IMFE Presentation Notes

Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Use of the LUA script
Indirect tests
Analysis
Indirect tests analysis
Noload test
Locked rotor test
Equivalent circuit
Computation of the motor
performance
Rotor FO Analysis
Dynamic equations
Steadystate equations
In rotor ux refer. frame
Winding denition
Noload test
Computation under load
FO equivalent circuit
Torque vs speed curve
Rotor current distribution
1
A Modern Approach
to the Analysis
of Induction Motors
Luigi Alberti, Nicola Bianchi, and Silverio Bolognani
Electric Drive Laboratory
Department of Electrical Engineering
University of Padova
Padova, Italy
June 2009
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
2
Outline
1 A brief introduction of using FEMM in electrical
machine analysis
2 Analysis using indirect tests
3 Analysis in the rotor ux reference frame
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
3
Outline
machine analysis
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
4
A brief introduction
FEMM (Finite Element Method Magnetics)
it is very easy to be used,
it is organized so as to easily understand how a nite
element method works,
it is freeware, so that anyone can download it and
use it.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
5
2D eld problem
In a 2D eld problem
current density J = (0, 0, J
z
)
vector magnetic potential A = (0, 0, A
z
)
magnetic eld strength H = (H
x
, H
y
, 0)
ux density B = (B
x
, B
y
, 0)
Induction motor section in the plane (x, y).
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
6
Problem denition
The rst step is to dene the problem:
Type: select a planar symmetry, i.e. the motor
section is studied in the plane (x, y);
Units: select the measure unity for drawing, e.g.
millimeter;
Frequency: select the frequency, e.g. equal to zero
for magnetostatic analysis;
Depth: select the length of the structure, along the z
axis, normal to the plane (x, y), e.g. L
z
=100 mm.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
7
Steps of a nite element problem
The steps of a nite element problem are
preprocessing: preparing the eld problem
(using the editor femme.exe);
mesh: subdivision of the domain in small elements
(using triangle.exe);
solution: solution of the eld problem
(using fkn.exe);
postprocessing: analysis of the eld solution and
computation of integral quantities
(using the editor femmview.exe).
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
8
Preprocessing steps
Drawing
- points
- segments
- arcs
Mark
- labels
- groups
Properties
- materials
- boundary conditions
- circuits
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
9
Drawing
Points
Segments
Arcs
Example of drawing a stator slot.
IM drawing
Stator drawing
Air gap drawing
Rotor drawing
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
10
Marking the blocks
Labels
to give a name to the block;
to assign the material properties, e.g. the electrical
conductivity, and the relative magnetic permeability;
to assign a current density to the block.
Label and material used.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
11
Marking the blocks
Stator Label
object label
lamination stack Fe
wedges Air
slot no. 1 Cu1
slot no. 2 Cu2
slot no. 3 Cu3
... ...
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
12
Marking the blocks
Stator Groups
object label group
lamination stack Fe 1000
wedges Air 1000
slot no. 1 Cu1 1001
slot no. 2 Cu2 1002
slot no. 3 Cu3 1003
... ... ...
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
13
Marking the blocks
Other Groups
object label group
air gap Air 0
rotor ... 10
Sketch of the rotor, as group 10.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
14
Boundary conditions
Four main boundary conditions
Dirichlet: a given value of A
z
along a line.
Neumann: ux density lines normal to a line.
Periodic: A
z,segment 1
= A
z,segment 2
.
Antiperiodic: A
z,segment 1
= A
z,segment 2
.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
15
Boundary conditions
How to do
1 A boundary condition A
z
= 0 is dened in the
problem.
2 The external lines are selected.
3 The boundary condition is assigned.
Boundary condition assigned along
the outer periphery of the stator.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
16
Materials
The material of the objects can be dened or selected
from a given Material Library.
How to do
The appropriate material is assigned to the object:
1 Fe is assigned to stator and rotor laminations,
2 Cu is assigned to the stator slots,
3 Al is assigned to the rotor slots,
4 Air is assigned to the air spaces.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
17
Sources
Current
Stator currents are dened as "circuit"
ideal current source connected to one or more blocks.
Islot1: current source connected to rst slot,
Islot2: current source connected to second slot,
Islot3: current source connected to third slot,
... and so on.
External circuits connected to the coil sides
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
18
Sources
Current density
An alternative is to assign a current density to the various
materials, e.g. to materials of the stator slots.
The peak value of current density in the slot is dened as
J
slot
= k
ll
2J
c
With k
ll
= 0.4,
With J
c
= 6 Arms/mm
2
It is

