THE INDUCTION MOTOR MODEL

The general model

The induction motor model for arbitrary reference frame e
e
:


s
e
s
s s s
j
dt
d
i R u e +

+ =
(1)

r
r e
r
r r
j
dt
d
i R e e +

+ = ) ( 0
(2)

r m s s
s
i L i L + =
(3)

s m r r
r
i L i L + =
(4)


L e
r
T T
dt
d
J =
e
(5)

) (
2
3
sd sq sq sd e
i i p T =
(6)

where:
u
s
the stator voltage space vector,

sq sd s
ju u u + =

i
s
, i
r
the stator and rotor current space vectors,

sq sd s
ji i i + =


rq rd r
ji i i + =


s
,
r
the stator and rotor flux space vectors,

sq sd
s
j + =


rq rd
r
j + =

R
s
, R
r
, the stator and rotor resistance,
L
m
the magnetizing inductance,
L
s
, L
r
the stator and rotor inductances

o
+ =
s m s
L L L


o
+ =
r m r
L L L


e
e
the reference frame speed (arbitrary),
e
r
the rotor speed,
T
e
the electromagnetic torque,
T
L
the load torque,
J the rotor inertia
p the number of pole pairs,



Electromagnetic torque


) Im(
2
3
*
s
s e
i p T =
(7)

) (
2
3
sd sq sq sd e
i i p T =
(7a)


) Im(
2
3
*
r
r e
i p T =
(8)

) (
2
3
rq rd rd rq e
i i p T =
(8a)


) Im(
2
3
*
r s m e
i i pL T =
(9)

) (
2
3
rq sd rd sq m e
i i i i pL T =
(9a)


) Im(
2
3
*
r
s
r
m
e
i
L
L
p T =
(10)

) (
2
3
sd rq sq rd
r
m
e
i i
L
L
p T =
(10a)


) Im(
2
3
*
s
r
s
m
e
i
L
L
p T =
(11)

) (
2
3
rq sd rd sq
s
m
e
i i
L
L
p T =
(11a)


) Im(
2
3
*
s r
r s
m
e
L L
L
p T
o
=
(12)

) (
2
3
rq sd rd sq
r s
m
e
L L
L
p T
o
=
(12a)


Input apparent power


jQ P i u S
s s
+ = =
*
2
3
(13)

Input active power


sc sc sb sb sa sa
i u i u i u P + + =
(14)

) (
2
3
) Re(
2
3
*
sq sq sd sd s s
i u i u i u P + = =
(15)

Input reactive power


) (
2
3
) Im(
2
3
*
sq sd sd sq s s
i u i u i u Q = =
(16)

Electromagnetic power


) Im(
2
3
*
r s m r em
i i L p P e =
(17)



The induction machine space vector diagram.





The particular reference frames


a. The stationary reference frame (stator reference frame) e
e
=0
the d and q axes are stationary:


dt
d
i R u
s
s s s

+ =
(1a)

r
r
r
r r
j
dt
d
i R e

+ = 0
(2a)

r m s s
s
i L i L + =
(3a)

s m r r
r
i L i L + =
(4a)

b. The rotor flux reference frame e
e
=e
r
(the rotor flux speed),
the d and q axes rotate with the rotor flux speed:


s
r
s
s s s
j
dt
d
i R u e +

+ =

(1b)

r
r r
r
r r
j
dt
d
i R e e +

+ =

) ( 0
(2b)

r m s s
s
i L i L + =
(3b)

s m r r
r
i L i L + =
(4b)

c. The rotor reference frame e
e
=e
r
(the rotor speed),
the d and q axes rotate with the rotor speed:


s
r
s
s s s
j
dt
d
i R u e +

+ =
(1c)

dt
d
i R
r
r r

+ = 0
(2c)

r m s s
s
i L i L + =
(3c)

s m r r
r
i L i L + =
(4c)


Space vector equivalent circuits

The arbitrary reference frame



The stationary reference frame (stator reference frame) e
e
=0



The rotor reference frame e
e
=e
r





The state space model


The induction motor state space model is:

Bu Ax sx + = (18)
Cx y =

where: u the input vector, x the state vector, y the output vector and s
the Laplace derivative operator.

