number of pole pairs, o is the permeability of air, L is
windings mutual inductances. the effective length of the motor, r is the air gap average
Since both rotor end rings are identical, the number of radius, g is the air gap length, r is the angle between any two
equations to be solved can be reduced by one if the difference adjacent bars, Lm = (4/Ns) Lms sin(p), where = r/2.
between end ring currents is used instead of using of each ring
current. One of the two rings is considered as an active ring
and carries Ie while the other doesnt carry current. Thus
Ie=Ie1-Ie2. This action results in representing the rotor by n+1
circuits (n loops + 1 end ring loop). It should be noted that
steady state value of Ie = 0 for symmetrical rotor, and the end
ring equation can be written as :
0 = nReIe Re (Ir1 + Ir2 + + Irn) + nLedIe/dt
Le(dIr1/dt + dIr2/dt + + dIrn/dt) (9)
It is worth mentioning that there is no mutual coupling
between the end rings and any other loops because the end
rings produce only axial fluxes (Lae=Lbe=Lce=0).
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III. RESULTS AND DISCUSSION
Speed (RPM)
The flux technique is used to implement the proposed
model. The algorithm for the digital simulation is shown in
Fig.2. The integration of flux linkage derivatives with respect
to time are calculated to obtain flux linkages, as follows:
d /dt = Vsource - RI (19) Time(sec)
Torque (Nm)
The flux derivatives in (19) are used to update the currents as:
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Speed (RPM)
As shown from table II, both RPM and Tem are not
greatly affected by rotor fault at no load. This is because at no
load rotor only draws small no load currents and effects of
rotor asymmetries can be neglected. While at loading, rotor
currents are significant and rotor asymmetries cause both
RPM and torque ripples to increase as fault severity does. Time(sec)
Torque (Nm)
Fig.11 illustrates that the broken rotor bar current (bar 1)
is dropped to 4A and current is distributed so the nearest bars
carry the highest currents. In Fig.12 rotor steady state currents
distribution for the motor under two broken rotor bars is
shown. Current of the two broken bars are dropped and more
current is carried by neighbour bars. Fig.13 shows that when Time(sec)
Fig.7. Motor with one broken bar and one broken end Time(sec)
ring segment
Time(sec)
Phase A Current (A)
Time (sec)
Fig.8. Steady state speed comparison
Steady State Torque (Nm)
Time(sec)
Fig.5. Motor with one broken rotor bar
Speed (RPM)
Time(sec)
Torque (Nm)
Time (sec)
Fig.9. Steady state Torque comparison
Steady State Stator current (A)
Time(sec)
Phase A Current (A)
Time(sec)
Fig.6. Motor with two broken bars
Time (sec)
Fig.10. Steady state current comparison
497
Rotor bar peak currents (A)
3) Winding geometry distortion is neglected.
4) 20% shorted turns are considerd. This violates
previous assumptions but it is only assumed to
amplify the effect of the fault.
Fig.14 shows simulation results for motor with a 20%
inter-turn fault at phase A. Motor speed is 299535rpm at no
load and 288030rpm at loading. The generated torque is
2.5Nm at no load and 10.53.5Nm at loading with
unbalanced three phase current at stator. Fig.15 shows that
rotor bars currents are raised to 250A due to the unbalance
Rotor bar number
component generated by the stator inter-turn fault.
Fig.11. Rotor current distribution of the motor with one broken
rotor bar
Speed (RPM)
Rotor bar peak currents (A)
Time(sec)
rotor bars
(A)
Rotor bar peak currents (A)
Time(sec)
Phase B Current
(A)
Time(sec)
Phase C Current
short circuit
1) Phase to ground short circuit.
2) Phase to phase short circuit.
3) Phase to phase to ground short circuit.
4) Three phase to ground short circuit.
5) Open circuit faults.
498
bars thus increases the probability of building of cracks. Figs. 18 and 19 show the frequency spectrums of phase A
Fig.16 shows the simulation of the motor under mixed fault, current for a healthy motor, and for a motor under different
where one rotor bar and one end ring segment are broken and rotor and stator faults.
20% of phase A are shorted. It is found that the motor runs at It is noticed that rotor faults cause the stator current to be
299525rpm at no load and 2800100rpm at loading. The modulated with inter harmonic components or side bands
torque generated is 3Nm at no load and 10.54.5Nm at around the fundamental (50Hz), while stator faults produce
loading. Unbalanced three phase stator currents due to the frequency components at multiple of the fundamental
inter-turn fault are obvious from the results. Fig.17 reveals frequency.
that rotor bars currents distribution of the motor under the
mixed fault is similar to the case of one broken end ring
(50Hz) in dB
that bar 2 currents jumps to 420A which greatly increase
probability of crack building in this bar.
Speed (RPM)
Frequency (Hz)
Time(sec) Fig.18. Frequency spectrum of Phase A current for healthy and motor
Torque (Nm)
Time(sec)
(50Hz) in dB
Phase A Current
(A)
Time(sec)
Phase B Current
Frequency (Hz)
(A)
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produced by stator. Thus fault severity development will be [5] Tarek Aroui , Yassine Koubaa, Ahmed Toumi, "Modeling and Diagnostics
of Inductions Machines Under Rotor Failures", ICGST-ACSE Journal,
faster. Volume 7, Issue 2, November 2007.
REFERENCES
[1] William T. Thomson, Ronald J. Gilmore, " Motor Current Signature
Analysis To Detect Faults In Induction Motor Drives-Fundamentals, Data
Interpretation, And Industrial Case Histories", Proceedings of the thirty-
second turbo machinery symposium-2003.
[3] Alfredo R. Munoz and Thomas A. Lipo, "Complex Vector Model of the
Squirrel-Cage Induction Machine Including Instantaneous Rotor Bar
Currents", IEEE transactions on industry applications, VOL. 35, NO. 6,
November/December 1999.
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