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Abstract— This paper presents a new modeling and simulation II. D AND Q AXIS DYNAMIC MODEL OF INDUCTION MOTOR
method for the three phase asynchronous motor. This model called
In order to achieve mathematical model of the three phase
three-axis dynamic model of induction motor. The dynamic model is
examined by Matlab/Simulink as a rated power of 55 kW asynchronous motor, a direct quadrate (d-q) transformation
asynchronous motor. New three-axis dynamic model is compared dynamic model has been used widely.
with conventional d and q-axis dynamic model. Comparative results Because of its simplicity, which means the reduction of
are shown as the functions of stator and rotor current, angular speed, three quantities into two quantities, the model is a relatively
and torque of the three phase induction motor. The new model is easy to develop.
shown as better results than the d-q model.
General scheme of the two phase induction motor has been
used to design d and q axis dynamic model of the three phase
Keywords— Stator winding, rotor winding, induction motor,
differential equation, dynamic model, simulation. asynchronous motor.
I. INTRODUCTION
A Ө
dψ rA dψ rd
=
urА rrAirA + urd =rrd ird + + ωrψ rq
dt dt
(2) (7)
dψ rB dψ rq
=
urB rrB irB + urq =rrq irq + − ωrψ rd
dt dt
Motor mechanical equation:
d ωr ωr – angular velocity
J + Mc =
M (3)
Where :
dt
Transferred magnetic flux of the stator windings can be seen
Magnetic flux of the stator: as follows:
ψ sA LsAisA + LmirA
= ψ
= sd Ls isd + Lmird
(4) (8)
ψ sB LsB isB + LmirB
= ψ
= sq Ls isq + Lmirq
Magnetic flux of the rotor: Accordingly, magnetic flux of the rotor is obtained as shown
ψ rA LrAirA + LmisA
= in equation (5)
(5)
ψ rB LrB irB + LmisB
= ψ
= rd Lr ird + Lmisd
(9)
ψ
= rq Lr irq + Lmisq
Fig. 2 has been derived by transferring the general scheme
which is given by Fig. 1 into d and q-axis, with 900 angle Active and inductive resistances of the phases are equal in
difference. three phase induction motor. Which means can be written as:
L=
sd L=
sq Ls
d
L=
rd L=
rq Lr
Usd rsd= rsq= rs
rrd= rrq= rr
ωr u= u= 0
rd rq
Urd
q The currents of the rotor and stator are derived by using
equations 6, 7, 8 and 9, eventually taking Laplace transform:
U rq U sq
Stator currents:
usd
− pTms ird
rs
isd =
1 + pTs
Fig.2 The d and q-axis equivalent scheme of induction motor (10)
usq
Differential equation of the stator winding which is − pTms irq
rs
transferred to d and q-axis is given by below equation: isq =
1 + pTs
dψ sd
=
usd rsd isd +
dt Rotor currents:
(6)
dψ sq pTmr isd + ωr (Tr irq + Tmr isq )
=
usq rsq isq +
dt ird = −
1 + pTr
(11)
Contrarily, differential equations of the rotor are: pTmr isq − ωr (Tr ird + Tmr isd )
irq = −
1 + pTr
Where: m - Number of phase. d and q-axis structural diagram of induction motor is built
by Fig. 3 and 4. d and q-axis structural diagram of induction
Angular velocity of the rotor: motor can be shown in Fig. 5.
M − MC
ωr = (13)
pTм
ωr
pTм
d and q-axis structural diagrams of the stator and rotor
1
windings are determined by equations 10-11. d-q structural
(-)
Mc
diagram of stator can be studied as shown in Fig. 3. 3L M
2 m
usd 1 isd
(-)
rs(pTs+1)
(-)
ird pTms
pTs+1
usq isq
ird
(-) irq
1
(-)
rs(pTs+1)
(-)
(-)
irq pTms
pTr+1
pTr+1
1
pTs+1
ωr
ωr
Tr
Tr
pTr+1
pTr+1
pTmr
pTmr
Tmr
isq
isd
isq
isd
(-)
pTs+1
pTs+1
pTms
pTms
(-)
rs(pTs+1)
rs(pTs+1)
1
1
usq
usd
B
The d and q-axis dynamic model of three phase induction
motor is generated by "d and q-axis structural diagram of UB
induction motor" (Fig.5). d and q-axis dynamic model of the
b
induction motor can be shown in Fig.6. ωr
Ub
Ua
a
UA Uc
Ө c UC
A C
Fig.7 General scheme of three phase asynchronous motor
dψ A
=
u А rAiA +
dt
dψ B
=
uB rB iB + (14)
dt
dψ
=
uC rC iC + C
dt
Rotor circuit:
