Dynamic Model of

Induction Machine
MEP 1522
ELECTRIC DRIVES
WHY NEED DYNAMIC MODEL?
In an electric drive system, the machine is part
of the control system elements
To be able to control the dynamics of the drive
system, dynamic behavior of the machine need
to be considered

Dynamic behavior of of IM can be described
using dynamic model of IM
WHY NEED DYNAMIC MODEL?
Dynamic model complex due to magnetic
coupling between stator phases and rotor phases
Coupling coefficients vary with rotor position
rotor position vary with time
Dynamic behavior of IM can be described by
differential equations with time varying coefficients
a
b
b
c
c
a
Simplified
equivalent stator
winding
i
as

Magnetic axis of
phase A
Magnetic axis of
phase B
Magnetic axis of
phase C
i
cs

i
bs

DYNAMIC MODEL, 3-PHASE MODEL
stator, b
stator, c
stator, a
rotor, b
rotor, a
rotor, c
u
r

DYNAMIC MODEL 3-phase model
Lets look at phase a
Flux that links phase a is caused by:
Flux produced by winding a
Flux produced by winding b
Flux produced by winding c
DYNAMIC MODEL 3-phase model
Flux produced by winding b
Flux produced by winding c
Lets look at phase a
The relation between the currents in other phases
and the flux produced by these currents that linked
phase a are related by mutual inductances
DYNAMIC MODEL 3-phase model
Lets look at phase a
r , as s , as as
+ + + = +
cs acs bs abs as as
i L i L i L + +
cr cr , as br br , as ar ar , as
i L i L i L + +
Mutual inductance
between phase a and
phase b of stator
Mutual inductance
between phase a and
phase c of stator
Mutual inductance
between phase a of stator
and phase a of rotor
Mutual inductance
between phase a of stator
and phase b of rotor
Mutual inductance
between phase a of stator
and phase c of rotor
DYNAMIC MODEL 3-phase model
v
abcs
= R
s
i
abcs
+ d(
abcs
)/dt - stator voltage equation
v
abcr
= R
rr
i
abcr
+ d(
abcr
)/dt - rotor voltage equation
(
(
(

+
+
+
= +
(
(
(

=
(
(
(

=
cs
bs
as
abcs
cs
bs
as
abcs
cs
bs
as
abcs
i
i
i
i
v
v
v
v
(
(
(

+
+
+
= +
(
(
(

=
(
(
(

=
cr
br
ar
abcr
cr
br
ar
abcr
cr
br
ar
abcr
i
i
i
i
v
v
v
v

abcs
flux (caused by stator and rotor currents) that
links stator windings
+
abcr
flux (caused by stator and rotor currents) that
links rotor windings
DYNAMIC MODEL 3-phase model
r , abcs s , abcs abcs
+ + + = +
s , abcr r , abcr abcr
+ + + = +
(
(
(

(
(
(

= +
cs
bs
as
cs bcs acs
bcs bs abs
acs abs as
s , abcs
i
i
i
L L L
L L L
L L L
(
(
(

(
(
(

= +
cr
br
ar
cr , cs br , cs ar , cs
cr , bs br , bs ar , bs
cr , as br , as ar , as
r , abcs
i
i
i
L L L
L L L
L L L
Flux linking stator winding due to stator current
Flux linking stator winding due to rotor current
DYNAMIC MODEL 3-phase model
DYNAMIC MODEL 3-phase model
(
(
(

(
(
(

= +
cr
br
ar
cr bcr acr
bcr br abr
acr abr ar
r , abcr
i
i
i
L L L
L L L
L L L
(
(
(

(
(
(

= +
cs
bs
as
cs , cr bs , cr as , cr
cs , br bs , br as , br
cs , ar bs , ar as , ar
s , abcr
i
i
i
L L L
L L L
L L L
Flux linking rotor winding due to rotor current
Flux linking rotor winding due to stator current
Similarly we can write flux linking rotor windings caused by rotor and stator currents:
DYNAMIC MODEL 3-phase model
The self inductances consist of magnetising and
leakage inductances
L
as
= L
ms
+ L
ls
L
bs
= L
ms
+ L
ls
L
cs
= L
ms
+ L
ls


