IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO.
5, SEPTEMBER/OCTOBER 1983
The Influence of Saturation on Induction Machine Drive
Dynamics
JAN A. A. MELKEBEEK, MEMBER, IEEE, AND
Abstract-A small signal model which employs two different mag-
netizing reactances to incorporate the effect of main flux saturation on
induction machine dynamic response is presented. Three different
types of experiments which confirm the improved accuracy of the
saturated model are discussed, and the model is used to examine the
effect of saturation on dynamic response in variable frequency appli-
cations. The results indicate that whereas saturation has a relatively
small effect under normal operating conditions, it does have an im-
portant stabilizing effect when the damping is poor. It is also shown
that neglecting saturation leads to significant errors in both pole and
zero locations when the operating frequency is low.
INTRODUCTION
IN RECENT years the small signal dynamic behavior of
induction machines in variable frequency drives has been
studied in some detail [1] -[3]. The results have been gener-
ally very useful, predicting all of the trends observed in prac-
tice. However, experimental verification of predicted response
typically indicates the predictions are too pessimistic as re-
gards stability and damping [2], [4], [5]. The purpose of
this paper is to show that the main cause for this discrepancy
is the inadequate representation of main flux saturation and
to explore in detail the influence of saturation on machine
dynamics with special reference to variable frequency applica-
tions.
Small Signal Model with Main Flux Saturation
The small signal model incorporating main flux saturation
which is the basis of the results- presented in this paper has
only recently been developed and reported in the literature
t5] -[7]. Although developed independently, it is somewhat
similar in concept to the saturated small signal model for
synchronous machines developed by Lemay and Barton [8].
In essence, the model recognizes the inherent difference be-
tween the influence of incremental current changes in the
axis of the main flux and in quadrature with the main flux.
This difference is incorporated in the model by a two step
process:
1) rotating the axes of the two axis small signal model to
align the model axes in phase and in quadrature with the
steady state main flux, and
Paper IPCSD 83-6, approved by the Industrial Drives Committee of
the IEEE Industry Applications Society for presentation at the 1982
Industry Applications Society Annual Meeting, San Francisco, CA,-
October 4-8. Manuscript released for publication January 31, 1983.
J. A. A. Melkebeek is with the Laboratory for Electrical Machinery,
State University of Gent, Sint-Pietersnieuwstraat 41, 9000 Gent,
Belgium.
D. W. Novotny is with the Department of Electrical and Computer
Engineering, University of Wisconsin-Madison, 1415 Johnson Drive,
Madison, WI 53706.
0093-9994/83/0900-0671$01 .00 i 1983 IEEE
671
DONALD W. NOVOTNY, SENIOR MEMBER, IEEE
2) using two different magnetizing inductance values
to represent the effect of incremental current changes
in the two axes.
A brief explanation of these two steps will be given to assist
in interpreting the results in the paper.
Flux Oriented Two Axis Model
For convenience, the conventional synchronously rotating
two axis model used in small signal analysis is typically aligned
so that the applied voltage is entirely in one axis. This choice
is completely arbitrary since the machine is assumed to be
symmetric cylindrically. To allow representation of different
magnetization characteristics in the flux axis and in quadrature
with the flux, it is necessary to align the axes with the air
gap voltage instead of with the applied voltage. This can be
readily accomplished by carrying out the normal steady state
computation required to evaluate the operating point using
the voltage as reference. A rotation of the two axis coordinate
system can then be carried out as illustrated in Fig. 1.
The angle ,B between the applied voltage and the air gap
voltage represents the rotation needed to realign the two
axes in the desired position. After the rotation, the air gap
voltage will be along the x-axis as illustrated in Fig. 1. From
the point of view of the small signal model, this operation
results in a modification of the components of the steady
state currents which appear in the small signal equations.
In general, a rotation of angle 6 in the positive trigonometric
direction transforms a vector according to
anew = aolde'. (1)
For induction motors, the angle 6 is equal to -j where 13-
angle V-angle E as illustrated in Fig. 1 and all steady state
currents transform according to (1).
Definitions of Magnetizing Reactances
Fig. 2 illustrates a typical magnetization characteristic
for an induction machine showing the nonlinear relationship
between the magnetizing current and the air gap voltage.
For steady state conditions at a particular air gap voltage
Eo and magnetizing current Io, the "chord slope" saturated
magnetizing reactance correctly represents the relationship
between the amplitude of the rotating flux wave (propor-
tional to E) and the amplitude of the corresponding steady
state rotating magnetomotive force (MMF) wave (propor-
tional to IO). The value of this reactance is strongly depend-
ent on the operating point with smaller reactance values
associated with higher values of E0. This representation of
672 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 5, SEPTEMBER/OCTOBER 1983
old y
POSITIVE ROTATION
I\ DRECTION
Ir
Fig. 1. Rotation of reference axes to obtain flux oriented two axis
model.
Fig. 2. Magnetization characteristic showing gteady state and transient
saturated magnetizing reactances.
steady state saturation effects is widely used and gives quite
acceptable predictions of the steady state performance of
saturated machines.
In the conventional two axis small signal model this same
reactance is also used to represent the small flux changes
associated with incremental changes in currents. These small
flux changes can be viewed as incremental changes in the
amplitude and phase (with respect to the synchronously
rotating reference) of the rotating flux wave in the machine
caused by incremental amplitude and phase changes of the
MMF wave. It seems clear that if we consider an incremental
change which results in a change in the amplitude of the MMF
wave, the resulting flux wave amplitude is a nonlinear function
of the total MMF (steady state plus incremental change)
and the chord slope reactance will not correctly express the
change. Instead the tangent slope to the magnetization curve,
identified as the "transient saturated reactance" in Fig.; 2,
gives the appropriate relation between the change in flux
amplitude and the change in MMF amplitude. Conversely,
for incremental changes which affect only the phase of the
MMF wave the normal chord slope reactance does represent
the correct relationship since no amplitude variation is en-
countered (for incremental changes).
Therefore, in the saturated model of this paper, for incre-
mental current variations which result in changes of saturation
level the tangent slope reactance or "transient saturated
reactance" is employed. For incremental current changes
which affect only the phase of the flux wave as well as for
terms proportional to the operating point flux (speed voltages)
the normal chord slope steady state reactance is used [5] -
[7].
Saturated Small Signal Equations
The implementation of these ideas in the small signal
model is relatively simple. The alignment of the axes with the
air gap voltage instead of with the terminal voltage produces
two axis current components which act in line with and in
quadrature to the flux (or MMF) wave. The components in
line with the flux (y-axis in Fig. 1) tend to change the satura-
tion level and call for use of the tangent slope reactance. The
other component (x-axis) and all steady state terms use the
normal chord slope reactance. Table I gives the resulting
saturated small signal equations where the various symbols
have their usual meanings except that the inductances with a
subscript t refer to tangent slope or transient saturated values.
Note that the equations reduce to the conventional small
signal equations if all t subscripts are changed to o subscripts.
The assumptions on which these equations are based are
essentially the same as those for the conventional two axis
model except that main flux saturation in the flux axis is
incorporated. A more subtle difference between the two
models exists with respect to the division of the flux into
leakage and magnetizing components. In the conventional
model this division is actually quite arbitrary; any division
whatsoever can be assumed and a completely equivalent
model results if the remaining parameters are properly evalu-
ated. This is no longer true for the saturated model and, in
principle, the division of leakage must be known to obtain
an accurate representation. The influence of leakage division
is treated in detail in [5] -[7] and is shown to be a secondary
effect. This issue is neglected in this presentation; in effect,
the model assumes the leakage division is important only in
terms of defining the air gap voltage and the corresponding
magnetizing reactances.
The Saturation Parameter y
The saturated model of Table I really requires only one
more parameter than the conventional model; specifically the
transient saturated magnetizing reactance Xm t. It is conven-
ient to define the ratio of Xmo to Xmt as the new parameter
and introduce the dimensionless "transient saturation ratio"
-y defined as
7= xmo (2)
Xmt
With this definition, an unsaturated machine has y = 1. The
range of y encountered in machines appears to be from one to
as much as five in highly saturated (over-excited) cases. It is
very interesting to note that with y as large as five, the mutual
inductance terms in the x and y axes of the saturated model
will differ by a factor of five. With these large differences in
MELKEBEEK AND NOVOTNY: SATURATION ON INDUCTION MACHINE DRIVE DYNAMICS 673