J
slot
= 3.4 A/mm
2
.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
19
Winding denition
Classical representation of the stator winding
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
20
Winding denition
Slot matrix
Matrix dimension is mQ
The generic element k
jq
indicates the how much the
qth slot is lled by conductors of the j th phase.
k
jq
= 1 means that the qth slot is completely lled
by conductors of the j th phase;
k
jq
= 0.5 means that only 50% of the qth slot is
lled by conductors of the j th phase;
k
jq
= 0 means that no conductor of the j th phase is
within the qth slot.
sign indicates the direction.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
21
Winding denition
Denition of the labels of the stator slots.
Slots Matrix
q 1 2 3 4 5 6 7 8 9 10 11 12
a 0 0 1 1 0 0 0 0 -1 -1 0 0
b -1 -1 0 0 0 0 1 1 0 0 0 0
c 0 0 0 0 -1 -1 0 0 0 0 1 1
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
22
Winding denition
Current assignment
The current in the qth slot can be expressed as
I
slot ,q
= n
c
_
k
a,q
I
a
+k
b,q
I
b
+k
c,q
I
c
_
where
q 1 2 3 4 5 6 7 8 9 10 11 12
k
a
= 0 0 1 1 0 0 0 0 -1 -1 0 0
k
b
= -1 -1 0 0 0 0 1 1 0 0 0 0
k
c
= 0 0 0 0 -1 -1 0 0 0 0 1 1
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
23
Meshing and solving
Mesh of the structure
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
24
Flux line plot
Flux lines of the solved structure
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
25
Point property
Electric and magnetic quantities detected in the point P of
the solved structure.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
26
Magnetic Flux
= L
z
_
line
B
n
dl
Magnetic ux computation from a line integration.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
27
Magnetic Flux
= L
z
(A
z,S
A
z,E
)
Magnetic ux from magnetic vector potential
_
S
B ndS =
_
S
curl A ndS =
_
l
S
A tdl
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
28
Flux linkages
Slots containing the coil sides of phase a
A
z

1
S
slot
_
S
slot
A
z
dS
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
29
Flux linkages
a
= n
c
L
z
_
+
1
S
slot
_
S
slot ,3
A
z
dS
+
1
S
slot
_
S
slot ,4
A
z
dS
1
S
slot
_
S
slot ,9
A
z
dS
1
S
slot
_
S
slot ,10
A
z
dS
_
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
30
Flux linkages
Using the slot matrix
q 1 2 3 4 5 6 7 8 9 10 11 12
k
a
= 0 0 1 1 0 0 0 0 -1 -1 0 0
k
b
= -1 -1 0 0 0 0 1 1 0 0 0 0
k
c
= 0 0 0 0 -1 -1 0 0 0 0 1 1
a
= n
c
L
z
1
S
slot
Q
q=1
_
S
slot ,q
k
a,q
A
z
dS
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
31
Magnetic energy
The whole structure is selected
The magnetic energy
W
m
= L
z
_
S
all
__
HdB
_
dS
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
32
Magnetic energy
The magnetic energy
W
m
= L
z
_
S
all
__
HdB
_
dS
The magnetic coenergy
W
m
= L
z
_
S
all
__
BdH
_
dS
The integral of A J
W
AJ
= L
z
_
S
all
A
z
J
z
dS
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
33
Scripts for the Preprocessing
The aim is to modify the current owing in the coil, whose
sides are in the slots 3 and 10.
Coil sides in slot 3 and slot 10.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
34
Motor data
The geometrical data
S_slot = 36.8 -- (mm2)
k_fill = 0.4
J_c = 6 -- (A/mm2)
J_slot = k_fill
*
sqrt2
*
J_c
I_max = S_slot
*
J_slot
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
35
Current assignment
Current value
I_slot = I_max
*
(n / N_sim)
Current assignment to slot 3 and slot 10
modifycircprop("Islot", 3, +I_slot)
modifycircprop("Islot", 10, -I_slot)
analyse()
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
36
Current assignment
For given current
Ia = +4 -- current of the a-phase
Ib = -2 -- current of the b-phase
Ic = -2 -- current of the c-phase
Using the slot matrix, the computation of the current in
the qth slot becomes
Islot[q] = ka[q]
*
Ia + kb[q]
*
Ib + kc[q]
*
Ic
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
37
Current assignment
Starting from d and qaxis values
Id = -3 -- Id is the d-axis current
Iq = +4 -- Iq is the d-axis current
the dq abc transformation is used
Ia = Id
*
cos(thetame) - Iq
*
sin(thetame)
Ib = (-Id/2 - Iq
*
sqrt(3)/2)
*
cos(thetame)
+ (-Id
*
sqrt(3)/2 + Iq/2)
*
sin(thetame)
Ic = (-Id/2 + Iq
*
sqrt(3)/2)
*
cos(thetame)
+ (+Id
*
sqrt(3)/2 + Iq/2)
*
sin(thetame)
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
38
Current density assignment
This is an alternative to assign the current.
After computing the current density
Islot = ka[q]
*
Ia + kb[q]
*
Ib + kc[q]
*
Ic
Jslot = Islot / S_slot
it is assigned to the slot block
modifymaterial("Cu" .. q, 4, Jslot)
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
39
Postprocessing
Slot cross area (slot 3):
groupselectblock(1003)
Sup = blockintegral(5)
clearblock()
Integral of A
z
(slot 3):
groupselectblock(1003)
intA3_r, intgA3_i = blockintegral(1)
clearblock()
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
40
Postprocessing
After selecting the whole domain
groupselectblock()
magnetic energy, coenergy, integral of A J are computed:
Energy = blockintegral(2)
Coenergy = blockintegral(17)
AJ_intgr = blockintegral(0)
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
41
Outline
machine analysis
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
42
Aim
The aim is to achieve a prediction of the induction motor
performance that is rapid and accurate at the same time.
Procedure
Analysis procedure combining a set of nite element (FE)
simulations with an analytical model of the induction
motor.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
43
Equivalent circuit
The nite element simulations are carried out to compute
the lumped parameters of the traditional equivalent
circuit.
Equivalent circuit of the threephase induction motor.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
44
Equivalent circuit
2D simulations
Using laminations, a twodimensional FE analysis is
generally satisfactory.
3D parameters
The threedimensional effects are analytically computed
and included in the model.
stator resistance,
endwinding resistance and inductance,
rotor ring resistance and inductance,
skewing.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
45
Equivalent circuit
Schematic model of the threephase induction motor.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
46
Analysis procedure
Advantage of this procedure
The computation is rapid, since few FE simulations
are necessary,
The computation is accurate, since effects of
saturation and eddy currents are considered in the
FE analysis,
This approach overcomes the limits of the completely
analytical or completely numerical procedures.
The procedure yields a very easy implementation.
The FE simulations required in the proposed
procedure can be carried out using any FE software.
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Locked rotor test
Equivalent circuit
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Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
47
Analysis procedure
Scheme of the combined FEManalytical procedure
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Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
48
Analysis procedure
The steps of the analysis are
1 FE analysis at noload conditions: an accurate
prediction of the iron saturation.
2 From noload simulations, the maximum ux density
in stator path and iron losses are computed.
3 FE analysis at locked rotor: accurate prediction of
rotor current distribution.
4 Threedimensional parameters are computed
analytically and are added to the equivalent circuit.
5 The induction motor performance is predicted from
the equivalent circuit.
6 A further check of the operating points is carried out
using a direct FE analysis, deriving eld sources
from the analytical model.
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Noload test
49
Noload tests
The motor is analyzed in the rotor reference frame
assuming a rotor slip equal to zero.
The frequency equals zero and magnetostatic FE
simulations are carried out.
x
_
1
A
z
x
_
+

