Modeling of Induction Motor

using dq0 Transformations

First Semester 1431/1432

 Introduction
Steady state model developed in previous studies
of induction motor neglects electrical transients
due to load changes and stator frequency
variations. Such variations arise in applications
involving variable-speed drives.
Variable-speed drives are converter-fed from finite
sources, which unlike the utility supply, are
limited by switch ratings and filter sizes, i.e. they
cannot supply large transient power.
 Introduction (contd)
Thus, we need to evaluate dynamics of
converter-fed variable-speed drives to
assess the adequacy of the converter
switches and the converters for a given
motor and their interaction to determine the
excursions of currents and torque in the
converter and motor. Thus, the dynamic
model considers the instantaneous effects
of varying voltages/currents, stator
frequency and torque disturbance.
 Circuit Model of a Three-Phase IM
Assumptions and Definitions:
1. Space mmf and flux waves are considered to be
sinusoidally distributed, thereby neglecting the effect of
teeth and slots.
2. The machine is regarded as group of linear coupled
circuits, permitting superposition to be applied, while
neglecting saturation, hysteresis, and eddy currents.
3. Ls : self inductance per phase of the stator windings.
4. Ms: mutual inductance per phase of the stator windings.
5. rs: resistance per phase of the stator windings.
6. Lr : self inductance per phase of the rotor windings.
7. Mr: mutual inductance per phase of the rotor windings
8. rr: resistance per phase of the rotor windings.
9. Msr: maximum value of mutual inductance between any
stator phase and any rotor phase.
 Circuit Model of a Three-Phase IM
axis of stator
phase b axis of rotor
phase a

+v b
i bs r
r

s
axis of rotor r
phase b +vbr

ibr
iar

r+
va
ias axis of stator
phase a
vas+
v cr+
i cr
cs
+v

ics

axis of stator
phase c r
axis of rotor
phase c
 Voltage Equations

Stator Voltage Equations:

axis of stator
phase b axis of rotor

d as phase a

+v b
v as i as rs r
i bs r

s
dt
axis of rotor r
phase b +vbr
d bs

ibr
v bs i bs rs iar
dt

r+
va
ias axis of stator
phase a
vas+

v cr+
d cs
i cr
v cs i cs rs cs
+v

dt ics

axis of stator
phase c r
axis of rotor
phase c
 Voltage Equations (contd)
Rotor Voltage Equations:
axis of stator
phase b
d a r
axis of rotor
phase a
v a r i a r rr

+v b
i bs r
dt r

s
axis of rotor r
d br phase b +vbr
v br i br rr

ibr
iar
dt

r+
va
ias axis of stator
phase a

d cr vas+

v cr+
i cr
v cr i cr rr
dt
cs
+v

ics

axis of stator
phase c r
axis of rotor
phase c
 axis of stator

Flux Linkage phase b axis of rotor

phase a

+v b
r
Equations r
i bs

s
axis of rotor r
phase b +vbr

ibr
iar

r+
va
ias axis of stator
phase a
vas+

v cr+
i cr

cs
+v
ics

axis of stator

as Ls ias M s ibs M s ics phase c r

axis of rotor
phase c
M sr iar cos(r ) M sr ibr cos(r 120 ) M sr icr cos(r 120 )
bs M s ias Ls ibs M s ics
M sr iar cos(r 120 ) M sr ibr cos(r ) M sr icr cos(r 120 )
 axis of stator

Flux Linkage phase b axis of rotor

phase a

+v b
r
Equations r
i bs

s
axis of rotor r
phase b +vbr

ibr
In general, we can assume: iar

r+
va
ias axis of stator
i as i bs i cs 0 vas+
phase a

v cr+
i cr
Let:

cs
+v
ics
Lss Ls M s
axis of stator
as Ls i as M s (i bs i cs ) phase c r
axis of rotor
phase c
M sr i ar cos( r ) M sr i br cos( r 120 ) M sr i cr cos( r 120 )
bs M s (i as i cs ) Ls i bs
M sr i ar cos( r 120 ) M sr i br cos( r ) M sr i cr cos( r 120 )
 axis of stator

