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A New Multiphase Rotor Model for the Squirrel Cage Rotor of a Six-phase
Induction Machine

Conference Paper · October 2018

DOI: 10.1109/IECON.2018.8592703

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Paulo Dainez Edson Bim

Federal Institute of Education, Science and Technology of São Paulo University of Campinas
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 A New Multiphase Rotor Model for the Squirrel
Cage Rotor of a Six-phase Induction Machine
Paulo S. Dainez , Member, IEEE and Edson Bim
Electrical Department, Federal Institute of São Paulo (IFSP), São Paulo, SP, Brazil
Faculty of Electrical and Computer Engineering, University of Campinas (UNICAMP), Campinas, SP, Brazil
Email: dainez@ifsp.edu.br and bim@dsce.fee.unicamp.br
Abstract—The correct values of the parameters of an
induction motor are essential to determine its performance, and
experimental tests play critical role achieving this. With this
concern in mind, an adequate mathematical model expressed
for a squirrel cage rotor of an asymmetrical six-phase induction
machine of a concentrated winding stator is proposed. In this
modeling, each rotor bar is view as being two coils electrically
isolated, what signifies that the connection between the two sides
of the neighboring slots forms a new coil. Furthermore, the
proposed model is also concerned with preserving the effect
of the spatial harmonics of the original rotor on the dynamic
performance of the motor and allowing the determination of
their electrical parameters from standard experimental tests:
no-load and blocked rotor tests. Checking the performance of
the proposed model, the simulation and experimental tests are
performed.
Index Terms – asymmetrical induction machine,
six phases machine, electrical parameter estimation,
concentrated winding.
I. I NTRODUCTION
Multiphase machines, when compared with three-phases of
equal power, result in lower power per phase and avoids the
use of parallel electronic switches. Regarding its performance,
the increase in the number phases decreases the rotor Joule
losses, the oscillation of the torque, and the current of the
link DC [1]. Additionally, the capacity of operation can be
maintained even with the loss of one or more phases, although
with a reduction of power and unbalanced conditions [2].
Regarding the analytical model of the asymmetrical
six-phase induction machines (ASPIM), there are two
approaches: the vector space decomposition (VSD), that result
in 3 two-dimensional subspaces [3], and the double - model,
which allow a lecture more physical of the machine [4].
Particularly, a harmonization between these two approaches
is done in [5], where is proposed an improved off-line
parameter estimation. The results are accurate and the
harmonization between the two modeling are significant,
however only steady-state results are presented. Still, with
respect to off-line tests, a vector constructing method based
on not simple mathematical is proposed in [6].
Two other different methods to estimate the parameter
of multiphase induction machines are proposed in [7], [8],
both get good results. Though, these works do not approach
concentrated stator windings.
, Member, IEEE
Generally, the multiphase motor models of concentrated
windings assume that the number of rotor phases is equal to
the number of rotor bars, in which two neighboring meshes
have one common bar whose current is the sum of these two
meshes. However, the matrices of the rotor resistances and
leakage inductances are non-diagonal, in addition, they have
distinct values for the bar and the ring [9], [10], while the
standard tests result in a single value for the resistance and
leakage inductance, which makes experimental acquisition of
these parameters difficult.
Differently of the previous works [11], the proposal
contained in this article aims to obtain, for an ASPIM with
concentrated and full pitch stator winding, a mathematical
model written in natural reference frame (abc-xyz), which
transforms the original squirrel cage rotor into one equivalent
rotor with concentrated phase windings, whose number of
phases depends on the number of the rotor bars and each
bar of in each slot is supposed to have two coil that are
electrically isolated each other. This approach is simple and
preserves the waveform of the air gap mmf, and consequently
the effects of the original harmonic content. Traditional tests
for the determination of the machine’s parameters and standard
experimental tests are carried out to analyze this modeling.
II. ASPIM M ODEL E XPRESSED IN THE NATURAL
R EFERENCE
The stator winding of the ASPIM is provided with two
three-phase sets abc and xyz displaced by electrical
radians to each other, as shown in Fig. 1.
To obtain its mathematical model, the magnetic permeability
of the iron core and air gap are accepted to be infinity and
uniform. Each of the stator phases consists of a concentrated
full-pitched winding, and the rotor winding, in turn, is modeled
Figure 1: Six-phase stator winding.
as an equivalent concentrated winding of phases. The where and are the winding functions; k and j can be the
equations expressed in a natural reference frame as follows: stator or the rotor phases; is the magnetic permeability of
the free space; l is the length of the motor; is the average
radius of the air gap of length ; and is the angular position.
Taking the mmf of the phase per respective current:
(1)
(4)
Therefore, the winding function of the phase for the stator
(2) with turns, is shown in Fig. 4.