TABLE I
SMALL SIGNAL MODEL WITH MAIN FLUX SATURATION INCLUDED
v= R +L P -w L P - M -L AW -M Aw
sx s so o0 st 00 t sx so 0 sxo
L M
Avsy = w0Lso Rs sLSt 0oM0 mtP Ait-S Ls AW O Mot°A 0
isyo
° = MoP -(w-O )Mt R +LroP -t° oo)Lt Ai + 0 -M (Au-AO) 0 -L '(Awrxo

° = w )M MtP (w -O )L R +L P Ai (LW-AO
M ) 0 L (Aw-AO) 0
LA 0 0 0 0 ro r rt I,r 0 ro j- Lryol
2 P [M 0 (I syo Ai rx -I ryo Ai sx ) + M t (I rxo Ai sy -I sxo Ai ry )]
T = -N

u
0
= steady state stator frequency 0
0
steady state rotor speed Np = no. of pole pairs
II I ro ryI = steady state currents in flux oriented coordinates - see Fig. 1
sxo' syo' rxo ryo
R = stator resistance
s Li1r = stator leakage inductance R = rotor resistance L
2
rotor leakage inductance
M = chord slope magnetizing inductance Mt = tangent slope magnetizing inductance

L
s0 =`L1+M
1 o
L
ro
= L +M
2 o
L
st
= L1+M
1 t
L
rt
= L
,2
+ M
t
For conventional linear model set Mt = M

the matrix entries one would expect large differences in, for U,

example, the eigenvalues. However, this is not the case; in fact a -2

0
the differences are surprisingly small but in some cases the
+ 20
effect on dynamic response is quite significant. It is even
possible to consider the limiting case of y approaching infinity V =1.0 PU / LINEAR MODEL
and obtain quite reasonable bounds on the dynamic effect of
saturation. - 0
SATURATED MODEL

EXPERIMENTAL VERIFICATION %.

