Modeling of Three Phase Induction Motor in Stator Reference Frame Using

MATLAB/SIMULINK
K. Hemanth Kumar, M.Tech (1/1SEM),
JNTU Reg.: 14341D4204.

Abstract:
Three phase induction machine is one of most usable machine in industrial application because of its
simple construction and other advantages such as reliable operation, low initial cost, easy operation and simple
maintenance, high efficiency and having simple control gear for starting and speed control. In this paper
dynamic performance of three phase induction motor analyzed with dq0 axis based modeling in stationary
reference frame. The proposed system has been simulated by using MATALB/SIMULINK.
The dynamic behavior of the machine is represented by the system of the differential equations. A good
mathematical model is helpful in determining the behavior of the induction machine under different load
conditions and in selecting appropriate machine for the specific application.

Contents:
Introduction
Literature Survey
Dynamic modeling
d-q transformation
MATLAB/SIMULINK IMPLEMENTATION
Result analysis
Conclusion

List of Figures:
Fig 1 Induction motor block Diagram
Fig 2 3 phase to 2 phase transformation
Fig 3 Computational block
Fig 4 Voltage block
Fig 5 Flux Block
Fig 6 Current Block

Introduction:
An induction motor is one of the most often used electric machines in high performance drive
applications. Induction motors are highly nonlinear and electric rotor variables are not measurable. When three
phase induction motor are started the other transient operations of induction motor its draws large currents,
which produced voltage dips, oscillatory torques and even generate the harmonics in the power systems. The
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dq axis model is more reliable and accurate to investigate such of these problems. If the stator voltage is
unbalanced or is continuous and the rotor voltages are balanced, the stationary reference frames is useful.
In this research work stator reference frame dynamic modeling of the induction motor is used. The
induction machine is represented mathematically using the two-axis theory of electric machine. The two phase
signal representation is often used to reduce the complexity of the differential equations that describes the
induction machine. Complexity of these equations can also be reduced by eliminating all time varying
inductances, due to electric circuits in relative motion, from the voltage equations of the machine. The time
varying voltage and torque equations describe the dynamic behavior of the induction motor.

Literature survey:
The literature of this research paper has been taken from the R. Krishan, Electric motor drives;
Modeling, analysis and control, Prentice Hall Company, New Jersey, 2001; Bimal K.Bose, Modern Power
Electronics and AC drives, Prentice Hall India, 2005; P.C. Krause and C.H. Thomas, Simulation of
Symmetrical Induction Machinery , IEEE Transaction on Power Apparatus and Systems, Vol.84, November
1965, pp. 1038-1053; M.L. de Aguiar M.M. cad, The concept of complex transfer functions applied to the
modeling of induction motors, Power Engineering Society Winter Meeting, 2000, pp. 387-391. Some research
papers have also been referred.

Dynamic modeling:
When three phase induction motor is started and during the other transient operations of induction
motor its draws large currents, which produced voltage drips, oscillatory torques and even generate the
harmonics in the power systems. The dynamic model is derived by using two-phase motor in direct and
quadrature. This approach is useful because of the conceptual simplicity obtained with two set of windings one
is on the stator and other is on the rotor. The three-phase stationary reference frame (a-b-c) into two-phase
reference frame (d-q-0) is carried out by following equation

[]
Vq
Vd
V0

2
= 3

][ ]

cos cos (120 ) cos ( + 120) V a

sin sin ( 120) sin ( +120) V b
0.5
0.5
0.5
Vc

Where Va, Vb, Vc are the three phase stator voltages of an induction motor under balanced. Va , Vb, Vc can be expressed
as:
Va = Vm sin ( t
Vb = Vm sin ( t

2
3 )

Vc = Vm sin ( t

4
3 )

dq- transformation:
Direct- Quadrature (d-q) transformation is a mathematical transformation used to simplify the analysis of three
phase circuit. In the case of balanced three phase circuits, application of d-q transformation reduces the tree AC
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quantities to 2 quantities. Simplified calculations can be carried out on these imaginary quantities before performing the
inverse transformation to recover the actual three phase ac transformations.

Electrical equivalent circuit:

The dynamic analysis of the symmetrical induction machines in the arbitrary reference frame has been
intensively used as a standard simulation approach from which any particular mode of operation may then be
developed. MATLAB/SIMULINK has an advantage over other machine simulators in modeling the induction
machine using dq0 axis transformation. It can be a powerful technique in implementing the machine equations
as they are transferred to a particular reference frame. Thus, every single equation among the model equations
can be easily implemented in one block so that all the machine variables can be made available for control and
verification purposes. In this paper, MATLAB/SIMULINK is used to simulate the dynamic performance of an
induction motor model whose stator and rotor variables are referred to an arbitrary reference frame. The
provided machine model is simulated in a way that makes it easy for the reader to follow and understand the
implementation process since it gives full details about Simulink structure of each of the model equations. The
equivalent circuit of the induction machine in the arbitrary reference frame is shown in figure below. Driving
the model equations can be generated from the dq0 equivalent circuit of the induction machine shown in
figure. The flux linkages equations associated with this circuit can be found as follows