Figure 4: Winding function of the stator phase a.

where p is the number of poles and is the rotor electrical The winding functions of the others phases are displaced
angle. by , , , and of the phase .
Regarding the rotor, the winding function of the equivalent
A. Stator and rotor windings rotor can be described by a function of the original number of
A ASPIM two poles stator windings with concentrated, full rotor bars [12]. If the number of rotor bars per pair of poles
pitch coils and 12 stator slots is shown in Fig. 2. is odd, then the correspondent number of rotor phases
is equal to , and the winding function is shown in Fig. 5(a).
However, if is even, the opposing windings are on the same
magnetic axis, and because they are linearly dependent, they
could be joined in a single phase, which causes the number
of rotor phases to be , as shown in Fig. 5(b).
Figure 2: ASPIM stator winding (phase a is highlighted).

From the real squirrel-cage rotor of bars per pair of poles,

as shown in Fig. 3(a), it is assumed that each bar is divided
into two coil sides that are electrically isolated from each other.
The connection between the two coil sides of the neighboring
slots forms a new coil with turns where the phase current (a)
flows as shown in Fig. 3(b). Thereby, an equivalent rotor of
concentrated windings of pitch results [12]. (b)

Figure 5: Rotor winding function: (a) odd and (b) even.

Additionally, if the resulting number of phases is odd,

the rotor phases are distributed symmetrically, with the angle
. If the phases is even, however, the rotor
phases are distributed asymmetrically and displace each other
(a) by the angle .
(b)
C. Mutual inductances between stator phases
Figure 3: Squirrel cage rotor: (a) original and (b) equivalent.
The magnetizing inductance of each one of the stator phases
is obtained by integrating the winding function, according to
B. Winding function Eq. (3), resulting in:
Mutual inductance between any windings can be determined
by the integration of the winding functions as follows: (5)

In the same way, the mutual inductance matrix between

(3) stator phases is given by
 (6)

Note that, due to the concentrated coils, the is not the

same as that obtained for the sinusoidal distribution [3], [12]. (a)

D. Mutual inductances between rotor phases

By employing the previous procedure, but using the rotor
winding function defined in Fig. 5, the magnetizing and
mutual inductance matrix of the rotor are as follows:
- odd:

(7) (b)

Figure 6: Mutual inductance: (a) ; (b) .

.
.
.
.
.
. .. .
.
.
.
(8)
. . . . . . III. S TATOR E QUATIONS I N T HE S TATOR R EFERENCE A ND
ROTOR E QUATIONS I N T HE ROTOR R EFERENCE
where . In this text, when the equations are expressed in the
reference frame fastened on the stator-fixed structure, the
- even: coordinates are indicated by , and on the rotor-fixed
structure, its coordinates are .
The decoupled models for the fundamental, and
(9)
harmonics of stator phases, and the matrix transformation
are found in [2], [3]. However, as the number of rotor phases
(10) is different for the stator, the transformation matrix applied to
the rotor differs from that applied to the stator, resulting in
Note that if is odd, the dimension of is ,
different harmonic content [7], [13]:
however, if is even, the dimension is .
E. Mutual inductances between stator and rotor phases
Taking the stator and rotor winding functions in Eq. (3), the
function of mutual inductance is given in Table II-E. (12)
. . . .. .
. . . . .
. . . .
Table I: Mutual inductance stator-rotor

where ; and is the highest harmonic of the rotor.

In this matrix, if is odd then . However, if
is even, and the last line should be removed.
For the motor defined in the Table II, the number of
rotor bars per pair of poles is ,
which results an equivalent rotor with phases
symmetrically distributed, and . Thus,
the transformation matrix is , and it considers only
the harmonics of an order of less than five ( ).
Now, applying and to Eq. (1) and (2), all the
where is the peak value of resulting matrices of the model in the stationary reference
function. Fig. 6 shows this mutual inductance function, frame ( - ) are diagonals, with the unique exception of
including its derivative. the mutual inductance matrix of stator-rotor, that couples only
From the expression shown in Table II-E and taking the the components of the same harmonic, then each harmonic
space shift of the remaining phase into account, the matrix can be expressed by a vector in the complex plane. Only low
is given by (11) (see the top of the next page). order harmonics are considered: for the stator, first ( )
 (11)

Table II: ASPIM specification

Power 5 kW N. of stator slots 48
Voltage ( ) 127 V N. of rotor bars 40
Current ( ) 6.25 A N. of poles (p) 8
Turns per stator phase ( ) 36 (18)
Length of the motor (l) 129 mm
Internal diameter of stator 150 mm
External diameter of rotor 148,8 mm
Moment of inertia (J) 0.095 kg/m

(19)

and harmonics ( ); for the rotor only the fundamental

component ( ). Since there is no connection between the
neutral wires of the two three-phase sets of the stator, the (20)
harmonic is not present and thus it will never excite the rotor.

(21)
(13)
where ; and

A. Equivalent circuit
(14) Based on (18) to (20), the equivalent circuit in the
synchronous reference frame operating in a steady state is
shown in Fig. 7, and the reactance are given by:

(15) (22)

where
(16)
(23)
where ; ;
and .
IV. ASPIM M ODEL I N T HE S YNCHRONOUS R EFERENCE
Given the stator and rotor equations are expressed in the
respective stationary reference frames ( - ), to obtain the
model only described in the synchronous reference frame
(dq), a different transformation must be applied to the stator (b)
and rotor variables, similarly to what was performed for the (a)
fundamental component in [9], i.e., Figure 7: Equivalent circuits: (a) and (b) planes.

