Chapter 5

Small Signal Equations of the

Induction Machine
Book:
Electric Motor Drives by R. Krishnan
Prof. B. S. Sree Shailan
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Short but Sweet
If a man has greed, he need not have any other
demerit; If he is a slanderer, he need not commit
any other sin;
If he has truth in him, he needs no other
penance; If pure mind, no visit to any holy place
is necessary;
If goodness, if good learning, no other wealth
and If infamy, it is a death itself.
---- Chanakya Sukti
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Topics to be covered
Derivation of small signal equations
of induction machine.
Space phasor model.
DQ flux linkages model derivation.
Control principle of the induction
motor.
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Introduction
Dynamic equations of IM are non-linear: some
terms are the products of two current variables
or a current variable and rotor speed.
Transient responses or solutions are to be
obtained by numerical integration, Fourth order
Runge-Kutta method is adequate.
Equations to be arranged in state-space form for
the solution.
Dynamic equations cannot be directly used for
controller design with linear control system
design techniques.
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Introduction
Equations have to be linearized around an
operating point by using perturbation
techniques.
Ideal model for perturbation to get the
linearized model is the one with steady-state
operating-state variables as dc values.
Possible only with the synchronously rotating
reference frames model of the IM.
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Derivation of small signal equations
Voltages, currents, torque, stator frequency and
rotor speed in their steady state are designated
by an additional subscript with an o in the
variables.
Perturbed increments are designated by a
preceding the variables.
Thus variables in SI units after perturbation are:


e e e e e e
qs qso qs ds dso ds
e e e e e e
qs qso qs ds dso ds
v v v v v v
i i i i i i
= + = +
= + = +
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( )



3

2 2
e e e e e e
qr qro qr dr dro dr
e eo e L Lo L
s so s r ro r
e e e e
eo m qso dro dso qro
i i i i i i
T T T T T T

P
where T L i i i i
= + = +
= + = +
= + = +
=
Above equations are substituted into
the system voltage equations, electro-
magnetic torque equations & electro-
mechanical dynamic equations.
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Neglecting second order terms and by
cancelling the steady state terms on both sides
of the equations, the small signal dynamic
equations are:
( )
( )
( )
( )


e e e e
qs s s qs so s ds m qr
e e e
so m dr s dso m dro s
e e e e
ds so s qs s s ds so m qr
e e e
m dr s qso m qro s
v R L i L i L i
L i L i L i
v L i R L i L i
L i L i L i
= + + +
+ + +
= + +
+ +
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( ) ( )
( )
( )
( )
( ) ( )
( )
( )
( )


,
e e e e
qr m qs so ro m ds r r qr
e e e
so ro r dr m dso r dro s r
e e e e
dr so ro m qs m ds so ro r qr
e e e
r r dr m qso r qro r s
r
v L i L i R L i
L i L i L i
v L i L i L i
R L i L i L i
Also J B
= + + +
+ + +
= +
+ + + +
+
( )
( )
0 0 0 0

2
3

2 2
r e L
e e e e e e e e
e m qs dr dr qs ds qr qr ds
P
T T where
P
T L i i i i i i i i
=
= +
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0
Combining above equations and casting them
in state-space form gives X = AX + B
1
U
1 1
1 1 1 1 1
1


&
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0 0



(
=

(
=

= =
(
(
(
( =
(
(
(

t
e e e e
qs ds qr dr r
t
e e e e
qs ds qr dr s L
s m
s m
m r
m r
where X i i i i
U v v v v T
A P Q B P R where
L L
L L
P L L
L L
J
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( ) ( )
( ) ( )
( )
1
2 2 2 2
2
2 1
0 0
0 0
0
0
1
3
;
2 2
s so s so m
so s s so m
e e
so ro m r so ro r m dso r dro
e e
so ro m so ro r r m qso r qro
e e e e
dro qro dso qso
m
R L L
L R L
L R L L i Li
Q
L L R L i Li
k i k i k i k i B
P
k L R





(
(

(
( +
=
(
+
(
(

(

| |
= =
|
\
0 0 0 0
0 1 0 0 0
0 0 1 0 0
0 0 0 1 0
0 0 0 0 0
2
e e
s dso m dro
e e
s qso m qro
e e
m dso r dro
e e
m qso r qro
Li L i
Li L i
L i Li
L i Li
P
( +
(
+
(
(
+
(
+
(
(
(

Output is a function of the state variables and
inputs i.e., y = CX+DU where C and D are vectors
of appropriate dimensions.
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SpacePhasor model
Stator and rotor flux linkage phasors are the
resultant stator and rotor flux linkages which is
the vector sum of the respective d and q
components of flux linkages.
Flux-linkage phasor describes its spatial
distribution.
Flux-linkage phasors can also be thought of as
being produced by equivalent single-phase
stator and rotor windings.
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Advantages of Space-Phasor Model
System of equations are compact and reduced
from 4 to 2.
System reduces to a two-winding system like the
DC machine.
Easier to visualize the interaction of two
windings rather than four windings.
Meaningful interpretation of the eigen values of
the system irrespective of the reference frames
considered in the study.
Two differential equations need to be solved.
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DQ Flux-Linkages Model Derivation
Induction-machine model in terms of the flux
linkages is described by following equations:
Thus, currents in terms of the flux linkages are
;
;


= + = +
= + = +
c c c c c c
qs s qs m qr ds s ds m dr
c c c c c c
qr r qr m qs dr r dr m ds
L i L i L i L i
L i L i L i L i
( ) ( )
( ) ( )
( )
2
1 1
;
1 1
;



= =

= + = +

=
c c c c c c
qs r qs m qr ds r ds m dr
l l
c c c c c c
qr m qs s qr dr m ds s dr
l l
l s r m
i L L i L L
i L L i L L
where L L L
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Refer page 243 to 246 for complete
analysis in Krishnan book.
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Control Principle of Induction Motor
Read pages 254 to 257 of the book R. Krishnan.
Assignment
1) Obtain the system equations of the induction
motor in the state-space form.
2) What are the advantages of Space-Phasor
representation in flux-linkages of the induction
motor.
3) Derive the DQ flux-linkages model for an
induction machine.
4) Explain the control principle of the induction
machine.