2016 IEEE International WIE Conference on Electrical and Computer Engineering (WIECON-ECE)
19-21 December 2016, AISSMS, Pune, India
Simulation of an Induction Machine using Bond
Graph Modeling
Jayshree Keshar Rathod
M.E Mechatronics Mechanical Department
Sinhgad College of Engineering, Vadgaon
Pune, Maharastra
rathod.jayshree77@gmail.com
Abstract— Induction Machine (IM) is the most widely used
electrical motors due to its reliability, low cost and robustness.
Working on the IM is one of the good research areas where
simulation of IM has been performed using various modeling
tools like LabVIEW, MATLAB/ Simulink. The simulation of
IM has been done using IFOC ( Indirect Field Oriented
Control ) and DTC ( Direct Torque Control ) algorithms which
involves the Park’s and Clark’s Transformation to represents
rotating magnetic field which involves the complex
mathematical equations. The paper involves the physical
simulation of IM without using any transformation which
involves all measured physical values of component using Bond
Graph (BG) modeling using 20Sim software. The simulation
results of input stator current, stator flux produced, speed of
IM at no load and at load is to performed. Keeping the first
law of energy conservation in mind the energy transformation
between electrical to magnetic and magnetic to mechanical are
mapped.
Index Terms—Bond Graph, IM, 20Sim .
I. INTRODUCTION
The IM is mostly deployed in all applications like ship
propulsion, electric aircraft and electric/ hybrid vehicles etc.
The three phase IM have well known advantages of simple
construction, reliability, ruggedness and maintenance cost
are optimum as compared with other competent alternatives.
The dynamic modeling and simulation of IM is significant in
research as the validation of design process of the motor
drive system, to bypass time consuming prototype
constructions and testing. The dynamic simulation of IM
plays very important role for pre testing of IM.
The BG model of IM is constructed, in which the stator
coil windings for three phases, mathematical transformations
to incorporate two reaction theory that is Park’s and Clark’s
transformation [1]. The simulation of IM has been performed
using the MATLAB/Simulation where IFOC is used, in
which to have the synchronous rotating magnetic field Park’s
and Clark’s transformation is used and calculated the
transient and steady state behavior of IM [2 3].
This paper presents that without using the Park’s and
Clark’s transformation one may have the physical simulation
of IM which depicts the flow of energy in all domains which
IM involves.
978-1-5090-3745-2/16/$31.00 ©2016 IEEE
Prof. S. A. Kulkarni
Mechanical Engineering Department
Sinhgad College of Engineering, Vadgaon
Pune, Maharastra
Sakulkarni.scoe@sinhgad.edu
II. BOND GRAPH PRIMER
To analyze the dynamics of the system under
investigation, the governing differential equations are
required to be formulated. Such differential equations require
identifying and defining essential characteristics and/or
parameters which have an influence on the system
performance. The BG modeling is such a platform in which
the dynamics of the system is simulated with such
characteristics and differential equations. The higher order
differential equations are reduced to first order and solved
numerical using various solver ranging from Euler to Van
Adams.
III. MATHEMATICAL MODELING OF IM
The IM consist of two major parts Stator and Rotor,
which involves the power flow from electrical domain to
magnetic domain and magnetic domain to electrical and then
to mechanical domain. The BG model for both the parts is
listed below.
A. BG model of stator
The three phase stator winding of IM is connected in
apart to each other. The applied voltage to three phase
is given below,
(1)
(2)
(3)
The IM having the specifications 4 pole, 1kW and 74%
of efficiency is taken for the simulation. The stator has 24
slots through which the coil is wounded. The voltage share
by the component of stator is given as,
(4)
(5)
(6)
As stated by Faradays law , “when a time varying current
is flowing through the coil, a time varying flux will be
produced which is proportional to the current flowing
through it given as,
(7)
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 Thus the flux will induced across the stator. As the The input to the stator is gives by eq.1, eq.2 and eq.3,
balanced voltage is applied , balanced current flows through which are represented as by sine wave in fig.2. These three
the stator winding and due to time varying current the flux sine wave shows the three phase input to the stator of IM. As
flowing from maximum to minimum which represents North the sine wave is signal it has given to MSe (Modulated
and South pole changes the position instantaneously which source of effort) which transforms signal to bond and is
represents the rotating magnetic field. It is given by, given to stator resistance and inductance.
(8) The flowing three phase balanced current is given to
submodel1. According to the programming of submodel1
The BG model for stator is shown below,
output provided by it would be rotating magnetic field.
I The submodel1 provides the output in the signal form
I
which is given to MSf (Modulated source of flow). The
MSe 1 provided flow is given to junction 0. The junction 0 depicts
R
that the components are sharing same effort which is
distributed in resistance and inductance of rotor bar which
I are in parallel physically.
The voltage induced across rotor bar is calculated with
MSe 1 Subm odel1
the help of junction 1. The junction 1 depicts that
R components are sharing same flow. The output of junction 1
is flow which is given to junction 0 and enters into the
I
mechanical domain.
MSe 1 In mechanical domain force is effort and velocity is flow.
Thus the speed of IM is calculated. The velocity as flow is
R given to junction: 1 which provide corresponding torque. To
Fig. 1 The BG model of stator with rotating magnetic provide the load to the IM, model consists of applied torque.
field.