With any new theoretical model, experimental confirma- -10 //+ + + \ '
tion that the new approach is valid is of the utmost impor- V = 0.53 Pu
+\ .
BOTH, MODELS

tance. This issue has been investigated in three separate types

of experiments, leaving little doubt about the improved ac- 10 20 50 FREQUENCY
curacy of the saturated model for a wide range of operating (Hz)
conditions. (a)

Frequency Response
The first class of experiments used comparisons of cal- . _~~ ~ ~ -N AMPLITUDE MODULATED
culated and measured frequency response curves. The actual AMPLITUDE MODULATED
INPUT VOLTAGE AV
OUTPUT SPEED AuW
tests involved modulation of the amplitude of the input
voltages and measurement of the speed response with zero (b)
shaft load [5], [6], [9]. The modulated three phase supply Fig. 3. Comparison of measured and calculated frequency response
illustrating improved accuracy of the saturated model.
was obtained by modulating the field of an alternator. An
extensive series of tests was run at varying degrees of satura-
tion for several small induction machines (6 kW or less). ing the steady state solution for self-excitation. The saturated
In all cases, a much improved correlation with measurement model, however, yields the very interesting result that the
was found using the saturated model. One sample is shown in limit cycle is stable if y > 1 and unstable if y < 1. At first this
Fig. 3 where the greatly improved accuracy of the saturated result seems unrealistic since the usual magnetization curve is
model is clearly shown. Whereas differences of up to 10 dB drawn in such a way that y is always greater than one (see Fig.
were observed at 1.1-pu saturation using the linear model, 2). However, the actual shape of the magnetization curve at
the maximum deviation from experimental results was less low values of flux is not the linear curve usually shown but has
than 2 dB with the saturated model. A detailed discussion of the shape shown in Fig. 4. Clearly, below the value qc, the
these experiments can be found in [5], [6], [9]. chord slope is less than the tangent slope and y < 1. Thus, the
saturated model predicts that below q5 self-excitation is
Capacitive Self-Excitation unstable. This was carefully tested in the experiments reported
A second class of experiments involved the dynamic re- in [7] and [101, and it was found that as the speed of a self-
sponse of a capacitive self-excited induction generator. A excited induction generator is reduced, self-excitation always
complete theoretical analysis and the experimental results are ceases at the same flux no matter what the load resistance or
contained in [7] and [10]. It is shown in these references capacitance values are. Moreover, this flux level is the value
that the normal small signal model is completely useless as c in Fig. 4 as predicted. This is a powerful argument in favor
a means of studying the stability of the limit cycle represent- of the validity of the saturated model.
674 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL.
Y>l
oc -r <
slope
tangent slope
MAGNETIZING CURRENT Im
Fig. 4. Typical shape of magnetization curve showing region where
7<1.
Stability Limits
A third type of experiment was carried out in the prepara-
tion of this paper. These experiments involved direct meas-
urement of stability limits and are especially significant since
they relate to one of the primary applications of small signal
theory.
The actual experiment consisted of adding resistance to
the stator circuits of the test machine to create an unstable
limit cycle oscillation. A stability analysis using the conven-
tional small signal model indicates that there is a limited range
of added resistance which will cause instability; the goal was
to measure the actual resistance needed and compare the
results with calculated values. While the test is basically very
simple, the actual determination of the boundaries requires
considerable time and attention to detail. The technique em-
ployed to define the boundary was to apply a small step dis-
turbance and observe whether the response was positively or
negatively damped. Fig. 5 illustrates the nature of the re-
sponses for the test machine. With this technique each stability
boundary could be bracketed between two of the steps availa-
ble in the variable resistors. It should be noted that small
amounts of added inductance can cause significant changes in
the stability boundary; noninductive resistors are necessary
to avoid this complication.
The results of the test are summarized in Table II using the
ratio of total stator resistance to the rotor resistance as the
parameter. Fig. 6 gives the magnetization curve and param-
eters of the test machine. Tests were run for a range of volt-
ages to allow evaluation of the importance of saturation. At
low voltage (220 V or 0.58 pu) both the conventional and
saturated models give good quantitative predictions of the
results. As the voltage is increased the region of instability
shrinks and both models predict this effect. However, the
quantitative accuracy of the conventional model becomes
poorer and poorer as the voltage increases. The changes in the
predicted limits of the conventional model are largely a result
of the decreasing value of the chord slope reactance Xmo as
voltage increases and this effect alone is obviously not suf-
ficient to give good correspondence with measurements.
The predictions based on the saturated model, however,
IA-19, NO. 5, SEPTEMBER/OCTOBER 1983
remain quite close to the measured values as the voltage in-
creases. In this case both Xmo and Xmt (or y) are responsi-
ble for the change in predictions, and the two effects to-
gether clearly improve the accuracy of the model greatly.
The difference between the conventional and saturated models
is quite striking in the voltage range from 326-328 V where
at 326 V there is still a small region of instability which
completely disappears at 328 V. The saturated model agrees
most satisfactorily with the measurements while the conven-
tional model is clearly not adequate in this voltage range.
The excellent agreement between measured performance
and predicted performance based on the saturated model
in the three sets of experiments is strong evidence supporting
the saturated model as an improved representation of small
signal dynamic behavior in induction machines.
INFLUENCE OF SATURATION ON DYNAMIC RESPONSE
The remainder of the paper is devoted to the general in-
fluence of transient saturation on the small signal dynamic
response of induction machines. Although the quantitative
influence is strongly dependent on the parameters and operat-
ing point condition of the specific machine under study, a
number of general qualitative conclusions can be stated. In
general, transient saturation tends to produce more stable,
better damped response. While this effect is often relatively
small, it can be very significant in regions where the damping
is small. This result and the experimental confirmation pre-
sented in the previous section suggest that a large part of the
error previously reported in using the conventional small signal
model can be attributed to neglecting transient saturation.
Significant shifts in the zero locations for frequency and volt-
age disturbances were also observed, suggesting that step
response computations may also be considerably in error if
transient saturation is neglected.
Dynamic Response Parameters
To assist in describing these effects it is useful to introduce
a set of parameters which greatly reduces the number of quan-
tities needed to describe small signal dynamic response [3],
[6], [9], [11]. The parameters and their definitions with
respect to the conventional parameters are given in Table III.
A corresponding set of per unit small signal equations based
on these parameters is given in the Appendix.
Two of the parameters are the short circuit transient
time constants associated with the rotor and stator. These
electrical time constants are similar in concept to the corre-
sponding quantities in synchronous machines except that they
are normally roughly equal in size because of the similarity of
the rotor and stator windings in induction machines. Note
that these time constants are essentially independent of main
flux saturation since they are basically determined by the
total leakage inductance. The third parameter is the "elec-
tromechanical time constant" Tm ' which depends on the
machine inertia and the steady state torque speed characteris-
tic. For small values of slip, Tm' corresponds to the time
constant of the mechanical system if the steady state torque
curve could be applied to the transient state, i.e., if the electri-
cal time constants were very short compared to Tm'. For
MELKEBEEK AND NOVOTNY: SATURATION ON INDUCTION MACHINE DRIVE DYNAMICS 675