-------------------------------------------------- (1)

---------------------------------------------------- (2)

d qs
r

=b V qs ds+ s ( mq qs )
dt
b
X ls

d ds
r

=b V ds qs+ s ( mdds )
dt
b
X ls

------------------------------------------------------------------------- (3)

-------------------------------------------------------------------------- (4)

d 0s
r
= b V 0r s ( 0 s )
dt
X ls
d 0r
r
= b V 0 r r ( 0 r )
dt
X lr

----------------------------------------------- (5)

------------------------------------ ---------- (6)

d qr
r
r
=b V qr (
) dr + r ( mq qr )
dt
b
X lr
d dr
r
r
= b V dr (
) qr + r ( md dr )
dt
b
X lr

mq =X ml

md =X ml

qs qr
+
X ls X lr

-------------------------------------------------------------------------------- (7)

ds dr
+
X ls X lr

-------------------------------------------------------------------------------- (8)

[ Xm ]

+ [ X ls ] + [ X lr ]

X ml=

------------------------------------------------------------ (9)

i qs =

1
( )
X ls qs mq -------------------------------------------------------------------------------- (10)

i ds =

1
( )
X ls ds md

i qr =

1
( )
X lr qr mq ------------------------------------------------------------------------------- (12)

i dr =

1
( )
X lr dr md

T e=

------------------------------------------------------------------------------- (11)

------------------------------------------------------------------------------- (13)

[ ][ ]
3
2

P 1
( i i )
2 b ds qs qs ds ------------------------------------------------------------------ (14)

d r P
=
( T T L) ------------------------------------------------------------------------------------ (15)
dt
2J e
Where P= number of poles,
J= moment of inertia (Kg/m2)
These three-phase voltages are transferred to a synchronously rotating reference frame in only two
phases (d-q axis transformation). This can be done using the following two equations.
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[ ]
V
V

2
= 3

[]

Va
1 0.5 0.5
Vb
0 3 /2 3 /2
Vc

----------------------------------------------------------- (16)

Then, the direct and quadrature axes voltages are

[ ][

][ ]

V d = cos sin V
V q sin cos V

---------------------------------------------------------------------------- (17)

MATLAB/SIMULINK IMPLEMENTATION:
In this section, the three phase induction machine model is simulated by using the MATLAB/SIMULINK.
Figure 1 depicts the complete SIMULINK scheme of the described induction machine model.

In this model the simulation starts with generating a three-phase stator voltages according to the equations (16,
17), and then transforming these balanced voltages to two phase voltages referred to the synchronously rotating
frame using Clarke and Park transformation as in equations. After that the d-q flux linkage and current
equations were implemented as to be demonstrated below. Figure 3 illustrates the internal structure of the
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induction machine d-q model by which the flux linkages, currents, torque and the rotor angular speed are
calculate

The MATLAB/SIMULINK model to find the flux linkage as stated is shown in figure 4.

The MATLAB/SIMULINK model to find the flux linkage as stated in equations (1)-(6) is shown in figure 5.

The MATLAB/SIMULINK model to find the current block as stated in equations (1)-(6) is shown in figure 6.

Result Analysis:
Two induction motors; 3hp and 2250 hp were tested in this simulated model. The results of the simulation are
given for the first induction motor with the following specifications:

Problem:
HP = 3; VL = 220; f = 60; r = 0.435; Xls = 0.754; rr = 0.816; Xlr = 0.754 J = 0.089;
Xm = 26.13; rpm = 1710; P=4.

Torque vs Speed Characteristics:

Machine variables during free acceleration of a 3-hp induction motor:

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Finally, the machine parameters should be defined to the simulated machine system in order to complete the
simulation process. There are many ways to input the required data. The method used here is the graphical user
interface (GUI). The machine parameters are entered through the convenient graphical user interface (GUI)
available in MATLAB/SIMULINK, where you can right click with your mouse and choose (edit mask) then
choose parameters to be added. After achieving the MATLAB/SIMULINK implementation of the described
machine model using the MATLAB/SIMULINK, a MATLAB code program was assigned to the same model
using the same set of equations. The code provided similar results to those obtained by MATLAB/SIMULINK.
However, it was found that MATLAB/SIMULINK is more convenient in terms of simplicity in construction
and control algorithms which may be set forth for this model.

Conclusion:
In this paper, an implementation and dynamic modeling of a three-phase induction motor using
MATLAB/SIMULINK are presented in a step-by-step manner. The model was tested by two different ratings
of a small and large induction motors. The two simulated machines have given a satisfactory response in terms
of the torque and speed characteristics. Also, the model was evaluated by MATLAB M-File coding program.
Both methods have given the same results for the same specifications of the three phase induction motors used
in this simulation. This concludes that the MATLAB/SIMULINK is a reliable and sophisticated way to analyze
and predict the behavior of induction motors using the theory of reference frames.