dψ a
u=
a ra ia +
dt
dψ
u=
b rbib + b (15)
dt
dψ
u=
c rc ic + c
dt
Motor mechanical equation:
d ωr
J + Mc =
M (16)
Fig.6 d and q-axis Matlab/Simulink model of induction motor
dt
−ur β = rr β ir β +
dψ r β
+
(ψ rγ −ψ rα ) ωr
(19)
L=
sα L=
sβ L=
sγ Ls
dt 3 L=
rα L=
rβ L=
rγ Lr
u sα Ls
Where: Ts = – stator time constant
rs rs
=isα +
1 + pTs Lm
Tms = – stator electro-magnetic time constant
pTms
1 i + 1 i − i − 1 i − 1 i rs
rα rγ
2 2
sβ sγ rβ
+
2 2 L
; Tr = r – rotor time constant
1 + pTs rr
usβ L
Tmr = m – rotor electro-magnetic time constant
rs rr
=is β +
1 + pTs
(22) Whereas, electromagnetic energy of the induction motor:
1 1
pTms isγ + isα
1 1
− ir β − irγ − irα 1
+
2 2 2 2
; W=
э (ψ sα isα +ψ sβ isβ +ψ sγ isγ +ψ rα irα +
1 + pTs
2 (24)
+ψ r β ir β +ψ rγ irγ )
u sγ
rs Electromagnetic moment:
=isγ +
1 + pTs
Lm [( isα irγ + isβ irα + isγ ir β ) −
3
=M pn
pTms
1 isα +
1
is β − irγ −
1
irα −
1 2 (25)
ir β
+
2 2 2 2 ; − ( isα ir β + isβ irγ + isγ irα )]
1 + pTs
Angular velocity of the rotor:
Rotor currents:
M − MC
1 1 1 1 ωr = (26)
− pTmr isα − is β − isγ − ir β − irγ pTм
irα
2 2 2 2
−
1 + pTr
Where: Tм = J – mechanical time constant
T i − i + T 3 i − 3 i − 1 i + 1 i ω
r ( r β rγ ) mr sβ rβ
2 2
sγ rγ r
2 2 IV. MATLAB/SIMULINK MODEL OF INDUCTION MOTOR
3 The three-axis structural diagrams of the stator and rotor
− ;
1 + pTr windings are determined by equations 22-26.
The three-axis structural diagram of stator can be studied as
− pTmr isβ −
1
isα −
1
isγ −
1
irγ −
1
irα − shown in Fig. 9.
ir β =
2 2 2 2
1 + pTr
(23)
T i − i + T 3 i − 3 i − 1 i + 1 i ω
r ( rγ rα ) mr sγ rγ
2 2
sα rα r
2 2
3
− ;
1 + pTr
− pTmr isγ −
1
isα −
1
is β −
1
ir β −
1
irα
irγ
2 2 2 2 −
1 + pTr
3 1
Tr ( irα − ir β ) + Tmr isα − isβ − ir β + irα ωr
3 1
2 2 2 2
3
− ;
1 + pTr
ωr
isβ 1
2
isγ 1
2
pTм
1
1
rs(pTs+1) (-)
irβ (+) (-) pTms
(-) (-) (+) (+) pTs+1
irγ
(-)
1
2
Mc
irα 1
isγ 2
pn√3 Lm M
1
2
isα 1
2
2
usγ 1 (+) isγ
rs(pTs+1) (-)
irγ (+) (-) pTms
irα (-) (-) (+) pTs+1
(-)
1 (+)
irβ 2
1
2
(+)
isα 1
2
isβ 1
2
isβ 1
(-) (-) (-) (-) (1+pTr) (-)
2
isγ 1
2
irβ 1
2
irγ 1
2
irβ Tr
√3(1+pTr) (+)
irγ (-) ωr
isβ 3 Tmr
isγ 3
2 (-) (+) √3(1+pTr)
2 (-)
irγ 1
irβ 2
1
2
irα
irβ
irγ
isβ irβ
-pTmr
isα 1
(-) (-) (-) (-) (1+pTr) (-)
2
isγ 1
irγ 2 1 ротор
2
irα 1
2
irγ Tr
√3(1+pTr) (+)
irα (-) ωr
ωr
isγ 3 Tmr
isα
3
2 (-) (+) √3(1+pTr)
2 (-)
irα 1
2
isα
isγ
isβ
irγ 1
2
irγ
irβ
2
irα Tr
irβ (-) √3(1+pTr) (+)
ωr
isα 3 Tmr
isβ 3
2 (-) (+) √3(1+pTr)
2 (-)
irβ 1
usα
usγ
usβ
2
irα 1
2
ωr
Fig.10 Three-axis structural diagrams of the rotor Fig.11 Three-axis structural diagrams of the induction motor
V. RESULT
In case of study 4А225М4 type motor has been used for
simulation. The technical characteristics are given by in Table
1.
Table 1.
Fig.13 Three-axis rotor Matlab/Simulink model
№ Name of parameter Parameter Data
The three-axis simulink model of the induction motor is 1 Power Pн 55 kW
implemented by "Three-axis structural diagram of the 2 Number of phase m 3
induction motor" (Fig.11). The three-axis simulink model of 3 Number of pole 2p 4
the induction motor can be shown in Fig.14.
4 Frequency f 50 Hz
5 Voltage V 220 V
6 Stator inductance Ls 0.0294 H
7 Rotor inductance Lr 0.0297 H
8 Mutual inductance Lm 0.0287 H
9 Stator resistance Rs 0.067 Ω
10 Rotor resistance Rr 0.032 Ом
11 Power factor cos ϕ 0.908
12 Moment of inertia J 0.621 kg∙m2
VI. CONCLUSION
In this paper we have obtained dynamic model of the
induction motor which transferred into three-axis.
From the simulated result we can conclude that the derived
dynamic model of the induction motor gives more detailed
transient characteristics which allow us to predict and to
analyze the narrowed behavior of the motor.
REFERENCES
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2001, pp. 63.
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