2004 11th International Conference on Harmonics and Quality of Power

Harmonic Torques in Three-phase Induction Motors

Supplied by Non-Sinusoidal Voltages
J. Policarpo G. de Abreu, Joc6lio S. de Sa, and Claudio C. hado

Absfracl - Low-shortsircuit-capacity electric systems may and the magnetic saturation of the stator leakage reactance,
present considerable distortion in the voltage waveform when during motor start-up.
supplying nonlinear loads. Three-phase induction motors when The following items are analyzed:
connected to such a system may suller additional requirements Rotor bar skin effect modeling;
~

during start-up as overheating in the rotor bars due to the skin

- Saturation influence on the stator leakage reactance;
effect, and mechanical vibratious in the shaft due to harmonic
torques. This paper presents an approach to analyze the behavior - Rotor current variation during start-up even for distorted
of the harmonic torques produced by three-phase induction voltages;
motors when supplied by non-sinusoidal voltage, taking into -Torque during start-up produced by the fundamental
account the skin-effectin the rotor bars and the saturation of the components of the stator flux and rotor current;
stator leakage reactance during start-up. It is important to notice -Harmonic torque during start-up resulting from the
that the analysis and the derived equations are based on ordinary
data available in the manufacturer's catalogue. harmonic voltages in the motor supply.
All this analysis is based in ordinary data available in the
Index Terms - Harmonic torques, modeling, power quality, manufacturer's catalogue.
skin-ellect, three-phase induction motor.
11. S m EFFECT MODELING
1. INTRODUCTION During start-up the current density variation in rotor bars is
N recent years many industries and some commercial caused by variation of the magnetic reluctance in function of
I segments in Brazil have begun to use generators in their the bar depth. The reluctance in the upper portion of the bar is
electric plant to prevent the risk of blackout. Also, a gradual higher due to the air-gap proximity. This reluctance decreases
increase of installations characterizing an isolated electric with bars depth and is lower in the lower portion. As the flux
system (ISL) has been observed, with a considerable leakage concentration in the lower portion is greater than in
percentage of nonlinear loads (NLL) [l]. Another important the upper portion, there is a larger current density in the upper
phenomenon that has contributed to the increase of the portion than in the lower portion [Z]as shown in Fig. 1.
number of ISL has been the outsourcing adopted by large I Lower Doltion
industries, which originate small plants, usually connected to ...........................................
.....................
,..... .... ..,,,
....... 1
weak power systems or weak points of the grid. 3; I
,,":
These systems usually feed NLL and three-phase induction
motors and the harmonic current produced by NLL may result
Rotorcagebar
a! I j
'-,,,,~'~-----------~,,~;
............,...........................
_,,,,
;::::
Leakage flux lines
(a)

in voltage distortions in motor supply. If a squirrel-cage rotor

induction motor is supplied with non-sinusoidal voltages, two
c
phenomena are accentuated mainly during the motor start-up:
-The rotor bars temperature increases due to the skin
effect;
- Harmonic torque is produced as a result of the interaction (b)
between the stator harmonic fluxes and the rotor
harmonic currents.
This paper presents an analysis of harmonic-torque
I
Bardepth(m)
I .
production, taking into account the skin effect in the rotor bars
Fig. 1. Flux a d current in the rotor bar (locked rotor): (a) Leakage flux, and
(b) Cumnt dishbution along bar section.
This work was supported in part by Capes and Fapemig.
I. Poliearpo G. de Abreu is with the Electrotechnical Department, During the motor starting and acceleration process, the
Eleetricieal Engineering Institute, Itajubi Federal University, AV. BPS, 1303, kequency of the fundamental induced voltage in the bars
CEP 37500-903,Itajubi, MF, Brazil (e-tnail: polica@iee.efei.br).
l o d i i o s. de si is an associate member with the power ~uatitystudy decreases and the current density distribution becomes
Group, ltajubi Federal University, AV. BPS, 1303, CEP 37500-903,Itajubi, uniform. In terms of equivalent circuit the skin effect can be
MG, Brazil. (e-mail joceliora77@hormail.com) modeled by the variation of rotor resistance and reactance due
Cliudio C. Prado is a student member with the Power Quality Study
Group (e-mail ccprado@iec.efei.br). to rotor speed.

