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computed by (9). In these two equations, KR is the skin-effect IV. M AGNETIC F LUX C LASSIFICATIONS
coefficient for bar resistance (no skin effect is supposed to be
present in the rings), Abar is the bar cross-sectional area, Lbar In order to discuss the computation of the inductive parame-
is the bar length, Aa is the cage-ring cross-sectional area, and ters, it is important to classify the magnetic fluxes through the
Da is cage-ring average diameter. More information about the machine. Fig. 5 is used as reference base for this classification.
end-ring skin effect can be found in [20]
As is well known, this total magnetic energy can be defined h2 < x < h ⇒ p1 (x) = 0 p2 (x) = 0.
as a function of the phase leakage inductance and of the phase
currents, as shown in The previous functions describe the “presence
of conductors” in the elementary layer of the x-
1
Eslot,tot = Lslot_leakage · i2R + i2S + i2T . (24) coordinate.
2 Step 2) For each value of the layer index i (from 1 to N ), the
As a consequence, if the two layers have the same number following calculations have to be done:
of conductors per slot, (25) can be used to evaluate the phase
leakage inductance 1
xi = i− ∆x
2
Zph 2
Lslot_leakage =
Npole · q
i
i
λslot,1 + λslot,2 + (2 − (nr /q)) λslot,12 A1i = ∆x p1 (xk )w(xk ) A2i = ∆x p2 (xk )w(xk ).
· · Lslot . (25)
4 k=1 k=1
3728 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 9, SEPTEMBER 2011
with k = . . . − 2, −1, 0, 1, 2, . . . and expressions can be achieved for the main and the fundamental
Kr,h = cos(h · nr (π/6q)) shortening coefficient; magnetizing inductance. Anyway, (36) still has its validity with
Kd,h = (sin(hπ/6)/q sin(hπ/6q)) distribution coefficient; this approximation too
Kw,h = Kr,h · Kd,h winding coefficient for
the hth m.m.f. spatial
2
Zph 20q 3 + 2q 2 − 3n2r + nr n2r − 1
Lm,main = 2 ·
harmonics. Npole /4 144q 3
Neglecting the iron influence, the whole m.m.f. distribution µ0 · π · Rairgap · Lslot
× (37)
drops along the airgap and the m.m.f amplitude for the hth- KC,aveSR · hairgap
order harmonic results in 2
3 Zph · Kw,1 µ0 · π · Rairgap · Lslot
Lm,fund = . (38)
3 Zph · Kw,h 2 π · Npole /2 KC,aveSR · hairgap
Ah = Imax . (31)
2 h · π · Npole /2
The previous two equations are valid for slots with negligible
Consequently, the flux density amplitude for the hth-order opening. From the numerical approach, an alternative to (37)
harmonic is for generic winding structures is the following general
algorithm.
3 Zph · Kw,h 1
Bh (α, t) = Imax Algorithm 2: Main magnetizing inductance calculation
2 h · π · Npole /2 KCS ,h · KC,aveR · hairgap Let us define the following quantities.
(32)
1) Z1c (j) is the wire number in series in slot j for phase 1.
where hairgap is the airgap thickness, KCS ,h is the harmonic 2) Z2c (j) is the wire number in series in slot j for phase 2.
Carter coefficient for the stator hth field harmonic, and KC,aveR 3) Z3c (j) is the wire number in series in slot j for phase 3.
is the average Carter coefficient for the rotor. The meaning and The wire number is positive or negative, depending on the
the equations for the calculation of these Carter coefficients are position in the coil (going or back coil side).
reported in Appendix.
Step 1) For each phase, the following Nss additions have to
Since all the harmonics rotate at speed inversely proportional
be computed, with i = 1, 2, . . . , NSS :
to their pole number, they induce in the stator winding an
electromotive force (e.m.f.) at the same frequency. The main
i
flux linked with the stator winding is obtained by the sum of all N1 (i) = Z1c (j)
the harmonic contributions, as shown in (33) and (34), where j=1
Rairgap is the airgap radius
i
If the harmonic Carter coefficient is approximated through 2) Rotor Airgap Leakage Inductance: For the rotor cage, the
the average Carter coefficient KCS ,h · KC,aveR ≈ KC,aveSR phase airgap leakage inductance is defined as the difference
(i.e., as in the case of negligible slot openings), the following between the main and fundamental magnetizing inductances.