(a)

It

x
vI' TIME
(b)
Fig. 5. Recordings of speed versus time following a step disturbance during stability experiments. (a) 220 V, Rs/r =6.44.
(b) 328 V, RsJRr 10.46. =

TABLE II
EXPERIMENTAL RESULTS-STABILITY BOUNDARY TESTSI
Supply Supply Boundaries Boundaries
Measurements
Voltage (pu) Voltage (V) Classical Model Saturated Model
lw bu a betswireen
ower boundary uppr oboun&kalary.
upper between
lower upper lower upper
stable - unstabl,e stable - unstable
.58 220 4.80 29.6 5.625 28.5 5.99 - 6.3 28.0 - 29.1
.63 240 4.75 28.12 5.5 27.0 5.46 - 5.87 26.66 - 28.18
.68 260 4.68 27.5 5.3 26.0 5.88 - 6.16 25.38 - 26.85
.75 285 4.9 23.7 5.6 21.4 6.31 - 6.42 21.27 - 22.15
.79 300 5.5 21.5 6.37 18.5 6.59 - 6.73 18.37 - 19.75
.842 320 5.62 19.0 7.25 14.87 7.5 - 8.68 14.22 - 14.71
.852 324 5.8 18.37 8.06 13.12 7.24 - 8.4 13.5 - 14 .33
.858 326 5.9 17.75 8.70 11.5 9.16 - 9.27 11.59 - 12.56
.863 328 6.06 16.56 NO INSTABILITY NO INSTABILITY

1 Table entries are values of the ratio RJRr where Rs is total stator circuit resistance.
676 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 5, SEPTEMBER/OCTOBER 1983

1.0
Rs 3.41Q
= Rr 1.89Q
=

XI 3.58Qa
= X2 -2.85QS
J a6.25x10-3kg m2
E
38volts 2.2 kW

5OHz 1405 rpm

5.8 amp

Parameters Include
Source Impedance

0
0 0.5 tm- 1.0
Fig. 6. Magnetization curve and parameters of test machine used in
stability experiments.