y
_
1
A
z
y
_
= J
oz
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Noload test
50
Current
The rms value of the current is xed, e.g. I
rms
.
A suitable time instant is chosen, in order to assign the
threephase currents in the stator winding.
Currents assigned in the noload analysis
Phase Current Phase Current
A +
2I
rms
-A
2I
rms
B
2
2
I
rms
-B +
2
2
I
rms
C
2
2
I
rms
-C +
2
2
I
rms
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Noload test
51
Meshing
A careful mesh has to be performed in the iron lamination
and in the air gap, where the higher ux gradient is
expected.
Mesh for the noload simulation.
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Noload test
52
Flux plot
A graphical verication.
Flux lines at noload
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Dynamic equations
Winding denition
Noload test
53
Flux linkages
Flux linkage is computing from the magnetic vector
potential A
z
as
m
= L
stk
1
S
slot
Q
q=1
_
Sq
A
z
dS
Average ux linkage is
m
=
2
3
_

b
2

c
2
_
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Noload test
54
Noload voltage
The noload voltage is estimated as:
E
0
=
0

m
0 5 10 15
0
50
100
150
200
250
Noload test
Stator current (A
rms
)
P
h
a
s
e
t
o
p
h
a
s
e

v
o
l
t
a
g
e

(
V
)
Comparison between measured and predicted voltage.
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55
Noload voltage
E0 (V) 31 38 45 52
I0 (A) 0.34 0.42 0.49 0.56
E0 (V) 60 67 76 83
I0 (A) 0.65 0.73 0.83 0.92
E0 (V) 94 101 107 113
I0 (A) 1.05 1.11 1.22 1.30
E0 (V) 120 128 135 141
I0 (A) 1.40 1.54 1.71 1.86
E0 (V) 147 151 156 158
I0 (A) 2.05 2.21 2.42 2.55
E0 (V) 162 165 169 170
I0 (A) 2.73 2.93 3.16 3.31
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Noload test
56
Magnetic energy
Magnetic energy
W
m
=
_
vol
_
B
0
H dB dvol
Magnetic coenergy
W
m
=
_
vol
_
H
0
B dH dvol
Integral of A
z
J
z
W
AJ
=
_
vol
A J dvol
W
m
= W
m
only when no saturation occurs.
Always W
AJ
= W
m
+W
m
.
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Noload test
57
Magnetic energy
0 2 4 6 8 10 12
0
2
4
6
8
10
No load test
Stator current (A)
M
a
g
n
e
t
i
c

e
n
e
r
g
y

(
J
)
W
m
= int H.dB
0.5 * int A.J
Magnetic energy as a function of the current.
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Noload test
58
Magnetizing inductance
from ux linkages
L
m
=

m
I
0
from magnetic energy
L
m
=
2
3
_
2W
m
I
0
2
_
from integral of A J
L
m
=
2AJ
3I
0
2
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Noload test
59
0 2 4 6 8 10 12
0
0.2
0.4
0.6
0.8
1
1.2
1.4
No load test
Stator current (A)
F
l
u
x

l
i
n
k
a
g
e

(
V
s
)

I
n
d
u
c
t
a
n
c
e

(
H
)