0-7803-8746-5/04/$20.00 02004 IEEE. 652

 The methodology presented is based on manufacturer's
(1 1)
- -
catalome data. To cami out the modeling of these conditions
two hypotheses are considered 121: where K, and Kx are correction factors, which take into
Since the nonuniformity in the density and the account the values of Rz and X2 at blocked rotor and at rated
resistance variation in the rotor circuit are both phenomena speed, calculated from the manufacturer,s catalogue data,
caused in the Same way, both may the Same according to [2]. The values of RZp, RW, X , and Xm are
variation rules;
obtained from the catalogue data, as shown in [2],[3]and [4].
- The magnetic reluctance varies in the same way of the
current density with rotor bar depth. C. Influence ofHamonic Voltages Upon R2(n)andXz(n)
A. Skin Effect Calculation From (6) and (7), it can he seen that the influence of the
harmonic voltages present on the stator supply signal will
As presented in [2],in accordance with Faraday's Law, the
occur at the n, relative speed.
EMF produced by the leakage fl& opposes the current
For an h harmonic voltage, calculation of rotor resistance
circulation originated from the voltage induced by the main
and reactance can be gotten from:
flux.In this case, the di current density as a function of the xb
bar depth, of the d. current density at the upper portion of the
bar, of the nz relative speed, and of the f frequency of the
supplied voltage, can be calculated by:
]
Rqh,(n) = R 2 0 . e x p p [ . / y (12)

di=do-ki.n2.f.
I 0 8 . d ~ (1)
where al is the leakage flux up to the depth xb, and nz is the
X?(h)(n) = X Z O ' q [ JT
=X'] (13)

relative speed between nl and n, which are the magnetic

where h is the harmonic order with (+) for positive and (-) for
rotating field synchronous speed at the fundamental frequency
negative sequence components.
and rotor speeds, respectively.
In accordance with Ampere's Law, the DI leakage flux is 111. STATOR RESISTANCE AND REACTANCE VARIATION
proportional to the current density that produces: WITH FREQUENCY

@t=k,.
I di.drb

From [2], the solution for these equations producing the

According to [5],the RI stator resistance variation can be
(2) modeled by:
RI(,,) = R1.(7.h/11 + 4/11) (14)
current density variation in the rotor bars is obtained by:
Otherwise, the XI stator leakage reactance can be obtained
di =do . exp(k. &) (3) from three different values, namely: XI,, XI, and X1p, as
shown in Fig. 8. Two important remarks must he made here,
According to both former hypotheses, it can be concluded
namely:
that:
R~ = k l . exp(K, .a) (4)
XI,,XI, and XI, can be obtained from catalogue data as
~

shown in [2];

X2 =k2 .exp(K, . m) (5)

- Stator leakage reactance varies with magnetic saturation
while stator current is high, i. e. from n = 0 to n = nx.
where R2 and X, are the rotor resistance and reactance
IV. ROTORFUND" AND HARMONIC CURRENTS
respectively;kl, k2,K, and K, are constants.
DETERMINATION

B. R2(n) andX,(n) From the Catalogue Data The magnetization branch of the motor equivalent circuit
during start-up can be neglected due to its high reactance.
As presented in [3]: Fig. 2 shows the circuit used for current calculation, where
R 2 ( 4 = R 2 0 .exp(K, ' m) (6) Vh is the supply voltage.

R1(h) Lu,(dn) JX2(&) R2~)(4

Fig. 2. Equivalent circuit to harmonic current calculation.

The rotor current magnitude can be obtained by (15).

653
 Th) = ' [ ' 2 ( h ) 'sin(s,
@N y h ) / ( h' Q)]' (23)

W.RESULTS
A squirrel-cage induction motor with 90 kW, 4poles,
(15)
where: 1780 rimin, 440 V, 60 Hz, q N = 91.8 %, PFN= 0.87;
Tk = 2.5 pu; Tp = 2.2 pu; I, = 7.3 pu was supplied by non-
sinusoidal voltage. The voltage total harmonic distortion
(VTHD) is 13.5 % with 256.34 rms volt per phase. The rms
phase voltage and the degrees displacement angle for each
CALCULATION
V. TORQUE harmonic component are shown in Table 1.
The torque developed by the motor is calculated by the
interaction between the magnetomotive forces (MMF) TABLEI
HARMONICVOLTAGESPECTRUM
produced by the stator ( F , )and the rotor (F2):
I k I l l 5 1 7 1 1 1 1 1 3 1 1 7 1 1 9 1
F = F, x F 2 (17) Vch,ol) 251.26 12.01 12.00 11.99 11.98 11.97 11.96

Fig. 3 shows the magnetovotive forces diagram and the qh, -2.699' 79.62" -1W.I' 80.19' -95.73" 80.36" -99.61"

phasor diagram of the induction motor, where E2 is the rotor-

induced EMF and IM is the magnetizing current.