TABLE III
DEFINITIONS AND APPROXIMATE EXPRESSIONS FOR DYNAMIC RESPONSE PARAMETERS

_______________________________Expression
Name Definition Approximate Additional Definitions of Terms
______________________
DL ~~x
+x
Rotor Short Circuit Transient T' T -5 1 2 x = stator leakage reactance
Time Constant r R r
aL x +x x2 = rotor leakage reactance
Stator Short Circuit Transient T' = SO T 1 2 x = chord slope magnetizing reactance
Time Constant s R s
JwS Js w T0 = operating point torque
Electromechanical Time Constant T' = R w = sw = operating point slip frequency
m NT m NTR s0 o
T = rated torque
Magnetic Parameter (total leakage M
2
x +xx2
~~~~~~R
SR = rated slip
coefficient) C 1- C5 = atd2reuec
N
soLro mo wR = rated frequency
J = total rotor inertia
Transient Saturation Parameter Y .j Same
t

operation at fixed V/H, Tm' is essentially a constant for a

given machine; it is only slightly affected by steady 'state
saturation since Xmo- has only a small effect on steady state
torque for small slip values.
The remaining parameters describe the magnetic circuit of
the machine. The magnetic parameter (total leakage coeffi-
cient) a is defined in terms of the self and magnetizing in-
ductances but is well approximated as the ratio of total Fwr
leakage reactance to magnetizing reactance
Fig. 7. Small signal block diagram of induction machine.
Lmo2 X1 + X2
a= 1l- -- = (3)
LsoLro Xm o small signal variations (AV, Axo, AWr = A6) and the cor-
Note that a depends on the chord slope magnetizing reactance responding contribution to the total electromagnetic torque.
and as such reflects' the degree of steady state saturation in The form of each of these transfer functions is
the machine. Typical values for a lie in the range 0.03-0.10
with the larger values tending to occur in small machines. Nx
The final parameter is y which has already been defined.
GX = D
(4)

Small Signal Block Diagram where N, and D are polynomials describing the zeros and
The conventional small signal equations have been used by poles, respectively, of the particular block in the diagram.
many authors [3], [6], [9], [11] to develop a block diagram The roots of D are the open loop (or constant speed) poles
representation of the induction machine as shown in Fig. 7. of the motor and are the same for each block. In general,
The same diagram applies with transient saturation included N, and D be shown to depend Tr', the operat- can on Ta', y,

and can be used to study the influence of variations in -y. Each ing frequency coo, and the slip s, but not on Tm' [3], [6],
block represents the transfer function between the respective [1 1 J. The gain K. in general also depends on Tm'.
MELKEBEEK AND NOVOTNY: SATURATION ON INDUCTION MACHINE DRIVE DYNAMICS
.I
t
r =I
Y >1
LOW FREQUENCY HIGH FREQUENCY
(w T, small) (w TI large)
Fig. 8. Typical root loci of induction machine showing general effect
of transient saturation (exaggerated).
Overall Transfer Functions
The overall (nonconstant speed) motor poles which char-
acterize the dynamic response are the roots of the characteris-
tic equation of the closed loop in Fig. 7. This equation has the
form
Kw Nwr
1 +Np. 0 (5)
J Dp
where Nr,r is a third order polynomial and D is of fourth or-
der. The gain can be shown to depend directly on the ratio
Tr'/Tmt' which thus becomes -an important characteristic
quantity of an induction machine [3], [6]. The root locus of
(5) has five branches starting on the four roots of D and at
the inertial pole at the origin. Three of the branches end on
the roots of N,r and the two remaining branches extend to
infinity in the ±jco directions. Fig. 8 illustrates typical loci
and shows the general effect of transient saturation ( > 1).
Note that for most of the loci, transient saturation has a small
effect but there is a general leftward shift which is especially
significant in the regions of poor damping.
The overall transfer functions of the machine all have the
same poles given by the roots of (5) and illustrated in the
root loci of Fig. 8. The zeros of each transfer function, how-
ever, differ and are given by the appropriate numerator
polynomial of the overall transfer functions of Fig. 7. A
general study of the effect of transient saturation on the pole-
zero locations was carried out and the significant effects
are summarized below.
Open Loop Pole-Zero Locations
The study was carried out for the typical case of Tr'/Ts'
equal to one and used a constant a value of 0.04. In general,
it was found that the shifting of the poles and zeros was quite
small if the product co0Tr' was large (cooTr' > 5). There was,
in general, a small leftward shift of the poles and zeros; how-
ever, the only important effect of these changes is caused
by the interaction of the poles and zeros of the feedback
loop which alters the root locus significantly in the region of
low damping (see Fig. 8 for large co0Tr'). This will be ex-
amined in more detail in connection with stability boundaries.
677
For smaller values of o,Tr' there were a number of quite
significant shifts in pole-zero locations. The largest changes
were in the zeros for voltage inputs. For positive slip the
two complex zeros were found to shift leftward very signi-
ficantly when OoTr' < 2; a shift of 60 percent at woTr' =
0.5 with y = 2 was found for example. The right half plane
(RHP) zero which is known to exist for negative slip was
also significantly shifted leftward for this region of woTr'.
These effects are large enough to cause very significant errors