Flux Linkage phase b axis of rotor

phase a

+v b
i bs r
Equations r

s
axis of rotor r
phase b +vbr

ibr
In general, we can assume: iar

r+
i ar i br i cr 0

va
ias axis of stator
phase a
vas+

v cr+
i cr
Let:

cs
+v
ics
Lrr Lr M r
axis of stator
phase c r
axis of rotor
phase c
ar M sr i as cos( r ) M sr i bs cos( r 120 ) M sr i cs cos( r 120 )
Lr i ar M r (i br i cr )
br M sr i as cos( r 120 ) M sr i bs cos( r ) M sr i cs cos( r 120 )
Lr i br M r (i ar i cr )
 Flux Linkage Equations
Stator:
as Lss i as M sr i ar cos( r ) i br cos( r 120 ) i cr cos( r 120 )
bs Lss i bs M sr i ar cos( r 120 ) i br cos( r ) i cr cos( r 120 )
cs Lss i cs M sr i ar cos( r 120 ) i br cos( r 120 ) i cr cos( r )
Rotor:
ar M sr i as cos( r ) i bs cos( r 120 ) i cs cos( r 120 ) Lrr i ar
br M sr i as cos( r 120 ) i bs cos( r ) i cs cos( r 120 ) Lrr i br

cr M sr i as cos( r 120 ) i bs cos( r 120 ) i cs cos( r ) Lrr i cr

 Flux Linkage Equations
as Lss 0 0 i as
0 Lss 0 Lsr i
bs bs
cs 0 0 Lss i cs

ar Lrr 0 0 i ar
ar LTsr 0 Lrr 0 i br

ar 0 0 Lrr i cr
cos(r ) cos(r 120 ) cos( r 120 )

Lsr M sr cos(r 120 ) cos(r ) cos( r 120 )
cos(r 120 ) cos( r 120 ) cos( r )

d as
v as i as rs
dt
 Model of Induction Motor
To build up our simulation equations, we
could just differentiate each expression for
, e.g.
d as d
v as i as rs First raw of the Matrix
dt dt
But since Lsr depends on position ,
which will generally be a function of time,
the trigonometric terms will lead to a mess!
 Parks Transformation
The Parks transformation is a three-phase to two-
phase transformation for synchronous machine
analysis. It is used to transform the stator variables
of a synchronous machine onto a dq reference
frame that is fixed to the rotor.

The +ve d-axis is aligned with the magnetic axis of

the field winding and the +ve q-axis is defined as
leading the +ve d-axis by /2.
 Parks Transformation
q-axis
(contd)

axis of stator
In induction machine, the
phase b axis of rotor d-axis is assumed to align on
phase a a-axis at t = 0 and rotate

+v b
i bs r with synchronous speed ()
r

axis of rotor s r
phase b +vbr
ibr

iar

r+
va ias axis of stator d-axis
phase a
vas+
v cr+

i cr
cs
+v

ics The result of this transformation is

that all time-varying inductances in
the voltage equations of an induction
axis of stator
phase c r machine due to electric circuits in
axis of rotor
phase c
relative motion can be eliminated.
 Parks Transformation (contd)

The Parks transformation equation is of

the form:

fd fa
f T f
q dq 0 b
f0 fc

where f can be i, v, or .
 Parks Transformation (contd)
2 2
cos d cos d cos
d
3
3
2 2
Tdq 0 (d ) K sin d sin d sin
d
3 3

1 1 1
2
2 2
where K is a convenient constant. The current id and iq are
proportional to the components of mmf in the direct and quadrature
axes, respectively, produced by the resultant of all three armature
currents, ia, ib, and ic. For balanced phase currents of a given
maximum magnitude, the maximum value of id and iq can be of the
same magnitude. Under balanced conditions, the maximum magnitude
of any one of the phase currents is given by ia, peak ib, peak ic, peak id2 iq2 . To
achieve this relationship, a value of 2/3 is assigned to the constant K.
 Parks Transformation (contd)
The inverse transform is given by:

cos d sin d 1

1 2 2
Tdq 0 (d ) cos d sin d 1

3 3

2 2
cos d 3 sin d 1
3

Of course, [T][T]-1=[I]
 Parks Transformation (contd)

Thus,
vd va
v T v T v
q dq 0 b dq 0 abc
v0 vc

and
id ia
i T i T i
q dq 0 b dq 0 abc
i0 ic
Induction Motor Model in dq0
q-axis

iqs +
vqs

iqr +
vqr

d-axis
idr ids
vdr+ vds+
 Induction Motor Model in dq0 (contd)
Lets us define new dq0 variables.