Preliminary:
From (3) and (4) the stator and rotor fluxes are:

s
r
m r s
r
r
m
s
i
L
L L L
L
L
2

+ =
(19)
s
m
m r s
s
m
r
r
i
L
L L L
L
L
2

=
(20)

From (3) and (4) the stator and rotor currents are:


2
m r s
r
m
s
r
s
L L L
L L
i

=
(21)

2
m r s
s
m
r
s
r
L L L
L L
i

=
(22)


Notations:

L L
L L L

r s
m r s
2

= o



R
L
T
r
r
r
=
the rotor time constant,


R
L
T
s
s
s
=
the stator time constant

The rotor flux model

Input: u =u
s

State: x =[i
s
,
r
]
T

Ouput: y =x
1
=i
s


The arbitrary reference frame


s
s
r
r
r r s
m
s e
r s
s
u
L
j
T L L
L
i j
T T
i s
o
+ e
o
+ e +
o
o
+
o
=
1
)
1
( )
1 1
( (23)

r
r e
r
s
r
m
r
j
T
i
T
L
s e e + = )) (
1
( (24)

(
(
(
(

e e +
e
o
e +
o
o
+
o

=
)) (
1
(
)
1
( )
1 1
(
r e
r r
m
r
r r s
m
e
r s
j
T T
L
j
T L L
L
j
T T
A
(25)
| | 0 1 = C ,
T
s
L
B
(

o
= 0
1
(26)


a. The stationary reference frame (stator reference frame) e
e
=0


s
s
r
r
r r s
m
s
r r
m
s
s
s
u
L
j
T L L
L
i
T L
L
R
L
i s
o
+ e
o
+
o
=
1
)
1
( ) (
1
2
(23a)

r
r
r s
r
m
r
T
j i
T
L
s e + = )
1
( (24a)


c. The rotor reference frame e
e
=e
r



s
s
r
r
r r s
m
s r
r s
s
u
L
j
T L L
L
i j
T T
i s
o
+ e
o
+ e +
o
o
+
o
=
1
)
1
( )
1 1
( (23c)

r
r
s
r
m
r
T
i
T
L
s =
1
(24c)


Block diagram of the induction machine rotor flux model.





The stator flux model


Input: u =u
s

State: x =[i
s
,
s
]
T

Ouput: y =x
1
=i
s



The arbitrary reference frame


s
s
s
r
r s
s r e
r s
s
u
L
j
T L
i j
T T
i s
o
+ e
o
+ e e +
o
+
o
=
1
)
1
(
1
)) (
1 1
( (27)

s
s
e s s
s
u j i R s + e = (28)


(
(

e
e
o
e e +
o
+
o

=
e s
r
r s
r e
r s
j R
j
T L
j
T T
A
)
1
(
1
)) (
1 1
(
(29)
| | 0 1 = C ,
T
s
L
B
(

o
= 1
1
(30)


a. The stationary reference frame (the stator reference frame) e
e
=0


s
s
s
r
r s
s r
r s
s
u
L
j
T L
i j
T T
i s
o
+ e
o
+ e +
o

o
=
1
)
1
(
1
)
1 1
( (27a)

s s s
s
u i R s + = (28a)


c. The rotor reference frame e
e
=e
r



s
s
s
r
r s
s
r s
s
u
L
j
T L
i
T T
i s
o
+ e
o
+
o
+
o
=
1
)
1
(
1
)
1 1
( (27c)

s
s
r s s
s
u j i R s + e = (28c)



Block diagram of the induction machine stator flux model.





The flux model

Input: u =u
s

State: x =[
s

r
]
T

Ouput: y =i
s


The arbitrary reference frame


s
r
s r
m
s
e
s
s
u
T L
L
j
T
s +
o
+ e +
o
= )
1
( (31)

r
r e
r
s
r s
m
r
j
T T L
L
s e e +
o

o
= )) (
1
(
(32)

(
(
(
(

e e +
o

o
o
e +
o

=
)) (
1
(
)
1
(
r e
r r s
m
s r
m
e
s
j
T T L
L
T L
L
j
T
A
(33)
(

o
=
r s
m
s
L L
L
L
C
1
, | |
T
B 0 1 = (34)


a. The stationary reference frame (the stator reference frame) e
e
=0


s
r
s r
m
s
s
s
u
T L
L
T
s +
o
+
o
=
1
(31a)

r
r
r
s
r s
m
r
j
T T L
L
s e
o

o
= )
1
( (32a)


c. The rotor reference frame e
e
=e
r



s
r
s r
m
s
r
s
s
u
T L
L
j
T
s +
o
+ e +
o
= )
1
( (31c)

r
r
s
r s
m
r
T T L
L
s
o

o
=
1
(32c)

The output is


2
m r s
r
m
s
r
s
L L L
L L
i

=
(35)


Block diagram of the induction machine flux model.





Eigenvalues


0 ) det( = A sI (36)

Stationary reference frame



Synchronous reference frame