in step response predictions or control loop design. Thus,
when the voltage zeros are important, transient saturation
should be included if cooTr' is small (less than 2). Higher
values of slip magnitude were found to amplify further the
effect of transient saturation.
Similar results were obtained for the zeros for frequency
inputs. In this case the RHP zero which exists for motor
operation was found to move farther to the right as a result
of transient saturation. For regeneration, one of the left
half plane poles moves significantly to the left. These effects
can become quite large for small woTr' (less than 1) and are
also amplified by increased values of slip magnitude. As
for the voltage zeros, transient saturation must be included
if accurate results are desired at low values of coo Tr'.
Somewhat smaller changes were found to occur for the
open loop poles and the zeros of the feedback loop. However,
since these changes affect the overall root locus and are
interacting effects, they have significant impact on the low
COOTr' root loci (see Fig. 8). Generally the leftward shift is less
than 10 percent for &OT,' > 1 but can reach 50 percent for
7 = 2 and ojoTr' = 0.2. Although these low frequencies are of
limited practical importance, they can be significant for
small machines operated at low speed. Fig. 9 illustrates two
actual loci for low (OoTr' to illustrate the pole-zero shifts
and the resulting root locus modification.
The open loop poles are also the zeros for torque disturb-
ances. Since the shift of these quantities is generally small,
the torque zeros are not much affected by transient saturation
except for very low values of coTr', and it is reasonable to
neglect saturation in most cases.
STABILITY BOUNDARIES AND WORST DAMPING
The leftward shift of the overall root locus in the region
of low damping is perhaps the most significant effect of
transient saturation. To explore this effect more carefully
and provide a quantitative measure of the shift of the locus,
the stability boundaries were investigated in greater detail.
These boundaries represent the set of points where the root
locus crosses into the RHP. Somewhere within the region of
instability the roots reach their furthest RHP penetration,
and this "worst damping" condition is also a useful means of
characterizing the stabilizing effect of saturation.
A very useful limiting case of an ideal machine in which
the magnetizing reactance is infinite (a = 0) is treated first.
This special case provides considerable insight into the nature
of the stability boundaries and worst damping condition
and a very clear indication of the influence of both steady
state saturation (increasing a) and transient saturation (in-
creasing-y) [6], [11], [12].
678 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 5, SEPTEMBER/OCTOBER 1983

wo Tr' = 5
>
Tn
Tr
- Ill 0.01 _
(a)

9.,, w0TTr' - 2 0.001

0.01 0.1 1
WoTr 1

Fig. 10. Stability boundaries and worst damping lines for a = O.

-(b)

/~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
woTr' =0.625
w0T
I/ Tr_o 5
t05
Tl
c=)
(c)=
I

Fig. 9. Actual root loci showing effect of transient saturation a = 0.04.

Tr'/TS' = 1.
0.01 0.1 , 1.0
Limiting Case-a = 0 1at oTr
Fig. 11. Real part of root at worst damping for a =0.
For zero slip and a = 0, only four parameters remain;
TrI, Ts', Tm', and c. For this special case the fifth order points found by a numerical search along lines of constant
characteristic equation of the machine can be solved in closed COoTr'. A similar search along lines of constant Tm '/Tr' will
form for the points where there are roots on the ji axis, i.e.,
the stability boundaries. The resulting expressions are [6], yield a slightly different line; however, the difference is small
except at very low values of w,oTr'. Fig. 11 is a plot of the
[11], [12] value of the real part of the worst damped roots in per unit
based on the actual operating point frequency co0 (labeled
TMt
Tm _ in terms of the time constant of the roots T'). Note that at
Tr
(1 + T )/ [(oTr')
(1±T+ )j
the stability boundary crossing point (8) the roots are exactly
on the jco axis.
2Tm' It is clear that this crossing point of the boundaries divides
the total instability region into two sub-regions; one for large
(WoiTr ).2Tr Tr
values of w,, Tr' or high frequencies and one for low values of
(

WoTr' or low frequencies. The relative size and strength (RHP

* [1
+ m' (1+ r)].(7) penetratiQn) of the two regions have quite different dependence
on Tr'/Ts'. With respect to size the dependence is quite oppo-
site, an increase in Tr'/Ts' tending to expand the low fre-
If the electrical time constant ratio Tr'/Ts' is treated as a quency region and shrink the high frequency region (Pig.
parameter, (6) and (7) can be plotted in the plane of Tm '/Tr' 10). For the normal range of Tr'/Ts' (0.5 - 2), the worst
versus lI&oTr' as shown in Fig. 10. It is easily shown that the damping becomes progressively worse as TrtiTs' increases for
two curves cross at the point both regions; however, for large values of Tr'/Ts', the damping
again improves for increasing Tr'/Ts5 in the low frequency
Tm' 1 1 1 region (Fig. 11). An interesting point to note is that the
Tr' 2(1 + TrYlTs') '&cT, 1 + Tr /Ts instability regions do not disappear in the limiting case of
Tr'/Ts' approaching zero (zero stator resistance). A complete
Unstable operation corresponds to points between the two analysis of this case is given in [6] and [12].
boundary curves for a given Tr'/Ts' (shaded for Tr'!Ts' = 2 For the a = 0 case, any specific machine with specific