(17) The stator and rotor leakage inductance expressed in the

synchronous reference frame depend on the effective number
of turns of the equivalent rotor, as shown in Fig. 8. Then,
where is the electrical angle and can be , or . to ensure only positive values for these inductances, one can
By applying the transformation given by (17) to the (13) to choose an appropriate that makes and
(16), the final equations are as follows: , which results in , as follows:
 (24)

−3
x 10
15

10

−5
58 59 60 61 62 63 64 65 66 67 68
Figure 9: Workbench test.

Figure 8: Leakage inductances of stator and rotor.

A. ASPIM Parameters
Finally, it is possible to perform the analytical calculation
of the ASPIM inductances in the natural and synchronous The parameters of the model developed are determined by
reference frames and the results are shown in Table III. analytical calculations, and no-load and locked rotor tests,
whose results are shown in Table IV.
Table III: Analytical calculation of inductances [mH] Adopting equal the leakage coefficients, the parameter
Parameters Values Parameters Values
calculations are obtained, as shown in Table V. It can be seen
28.8 97.0
that the maximum error obtained between the inductances is
41.1 5.2 +
.
100.7 3.6 +
Table IV: Experimental tests.
Fundamental harmonic
Parameters No-load Blocked No-load Blocked
Different from the analytical calculation, for the calculation Voltage [V] 126.7 49.6 42 42
from the experimental tests are first obtained in the Current [A] 3.46 6.44 2.13 2,11
synchronous reference frame, and then calculated in the Active power [W] - 528.2 - -
natural reference through Eq. (25), obtained from the rewriting Reactive power [VAr] 2628.7 1845.8 449 468.5
of Eq. (23). Completing the analytical and experimental Inductance [mH] 97.1 16.6 8.8 9.3
Resistance[ ] - 2.1 - -
calculation of the ASPIM parameters, it is reasonable to
assume that the leakage coefficients, defined in Eq. (26)
and (27), are equal, whether they are used in the analytical
approach or the experimental tests. Table V: Parameter calculations
Synchronous reference Natural reference
Parameters Analyt. Exp. Parameters Analyt. Exp.
[ ] 1.3 [ ] 1.3
(25) [ ] 1 [ ] 1
[mH] 97.0 86.2 [mH] 28.8 25.5
[mH] 12.3 10.9 [mH] 41.1 36.5
[mH] 100.7 89.4
[mH] 12.3 10.9
[mH] 7.1 6.3
where and . [mH] 7.1 9 [mH] 8.7 7.7
0.127 0.171
0.127 0.086
(26)

(27) B. Validation of the model

V. S IMULATION A ND E XPERIMENTAL R ESULTS
The effectiveness of the model developed in the natural
reference (abc-xyz) for a ASPIM is verified by computer
simulation and experimental results. For this purpose, the
motor is subjected to the conditions of free starting and
sudden loading. An ASPIM directly coupled to the three-phase
induction machine, three inverters, and the dSpace-1104
hardware and software system comprise the workbench, as
shown in Fig. 9.
Start-up and load step tests are simulated with the motor
modeled in the natural reference frame with the parameters
obtained from the locked rotor and no-load tests. All of the
tests are performed in an open loop, i.e., without control.
To limit motor current and protect the drive during the
start-up test, the applied voltage is such that the current does
not exceed its rate value, and thus the peak voltage is V.
In addition,the voltage applied to the harmonic is ideally
set to zero. For calculation of the currents in the synchronous
reference, the stator voltage orientation was used.
 It can be observed in the start-up test (Fig. 10) that the VI. C ONCLUSION
transient in the experimental test is faster than the simulation, The proposed model in the natural reference frame (abc-xyz)
although of the speed, torque, and currents are very similar. preserves all the harmonic effects of the air gap mmf in the
In Fig. 11, it can be seen again that the speed, torque function of stator-rotor mutual inductance, differently of the
and currents are similar, despite that the experimental test VSD whose harmonic contents only has the , and
presents an oscillation after the load step input, because in the harmonics. No-load and blocked-rotor tests are performed to
experimental tests, different from the simulation, the torque validate the analytical calculations of inductances, obtaining
value is set by adjusting the drive frequency. the maximum error between analytical and experimental
calculations of 11%.
1000

800
1000
Finally, the computational simulation of ASPIM in the
800

600
600
natural reference frame and its experimental tests (start-up
400
400 and load step tests) have presented very similar results, which
200 200 demonstrate that the proposed model works efficiently.
0 0
−0.5 0 0.5 1 1.5 2 2.5 3 3.5 4 −0.5 0 0.5 1 1.5 2 2.5 3 3.5 4
Time [s] Time [s]
ACKNOWLEDGEMENT
(a) (b)
This work was supported by the Foundation for Research
8 8

7 7 Support of the State of São Paulo (FAPESP), through Research

6

5
6

5
Projects 2012/05920-8 and 2017/14068-7.
4 4

2
3

2
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