V I I080

(4 @)

Fig. 3. (a) Magnetomotive forces diagram; @) Phasar diagam.

The MMF nroduced bv the stator is monortional to the

I I
240 i
I20
magnetic rotating flux, and the MMF produced by the rotor is
proportional to the rotor current. From (17) and Fig. 3 comes:
T = F1 . F2 .sin(S) = K . @ . I 2 .sin@)
~~ ~
(18)
x 4
a
Speed@)
x -.
0 %
-
9

-1 -5 -7 X I 1 -13 -%+I7 -19

Thus, the torque produced by the fundamental components
Fig. 4. Rotor induced voltagc frequency variation.
of the stator flux and of the rotor current can he calculated by:
COS(^^)
T = K , @ N .I ~ N (19) Fig. 5 shows the rotor resistance and reactance variation to
the fundamental component.
The harmonic torque produced by the fundamental flux and , 200
the rotor harmonic currents can be obtained by:
TA = K . @ N .12,, .sin@) (20)
With:
s = 2rr. f . t (21)
were f is the relative frequency hetween the rotor harmonic
MMF and the stator MMF.
The harmonic torque produced by stator harmonic fluxes
and the rotor fundamental current can he obtained by (22). 24

I
In the same way, the harmonic torque produced by stator
harmonic fluxes and rotor harmonic currents can be obtained
by (23).

654
 Fig. 6 and 7 show the rotor resistance and reactance Fig. 9 shows the rotor fundamental component current
variations for harmonic components, respectively. magnitude variation as a function of the speed and Fig. 10
4,0 , ~ ~~ ~~~~ j shows the harmonic current magnitude variation.
~ ~ ~ ~~~ ~~~~~ ~~~~~ ~~~~~~~

3.0
3,5 P
- - so
0.0 -
x
4
I
+ : : : : : : : : ,

5
, .

+7
3

Fig.6. Rotor resistance variation for harmonic components.

,

X
.
x
I
.
Speed@)
1
,
,

+I3
a

.
s
I

.
"

.
'

+I7
-
,
;7

2
,

4 1
-
9

9
Fig.9. Rotor current variation due to fundamental component.
b

0,125
I
0,120

0,115

G 0,110 1

0,090 i +5 -0--7 -11 +I3 -17 -19

Fig. IO. Rotor current variation due to harmonic components

. , , , , , . . , , , I , , . # , , ,
x 3 x /o
d
9
0
4
+
Fig. 11 shows the torque produced by interaction between
Speed @U)
4 5 -7 +I1 -13 -17 -&-I9 the fundamental flux and the fundamental current.
Fig. 7. Rotor reactaocevariation for harmonic components.

Fig. 8 shows the stator leakage reactance variation as a

function of the speed, taking into account the magnetic
saturationduring start-up.

0.30

- 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
s p d @U)
Fig. 11. Torque produced by the interaction between the fundamental flux
and the fuodamental cmmt.

,
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 Fig. 12 shows the harmonic torque resulting from the
speed @U) interaction between the stator fundamental flux and the rotor
Fig.8. Stator leakage reactance variation. harmonic currents.

655
 8

-2

-150' ' . . I 4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 0 0.1 02 0.3 0.4 0.5 0.6 0.7 0.8 0.9 0
s p d @U) S P d @")
Fig. 12. pulsating torque produced by the interaction between the Fig. 15. Torque produced by the interaction between harmonic fluxes and
fundamental flux and harmonic cwmts. harmonic c m t s of different orders.

Fig. 13 shows the harmonic torque produced by interaction

of the stator harmonic fluxes and the rotor fundamental Fig. 16 shows the resulting harmonic torque. It is obtained
current. by the summation of all torques shown in Fig. 12, 13, 14 and
15.

I
1
01 ' ' I
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 09 1.0
S P d @U)
Fig. 16. Resulting harmonic torque.

Fig. 17 shows the resulting harmonic torque after filtered

the 5" and 7" harmonic voltages from the motor supply.