in Fig. 10). values of Tr', Ts', and Tm' will enter one or the other in-
The dashed curves in Fig. 10 represent the worst damped stability region for some range of co0 (a single frequency
MELKEBEEK AND NOVOTNY: SATURATION ON INDUCTION MACHINE DRIVE DYNAMICS 679
A
I-r=0.12 0.045
o=0.08

0.03C
I. "0'\s i
0. 'r =I. "0
0
Tr' =1.0
w0T
T
Is 1-' O
'r =1.0 o
I /w T, 0.1 ' '1.0
= 0
= 0.04 -" 0=0.04
-0.015 -
r= 0.08
r- 0.12
-0.03
aC-0. 12
Fig. 13. Real part of root at worst damping showing effect of a.
0.01
1/w0
1/ Tr
T I0
Fig. 12. Stability boundaries and worst damping lines showing effect
of a.
' ,/' o~0.04
for the special case of the crossing point of(8)). The stability 0.1 ' K';/ cr=0.04,
experiment described earlier employed added stator resistance Tr=0.04, aD=°
to increase Tr'/Ts' and thus enlarge the low frequency instabil-
ity until the test machine became unstable at 50 Hz. The T,Tr, -.
more commonly encountered instability in voltage inverter
driven machines at reduced operating frequency is a result
of the machine entering the high frequency instability region.
This typically occurs in larger machines with low inertia loads
where Tm'/Tr' is of the order of 0.01 to 0.005 (See Fig. 10).
As will now be shown, increasing either a or y significantly
reduces the actual size and strength of both instability regions.
.~ ~~~~~~~I
IF

Effect of Increasing a
.

Fig. 14. Stability boundaries and worst damping lines showing effect
of 'y.
Fig. 12 shows the influence of increasing values of a on the
instability regions for the case of Tr /Ts'- 1. The effect is
clearly strongly stabilizing; the size of both regions is reduced
and they no longer touch. The effect is much stronger for the
low frequency region where the instability completely disap-
pears for a > 0.055. This is more clearly shown in Fig. 13 woTI
where the very strong influence of a on the worst damping
in the low frequency region is very apparent. Note that in the
high frequency region the stabilizing influence of a is nearly
linear and rather small as compared to the low frequency
region. In both regions, a larger value of Tr'/Ts' tends to
somewhat increase the influence of a.
Effect of Transient Saturation
Figs. 14 and 15 show the additional influence of transient
saturation on the stability boundaries and worst damping for Fig. 15. Real part of root at worst damping showing effect of-y.
Tr'/Ts' = 1 and a = 0.04. The very significant effect of even
small amounts of transient saturation is clearly evident. Again region is easily explained in terms of the root locus. The
the effect is greatest in the low frequency region where, for increased stabilization results from a somewhat greater left-
example, y -1.5 is sufficient to eliminate completely the low ward shift of the open loop poles and zeros at low w,Tr' but
frequency instability. The influence on the high frequency a much more important effect is that the open loop poles and
instability is relatively much smaller. The limiting case of zeros are much closer together at low (.oTr, and hence the
Y -+ oo has a very substantial but finite effect which becomes relative shifting results in a much greater effect on the locus.
decreasingly important at high values of wOT,r'. As was true
for the influence of a, an increase of Tr'/Ts' tends to increase Overall Effect of Saturation
the effect of y in both regions. Operation at a higher flux level in a given machine will
The greater effect of both a and y in the low frequency tend to increase both a and 'y. Since increased values of a and
680 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. IA-19, NO. 5, SEPTEMBER/OCTOBER 1983

y both result in more stable behavior it is clear that saturation with

has an important overall stabilizing effect. For typical ma- d
chines at rated flux y will be in the range of 2-4, and Figs. 14 P = (S)-c, = c0r + co(S )
and 15 clearly show that the effect of y will be substantial. dt
Modern high efficiency machines which have increased pu TS I= uLso/Rs (s) Tr' = ULro/Rr (s)
magnetizing reactance and are designed to operate at reduced
flux levels are likely to have larger and stronger regions of
Tm I= JwsolNpTo (s) TW' = Tm '(To/so)[
dT

instability and to exhibit poorer damped transient response ] (s)

than conventional machines. is likely
It that neglecting tran- dcorl4r
sient saturation is the main reason for lack of good correlation = 1 -MO2/LsoLroY = Mo/MtYs = Lso/LstYr =rolLrt
in stability studies using the conventional model.
CONCLUSION 3
P(
CT =4 p(l-u)Lso -Gr
/S acJRLSO
VR
RL) TRJ1
2

A small signal model which employs a flux oriented two

axis representation and uses the chord slope and the tangent
slope reactances to characterize saturation has been presented.
Using this model the paper has shown that
1) excellent correlation can be obtained in comparing
measured and calculated stability boundaries whereas
the conventional small signal model does not give good
correlation except at low flux levels;-
2) the voltage and frequency input zeros computed using
the conventional model will be significantly in error
when co T/' is small (less than 2);
3) the stability boundaries and worst case damping are
very significantly affected by transient saturation (the
ratio of chord slope to tangent slope reactances);
4) the low co, Tr' instability region is so strongly affected
by transient saturation that neglecting the effect pro-
duces grossly incorrect results; and
5) considerably less well-damped performance should be