The magnetizing inductance L
ms
, accounts for the flux
produce by the respective phases, crosses the airgap and
links other windings
The leakage inductance L
ls
, accounts for the flux produce
by the respective phases, but does not cross the airgap
and links only itself
DYNAMIC MODEL 3-phase model
It can be shown that the magnetizing inductance is given by
|
.
|

\
| t
|
|
.
|

\
|
=
4 g
rl
N L
2
s o ms
It can be shown that the mutual inductance between stator
phases is given by:
o 2
s o acs bcs abs
120 cos
4 g
rl
N L L L |
.
|

\
| t
|
|
.
|

\
|
= = =
2
L
8 g
rl
N L L L
ms
2
s o acs bcs abs
=
|
.
|

\
| t
|
|
.
|

\
|
= = =
DYNAMIC MODEL 3-phase model
The mutual inductances between stator phases (and
rotor phases) can be written in terms of magnetising
inductances
(
(
(

(
(
(
(
(
(

+
+
+
= +
cs
bs
as
ls ms
ms ms
ms
ls ms
ms
ms ms
ls ms
s , abcs
i
i
i
L L
2
L
2
L
2
L
L L
2
L
2
L
2
L
L L
DYNAMIC MODEL 3-phase model
The mutual inductances between the stator and rotor
windings depends on rotor position
( ) ( )
( ) ( )
( ) ( )
(
(
(

(
(
(
(

u
t
u
t
+ u
t
+ u u
t
u
t
u
t
+ u u
= +
cr
br
ar
r r r
r r r
r r r
ms
s
r
r , abcs
i
i
i
cos
3
2
cos
3
2
cos
3
2
cos cos
3
2
cos
3
2
cos
3
2
cos cos
L
N
N
( ) ( )
( ) ( )
( ) ( )
(
(
(

(
(
(
(

u
t
+ u
t
u
t
u u
t
+ u
t
+ u
t
u u
= +
cs
bs
as
r r r
r r r
r r r
ms
s
r
s , abcr
i
i
i
cos
3
2
cos
3
2
cos
3
2
cos cos
3
2
cos
3
2
cos
3
2
cos cos
L
N
N
DYNAMIC MODEL 3-phase model
( ) ( )
( ) ( )
( ) ( )
(
(
(

(
(
(
(

u
t
u
t
+ u
t
+ u u
t
u
t
u
t
+ u u
= +
cr
br
ar
r r r
r r r
r r r
ms
s
r
r , abcs
i
i
i
cos
3
2
cos
3
2
cos
3
2
cos cos
3
2
cos
3
2
cos
3
2
cos cos
L
N
N
( ) ( )
( ) ( )
( ) ( )
(
(
(

(
(
(
(

u
t
u
t
+ u
t
+ u u
t
u
t
u
t
+ u u
= +
cr
br
ar
r r r
r r r
r r r
ms
s
r
r , abcs
i
i
i
cos
3
2
cos
3
2
cos
3
2
cos cos
3
2
cos
3
2
cos
3
2
cos cos
L
N
N
stator, b
stator, c
stator, a
rotor, b
rotor, a
rotor, c
u
r

DYNAMIC MODEL 3-phase model
DYNAMIC MODEL, 2-PHASE MODEL
It is easier to look on dynamic of IM using two-phase
model. This can be constructed from the 3-phase
model using Parks transformation