3730 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 9, SEPTEMBER 2011
TABLE II
AVERAGE PERCENTAGE ERRORS (IN PERCENTAGE)
This means that just the stator leakage inductance due to the In this paper, the methodologies for the computation of
skewing effect has to be determined. From the equivalent circuit the induction-motor equivalent circuit longitudinal parame-
point of view, the discussed skewing effect leads to the circuit ters (phase resistances and leakage inductances) have been
modification shown in Fig. 15. It is important to remark that presented and deeply analyzed, taking into account the slot
these leakage inductances represent a leakage phenomenon due skewing effects. The proposed methods and algorithms require
to the fundamental flux component and not an airgap leakage the geometrical and electrical data, generally available after an
contribution. electromagnetic design. A complete theoretical analysis plus
the step-by-step algorithms to develop a numerical code have
been included in this paper, in order to help the designers
VII. C OMPARISON B ETWEEN C OMPUTED interested on the induction-motor equivalent circuit parameter
AND M EASURED PARAMETERS
computation.
The proposed algorithms have been included in a software
tool used to determine the resistances and leakage inductances A PPENDIX
of five industrial induction motors. In Table I, the percentage H ARMONIC AND AVERAGE C ARTER C OEFFICIENTS
errors (47) between the predicted and measured values are
reported. All the considered induction motors are 220-V (phase As is well known, the airgap magnetic field generated by
rated voltage) 50-Hz motors with four poles with the rated an m.m.f. distribution acting along the airgap results weakened
power shown in Table I in correspondence to the stator- and rotor-slot openings [24].
This effect was initially addressed by Carter through a fictitious
computed value − measured value increase of the airgap geometrical thickness [25].
Error% = · 100. (47)
measured value It is important to remark that the number of the spatial m.m.f.
The machine parameters have been measured by the locked harmonics present in the airgap does not depend on the slot
rotor test, following the International Standard [23], and the opening width, but on the slot number only. Conversely, the
calculated values have been estimated in the same conditions. amplitude of the corresponding flux density harmonics depends
In particular, the skin-effect phenomenon is considered for the on the slot opening width. Considering only a slotted surface
rotor parameters [13]. (stator or rotor), this phenomenon can be studied, considering
In Table II, the average percentage errors for the considered the following two theoretical reference cases:
machine parameters are shown too. This table highlights that 1) unilateral infinitely deep rectangular slot with teeth at the
the proposed algorithms allow one to predict, with good accu- same potential;
racy, the stator resistance, such as the locked rotor inductances 2) unilateral infinitely deep rectangular slot with teeth at the
(around 10%). It is important to underline that all the motors opposite potentials.
3732 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 9, SEPTEMBER 2011
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BOGLIETTI et al.: ALGORITHMS FOR INDUCTION-MOTOR EQUIVALENT CIRCUIT PARAMETER DETERMINATION I 3733
Aldo Boglietti (M’04–SM’06) was born in Rome, Mario Lazzari was born in Lucca, Italy, in 1945. He
Italy, in 1957. He received the Laurea degree in received the Laurea degree in electrical engineering
electrical engineering from Politecnico di Torino, from Politecnico di Torino, Torino, Italy, in 1969.
Torino, Italy, in 1981. In 1970, he joined the Department of Electrical
In 1984, he joined the Department of Electrical Engineering, Politecnico di Torino, where he is cur-
Engineering, Politecnico di Torino, as a Researcher rently a Full Professor of Electrical Machines and
in electrical machines. He became an Associate Pro- Electrical Drives. From 1991 to 1993, he was the
fessor of electrical machines in 1992 and has been a Chairman of the Laurea Course of Electrical Engi-
Full Professor since November 2000. He is currently neering. His research interests include the dynamics
the Head of the Department of Electrical Engineer- of electrical machines and electromechanical design,
ing. He is the author of about 120 papers. His re- particularly in regard to energetic problems. He is the
search interests include energetic problems in electrical machines and drives, author of several technical papers on these topics.
high-efficiency industrial motors, magnetic materials, and their applications in
electrical machines, electrical machine and drive models, and thermal problems
in electrical machines.
Prof. Boglietti is an Associate Editor for the IEEE TRANSACTIONS ON
INDUSTRIAL ELECTRONICS, the Technical Chair of the Electrical Machine
Committee of the IEEE Industry Applications Society (IAS), and the Chair of
the Electrical Machines Committee of the IEEE Industrial Electronics Society.
He was the recipient of the Best Paper Award (first prize) from the IEEE IAS
Electric Machines Committee in 2008.