STATIC AND DYNAMIC MODELS OF INDUCTION MOTORS
A.M. Sharaf M.M. Rayan
Electrical Engineering Dept. Electrical Engineering Dept.
Univereity of New Prunswick Kuwait University
Fredericton, NP Canada Kuwait
AP STRACT
The paper deals with the modelling of squirrel cage induction motor8 and
deriving steady state and dynamic models that can be utilized in harmonic
penetration studies and efficient operation of the induction motor as part of
variable voltage variable frequency drive systems.
INTRODUCTION
Induction motors [l-41 are highly nonlinear highly coupled type load
which poses tremendous challenge in control, as well as a nonlinear load in
harmonic flow "penetration studies".
The paper presents the results of laboratory simulation of motor behavior
under variable voltage variable frequency operation. Statistical analysis
were performed to assess correlation factors interrelating motor parameters to
voltage, stator frequency and speed. Static models were derived for
correlating input impedance, power, efficiency, power factor and load torque
t o volt/HZ ratio (V /f ) and slip frequency fr.
m s
Following the statistical correlation, a novel steady state and transient
circuit [ 51 was utilized t o investigate the dynamic input impedance
characteristics of the induction machine and its dependency on machine
parameters and speed. Two sizes of three phase induction motors were tested,
the 1 HP and 7 HP motors. Parameters and nominal values are given in the
Appendix 1. The derivation of the equivalent apparent dynamic input impedance
is given in Appendix 2. Due to space, only results for the 1 HP are included
in this paper.
RESULTS
The three phase induction motor were excited by variable voltage/variable
frequency source under constant load conditions for the following cases:
Case 1 Figure A1 depicts the test arrangement.
'in - 30%, 50%, 60%, and 1102 each with
fs = (15, 30, 50, 70 and 90 HZ) and
load power set at: 100, 400, 600, 1000 volts
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Case 2
= 15, 30, 50, 70, 90 HZ each with
-
fS
(30%, 50%. 80%, 110%) and
"in
load power set at: 100, 400, 600, 1000 watts
Figures 2-12 depicts samples of static model dependency on volt/HZ ratio
(Vm/fl) and rotor slip frequency fr for 1 HP 3 phase and single phase motors.
Dynamic Apparent Impedance
Starting from the classical equivalent T-circuit representation of the
induction motor under dynamic condition [SI, a transformed "decoupled"
equivalent circuit T-1 as shown in Figure A2 i s utilized to estimate the
dynamic "apparent" input impedance (Zin). Appendix 2 depicts the full
derivation of (Zin) in terms of machine parameters and speed wm .
CONCLUSIONS
The paper presents the results of laboratory testing of three phase and
single phase induction motors to estimate the static and dynamic models of
induction motors.
Such models are extremely useful In:
1. Identifying effective control strategies to enhance efficiency of
variable voltage/variable frequency motor drives.
2. Assess machine performance with excitation voltage and frequency
variations.
3. Identify nonlinear load impedance models of induction motor loads in
harmonic penetration programs such as Cyme and Harmflo Software.
These models were utilized also in deriving efficient open-loop control
strategies based on optimized volt/HZ, (Vm/fs), ratio characteristics for
minimum input power, minimum losses and maximum efficiency.
REFERENCES
M.A. Rahman and B . Jeyasurya, "Efficiency improvements in small
horsepower single phase electric motors", CEA Report 433 U 492, April
1986.
"Techniques for energy conservation in AC motor-drive systems", EPRI
Project 1201-13, Prepared by the University of Minnesota, September 1981,
pp. 2.1-2.16.
S.E. Haque and W. Shepherd, "Thyristor controlled reactive power
compensation for electricity supply systems", pp. 504-7, William Clowes &
Sons Limited, London.
P.J. Tsivitse and E.A. Klingshirn, "Optimal voltage and frequency for
polyphase induction motors operating with variable frequency power
supplies", IC-WED-2, 1970.
"AC motors for high-performance applications", by Sakae Yamamura,
Marcel-Dekker, 1986.
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1-HP I.M.
frated = 50 Hz, N r rated = 1400 qxn, Pp=E30. of poles=4
R1 = 1 3 . 3 oh/@. R2=5.81 Wph
Xll = X12 = 21.38 oldphase l1 = l2 = 68 mH (leakage)
5 = 188.5 ohn/phase (magnetizing) 41 = 600 mH (mgnetizing)
5 = L2 = 668 mH (self)
Ifull load = 1 . 8 A = I b s e
'Ibrque base = 8.24 Nm = 240 V
"base
$: mtual impauctance between stator and rotm
i Ir
R I
> -
Fig. 1 Schematic diagram of the ac va riable
frequency va.rtable voltage source.