Three-phase
Two-phase equivalent
There is magnetic coupling
between phases
There is NO magnetic
coupling between phases
It is easier to look on dynamic of IM using two-phase
model. This can be constructed from the 3-phase
model using Parks transformation

stator, b
rotor, b
rotor, a
rotor, c
stator, c
stator, a
u
r

e
r

rotating
Three-phase
u
r

stator, q
rotor, |
rotor, o
stator, d
rotating
e
r

Two-phase equivalent
DYNAMIC MODEL 2-phase model
It is easier to look on dynamic of IM using two-phase
model. This can be constructed from the 3-phase
model using Parks transformation

u
r

stator, q
rotor, |
rotor, o
stator, d
rotating
e
r

Two-phase equivalent
However coupling still exists between
stator and rotor windings
DYNAMIC MODEL 2-phase model
All the 3-phase quantities have to be transformed to 2-
phase quantities
In general if x
a
, x
b
, and x
c
are the three phase quantities, the
space phasor of the 3 phase systems is defined as:
( )
c
2
b a
x a ax x
3
2
x + + =
, where a = e
j2t/3

q d
jx x x + =
| | ( )
|
.
|

\
|
=
(

+ + = =
c b a c
2
b a d
x
2
1
x
2
1
x
3
2
x a ax x
3
2
Re x Re x
| | ( ) ( )
c b c
2
b a q
x x
3
1
x a ax x
3
2
Im x Im x =
(

+ + = =
DYNAMIC MODEL 2-phase model
b
ai
c
2
i a
a
i
All the 3-phase quantities have to be transformed into
2-phase quantities
( )
c
2
b a s
i a ai i
3
2
i + + =
a
i
3
2
b
ai
3
2
c
2
i a
3
2
s
i
qs ds s
ji i i + =
ds
i
qs
i
s
i
d
q
DYNAMIC MODEL 2-phase model
| | ( )
|
.
|

\
|
=
(

+ + = =
c b a c
2
b a s ds
i
2
1
i
2
1
i
3
2
i a ai i
3
2
Re i Re i
| | ( ) ( )
c b c
2
b a
s
qs
i i
3
1
i a ai i
3
2
Im i Im i =
(

+ + = =
The transformation is given by:
(
(
(

(
(
(

=
(
(
(

c
b
a
3
1
3
1
3
1
3
1
3
1
3
1
3
1
3
2
o
q
d
i
i
i
0
i
i
i
For isolated neutral,
i
a
+ i
b
+ i
c
= 0,
i.e. i
o
=0
i
dqo
= T
abc
i
abc
The inverse transform is given by:
i
abc
= T
abc
-1

i
dqo
DYNAMIC MODEL 2-phase model
DYNAMIC MODEL 2-phase model
v
abcs
= R
s
i
abcs
+ d(
abcs
)/dt
v
abcr
= R
rr
i
abcr
+ d(
abr
)/dt
IM equations :
u
r

stator, q
rotor, |
rotor, o
stator, d
rotating
e
r

3-phase
v
dq
= R
s
i
dq
+ d(
dq
)/dt
v
o|
= R
rr
i
o|
+ d(
o|
)/dt
2-phase
r , dqs s , dqs
+ + + =

dq

where,
(

= +
qs
ds
qq qd
dq dd
s , dqs
i
i
L L
L L
(

= +
|
o
| o
| o
r
r
q q
d d
r , dqs
i
i
L L
L L
(

= +
|
o
|| |o
o| oo
o|
r
r
r , r
i
i
L L
L L
(

= +
| |
o o
o|
qs
ds
q d
q d
s , r
i
i
L L
L L
s , r r , r o| o|
+ + + =

o|

Express in stationary frame
Express in rotating frame
v
dq
= R
s
i
dq
+ d(
dq
)/dt
v
o|
= R
r
i
o|
+ d(
o|
)/dt
DYNAMIC MODEL 2-phase model
Note that:
L
dq
= L
qd
= 0 L
|o
= L
o|
= 0
L
dd
= L
qq
L
||
= L
oo

The mutual inductance between stator and rotor depends on rotor
position:

