MOD 2 : LECTURE – 22

PIARA SINGH
2004EE20374
GROUP 4

INTRODUCTION:

Induction machines are needed to be controlled to satisfy the criteria and specifications
such as efficiency and controllability, stability and robustness, tracking and disturbance
attenuation, etc. To solve the motion control problem, the current trends must be
analyzed. There is a critical need to design robust control laws using electric machine
features and the major concepts applied are the voltage frequency control (induction
machine modeled in the abc or qd0 variables) However, to synthesize control algorithms,
to perform the analysis needed, and to design optimal energy management systems,
complete mathematical models must be developed first. It was demonstrated that using
Kirchhoff s voltage law, the differential equations which map the circuitry dynamics can
be straight forwardly derived. However, the resulting differential equations in Cauchy’s
form to describe induction machines dynamics in the abc and qd0 variables are needed.

In this lecture, motor transients and dynamics of induction motors are taken up.

LECTURE:

To analyze the response of the induction motor to transients, the generalized model of the
machines will be used. The machine parameters are transformed to a particular axes,
maybe to rotor or to a particular arbitrary axes.

Capacitor start induction machine:

The main feature of this machine is the capacitor in the auxiliary winding. The schematic
diagram for this machine is shown below:
 Ia A

M
V
Im

To analyze this machine, both the auxiliary winding and the field windings need to be
considered during starting. However, only one winding needs to be considered for the
running operation. Hence two circuits are needed to analyze the machine: one for starting
and the other for running.

Types of transients:

The transient period is defined as the period when the machine changes its state from one
steady state to another. Different types of transients are:

1) Run up transients:
These are the stating transients and occur when a particular voltage is applied to
the motor when it is at zero speed and voltage.
2) Load change transients:
These transients come into effect when, under steady state, the loads being served
by the machine vary.
3) Voltage change:
These transients come into the picture when the voltage being supplied by the
machine to the changes. This could occur when more power needs to be supplied
to the load attached or the motor is being switched off.
4) Single phasing:
These occur when, while operating at a steady state, one of the phases of the line
is disconnected.
 5) Line fault :
This occurs when there is a short circuit in one or more phases of the line. The
sudden change in the currents flowing through the line induces a transient period.
6) Braking:
Braking of a machine from an operating point also induces a transient state as the
nature of braking decides the torque required at a particular instant of time. The
current flowing through also changes during the process which again depends on
the torque requirements

RUN UP TRANSIENTS:

During this analysis, we are interested in the voltages that are developed once the initial
starting voltage is applied. Initially the motor is in the rest state. We are also interested in
the speed and the torque developed as a function of speed during the course of the
transient period.

Known variables : X1s, X1r, Rr, Rs, J, H

Unknown variables : [v], Tl, [i], w

In order to find p[i], the model equation are needed which depend on the axes to which
the parameters are being transformed. In this example, all values are being transformed to
the stator winding

[ x] p[i ] = [v]
-

⎡ xs 0 xm 0⎤
⎢0 xs 0 xm ⎥⎥
-
[ x] = ⎢
⎢ xm 0 xr 0⎥
⎢ ⎥
⎣0 xm 0 xr ⎦
Where:
Xs = Xls + Xm
Xr = Xlr + Xm
 Also in the stator frame:

- Vsx = Rs Isx + Xs pIsx + Xm pIsx

- Vsy = Rs Isy + Xs pIsy + Xm pIsy
- 0 = Rr Irx + Xr pIrx + Xm pIsx + v (Xr Isy + Xm Isy )
- 0 = Rr Iry + Xr pIry + Xm pIsy + v (Xr Isx + Xm Isx )

From the above equations we can rewrite in vector form :

⎡ vsx − Rs isx ⎤
⎢ v − R i ⎥
[ v ] = ⎢ − R i − υ x i − υ x i ⎥⎥
⎢ sy s sy

r rx m sy r ry
⎢ ⎥
⎢⎣ − Rr iry + υ xmisx + υ xr irx ⎥⎦
−1
p[i ] = [ x] [v]
In order to find p[v]

Te1 = 2 xm ( irx isy − iry isx )

Mechanicalequation :
dwr
Te − TL = J
dt
(VA)base
Tbase =
wm
All these values are in pu system and are referred to the base value of the system 1.

Therefore in the pu system

dwr
Te TL
J ( wm )
− = dt
-
Tbase 2 Tbase 2 VAbase
1 2
Since: Jw m
H=2 sec
VAbase
VAbase H
∴J =
1 2
wm
2
 2 H dwr
Te 2 ( pu ) − TL ( pu ) =
wm dt
2H d
= (υ wm )
wm dt
Also we know that

Te 2 ( pu ) − TL ( pu )
d
= 2H (υ )
dt
= 2 Hwpυ
sin ce
1 d
p=
w dt
where
w = baseelectricalradians / sec

Therefore from the above equations, we get

(Te − TL ) pu
pυ =
2wH
SIMULATION:

The transients characteristics of the induction machine are now simulated using the
simulink software. The machine parameters that are used are mentioned below:

- stator resistance : 0.0394

- rotor resistance : 0.071
- stator leakage reactance : 0.1
- rotor leakage reactance : 0.1
- magnetizing inductance : 2.6
- H : 0.075 sec
- J : 0.045 kg-m2
- Tl (no load) : (0.034 + 0.025 v) pu
- Tl (under load) : (0.05 + 0.9 v^2)
Now if a given constant torque is applied and the developed torque is measured,
following results are obtained :

In the above figure, the green curves are the electromagnetic torque developed by the
machine. The developed torque goes through wide variations before settling down on a
constant value which equals to the load torque developed when a voltage is applied from
the rest position. The blue curve depicts the load torque, which goes through a step
change after a period of steady operation is obtained.
The currents waveforms obtained are shown below:

The first curve shows the variations of I (d-q) with time, the second one the variation of
I(a-b) with time and the third one shows the variations of I (abc) with time.
In the curves below, the first curve shows the variations of v (d-q) with time, the second
one the variation of v(a-b) with time and the third one shows the variations of v (abc)
with time.
The following curves represent the steady state characteristics from the d-q model. These
curves represent the initial dynamics of the machine
The following curves represent the steady state characteristics from the equivalent circuit
of the machine:

The following curves represent the speed and torque characteristics of the induction
machine:
The following curves represent the transients in the induction machine with load torque
changes

The blue curves represent the id-iq currents with time variations and the red curve
represents the variation of the stator current with time:
The next curve depicts the dynamic torque vs speed curve of the machine