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APPENDIX 2
Dynamic Equivalent C i r c u i t
For t h e t r a n s i e n t T-I e q u i v a l e n t c i r c u i t expressed by e q u a t i o n s 151 w i t h
a < 1 selected as:
3 .
a = 2 Lm C 1.0 and a i n modifier (A2.1)
3
l2 + 2 Lm
0
* 2
Lm = a Lm; R2 = a .R2
3
l1 = l1 +7 Lm (l-a)
We o b t a i n t h e t r a n s i e n t T-1 Equivalent c i r c u i t of Figure 13 where
e ' = j w ( 3 / 2 ) L ' i -(3 f 2 ) L ' m i ' 2 ) is speed back-emf (speed v o l t a g e )
s m m l
The g e n e r a l form of transformed dynamic model.
where, wm = r o t o r speed e l e c . r a d f s e c
a
i2 = i 2 / a (A2.3)
d
dt
- I
p = 8 = a + jw f o r n o n - s i n u s o i d a l e x c i t a t i o n , and (A2.4)
p = j w f o r s i n u s o i d a l e x c i t a t i o n , w = 2nf
(A2.5)
Where Z v a l u e s f o r n o n s i n u s o i d a l v o l t a g e f c u r r e n t e x c i t a t i o n a r e given by:
3
Z l l = R1 + (I1 + -
2 Lm> P RI + L1p (A2.6)
, L1 = s e l f s t a t o r inductance
3
zl* = 2 LmaP (A2.7)
3
ZZ1 = -j- Lm.(P-jWm) (A2.8)
2 2 3
A22 = a +a (I2 + 2 Lm)(P-jWm) (A2.9)
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For sinusoidal excitation we put
P = jw where w = 2nf (A2.10)
Z l l =R1 + jw(ll + Lm) + R1 + jwL (A2.11)
. 3 (A2.12)
Z12 = jw 2L a
3
z21 = 2 Lma (jw-jwm) = 2 Lmajwr (A2.13)
and instant power output and torque are given by:
Power/ph. - Real (e's).Real (1'2) - Pol (A2.14)
Torque/ph. - Po1/(2 Wm/PP) , PP-1 of poles (A2.15)
Impedance dynamic model
General Expression for apparent as seen from motor terminals:
from dynamic eqns.
(A2.16)
-221
I2 = [ X I (A2.17)
z12 z 21I 2 221
(A2.18)
v1 = (zll-
so,
v1
- -
(zll- 212
z2 1
(A2.19)
For any given waveform generally
(A2.20)
then;
n
(A2.21)
is a function of machine parameters, R1, R2, l1, 12, L , excitation, and rotor
speed w
m
. m
I14
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For a given single frequency p = j w
3
,L2=112+ 2 4’ (A2.23)
(A2.24)
(A2.25)
where,
w
r
- (w - wm) = rotor s l i p frequency
Correlation matrix f o r a l l v a r i a b l e s :
( 1 HP 3-phase motor)
CO I* r e 1 a t. i on r m t.r i :.:: f cl r a 1 1 v a r i ab 1 es :
. ..#.& . .+.
’# f
....& & :t::+::i: i::*::i:
Var i a t l l e Vrtt / f s Vrit I rit Zin Fi 17 Po XEFF p.f . TL NI-
Vm / f E
Wit
I ni
Zin
Pin
P6
XEFF
p.f.
TL
Nr
Variable Writ fs fr
Vrii / f s
Vm
Im
Zin
Pin
PO
XEFF
p.f.