L
do
= L
od
= L
sr
cos u
r
L
q|
= L
|q
= L
sr
cos u
r


L
d|
= L
|d
= - L
sr
sin u
r
L
qo
= L
oq
= L
sr
sin u
r


DYNAMIC MODEL 2-phase model

L
do
= L
od
= L
sr
cos u
r
L
q|
= L
|q
= L
sr
cos u
r


L
d|
= L
|d
= - L
sr
sin u
r
L
qo
= L
oq
= L
sr
sin u
r


u
r

stator, q
rotor, |
rotor, o
stator, d
rotating
e
r

DYNAMIC MODEL 2-phase model
(
(
(
(
(

(
(
(
(
(

+ u u
+ u u
u u +
u u +
=
(
(
(
(
(

|
o
||
oo
|
o
r
r
sq
sd
r r sr r sr
r r sr r sr
r sr r sr dd s
r sr r sr dd s
q
d
i
i
i
i
sL R 0 cos sL sin L
0 sL R sin sL cos sL
cos sL sin sL sL R 0
sin sL cos sL 0 sL R
v
v
v
v
In matrix form this an be written as:
The mutual inductance between rotor and stator depends on
rotor position
DYNAMIC MODEL 2-phase model
Magnetic path from stator linking the
rotor winding independent of rotor
position mutual inductance
independent of rotor position
rotor, q
rotor, d
stator, d
stator, q
e
r

Both stator and rotor
rotating or stationary
The mutual inductance can be made
independent from rotor position by
expressing both rotor and stator in
the same reference frame, e.g. in the
stationary reference frame
DYNAMIC MODEL 2-phase model
If the rotor quantities are referred to stator, the following can be
written:
(
(
(
(
(

(
(
(
(

+ e e
e + e
+
+
=
(
(
(
(
(

rq
rd
sq
sd
r r r r m m r
r r r r m r m
m s s
m s s
rq
rd
sq
sd
i
i
i
i
sL ' R L sL L
L sL ' R L sL
sL 0 sL R 0
0 sL 0 sL R
v
v
v
v
L
m
, L
r
are the mutual and rotor self inductances referred to stator, and R
r

is
the rotor resistance referred to stator
L
s
= L
dd
is the stator self inductance
V
rd
, v
rq
, i
rd
, i
rq
are the rotor voltage and current referred to stator
DYNAMIC MODEL 2-phase model
How do we express rotor current in stator (stationary) frame?
( )
rc
2
rb ra r
i a ai i
3
2
i + + =
In rotating frame this can be written as:
r
j
r r
e i i
o
=
o
r

e
r

o
|
i
r

In stationary frame it be written as:
( ) c + o
=
r
j
r
s
r
e i i
c
=
j
r
e i
rq rd
ji i + =
c
q
s

d
s

i
rd
i
rq
is known as the space vector of
the rotor current
r
i
DYNAMIC MODEL 2-phase model
It can be shown that in a reference frame rotating at e
g
, the
equation can be written as:
(
(
(
(
(

(
(
(
(
(

+ e e e e
e e + e e
e + e
e e +
=
(
(
(
(
(

rq
rd
sq
sd
r r r r g m m r g
r r g r r m r g m
m m g s s s g
m g m s g s s
rq
rd
sq
sd
i
i
i
i
sL ' R L ) ( sL L ) (
L ) ( sL ' R L ) ( sL
sL L sL R L
L sL L sL R
v
v
v
v
DYNAMIC MODEL 2-phase model
DYNAMIC MODEL Space vectors
IM can be compactly written using space vectors:
g
s g
g
s g
s s
g
s
j
dt
d
i R v e +

+ =
g
r r g
g
r g
r r
) ( j
dt
d
i R 0 e e +

+ =
g
r m
g
s s
g
s
i L i L + =
g
s m
g
r r
g
r
i L i L + =
All quantities are written in general
reference frame
Product of voltage and current conjugate space vectors:
DYNAMIC MODEL Torque equation
( ) ( )
cs bs
2
as cs
2
bs as
*
s s
ai i a i
3
2
v a av v
3
2
i v + + + + =
It can be shown that for i
as
+ i
bs
+ i
cs
= 0,
| | ( )
cs cs bs bs as as
*
s s
i v i v i v
3
2
i v Re + + =