Flux
Inductance
Flux linkage and inductance.
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Dynamic equations
Winding denition
Noload test
60
0 2 4 6 8 10 12
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
No load test
Stator current (A)
M
a
g
n
e
t
i
z
z
i
n
g

i
n
d
u
c
t
a
n
c
e

(
H
)

from
from W
m
from A.J
When saturation occurs,
the two energy computations yield different results.
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Noload test
61
Iron losses resistance
Flux density in the stator teeth B
t
and in the stator back
iron B
bi
are extracted from the eld solution.
Their peak values are expressed as a function of the
stator ux linkage.
From the material specic losses k
hy
and k
hy
in (W/kg),
the iron losses are estimated as
P
fe
= k
magg
_
k
hy
f
50
B
2
+k
ec
_
f
50
_
2
B
2
_
G
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Dynamic equations
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Noload test
62
Iron losses resistance
The iron losses resistance is computed as:
R
0
= 3
E
2
P
fe
= 3
(
m
)
2
P
fe
0 2 4 6 8 10 12
0
0.5
1
1.5
2
x 10
4 No load test
Stator current (A)
R
0

R0 corona
R0 denti
R0 tot
Noload resistance as a function of the stator current.
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Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
63
Locked rotor test
The analysis is carried out in the rotor reference frame.
The simulation frequency is the rotor frequency f
r
= s f .
A magnetodynamic analysis is carried out
1
2
A
z
x
2
+

2
A
z
y
2
_
=

J
sz
j
r

A
z
In locked rotor analysis, a linear iron is assumed, so that
the superposition of the effects can be applied.
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Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
64
Current
The current are assigned according to the complex
notation.
Phase Current Phase Current
A +
2Irms -A
2Irms
B
2
2
Irms j
6
2
Irms -B +
2
2
Irms +j
6
2
Irms
C
2
2
Irms +j
6
2
Irms -C +
2
2
Irms j
6
2
Irms
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Rotor FO Analysis
Dynamic equations
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Noload test
65
Meshing
A careful mesh has to be performed in the rotor bars,
where current are induced, and in the air gap as well.
Mesh in the locked rotor simulation.
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Noload test
66
Flux plot
A graphical verication.
Flux plot with frequency 50 Hz.
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Dynamic equations
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Noload test
67
Magnetic energy
0 10 20 30 40 50
0
0.05
0.1
0.15
0.2
0.25
Rotor frequency (Hz)
E
n
e
r
g
y

a
n
d

c
o
e
n
e
r
g
y
(
J
)

int H.dB
int B.dH
int A.J
Magnetic energy as a function of the rotor frequency.
Since the problem is linear, magnetic energy W
m
and
coenergy W
m
coincide: W
m
= W
m
=
W
AJ
2
.
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Dynamic equations
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Noload test
68
Rotor Joule losses
Selecting the rotor bars, the Joule losses are computed.
P
jr
=
1
2
Al
L
stk
_
S
Al
J
z

J
z
dS
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Noload test
69
Torque
Selecting the rotor, the torque is computed
from Maxwell stress tensor,
T = L
stk
_
lgap
B
r
B
0
dl
as ratio between rotor losses and synchr. speed
T =
P
jr
2f /p
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Dynamic equations
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Noload test
70
Torque
Torque comparison
0 10 20 30 40 50
0
0.05
0.1
0.15
0.2
0.25
Locked rotor test
Rotor frequency (Hz)
T
o
r
q
u
e

(
N
m
)

from Maxwell tensor
from rotor losses
Torque comparison
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Noload test
71
Rotor parameters as a function of the frequency
The equivalent resistance is computed from the Joule
losses
R
eq
=
P
jr
3I
2
The equivalent inductance is computed from the
magnetic energy
L
eq
=
2
3
W
m
I
2
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Noload test
72
Transformation of the circuit
L
l ,2D
= L
m
L
eq
(L
m
L
eq
) (R
eq
/)
2
(L
m
L
eq
)
2
+ (R
eq
/)
2
R
r ,2D
= R
eq
L
m
+L
l ,2D
L
m
L
eq
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Noload test
73
0 10 20 30 40 50
5.4
5.45
5.5
5.55
5.6
5.65
5.7
Frequency (Hz)
R
o
to
r
r
e
s
is
ta
n
c
e
(
)
Rotor resistance versus rotor frequency
0 10 20 30 40 50
0
0.002
0.004
0.006
0.008
0.01
Frequency (Hz)
R
o
to
r
in
d
u
c
ta
n
c
e
(
H
)
Leakage inductance versus rotor frequency
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Noload test
74
3D parameters
The 3D parameters considered are:
R
s
stator winding resistance;
L
ew
end winding leakage inductance;
R
ring
rotor ring resistance;
L
ring
rotor ring leakage inductance.
L
sk
rotor skewing.
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Dynamic equations
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Noload test
75
Equivalent circuit
Equivalent circuit with variable parameters.
When all the parameters are computed, the equivalent
circuit is solved to compute the motor performance.
Mechanical power, torque, electrical power, current,
losses, power factor and so on ...
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Noload test
76
Noload performance predictions and measurements
Test Prediction Test Prediction
V (V) 75.8 75.8 107 107
Io (A) 0.84 0.82 1.23 1.18
Po (W) 9.1 9.6 15.3 14.7
V (V) 120 120 135 135
Io (A) 1.4 1.34 1.7 1.6
Po (W) 19.4 20 26.4 25
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Noload test
77
Power (V = 120 V, f = 50 Hz)
0 0.2 0.4 0.6 0.8 1
0
500
1000
1500
2000
slip
E
le
c
tr
ic
p
o
w
e
r
(
W
)
Electrical power versus slip.
0 0.2 0.4 0.6 0.8 1
0
100
200
300
400
500
600
slip
M
e
c
c
p
o
w
e
r
(
W
)
Mechanical power versus slip.
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Noload test
78
Efciency and power factor (V = 120 V, f = 50 Hz)
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
slip
E
ffic
ie
n
c
y
Efciency versus slip.
0 0.2 0.4 0.6 0.8 1
0.4
0.5
0.6
0.7
0.8
0.9
1
slip
C
o
s
p
h
i
Power factor versus slip.
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Noload test
79
Torque and input current
0 0.2 0.4 0.6 0.8 1
0
2
4
6
8
10
12
From equivalent circuit
slip
T
o
r
q
u
e