Our induction motor has two subsystems - the

rotor and the stator - to transform to our
orthogonal coordinates:
So, dq 0s Ts abcs on the stator,

where [Ts]= [T()], ( = t)

and dq 0r [Tr ]abcr on the rotor,

where [Tr]= [T()], ( = - r = ( r) t )

 Induction Motor Model in dq0 (contd)
STATOR:
"abc": abcs [ Lss ] iabcs [ Lsr ] iabcr
"dq0": dq 0 s Ts abcs [ Lss ] Ts iabcs Ts [ Lsr ]Tr1 Tr iabcr
dq 0 s [ Lss ] idq 0 s Ts [ Lsr ]Tr1 idq 0 r

ROTOR:
"abc": abcr [ LTsr ] iabcs [ Lrr ]iabcr
"dq0": dq 0 r Tr abcr Tr [ LTsr ]Ts1 Ts iabcs [ Lrr ] Tr iabcr
dq 0 s Tr [ LTsr ]Ts1 idq 0 s [ Lrr ] idq 0r

1 0 0 1 0 0
Lss Lss 0 1 0 Lrr Lrr 0 1 0
0 0 1 0 0 1
 Induction Motor Model in dq0 (contd)
Now:
3
2 M sr 0 0

TrTsrT Ts1 Ts LsrTr1 0 0
3
M sr
2
0 0 0


Just constants!!

Our double reference frame transformation

eliminates the trigonometric terms found in our
original equations.
Induction Motor Model in dq0 (contd)

Let us look at our new dq0 constitutive law and

work out simulation equations.
d
v dq 0s T s v abcs T s R i abcs T s abcs
dt

T s T s 1dq 0s
1 d
T s RT s i dq 0s
dt

T s T s 1dq 0s
d
R i dq 0s
dt
 Induction Motor Model in dq0 (contd)

Using the differentiation product rule:

dq 0s T s T s 1 dq 0s
d d
v dq 0s R i dq 0s
dt dt

d
0 0
dt

d
dq 0s
d
R i dq 0s 0 0 dq 0s
dt dt
0 0 0


Induction Motor Model in dq0 (contd)

For the stator this matrix is:

0 0
0 0

0 0 0

For the rotor the terminal equation is

essentially identical but the matrix is:
0 ( r ) 0
( ) 0 0
r

0 0 0
Induction Motor Model in dq0 (contd)

Simulation model; Stator Equations:

d ds
v ds i ds rs qs
dt
d qs
v qs i qs rs ds
dt
d 0s
v 0s i 0s rs
dt
Induction Motor Model in dq0 (contd)

Simulation model; Rotor Equations:

d dr
v dr i dr rr ( r )qr
dt
d qr
v qr i qr rr ( r )dr
dt
d 0 r
v 0r i 0 r rr
dt
Induction Motor Model in dq0 (contd)

Zero-sequence equations (v0s and v0r) may be

ignored for balanced operation.

For a squirrel cage rotor machine,

vdr= vqr= 0.
 Induction Motor Model in dq0 (contd)

We can also write down the flux linkages:

ds Lss 0 0 3 2M sr 0 0 i ds
0 Lss 0 0 3 2M sr 0 i qs
qs
0s 0 0 L ss 0 0 0 0 i 0s

dr 3 2M sr 0 0 Lrr 0 0 i dr
qr 0 3 2M sr 0 0 Lrr 0 i qr

0 r 0 0 0 0 0 L rr 0 i 0 r
 Induction Motor Model in dq0 (contd)
The torque of the motor in qd0 frame is given
by:
3 P
e qr i dr dr i qr
2 2

where P= # of poles
F=ma, so:
d r
J ( e l )
dt
where l = load torque