anticipated when replacing conventional induction
machines with the newer, high efficiency machines.
APPENDIX
The pu small signal equations (equilibrium state wo, "-¼, TO)
using dynamic response parameters can be written as
The base or reference values for the pu system are
VR rated phase voltage (V),
IBs VRIxORLso (A), (ideal short circuit current),
0R rated frequency (r/s),
IBr IBsWo/Lro (A) (ideal short circuit current),
TR rated torque (Nrm).
ACKNOWLEDGMENT
The authors wish to acknowledge the generous support of
the State University of Gent, the National Foundation for
Scientific Research (NFWO, Belgium), the Fulbright Program,
and WEMPEC which made this joint research activity possible.
REFERENCES
[1] G. J. Rogers, "Linearized analysis of induction motor transients,"
in Proc. IEEE 112, no. 10, pp. 1917-1925, 1965.
[2] T. A. Lipo and P. C. Krause, "Stability analysis of a rectifier-
inverter induction motor drive," IEEE Trans. PAS, vol. 88, no. 1,.
pp. 55-66, 1969.
[3] R. Stem and D. W. Novotny, "A simplified approach to the deter-
mination of induction machine dynamic response," IEEE Trans.
PAS, vol. 97, no. 4, pp. 1430-1439, 19781
[4] A. Cupsa, W. Geysen, H. Jordan, K. V. Soos, A. Vanderput, and
H. Walcarius, "Stability analysis of oscillating induction ma-
chines," Acta Technica Csav, no. 5, pp. 521-548, 1978.

U(CURTs')Y +
(cIoo1/s (-(-a) - Coo(1-)/e
(t) \R OR
AVx
AVy 1 g(CR TS')-'1 + (-H) IS
\COR/ \CR/ COR
0 CT
coR-/ u/y
0 \R 0U(C RTr)1
(CUR
.SUOR
( cu~~R -(UR)
U(CURTr )~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
\ R (@R)

AIsx -[Isy,o + ( 1- U)Iryo] 0 Aw

AIsy 1 +±[Isxo+ ±( -rxo] 0 CUR

-[ISYO +IrYO] CUs

Ailry 0 +[ISXO + irx o I CJR.
± AT,
-

TR
= CTffIsyol6rx -Ir yo,6sx] + Yz [IrxoAlsy -IsxoAIry] I = (6)R Tm )() - + (CJR Tw
Cjso/CR CUR
)--
CUR TR
MELKEBEEK AND NOVOTNY: SATURATION ON INDUCTION MACHINE DRIVE DYNAMICS
[5] J. A. A. Melkebeek, "Influence of saturation on the stability limits
of a voltage-fed induction motor," in Conf. Proc., 15th Univer-
sities Power Engr. Conf., Univ. of Leicester, pp. 2B2-1-2B2-8,
1980.
[6] , "Stabiliteitsonderzoek van de spanningsgevoede induktie-
motor," Doctorate Thesis, State University of Gent, 1980.
[7] , "Some effects of magnetic field saturation in induction
machines," in Conf. Proc., 16th Universities Power Engr. Conf.,
Univ. of Sheffield, 1981.
[8] J. Lemay and T. H. Barton, "Small perturbation linearization of
the saturated synchronous machine equations," IEEE Trans. PAS,
vol. 91, no. 1, pp. 233-240, 1972.
[9] J. A. A. Melkebeek, "Magnetizing field saturation and dynamic
behavior of induction machines; Part 1: An improved calculation
method for induction machine dynamics," 1EE Proc., vol. 130, pt.
B, no. 1, Jan. 1983, pp. 1-9.
[10] -, "Magnetizing field saturation and dynamic behavior of
induction machines; Part I: Stability limits of a voltage-fed induc-
tion motor and of a self-excited induction generator," IEE Proc.,
vol. 130, pt. B, no. 1, Jan. 1983, pp. 10-17.
[11] "Fundamental stability properties of the voltage-fed in-
,
duction machine," KBVE, Bulletin E, 1982 (to be published).
[12] -, "Induction motor instability for small and zero stator re-
sistance," in Conf. Proc., 14th Universities Power Engr. Conf.,
Loughborough Univ. of Tech., pp. 2A3-1-2A3-6, 1979.
Jan A. A. Melkebeek (M'82) was born on
February 20, 1952, in Gent, Belgium. He re-
ceived the ingenieur degree in electrical and
mechanical engineering from the State University
of Gent, Belgium, in 1975, and the degree of
Doctor in applied sciences from the same univer-
sity in 1980.
Since 1975 he has been with the Laboratory for
Electrical Machinery at the State University of
Gent, Belgium, as an Assistant Professor. In
1982 he was on leave as Visiting Assistant Pro-
6841
fessor in the Department of Electrical and Computer Engineering at the
University of Wisconsin-Madison. His teaching and research interests and
activities include electrical machines, variable frequency drives, power
electronics, and control systems theory.
Dr. Melkebeek is a member of the Flemish Institute of Engineers
(K.VIV) and the Belgian Institute of Electrical Engineers (KBVE).
Donald W. Novotny (M'62-SM'77) received the
B.S. and M.S. degrees in electrical engineering
from the Illinois Institute of Technology, Chi-
cago, in 1956 and 1957, and the Ph.D. degree
from the University of Wisconsin, Madison, in
1961.
| Since 1961 he has been a member of the faculty
at the University of Wisconsin-Madison where
he is currently Professor and Director of the
Wisconsin Electric Machines and Power Elec-
tronics Consortium (WEMPEC). He served as
Chairman of the Electrical and Computer Engineering Department from
1976 to 1980 and as an Associate Director of the University-Industry
Research Program from 1972 to 1974 and from 1980 to the present. He
has been active as a consultant to many organizations including Marathon
Electric Co., Borg Warner Corp., Barber Coleman Co., Otis Elevator
Corp., Allen Bradley Co., Eaton Corporation, and the Wisconsin Depart-
ment of Natural Resources. He has also been a Visiting Professor at
Montana State University and the Technical University of Eindhoven,
Eindhoven, Netherlands, and a Fulbright Lecturer at the University of
Gent, Gent, Belgium. His teaching and research interests include elec-
tric machines, variable frequency drive systems, and power electronic
control of industrial systems.
Dr. Novotny is a member of ASEE, Sigma Xi, Eta Kappa Nu, and Tau
Beta Pi. He is a Registered Professional Engineer in the State of Wis-
consin.