TL
Nr
I15
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Experimental Data for 1-hp 3-Phase I.M. - Sample Data
VdfS h,r ?f frfir
4.81 72.17 1.04 69.40 106.00 UobO 0.41 1.15 445.00 46.bO 13.00 0. I7
6.8 9S.80 t.48 a.60 264.00 30.60 0.33 0.U 450.00 47Jt 15.00 0.M
to40 W.17 0.63 111*00 1 0 0 e 0 0 7lAO 0.76 0.00 m.OO 8T.u 30.00 I .so
4.00 126.00 0.80 15.00 100.00 31.00 OJb 0.5s 106.00 n.n Jo.00 8.00
4.n 187.60 3.03 41.90 460.00 S2v.10 0.27 0.55 wo.00 N.8 30.00 0.00
4.00 130.00 1.53 78.40 400.00 86.70 om 1.13 uS.00 6.3 30.00 t.30
4.00 126.60 2.13 s6.30 600.00 w.)o 0.85 4.70 745.00 moo 30.00 3.17
1.44 72.17 0.4s 111.00 100.00 73.80 0.81 0.M 1410.00 147.U Jo.00 3.00
1.40 120*00 0.9 m.90 100.00 noto 0.64 8.50 1483.00 1SS.SO s0.M 8.30
3.83 191.70 0.70 m 9 0 120.0 62.00 00% 0.40 1480.00 153.00 56.00 0.U
t.40 120.00 1.57 76.W 400.00 P77.00 0.80 8.0s 129O.ob 135.10 .so.00 7.00
3.83 191.70 1.10 174.30 400.00 344.00 0.N t.2S 1460.00 lS2.W 9.00 1d3
S.28 263.80 1.65 159.90 4 0 0 o 0 0 265.00 0.31 1.70 1490.00 156.00 50.00 0.34
3.83 191.70 lo46 131.30 600.00 313.00 0.m 3.43 1420.00 1M.10 50.00 t.67
4.28 263.80 1.77 149.00 600.00 531.00 0.S 3.45 1470.00 lS3.N s.00 1.01
3.83 191.70 2.40 79.90 1600.00 R3.86 0.a 5.40 1280.00 134.00 so.00 7.35
S.28 263.80 2.M 128.30 1OOO.60 847.40 0.71 5.70 1420.00 14O.R so.00 t.67
1.72 126.00 035 E18.ZO 140.00 106.30 0.m 0,s 2030.00 212.3 70.00 t.33
t.74 191.70 0.65 095.00 poO.00 151.70 0*60 0.70 2070.00 216.77 70.00 1.00
3.77 243.80 Om75 351070 P l O e 0 0 131.70 0.41 0.70 2070.00 216.77 70.00 1.00
to74 ltOo70 1.00 rn.30 406.00 337.00 0.77 1.60 2006.00 m.4. 30.00 3.35
3.n 213.~0 o.n m.n 400.00 to 0.60 1.60 2010.04 213.0 R.00 t.81
t.74 1T1.30 1.48 8.9 We00 SlLW .Do U 0 1960.00 2OSH . 70.00 4.44
3.77 am lop0 21T.M 100.00 me00 0.w t.M 2020.00 211.so 7o.M t.U
3.n W.DO 1.75 ls0.N 1Oooo . "bo 8.n 4.H pooo.00 w.44 70.00 30%
1.33 1200.00 0.H 171.40 140.00 13O.W o.n 0.M 2soo.00 2bl.8. 9o.M b.b7
talJ 191.70 0.M 819.so IDo.@o 10.0 .ob8 0.M 2b00.00 tR.H w.00 35
t.T3 ?u,n 0.U 4M.m W.00 165.8 0.n 0.61 M.00 n.4. w.m t.jr
t.13 111.70 l o l t 1 7 1 o ) o WoOO W e 3 4 o*n 1.40 m
.00 tb3.w w.OO 6.80
z.T3 H3.M .To tT3.10 WO@ a1.w 8.71 1.40 1680.00 m.# To.@ 3.38
t-93 t63.80 1.14 t31.0 480.0 su.8 0, n t.10 2SM.06 tbT.18 w.00 4.M
t.n u3.m 1.7s 1S.B 1WO .O u7.w 0.80 w?. tS30.00 2M.n 9o.W 3.u
4.80 3.17 1.8s 48.90 100.0 bod0 0.4s 1.30 445.06 4b*Y 1s.00 0, I7
C*O 72.17 ..U 106.w I@.@ @.so 0.74 0.9. m.00n.0 #A0 0.M
FIGURE A2: T-1 Dynamic Equivalent - . . u ~ ~ ~ l Motor
on
AMs5 :007
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1 HP 3-PHASE 1 . M . 1 . 3 4 ClP I-PH4SE I .M,
3."
3.0 I:::
FIG 2: Zin -vs- (Vm/f*, fr) FIG 3: Zin -VS- (Po,fr)
(3 phase motor) (single phase motor)
1 HP 3-PHASE I . M e
1 HP 3-FkiA.SE- I .M.
.
I
IO -'
FIG 3: Po -VS- (Vm/fss fr) FIG 4: Efficiency -vs- (V,/fs, fr)
AMS5:007
I I7
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m m
GG
1.
.. .
, I
..
.
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P P P P P P
~
00
0
4 n* S & m a -
c
ro -*
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EFF.
-
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EFF .P P m
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a z
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wl
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