(
N
m
)

C
u
r
r
e
n
t

(
A
)

Torque (Nm)
Current (A)
FE Analysis
Torque and stator current versus slip
(V = 120 V, f = 50 Hz).
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Noload test
80
Working point test
Scheme of the combined FEManalytical procedure
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Noload test
81
Low frequency supply (f = 8.33Hz)
0 0.2 0.4 0.6 0.8 1
0
1
2
3
4
slip
T
o
r
q
u
e
(
N
m
)
C
u
r
r
e
n
t (
A
)
Torque
Current
FE Analysis
Current and torque versus slip
0 0.2 0.4 0.6 0.8 1
0
20
40
60
slip
M
e
c
c
p
o
w
e
r
(
W
)
0 0.2 0.4 0.6 0.8 1
50
100
150
200
slip
E
le
c
tr
ic
p
o
w
e
r
(
W
)
Power versus slip
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Noload test
82
High frequency supply (f = 300Hz)
0 0.2 0.4 0.6 0.8 1
0
1
2
3
4
5
6
slip
T
o
r
q
u
e
(
N
m
)
C
u
r
r
e
n
t (
A
)
Torque
Current
FE Analysis
Current and torque versus slip
0 0.2 0.4 0.6 0.8 1
0
200
400
600
800
slip
M
e
c
c
p
o
w
e
r
(
W
)
0 0.2 0.4 0.6 0.8 1
0
500
1000
slip
E
le
c
tr
ic
p
o
w
e
r
(
W
)
Power versus slip
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83
Tests and computations comparison
Test Cal Test Cal Test Cal
V (V) 42 42 52 52 60 60
f (Hz) 9 9 11.5 11.5 13.1 13.1
s (%) 46 46 30.3 30.3 30 30
I (A) 3.8 3.7 3.8 3.9 4.2 4.3
Pe (W) 270 250 311 301 400 390
P0 (W) 7.6 7.2 10.5 10.3 15 13
T (Nm) 2.2 2.2 2.2 2.1 2.6 2.5
Pm (W) 67 66 111 106 151 142
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Noload test
84
Tests and computations comparison
Test Cal Test Comp Test Cal
V (V) 213 213 218 218 220 220
f (Hz) 288 288 275 275 272 272
s (%) 6 6 1.7 1.7 1 1
I (A) 3.1 2.8 1.3 1.2 0.78 0.75
Pe (W) 1030 930 430 407 220 215
P0 (W) 120 90 62 50 40 46
T (Nm) 0.45 0.42 0.2 0.19 0.12 0.11
Pm (W) 760 710 340 320 157 167
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85
Conclusions
It can be afrmed that the proposed procedure allows an
effective model of the induction motor to be built.
By means of such a model, a satisfactory prediction of
the induction motor performance is achieved.
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Noload test
86
Outline
machine analysis
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Dynamic equations
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Noload test
87
Stator and rotor voltages
stator
v
sa
= R
s
i
sa
+
d
sa
dt
v
sb
= R
s
i
sb
+
d
sb
dt
v
sc
= R
s
i
sc
+
d
sc
dt
rotor
v
ra
= R
r
i
ra
+
d
ra
dt
= 0
v
rb
= R
r
i
rb
+
d
rb
dt
= 0
v
rc
= R
r
i
rc
+
d
rc
dt
= 0
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88
Stator voltage in the d
s
q
s
reference frame
Space phasor of stator voltage
v
s
s
= R
s
i
s
s
+
d
s
s
dt
Space phasor of stator ux linkage
s
s
= L
s
i
s
s
+L
M
i
s
r
_

sd
= L
s
i
sd
+L
M
i
rd
sq
= L
s
i
sq
+L
M
i
rq
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Noload test
89
Rotor voltage in the d
r
q
r
reference frame
Space phasor of rotor voltage
v
r
r
= R
r
i
r
r
+
d
r
r
dt
= 0
Space phasor of rotor ux linkage
r
r
= L
r
i
r
r
+L
M
i
r
s
_

rd
= L
r
i
rd
+L
M
i
sd
rq
= L
r
i
rq
+L
M
i
sq
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90
In a generic d
g
q
g
reference frame
The stator quantities:
multiplied by e
j g
= e
j gt
,
The rotor quantities:
multiplied by e
j (
e
m
g)
= e
j (
e
m
g)t
,
they are expressed in the generic reference frame d
g
q
g
.
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91
Speed of the d
g
q
g
reference frame
if
g
= 0,
the reference frame d
g
q
g
is xed with respect to the
stator reference frame;
if
g
=
e
m
,
g
q
g
rotates at the electrical
speed of the rotor (i.e., at the speed
e
m
= p
m
),
hence it is xed with respect to the rotor reference
frame;
if
g
= ,
g
q
g
rotates at the synchronous
speed.
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92
In the d
g
q
g
reference frame
Stator and rotor voltages
_
_
v
sd
= R
s
i
sd
+
d
sd
dt