The submodel1 consist of programming which represents IV. SIMULATION RESULTS

the rotating magnetic. The electrical to magnetic mapping The IM having 50 Hz frequency, 4 pole and 1 kW of
can be done with the help of self and mutual inductance [4]. power rating is given three phase applied voltage , and
B. BG model of rotor as shown in eq.1, eq.2 and eq.3 respectively.
The rotating magnetic field produced in air gap.
According to the Faraday’s law, “If a conductor is placed in
rotating magnetic field with velocity v, voltage is induced
across the conductor” which is given by,
(9)
According to the eq.9 voltage is induced across the rotor
corresponding current would flow through the rotor bars.
According to the Lorentz law which states, “When a
current carrying conductor is placed in a magnetic field, it is
subjected to a force which called as electromagnetic force or
Lorentz force. It is given by,
Fig. 3 Three phase balanced voltage applied to stator
(10)
I
The corresponding stator input current which is
I calculated as .As the inductance and
MSe 1
I resistance are taken then the corresponding
Sine
I
R
current value is as shown in fig.4.
R
1 R R R
I R 1 I

MSe 1 Submodel1 MSf 0 1 0 1 Se

Sine1
R
1 I
I I 1
R
R I
MSe 1
Sine2

Fig. 2 BG model of IM Fig. 4 Three phase stator input current

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 As the stator winding has its own resistance and The speed of IM at applied torque is decreases
inductance, current flows through it produces the flux in air to 1100 rpm as shown in fig.8.
gap which is 0.29 Weber as shown in fig.5 below.

Fig. 8 Speed of IM at load

Fig. 5. The flux produced across the stator

As the frequency is 50 Hz, the resulting magnetic field V. CONCLUSION

makes one turn in second that is 3000 revolutions per The BG model of IM has been developed which depicts
minute. Since it has 50 cycles in one minute, so in 0.1 second all the physical processes from electrical input to mechanical
cycle would 5 as shown in fig. 6. output one by one. All the basic elements of BG model are
used to model the IM. Some important achievements are as
under:
One to one correspondence between the
elements of BG and real system components is
established.
The rotating magnetic field flux is calculated
using programming in 20Sim software.
The Simulation results of rotating magnetic field
flux, frequency of the field, current cross the
rotor and the speed of IM at load and without
load is calculated.
ACKNOWLEDGMENT
Fig. 6. Frequency of rotating magnetic field
I would like to express my warm and sincere thank to
At the starting edge the rotor speed is 0 rpm but with Prof. S. A. Kulkarni, for his invaluable guidance along with
respect to voltage induced across the rotor the current the care extended throughout the project work. I thank to
produced correspondingly and due to large current force SCOE, Pune for providing facilities and resources.
imposed on rotor and it starts rotating. The starting speed of NOMENCLATURE
IM 1440 rpm.
= Applied voltage at phase -1.
= Applied voltage at phase -2.
= Applied voltage at phase -3.
= Stator input current.
= Stator Resistance.
= Stator Inductance.
= Flux induce.
= Synchronous speed of rotating magnetic field.
= Allied load torque.
f = Frequency.
P = Pole.
E = Induced space varying voltage
B = Magnetic flux density
Fig. 7 Speed of IM at no load = Length of rotor bar
v = Velocity
= Rotor current

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 =Slip frequency

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