-
0~ -
J

bo0 , 0 0 5 00 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
speed @U) Speed @U)
Fig. 14. Torque produced by the interaction between harmonic fluxes and Fig. 17. Resulting harmonic torque with 5* and 7* harmonic voltages
harmonic currene of same orders. filtered

Fig. 15 shows the harmonic torque resulting from the

interaction between the stator harmonic fluxes and the rotor Fig. 18 and 19 have zoomed in portions of Fig. 16 and 17,
harmonic currents of different orders. respectively.

656
 1300 -Was presented the possibility to conduct analysis based
only on ordinary data available in the manufacturer's
catalogue.

WII. REFERENCES
[I] 1. P. G. de Abreu, I. S . de SA, C. C. MO, Harmonic Voltage Distortion
in Isolated Electric Systems, h c . 7th Intmtianal Conference "Electri-
800 cal Power Quality and Utilisation", Cracow, PL, September 2003,469-
412.
100 I. S . de S i , Cootribniplo i M l i s e do Comportamento T h i c o de
0.2 0.202 0.204 0.206 0.208 121
Motores de Indupb Trifisicos com Rotor do Tipo Gaiola, PhD Thesis,
S P d @U) Unicamp, 1989.
Fig. 18. Zoomed in resulting harmonic torque. [3] J. S. de SA, Su-sBo Em Tempo Real de Motores de Indupso Trif&i-
COS de Grande Parte, h a l s of the U( Can5eso de Ingcniaria Electrica,
1300 Aria, Chile, October 1991.
1 [4] E. Ruppea Filho, H. Arango, J. S . de SA, Analysis of Squirrel Cage
,200t 1 Induction Motor Rotor B m T h erm al Behavior, Prffi. International
Conference on Electrical Machinhes, Massachusets, August 1990, 245-
250.
[SI F. K i i m e l , Ele!&schc Anuiebstechnik. Springer-Verlag, Berlin 1971.

M.BIOGRAPHIES
700' I 77J. Potifama G. de Abreu was bom on Madeira Is- . ~~

I lmd, Pomgal, in 1952. He received his BSEE and

1,
~~~~

0.2 0.202 0.204 0.106 0.208

s p e d @U)
Fig. 19. Zoomed io resulting harmonic torque with 5' and 7' harmonic
voltages filtered.
Comparing Fig. 16, 17, 18, and 19 it can be noticed that the
elimination of harmonic voltages present in the motor supply
significantly decreases the harmonic torque produced in the
motor.
VII. CONCLUSIONS
From the simulation results one may conclude:
-The skin effect in the rotor cage bars increases with the
voltage harmonic order;
- To the positive sequence harmonics the rotor resistance
increases with the speed, and decreases to the negative
sequence components. The rotor reactance varies
conversely;
- The most significant harmonic torque is produced by the
interaction between the stator fundamental flux and the
rotor harmonic currents;
- The torques resulting from the interactions between the
harmonic fluxes and the harmonic currents can he
neglected;
- Fig. 17 shows the considerable reduction in the harmonic
torque with the 5" and '7 supply voltage harmonic
elimination. This way, harmonic filters present another
use: they reduce mechanical vibrations in the shaft;
M S c degrees from the Itajubi Fcdersl School of En-
gineemg (EFE9,Brazil, and his DSc de5ce in
&ctrical engineering boom the University of Campi-
nas (Unicamp), Brazil. From March 1999 to June
2000 he pursued his studies at the Worcester Poly-
technic Institute, Worcester, MA-USA where he did
a Post-Doctoral p r o m . He is a Full Professor at
Itajubi Federal University, where he is also the
Power Quality Study Group coordinator. His
research intmsa include Power Quality issues, such as Power Definitions,
Harmonies, Imbalance, aod Voltage Sags. Induction Motorr, Transformem,
and Converter Transformers are his other interests.
JodBo S. de S4 was bom in Itajubi, Brazil, in 1947.
He received his BSEE and MSc degrees in Electrical
Engineering h m the EFEI, and DSc €-om the
Unicamp. He i8 cmently an associated researcher
with the Power Qulity Study Group.
Cl4odio C. Prado was bom in 1969, Itajubi, Brazil.
Hc received his BSEE dege-eein electrical engineer-
ing at Inatel in 1992 and his MSc de5ee at EFEI in
1999. He has been workina on his Unifei DSc DTO-
gram. Also, he is a researcher with the Power
.. Quality Study Group. His areas of interest include
i : Computer Analysis of Power Systems, Power
i'
;,: Quality, Electrical Machines, Electric Drives,
Automation 81 Control, and Dielectrics.
L. I..-. . ,
'- i
;
17

651