g
sq
v
sq
= R
s
i
sq
+
d
sq
dt
+
g
sd
and _
_
0 = R
r
i
rd
+
d
rd
dt
(
g
me
)
rq
0 = R
r
i
rq
+
d
rq
dt
+ (
g
me
)
rd
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Noload test
93
d
g
q
g
axis equivalent circuits
d and qaxis dynamic circuits of the induction motor
(with
g
= ).
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94
Using the space phasor notation
Voltage equation
v
s
= R
s
i
s
+
d
s
dt
+
g
s
0 = R
r
i
r
+
d
r
dt
+ (
g
e
m
)
r
Dynamic circuit using the space phasors (
g
= ).
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Dynamic equations
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Noload test
95
Using the space phasor notation
Highlighing leakage inductances
s
= L
sl
i
s
+L
M
(
i
s
+
i
r
)
and
r
= L
rl
i
r
+L
M
(
i
s
+
i
r
)
Dynamic circuit using the space phasors, Tform
(
g
= ).
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96
The speed of the d
g
q
g
reference frame is
g
= .
Stator voltage
v
s
= R
s
i
s
+
s
Rotor voltage
0 = R
r
i
r
+ (
e
m
)
r
or
0 =
R
r
s
i
r
+
r
slip
s =

e
m
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97
Voltage equations
v
s
= R
s
i
s
+ L
sl
i
s
+ L
M
(
i
s
+
i
r
)
0 =
R
r
s
i
r
+ L
rl
i
r
+ L
M
(
i
s
+
i
r
)
Steadystate equivalent circuit, using Tform (
g
= ).
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Noload test
98
It is possible to introduce an arbitrary constant c in the
voltage equations
v
s
= R
s
i
s
+ L
s
i
s
+ cL
M
i
r
c
0 = c
2
R
r
s
i
r
c
+ c
2
L
r
i
r
c
+ cL
M
i
s
By rearranging the value of c, it is possible to express the
voltage equations in different ways.
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99
form equivalent circuit
Choosing c = L
M
/L
r
L
rl
= L
r
(L
s
/L
M
)
2
L
s
L
M
= L
s
R
r
= R
r
(L
s
/L
M
)
2
Steadystate form equivalent circuit (
g
= ).
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100
Inverse form equivalent circuit
Choosing c = L
s
/L
M
L
sl
= L
s
L
2
M
/L
r
L
M
= L
2
M
/L
r
R
r
= R
r
(L
M
/L
r
)
2
Steadystate inverse form equivalent circuit (
g
= ).
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101
In the reference frame xed to the rotor ux
The daxis is chosen to be coincident with the rotor ux
linkage
r
Reference frames
rotor ux linkage
_

rd
=
r
rq
= 0
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102
_
_
0 =
R
r
s
i
rd
0 =
R
r
s
i
rq
+
r
from which, it is
i
rd
= 0
The slip speed
From rotor voltage equation:
sl
= (
e
m
) =
R
r
i
rq
rd
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103
Rotor ux linkages
r
= L
M
i
sd
0 = L
r
i
rq
+L
M
i
sq
thus
The rotor ux linkage is only due to the daxis stator
current.
The qaxis stator and rotor currents are linked by:
i
rq
=
L
m
L
r
i
sq
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104
Stator ux linkages
sd
= L
s
i
sd
sq
= L
s
i
sq
+L
M
i
rq
=
_
L
s
L
2
m
L
r
_
i
sq
Easier relationships between IM parameters and
electrical as currents and ux linkage
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105
Stator winding
From dqaxis currents
i
sd
and i
sq
the currents i
sa
, i
sb
e i
sc
are obtained using the dq abc
transformantion:
i
sa
= i
sd
cos
e
m
i
sq
sin
e
m
i
sb
= i
sd
cos(
e
m
2/3) i
sq
sin(
e
m
2/3)
i
sc
= i
sd
cos(
e
m
4/3) i
sq
sin(
e
m
4/3)
Then, they are imposed in the threephase circuits.
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106
Rotor winding
Assumption
The rotor current is assumed to be
sinusoidally distributed along the airgap.
The rotor winding is rearranged using the dq
transformation with a sinewave conductor distribution.
slot number
1 2 3 4 5 6 7
d 0.111 0.330 0.532 0.707 0.846 0.943 0.993
q -0.993 -0.943 -0.846 -0.707 -0.532 -0.330 -0.111
slot number
8 9 10 11 12 13 14
d 0.993 0.943 0.846 0.707 0.532 0.330 0.111
q 0.111 0.330 0.532 0.707 0.846 0.943 0.993
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Noload test
107
Rotor winding
Slot matrix elements
k
rd
= sin(p
i
)
k
rq
= cos(p
i
)
where
i
=
2i 1
2