P
in
= v
as
i
as
+ v
bs
i
bs
+ v
cs
i
cs
( )
=
3
2
Re v
s
i
s
*
| |
DYNAMIC MODEL Torque equation

P
in
= v
as
i
as
+ v
bs
i
bs
+ v
cs
i
cs
( )
=
3
2
Re v
s
i
s
*
| |

P
in
=
3
2
Re v
s
i
s
*
| |
=
3
2
Re (v
d
+ jv
q
)(i
d
ji
q
)
| |
=
3
2
v
d
i
d
+ v
q
i
q
| |
v i
2
3
P
t
in
=
If
(

=
q
d
v
v
v and
(

=
q
d
i
i
i
The IM equation can be written as:


v= R
| |
i+ L
| |
si+ G
| |
e
r
i+ F
| |
e
g
i

p
i
=
3
2
i
t
V=
3
2
i
t
R
| |
i + i
t
L
| |
si + i
t
G
| |
e
r
i + i
t
F
| |
e
g
i
| |
The input power is given by:
DYNAMIC MODEL Torque equation
Power
Losses in winding
resistance
Rate of change
of stored
magnetic energy
Mech power
Power
associated with
e
g
upon
expansion gives
zero

p
mech
= e
m
T
e
=
3
2
i
t
G
| |
e
r
i
DYNAMIC MODEL Torque equation
(
(
(
(
(

(
(
(
(

e e
e e
rq
rd
sq
sd
r r m r
r r m r
i
i
i
i
0 L 0 L
L 0 L 0
0 0 0 0
0 0 0 0
(
(
(
(
(

(
(
(
(
(

+ e e e e
e e + e e
e + e
e e +
=
(
(
(
(
(

rq
rd
sq
sd
r r r r g m m r g
r r g r r m r g m
m m g s s s g
m g m s g s s
rq
rd
sq
sd
i
i
i
i
sL ' R L ) ( sL L ) (
L ) ( sL ' R L ) ( sL
sL L sL R L
L sL L sL R
v
v
v
v
r
rd r sd m
rq r sq m
t
rq
rd
sq
sd
e m
i L i L
i L i L
0
0
i
i
i
i
2
3
T e
(
(
(
(

(
(
(
(
(

= e

p
mech
= e
m
T
e
=
3
2
i
t
G
| |
e
r
i
DYNAMIC MODEL Torque equation
We know that e
m
= e
r
/ (p/2),

T
e
=
3
2
p
2
L
m
i
sq
i
rd
i
sd
i
rq
( )

T
e
=
3
2
p
2
L
m
i
sq
i
rd
i
sd
i
rq
( )

T
e
=
3
2
p
2
L
m
Im i
s
i
r
'*
( )
r m s s s
i L i L + =
but s s s r m
i L i L =

T
e
=
3
2
p
2
Im i
s

s
*
L
s
i
s
*
( ) ( )

T
e
=
3
2
p
2
Im i
s

s
*
( )

T
e
=
3
2
p
2

s
i
s
DYNAMIC MODEL Torque equation
DYNAMIC MODEL
Simulation
Re-arranging with stator and rotor currents as state space
variables:
(

(
(
(
(

+
(
(
(
(
(

(
(
(
(
(

e e
e e
e e
e e

=
(
(
(
(
(

sq
sd
m
m
r
r
s r
2
m
rq
rd
sq
sd
s r s r r m s s m r
s r r s r s m r m s
m r r m r r s
2
m r
r m r m r sq
2
m r r s
s r
2
m
rq
rd
sq
sd
v
v
L 0
0 L
L 0
0 L
L L L
1
i
i
i
i
L R L L L R L L
L L L R L L L R
L R L L L R L
L L L R i L L R
L L L
1
i
i
i
i

The torque can be expressed in terms of stator and rotor currents:

T
e
=
3
2
p
2
L
m
i
sq
i
rd
i
sd
i
rq
| |

T
e
T
L
= J
de
m
dt
Which finally can be modeled using SIMULINK: