This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIA.2017.2766585, IEEE
Transactions on Industry Applications
Induction Machine Drive Design for Enhanced
Torque Profile
Anshul K. Mishra, Bharat S. Rajpurohit Senior Member, IEEE, and Rajeev Kumar
Indian Institute of Technology Mandi, INDIA
anshul_kumar_mishra@students.iitmandi.ac.in, bsr@iitmandi.ac.in, rajeev@iitmandi.ac.in
Abstract— This paper presents a design philosophy to design an
induction machine (IM) based drive with minimized torque
ripples. Inverter injects the time harmonics into the IM. Slots and
winding formations of the machine are the cause of space
harmonics in the air-gap flux density. The interaction between
time harmonics and space harmonics inside the air-gap is
responsible for ripples in the electromagnetic torque of the IM.
An IM model has been derived to incorporate the effect of
machine design parameters as a ripple producing cause in the
torque response. Harmonics in the flux density wave, due to
distribution of winding around air gap periphery and due to slot
permeance effect have been considered together and modeled as
ripple producing cause in the torque response. Classical
approach of induction machine modeling through mutual
inductance calculation has been adopted.
In order to minimize large torque ripples mathematical model
has been subjected to a heuristic based optimization technique by
considering number of slots and winding distribution as
variables. Torque ripple of the optimized feasible machine is
found to be negligibly small. Later, performance of the optimized
feasible machine has been verified using the finite element model
(FEM) of the machine.
Index Terms—Induction machine, Modeling, Time and space
harmonics, Optimization, Torque ripple, Finite element modeling.
I. INTRODUCTION
An induction machine (IM) is designed to operate on purely
sinusoidal supply input voltage and expected to produce a
pulsation free torque for a constant and smooth load torque
profile. But it has been observed that all the designs of IM
provide pulsating electromagnetic torque. Pulsation in the
torque response occurs due to the harmonics in air-gap flux
density waveform[1]. Harmonics in flux density waveform are
due to the interaction of time and space harmonics [2]. In
order to place the winding around the air-gap, slots are made
in the rotor and stator, and to target the particular harmonics in
back electro motive force of machine, its windings are
distributed in the slots. Due to these slots and winding
distributions the harmonics appears in the flux density. These
harmonics are termed as 'space harmonics'[3]. Whenever an
induction machine is fed from power electronics converters,
The authors gratefully acknowledge the "Department of Electronics and
Information Technology, Ministry of Telecommunications and
Information Technology" and "Naval Research Board", INDIA" for the
financial support
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harmonics are there in the voltage input. Harmonics in the
input voltage waveform are termed as 'time harmonics'[4].
Hence there are two possible solution methodologies to
minimize the torque ripples.
First method is to control the time harmonics with novel
power electronics converter control algorithms [4]. Many
control algorithms have been applied towards the treatment of
time harmonics. Field oriented control and vector control have
been used for speed control and advanced filtering has also
been used with these techniques to control the time
harmonics[5].
Second method is to improve the induction machine
design so that space harmonics can be controlled. Space
harmonics consists of are due to the design parameters of the
induction machine. Slot around the air gap causes the air-gap
permeance to be the map of space displacement [3]. Winding
distribution in these slots is also the major cause for space
harmonics[6]. Information about slot harmonics is considered
for speed estimation and for other drive control mechanisms
[7].
Present paper primarily targets the design of induction
machine to minimize the torque pulsations occurred due to the
presence of space harmonics in the flux density. To
accomplish the mentioned task, a mathematical model for
induction machine has been derived that includes the machine
parameters responsible for space harmonics production. Space
harmonics are mainly due to winding distribution and slot
permeance effect. Winding harmonics have been included in
the model and their effect has been shown on the torque and
current[6]. A study has considered the slot permeance effect to
model the slot harmonics in induction machine[8]. A bridge
has been developed between the mentioned studies and
winding and slot harmonics have been considered together as
the torque ripple producing effect[9, 10]. Similar model is
used for torque ripple minimization. A classical optimization
method has been used to minimize the ripples in the
torque[11]. Based on the optimization results, the values of
design parameters have been updated for the given induction
machine. The efficiency and power factor comparison has also
been done for mathematical model of original induction
machine and optimized induction machine.
Finite element model (FEM) can replicate the original
machine very closely for all the performance parameters [12].
Hence, to validate proposed optimized IM design FEM of
original and optimized IM have been developed and compared
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for the design validation of optimized induction machine. The reach at the following interpretation:
FEM results confirmed that the torque ripples in the optimized 2 1 𝜋
IM have been reduced significantly and hence validate design 𝐹𝑞𝑘 (𝛼) = 𝑇 𝑖 sin (𝑘𝛾𝑞 ) cos[𝑘(𝛼 − 𝛼𝑐 )] (2)
𝜋 𝑞 𝑞𝑘 2
suggestions obtained from optimized IM model.
Each coil in the air-gap periphery is responsible for the
II. MATHEMATICAL MODEL OF INDUCTION MACHINE
production of kth indexed space harmonic. In the mathematical
A. Winding harmonics form it can be represented as follows:
∞
Mutual and self inductance calculation is considered the 2 1 𝜋
𝐹𝑐 (𝛼) = 𝑇𝑖 ∑ sin (𝑘𝛾𝑞 ) cos[𝑘(𝛼 − 𝛼𝑐 )] (3)
basis for most of the model formulations of the induction 𝜋 𝑞𝑞 𝑘 2
𝑘=1,𝑎𝑙𝑙𝑜𝑑𝑑
machines. Self inductances and the mutual inductances can For all the Nq coils of figure 3, of a particular q phase the
directly be connected with the winding formations. Different net MMF per phase can be determined from the superposition
types of winding corresponds to different types of pitch and of likewise harmonics of all the phase coils. Hence the
belt factors. expression for MMF changes in the following manner
To calculate the inductance first we need to determine the 𝑁𝑞

spatial distribution of magneto motive force of single coil in 2 1 𝜋

𝐹𝑞𝑘 (𝛼) = 𝑇𝑞 𝑖𝑞 sin (𝑘𝛾𝑞 ) ∑ cos[𝑘(𝛼 − 𝛼𝑐 )] (4)
the air-gap periphery as shown in figure1. The spatial 𝜋 𝑘 2
𝑐=1
distribution for the MMF is calculated for any common phase
"q" in the winding shown in figure 2. Using this
establishment, the harmonic magnetic flux linkages can be
determined between any two generalized phases "q" and "r".
These flux linkages are responsible for the harmonic
inductances. To calculate the self inductances we will use
"q=r" and for mutual inductances "q≠r". Starting with this
assumption, the relation between the currents determined from Fig. 3. Coil Phase group in the space
differential and the torque output of the motor with the co- It is assumed that the centre of phase q is at an angle αq as
energy concept. shown in the figure 3, after solving (2) with this assumption:
B. MMF Placement in the Space
2 1
Let us assume a coil of Tq turns for the qthphase. Due to the 𝐹𝑞𝑘 (𝛼) = 𝑇𝑞 𝑁𝑞 𝑘𝑝𝑞𝑘 𝐾𝑑𝑞𝑘 𝑖𝑞 cos[𝑘(𝛼 − 𝛼𝑞 )]
𝜋 𝑘 (5)
current iqin the coil the MMF distribution in the air-gap (d)
can be presented in (1). The MMF distribution with respect to
Ampere's law can be used to find out the magnetic flux
the space angle is given by the following expression.
𝑇𝑞 𝑖𝑞 𝛾𝑞 𝜋 density in the peripheral air-gap. We use the concept of
− → 𝛼𝑐 − 𝜋 ≤ 𝛼 < 𝛼𝑐 − negligible reluctance of iron path for the determination of flux.
2 2
𝑇𝑞 𝑖𝑞 𝛾𝑞 𝜋 𝛾𝑞 𝜋 𝜇0 𝐹𝑞𝑘 (𝛼)
𝐹(𝛼) = → 𝛼𝑐 − < 𝛼 < 𝛼𝑐 + (1) 𝐵𝑞𝑘 (𝛼) = (6)
2 2 2 𝑑
𝑇𝑞 𝑖𝑞 𝛾𝑞 𝜋 After solving (5) and (6) together
[− 2 → 𝛼𝑐 + 2 < 𝛼 ≤ 𝛼𝑐 + 𝜋 𝜇0 2 1
𝐵𝑞𝑘 (𝛼) = 𝑇𝑞 𝑁𝑞 𝑘𝑝𝑞𝑘 𝐾𝑑𝑞𝑘 𝑖𝑞 cos[𝑘(𝛼 − 𝛼𝑞 )] (7)
𝑑𝜋 𝑘
To determine flux linkage mutually between phases q and r,
magnetic flux of phase r included in phase q is required. When
both the phases are same, i.e. q=r, phase q flux is known and
when q ≠ r , mutual flux for phase q is known.
Mutual harmonic component of magnetic flux density in c
coil for any phase r is calculated in (7). This flux density can
be used to calculate the mutual and self fluxes of generic
phase q with respect to any other generic phase r.
Let us assume that a coil c of phase q is linking with the
Fig. 1. Coil Placement in the Machine spatial flux of phase r. So kth order harmonics of this flux can
be computed in (8).
It is considered that any generic phase "q" is made up of Nq
distributed coils. So the net mutual flux between phase q and r
is determined in (9).
𝛾𝑞
𝛼𝑐 −
2
𝜆𝑐𝑞𝑘 (𝛼) = 𝑝𝑇𝑞 ∫ 𝛾𝑞
𝐵𝑟𝑘 𝐿𝐷𝑑𝛼 (8)
𝛼𝑐 −
Fig. 2. MMF Corresponding to Coil 2
𝑁𝑞 𝑁𝑞 𝛼"𝑐
After disintegrating the coil MMF into the Fourier series we 𝜆𝑞𝑟𝑘 (𝛼) = ∑ 𝜆𝑐𝑞𝑘 (𝛼) = 𝑝𝑇𝑞 ∑ [∫ 𝐵𝑟𝑘 𝐿𝐷𝑑𝛼] (9)
𝑐=1 𝑐=1 𝛼′𝑐

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Limits for integration are given as given in (10) and (11) 𝑃 𝑑𝜚𝑞𝑟𝑘
𝑇𝑒 =
∑ ∑ ∑ 𝑖𝑞 𝑖𝑟 (19)
8 𝑘 𝑞 𝑟 𝑑𝜃
𝛼𝑅𝑞 𝛾𝑞 𝜋 Mentioned torque expression solved along with motor
𝛼𝑐′ = 𝛼𝑞 − (𝑁𝑞 − 2𝑐 + 1) − (10)
2 2 dynamics and current and voltage in order to determine the
𝛼𝑅𝑞 𝛾𝑞 𝜋 current response and torque response.
𝛼𝑐" = 𝛼𝑞 − (𝑁𝑞 − 2𝑐 + 1) + (11)
2 2 C. Effect of Slot Harmonics
In the effect of slot harmonics has been thoroughly
Using relation (4), (7) and (8), net mutual flux linkage of any investigated by authors and arrived on the following
two phases is given by expression for the inductance [8, 9]
2𝜋
𝑘′𝑞𝑟 𝑘𝑤𝑞𝑘 𝑘𝑤𝑟𝑘 −1 (𝑦,
(20)
𝜆𝑞𝑟 = 𝑖𝑟 cos[𝑘(𝛼𝑞 − 𝛼𝑟 )] (12) 𝐿𝐶1 𝐶2 = 𝜇0 𝑅𝐿 ∫ 𝑇𝐶1 (𝑦, 𝜃𝑟 )𝑀𝐶2 (𝑦, 𝜃𝑟 )𝑑𝑠𝑟 𝜃𝑟 )𝑑𝑦
𝑘2 0
Where the constant k'qr is given for: So this way the mutual inductance has been calculated
4𝑝𝐿𝐷𝜇0 𝑁𝑞 𝑁𝑟 𝑇𝑞 𝑇𝑟 which include the effect of slot harmonics. After the
𝑘′𝑞𝑟 =
𝜋𝑑 calculation of inductances the voltage current equations can be
and perfectly used to determine the exact machine behavior. Our
𝑘𝑤𝑞𝑘 = 𝑘𝑝𝑞𝑘 𝑘𝑑𝑞𝑘 is phase "q" winding factor main objective is to see the machine behavior in terms of the
𝑘𝑤𝑟𝑘 = 𝑘𝑝𝑟𝑘 𝑘𝑑𝑟𝑘 is phase "r" winding factor torque profile. So with these inductances the voltage and
Angular position of "q" phase axis is abbreviated as 𝛼𝑞 current equations are solved with Runge-Kutta differential
kthorder mutual harmonic flux linkage between any two numerical method along with the motor dynamics.
generic phases q and r is given by (8), which can be Hence the final torque representation can be exhibited in the
following format
𝜆𝑞𝑟𝑘 (13) 𝛿𝐿𝑠𝑠 𝛿𝐿𝑠𝑟
𝜚𝑞𝑟𝑘 = 𝑖𝑠 𝑖𝑠 𝑖𝑠 𝑖
𝑖𝑟 𝛿𝜃𝑟 𝛿𝜃𝑟 𝑟
abbreviated in form of (13) to give harmonics inductance. 𝑇𝑒 = (21)
𝛿𝐿𝑟𝑠 𝛿𝐿𝑟𝑟
𝑖𝑟 𝑖𝑠 𝑖𝑟 𝑖𝑟
[ 𝛿𝜃𝑟 𝛿𝜃𝑟 ]
𝜚𝑞𝑟𝑘 = 𝐿𝑞𝑟𝑘 𝑖𝑞 cos[𝑘(𝛼𝑞 − 𝛼𝑟 )]
(14)
D. Rotation Mechanics
Inserting the relation (12) in (13) gives the result as follows Electrical equation given in (16) is solved together with
Where 𝐿𝑞𝑟𝑘 is the abbreviation for the expression motor dynamics equations. With this procedure motor
𝑘′𝑞𝑟 𝑘𝑤𝑞𝑘 𝑘𝑤𝑟𝑘 response has been determined in terms of the torque and
𝐿𝑞𝑟𝑘 =
𝑘2 current waveforms. Motor dynamics are as follows
Ultimately we have arrived at the expression of the 𝑑2𝜃 𝑃 (22)
harmonic inductance which is given by expression (14). 2
= (𝑇𝑒 − 𝑇𝑙 )
𝑑𝑡 2𝐽
These harmonics in the inductance are due the space
arrangement of the winding.
𝑑𝜃 (23)
In voltage current generic phase flux is 𝜆𝑞 (where q is = 𝜔𝑚
𝑑𝑡
generalization for q=A,B,C,a,b,c.). The generalized flux
linkage 𝜆𝑞 is due the fundamental as well as harmonic All λ’s in voltage equations are determined collectively
components of the inductances. Hence general expression of using (15) and (20). For the solution of these equations Runge-
flux linkage is transformed into the following form: Kutta fourth order has been used.
𝜆 =𝐿 𝑖 +∑ ∑ 𝜚 𝑖 (15) Final Inductance expression including winding harmonics
𝑞 𝑞 𝑞 𝑞𝑟𝑘 𝑟
𝑘 𝑟 and slot effects is derived from (15) and (20) and given as (24)
Hence the voltage-current relation is given as 𝜆𝑞 (24)
𝑑𝑖𝑞 𝑑𝑖𝑟 𝑑𝜚𝑞𝑟𝑘 (16) 𝐿𝑞𝑟𝑘(𝑓𝑖𝑛𝑎𝑙) = | + 𝐿𝐶1 𝐶2
𝑒𝑞 = 𝑅𝑞 𝑖𝑞 + 𝐿𝑞 + ∑ ∑ [𝜚𝑞𝑟𝑘 + 𝑖𝑟 ] 𝑖𝑟 𝑘≠1
𝑑𝑡 𝑘 𝑟 𝑑𝑡 𝑑𝑡
1 (17)
𝑊𝑐𝑜 = ∑ ∑ ∑ 𝜚𝑞𝑟𝑘 𝑖𝑞 𝑖𝑟 III. DESIGN OPTIMIZATION
2 𝑘 𝑞 𝑟
Torque response obtained by considering the slot harmonics
From the electromechanical energy conversion principles it
effect and winding harmonics using mathematical model has
is clear that the torque is the differential product of co-energy
large ripples. It has been shown in the mathematical analysis
function.
that the torque response is the function of the induction
The co-energy is given through currents in (17) and
machine design parameters. Hence an optimum design is
developed electromagnetic torque expression derived from
required to minimize the ripples in the torque response.
following derivative of torque.
Steady state ripples in the torque response are the prime
𝑃 𝛿𝑊𝑐𝑜 objective for the optimization. These ripples are cyclic in
𝑇𝑒 = | (18)
2 𝛿𝜃 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑐𝑢𝑟𝑟𝑒𝑛𝑡

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nature. Due to non-stochastic behavior and direct dependence the technique progresses. The simplest step is to replace the
on slot harmonics and winding harmonics ripples can easily be worst point with a point reflected through the centroid of the
optimized. Optimization has been run on a graphical user remaining N points. If this point is better than the best current
interface which provides different methods for optimization. It point, then we can try stretching exponentially out along this
have used Nelder-Mead simplex algorithm for the specified line. On the other hand, if this new point isn't much better than
problems optimization. This algorithm uses a simplex of n+1 the previous value, then we are stepping across a valley, So,
points for n-dimensional vector x. Vector x is the array of the we shrink the simplex towards a better point.
design variable of the induction machine. Initiation of the Complete design optimization strategy has been elaborated
problem solution starts with the formulation of the objective in Fig. 4. Overall design optimization procedure has been
function and then is called by the GUI. The specified divided into three steps named as modeling, optimization and
algorithm converses on only local solution and that is the main validation.
advantage of the algorithm as the problem is to find the Start
solution in small search space near to initial values of the
variables.
Objective function is the toque ripple which is the function
Actual machine design
of supply and machine design parameters. Supply is kept parameters
purely sinusoidal to observe the impact of machine design on
torque profile and a case study is also discussed for non-
Induction Development of mathematical
sinusoidal supply. The objective function of torque ripple is machine model including winding and
given in (27), which is the difference between maximum modeling slot harmonics

developed torque and minimum developed torque. Percent

torque ripple is given in (28).
Torque ripple calculation
𝑃 𝑑𝐿𝑘
𝑇𝑒 = ∑ ∑ ∑ 𝑖𝑞 𝑖𝑟
8 𝑘 𝑞 𝑟 𝑑𝜃 (25)

𝑡𝑠 +𝑡𝑖𝑛𝑡
1 Selection of optimization
𝑇𝑚𝑒𝑎𝑛 = ∫ 𝑇𝑒 𝑑𝑡 = 𝑇𝐿𝑜𝑎𝑑 (26) variables
𝑡𝑖𝑛𝑡 𝑡𝑠

where tint= Finite time to track the torque Optimization for torque ripple
ts = Settling time
Tmean = Average electromagnetic torque which is equal Optimization
to load torque in steady state for torque
ripple
∆𝑇 = 𝑇𝑒𝑚𝑎𝑥 − 𝑇𝑒𝑚𝑖𝑛
(27) Feasibility Fix the value of
check for all feasible variable
optimized and
∆𝑇 optimization on
∆𝑇(%) = ×100 (28) variables
𝑇𝑚𝑒𝑎𝑛 remaining
variables
The variables used in the objective function are the no. of
slots per phase per pole, rotor and stator winding distribution
and the rotor and stator coil pitch. The main criterion to select
the optimization algorithm was to keep the design variables Torque response of
value near the initial values due to the feasibility of design optimized model
parameters. That is why a local optimum solution is required.
Winding distribution and pitch may be an integer value but Design
validation
number slots per phase per pole can be or cannot be an integer. Design verification and
So, for all the variables the integer programming also may not case study
help. Hence, with all selectivity constraints, Nelder-Mead
simplex algorithm was best suitable for the described
minimization problem. The overall minimization problem has End
been solved in iterative manner due to the feasibility
constraints of the design variables.
A. Nelder- Mead simplex algorithm: Fig. 4. Complete design optimization strategy
Nelder–Mead generates a new test position by extrapolating
the behaviour of the objective function measured at each test IV. RESULTS AND DISCUSSION
point arranged as a simplex. The algorithm then chooses to The mathematical model of the induction machine has been
replace one of these test points with the new test point and So, simulated for a 3-phase, 50Hz, 440V, 1440 rpm, 5hp, star

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connected induction machine. For the described mathematical
model of induction machine with objective function given in
(27), optimization algorithm has been applied. For the
optimization, the considered independent variables are number
of slots, coil pitch and winding distribution, as shown in Table
I, are the design parameters of the IM. These parameters have
been acquired using direct measurements on the IM available
in laboratory at IIT Mandi, as shown in Fig 5. A computer
system with 64 bit processor and 16 Giga-bytes of RAM took
30 minutes to complete the 35 iteration of the optimization
algorithm. Stopping criteria for the optimization program was
the number of iterations. The objective of the problem was
achieved but all the values of optimization variables were in
non feasible zone i.e. non realisable for design of IM.
Optimized intermediate results are shown in the Table I.
parameters due to the unimodal search property of Nelder-
Mead optimization algorithm.
With optimized design parameters, IM torque response has
been obtained using the mathematical model as shown in Fig.
7. The value of torque ripple has been reduced to 0.22 % in the
optimized design from 6.93% in the original design of IM as
shown in Fig. 6 and 7. After the optimization, the number of
stator as well as the rotor slots has been increased from 36 and
24 to 42 and 26, respectively. Optimization result suggests that
for the rotor winding there is a need of short pitching. This
suppresses the forward rotating space harmonics (i.e. 5th
harmonics). While stator winding has been over pitched,
which means it has been under pitched in backward rotation.
This will suppress the backward rotating space harmonics (i.e.
7th harmonics).

Fig. 5: Disassembled induction machine for dimension

measurements
Fig. 6. Steady State torque response of original induction
TABLE I
DESIGN PARAMETERS AND PERFORMANCE COMPARISON machine in mathematical model.

Initial Intermediate Optimized

Parameter
values values feasible values
0.846(One slot
Rotor pitch 1 0.794
short-pitch)
1.19(two slots
Stator pitch 1 1.035
over-pitch)
No. of rotor
3 3.46 3.5
slots/phase/pole
No. of rotor
2 2.19 2.1667
slots/phase/pole
Fig. 7. Torque response of optimized induction machine
Stator distribution angle π/9 π/8 2π/11 using mathematical model.
Rotor distribution angle π/6 2π/11 2π/13 TABLE II
Percent torque ripple 6.93 0.03 0.22 PERFORMANCE COMPARISON FOR NON OPTIMIZED
Mean torque(Nm) 4.92 4.92 4.92 PARAMETERS
Speed(rd/s) 152.3 152.3 152.3
Stator Phase angle /
current(Peak) Power factor
Only, near to feasible values were, number of rotor and Pre optimization 4.0237 A 54o/0.587
stator slots per phase per pole, as given in Table I. Post optimization 3.9613 A 54o/0.587
Optimization algorithm was run again by keeping only four
variables in objective function. i.e. rotor and stator coil pitch The peak reduction in the stator current is due to the
and stator and rotor distribution angle, after fixing the number reduction in the harmonics from the stator current, as given in
of slots per phase per pole to the feasible values. After Table II. With same sinusoidal supply voltage, there is a
completing the forty iterations, as stopping criteria, of reduction in the current value with power factor unchanged in
optimization program, all the design value were near to the the optimized design. Mean torque and speed of the optimized
feasible with successful achievement of objective of IM remained same to original IM. Hence it is deducible that
minimized torque ripple. The design parameters have been the efficiency of the motor has been enhanced. Other design
approximated to the feasible values. Finally, six designed parameters except the optimized parameters are not updated.
optimized parameters have been obtained as shown in last Net copper and iron used in the machine remained equal to the
column of Table I. original design of the induction motor. Hence the design
The values of all the optimized design parameters are very material cost has not been increased. The onetime cost
near to the values of original induction machine design involved in the manufacturing process of the new die-cast

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Transactions on Industry Applications
6

design has been increased. Net cost increment involved in the

design of optimized induction machine is negligibly small.
An observational analysis leads to the result that if the
greatest common divisor of number of stator slots and rotor
slots is the small valued integer, the harmonics produced will
be less. Another Inference is drawn that for minimized torque
ripple the stator and rotor slots should be increased and the
number of turn in the each coil should remain same as in (c)
original induction machine. These designs will be helpful with
short pitched winding either in forward rotation direction or in
reverse rotation direction as per the optimization suggestion.

A. Case study: Performances of original and optimized

induction machine for non-sinusoidal supply input
A case study has been carried out on original induction
machine design and on the optimized induction machine (d)
design. In place of purely sinusoidal voltage, mathematical Fig. 8: Response of induction machine under square wave
models of original and optimized induction machine have voltage input (a) Torque response (b) Torque ripple (c) Stator
been excited with square wave voltage input with same load current (d) Speed response
torque profile. The peak value of the fundamental component Main concern of this case study is not only to show the
of square wave voltage was kept equal to the peak value of original machine's response but to demonstrate the response of
sinusoidal voltage, which was earlier used. It is common optimized IM design under the impact of square wave voltage
known that in all available AC power sources, the square wave input. In Table IV, the performance variables are given for the
voltage has a large value of total harmonic distortion. All the optimized design and corresponding responses are
responses obtained by using mathematical model of original demonstrated in Fig. 9. From Fig. 9 (b), it has been observed
induction machine have been shown in Fig. 8. Torque ripples that torque ripple has been reduced considerably to 33.57 %
are very large and the stator current is highly non sinusoidal in from 44.67 %. Hence, it can be deduced that the effect of
nature. All the performance variables are shown in Table III. space harmonics is absent in the torque response of optimized
TABLE III IM. The remaining 33.57% torques ripples are due to the
PERFORMANCE VARIABLES FOR SQUARE WAVE INPUT supply voltage time harmonics, only. Hence the complete
VOLTAGE FOR MATHEMATICAL MODEL OF ORIGINAL design methodology is highly effective in reducing the output
INDUCTION MACHINE torque ripple with minor efficiency improvement. The targeted
Performance variable Value torque ripples are considered first time primarily due to the
interaction of time harmonics and space harmonics of slot
Percent torque ripple 44.67
effect.
Mean torque(Nm) 6.42
TABLE IV
Speed(rd/s) 179
PERFORMANCE VARIABLES FOR SQUARE WAVE INPUT
VOLTAGE FOR MATHEMATICAL MODEL OF OPTIMIZED
INDUCTION MACHINE
Value
Performance variable

Percent torque ripple 33.17

Mean torque(Nm) 6.42

(a) Speed(rd/s) 179.1

(b) (a)

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7

(b)

(a)

(c)

(b)
Fig. 10. Finite Element Model of (a) Original Induction
(d) Machine (b) Optimized Induction Machine
Fig. 9: Response of optimized induction machine under
square wave voltage input (a) Torque response (b) Torque
ripple (c) Stator current (d) Speed response
B. Finite Element Model Design Validation
The performance of optimized design of induction
machine has been validated and compared with the
performance of original induction machine using finite
element modelling (FEM). The FEM have been developed
using the parameters of original IM and optimized IM and
shown in Fig. 10. Quarter symmetry has been considered (a)
while developing FEM of original IM. But the number of slots
per phase per pole is not an integer value in the optimized
model so complete cross section is required for the FEM
analysis as shown in Fig. 10(b.)
The performance of optimized IM has been compared with
the original IM using FEM, in the terms of torque, torque
ripple and stator currents as shown in Fig. 11 and 12.
Fig. 11(a) shows the rated torque response and ripples in the (b)
torque are as high as up to 40% as shown in Fig. 11(b). Stator
currents are not purely sinusoidal due to the presence of space
harmonics can be observed in Fig. 11(c).

(c)
Fig. 11. Original Induction Machine’s Response using finite
element modeling (a) Rated torque response, (b) Torque
ripple, (c) Stator currents

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIA.2017.2766585, IEEE
Transactions on Industry Applications
Fig. 12(a) shows the torque response and in Fig. 12(b)
ripples in the torque are reduced to 10% in optimized design
as compared to 40% in original design of IMs shown in Fig.
11(b). Stator current of the optimized design of IM have been
shown in Fig. 12 (c), are purely sinusoidal due to the absence
of space harmonics. Hence it is evident that the torque ripples
have been minimized to a least value in the optimized design
of induction machine due to net reduction in space harmonics.
(a)
(b)
(c)
Fig. 12. Optimized Induction Machine’s Response using
finite element modeling (a) Rated torque response, (b)
Torque ripple, (c) Stator currents
V. CONCLUSIONS
An induction machine (IM) mathematical model has been
derived to consider the effect of slots and winding harmonics
on the developed electromagnetic torque. Two separate
analyses have been carried out to include the winding and slot
harmonics. Large ripples have been found in the torque output
of the IM while analyzing using the developed mathematical
model for sinusoidal supply voltage. For torque ripple
reduction, the mathematical model of IM has been subjected
to Nelder-Mead simplex optimization technique with number
of slot, winding distribution angle and coil pitch as variables
which are design parameter of the IM. Optimization variables
are directly linked with the self and mutual inductances of the
machine as described in (14), (21) and (24). The derivative of
the inductance determines the electromagnetic torque of IM. It
has been deduced that the harmonics associated with the self
and mutual inductance of the induction motor are the causes
for the torque ripple. It is found that torque response of the
optimized IM has been reduced to 0.22%, which was 6.93%
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8
for the original IM.
Furthermore, for the validation of the optimized design
parameters of IM, the finite element models (FEM) of original
IM as well as optimized IM have been developed.
Electromagnetic torque and stator currents have been obtained
from both FEM models for performance comparisons. FEM
results confirmed that proposed optimized design suggestions
are effective as the torque ripples in the optimized IM have
been reduced to 10 % as compared to 40 % of original IM.
Hence, IM design strategy proposed for minimized torque
ripples is effective and similar approach can be used for
application specific drive designs. Hence this paper has
presented an effective and efficient induction machine design
methodology for low torque ripples due to the interaction of
time and space harmonics.
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