r
Rotor slot angles
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Noload test
108
Rotor winding
The ideal sinusoidal distribution of the rotor windings.
The number of rotor turns N
r
is rearranged in order to
make it equivalent to the stator winding.
2k
w,r
N
r
= 3 k
w,s
N
s
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Noload test
109
Noload test
Only the daxis stator current is imposed.
Current at no load:
(a) along the daxis
(b) along the qaxis
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110
Noload test
The current i
sd
produces the ux along the daxis.
Flux linkages
in the stator
sd
= L
s
i
sd
in the rotor
r
=
rd
= L
M
i
sd
from them the parameters L
s
and L
M
can be obtained.
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Winding denition
Noload test
111
Noload test
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Noload test
112
Noload test
As expected, the ux lines do not cross the daxis, i.e.
ux lines are only along the daxis.
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Noload test
113
Noload test
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Noload test
114
In the operating condition under load,
both the daxis current i
sd
and qaxis current i
sq
are
forced in the stator winding.
a rotor current i
rq
is assigned in the rotor so that the
relationship
rq
= 0 is satised.
Currents under load:
(a) along the daxis
(b) along the qaxis.
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115
Only magnetostatic FE analysis: both stator and rotor
currents are imposed as the eld source.
The actual eld solution is achieved iteratively.
a rotor current i
rq
is imposed
the rotor ux linkage is computed from eld solution
if the qaxis component is different from zero, the
qaxis rotor current i
rq
is modied,
a new computation is carried out.
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Noload test
116
Along the qaxis, the ux linkage variation can be
considered proportional to the current variation.
Only a few steps, generally three, are sufcient to
determine the proper rotor currents.
The convergence process during the load simulations.
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Noload test
117
Preliminary rotor current i
rq
estimation
i
rq
=
L
M
L
r
i
sq
assuming L
r
L
2
m
/L
s
Rotor current change
i
rq
=

rq
sd
i
sd
The system is quite linear along the qaxis, thus the two
points lay on a straight line in the (i
rq
,
rq
) plane.
The i
rq
is found when the straight line crosses
rq
= 0.
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Noload test
118
As an example, the results of a simulation are:
Isd = 1 uxD = 0.415
Isq = 1 uxQ = 0.007
Ird = 0 uxDr = 0.620
Irq = -0.9878 uxQr = 1.31e-7
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Noload test
119
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Noload test
120
Flux line plot
Simulations under load
with i
sd
= 1.5 A and i
sq
= 1.5 A
(a) no FO (b) FO
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Noload test
121
Stator and rotor ux linkages
Flux linkages versus i
sq
current (i
sd
= 1.5 A).

rq
= 0 for each simulation,
along daxis

rd
sd
=
L
m
L
s
Modern Approach
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Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
122
Motor torque
Maxwells stress tensor (solid line)
ux linkages and current interaction
=
3
2
p (
sd
i
sq
sq
i
sd
)
Torque versus qaxis stator current for i
sd
= 1.5 A
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
123
Rotation of the stator current spatial vector
The stator current amplitude is xed at i
s
= 3 A.
Current vector angle
i
varies from 0 to 90 el. deg.
Stator and rotor ux linkages versus stator current angle
(i
s
= 3 A)
Modern Approach
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Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
124
Torque vs. current vector angle
0 20 40 60 80
0
0.5
1
1.5
2
Stator current vector angle (deg)
T
o
r
q
u
e

(
N
m
)
Maxwell
dq axis
I
s
= 3 A
Torque as a function of the stator current vector angle
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
125
Torque in the (i
sd
, i
sq
) plane.
0 1 2 3 4
0
1
2
3
4
0

N
m
0
.
4
4
3

N
m
0
.
8
7
3

N
m
1
.
2
8

N
m
1
.
6
4

N
m
1
.
9
5

N
m
2
.
1
6

N
m
2
.
2
3

N
m
2
.
0
1

N
m
1
.
4
8

N
m
0
.
7
8
1

N
m
0

N
m
daxis stator current (A)
q
a
x
i
s

s
t
a
t
o
r

c
u
r
r
e
n
t

(
A
)
Torque (Nm)
Torque as a function of the stator current vector angle
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
126
Low frequency comparison
Test RA FO Test RA FO
V (V) 42 42 42 48 48 48
f (Hz) 9 9 9 12 12 12
s (%) 46 46 46 30 30 30
I (A) 3.8 3.7 3.4 3.5 3.3 3.1
P
e
(W) 270 250 230 276 240 220
P
0
(W) 7.6 7.2 7.8 7.4 8.6 9
T (Nm) 2.2 2.2 2.2 2 1.8 1.8
P
m
(W) 67 66 67 105 95 95
Modern Approach
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Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
127
Low frequency comparison
0 0.1 0.2 0.3 0.4 0.5
0
0.5
1
1.5
2
2.5
3
slip
T
o
r
q
u
e

(
N
m
)

C
u
r
r
e
n
t

(
A
)
Torque (Nm)
Current (A)
Current and torque versus slip with V = 30 V e
f = 8.33 Hz
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
128
High frequency comparison
Test RA FO Test RA FO
V (V) 198 198 198 213 213 213
f (Hz) 289 289 289 288 288 288
s (%) 6.32 6.32 6.32 6 6 6
I (A) 3.2 2.7 2.5 3.1 2.8 2.6
P
e
(W) 941 830 814 1030 930 902
P
0
(W) 97 80 84 120 90 95
T (Nm) 0.4 0.4 0.4 0.45 0.42 0.45
P
m
(W) 685 624 690 760 710 765
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
129
High frequency comparison
0 0.1 0.2 0.3 0.4 0.5
0
1
2
3
4
5
6
7
slip
T
o
r
q
u
e

(
N
m
)

C
u
r
r
e
n
t

(
A
)

x10
1

Torque (Nm)
Current (A)
Current and torque versus slip with V = 195 V e
f = 300 Hz
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
130
Equivalent circuit parameters
The inverse equivalent circuit of the induction motor
L
s
=

sd
i
sd
L
M
=

rd
i
sd
L
r
=
i
sq
i
rq
L
M
L
0
=
L
2
M
L
r
L
t
=
_
L
s
L
2
M
L
r
_
=

sq
i
sq
Modern Approach
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FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
131
Computation of L
s
Modern Approach
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Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
132
Computation of L
M
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
133
Computation of L
t
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
134
0 5 10 15 20 25
0
0.2
0.4
0.6
0.8
Stator current (A)
L
s

L
M

L
r

(
H
)
Ls
LM
Lr
0 5 10 15 20 25
4
5
6
7
8
9
10
x 10
3
Stator current (A)
L
t

(
H
)
Inductances as a function of the stator current.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
135
0 5 10 15 20 25
0
0.1
0.2
0.3
0.4
0.5
Stator current (A)
L
o

(
H
)
0 5 10 15 20 25
0
0.5
1
1.5
2
x 10
4
Stator current (A)
R
0
R0 corona
R0 denti
R0 tot
Inductance L
0
and resistance R
0
as a function of the
stator current.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
136
The rotor resistance R
r
is achieved from rotor losses:
R
r
=
2P
jr
3i
2
sq
It results constant, due to the assumptions of the analysis.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
137
Results from equivalent circuit
Supply: voltage V = 120 V and frequency f = 50 Hz.
0 0.2 0.4 0.6 0.8 1
0
5
10
15
20
slip
P
0
Iron losses
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
138
0 0.2 0.4 0.6 0.8 1
0
2
4
6
8
10
12
slip
T
o
r
q
u
e

(
N
m
)

C
u
r
r
e
n
t

(
A
)
T
FOC

I
FOC
T
norm
I
norm
Torque and current comparison
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
139
0 0.2 0.4 0.6 0.8 1
0
500
1000
1500
2000
2500
slip
E
l
e
c
t
r
i
c

p
o
w
e
r

(
W
)
Input electrical power.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
140
0 0.2 0.4 0.6 0.8 1
0
100
200
300
400
500
600
slip
M
e
c
c

p
o
w
e
r

(
W
)
Mechanical power.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
141
0 0.2 0.4 0.6 0.8 1
0
0.2
0.4
0.6
0.8
slip
E
f
f
i
c
i
e
n
c
y
Motor efciency
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
142
0 0.2 0.4 0.6 0.8 1
0.2
0.4
0.6
0.8
1
slip
C
o
s
p
h
i
Power factor
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
143
Torque versus speed characteristic
Vector control of induction motor.
The motor torque
T =
3
2
pL
0
I
sd
I
sq
Current limit
I
2
N
= I
2
sd
+I
2
sq
Voltage limit
_
V
N
_
2
= (L
t
+L
0
)
2
I
2
sd
+L
2
t
I
2
sq
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
144
Torque vs. speed curve and polar diagram
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
145
The base point B is a point on the Maximum
Torque per Ampere (MTPA) trajectory.
Torque versus stator current angle for various i
s
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
146
Trajectory between points B and P.
The speed is increased over the base speed,
increasing the frequency only (V = V
N
).
Flux decreases with the speed (uxweakening).
Torque decreases almost proportionally with
frequency increase.
Motor power is almost constant.
This operating condition is called
Constant Power Speed Range
(CPSR).
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
147
The CPSR ends in point P:
tan
iP
=

sd
i
sq
sq
i
sd
Above the speed reached in point P, the current
vector moves along the MTPV trajectory.
Stator current amplitude is reduced.
Torque decreases quadratically.
Power decreases.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
148
0 0.5 1 1.5 2 2.5
0
0.5
1
1.5
2
2.5
daxis stator current (A)
q
a
x
i
s

s
t
a
t
o
r

c
u
r
r
e
n
t

(
A
)
B
P
O
Simulated mechanical characteristic of the motor.
Current vector trajectory.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
149
Simulated mechanical characteristic of the motor.
Torque versus speed characteristic.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
150
Considerations on rotor current distribution
The FO model is based on the hypothesis of a
sinusoidally distributed rotor current.
0
8 16 24 32
R
o
t
o
r
s
l
o
t
c
u
r
r
e
n
t
(
A
)
Slot number
FOC
RA
Time stepping
Comparison of current distributions
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
151
-80
-60
-40
-20
0
20
40
60
80
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
R
o
t
o
r
b
a
r
c
u
r
r
e
n
t
(
A
)
Time (s)
Time stepping model: current in a rotor bar.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
152
0
0.001
0.010
0.100
1.000
0 4 8 12 16
H
a
r
m
o
n
i
c
a
m
p
l
i
t
u
d
e
(
p
u
)
Harmonic order
FOC
RA
Time stepping
Harmonic components of the rotor currents.
Modern Approach
to IM Analysis
Alberti Bianchi
Bolognani
FEMM introduction
Winding denition
Meshing and solving
Postprocessing the
solution
Indirect tests
Analysis
Noload test
Locked rotor test
Equivalent circuit
performance
Rotor FO Analysis
Dynamic equations
Winding denition
Noload test
153
Thank you!

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