. F I N I T E ELEMENT ANALYSIS OF A DEFECTIVE INDUCTION MOTOR.

A D i s s e r t a t i o n Presented t o The G r a d u a t e F a c u l t y o f The C o l l e g e o f E n g i n e e r i n g and Technology o f O h i o U n i v e r s i t y

I n P a r t i a l F u l f i l lment o f t h e Requirements f o r t h e Degree Doctor o f Philosophy

C l a r e n c e Nwabunwanne -b i o z o r , O June 1987

FINITE ELEMENT ANALYSIS OF A DEFECTIVE INDUCTION MOTOR

BY
CLARENCE N . O B I O Z O R

This Dissertation has been approved f o r the Department of El e c t r i c a l and Computer Engineering and the Col leqe of Engineering and Technology

Associate Professe4/0f Electrical EngiRWri ng

Q R ~ )

Dean, Col 1 ege of Engineering and Techno1 ogy

CLARENCE MWABUNWANNE OBIOZOR

All Rights Reserved

OBIOZOR, CLARENCE N .

June 1987.

Electrical Engineering

Finite Element Analysis of a Defective Induction Motor

( 130 P P ) .

Director of Dissertation:

Dr. Nasser Jaleel i

This dissertation provides a methodology f o r the computation of flux distribution in defective induction machines. Having obtained

the flux distribution f o r the applied voltage, the s t a t o r current in each phase f o r any load can be calculated, and hence i t can be determined i f continuation of the operation of the defective machine under the applied load i s safe. The method01ogy i s based on the use of Maxwell ' s equations t o derive a unified equation. This equation r e l a t e s the space and time

derivatives of the magnetic vector potential (MVP) of each point within the machine t o the density of the appl ied current a t the point. Applying the method of f i n i t e elements t o t h i s equation a t In

d i f f e r e n t sections of the machine leads t o a global equation. t h i s derivation, saturation a t any point of the machine and a t any i n s t a n t of time i s f u l l y accounted f o r .

The global equation i s a s e t of nonlinear time domain differential equations.

A step-by-step numerical method i s employed t o integrate

t h i s global equation.

This process yields the value of MVP for any The computer program

point of the machine a t any instant of time.

developed in t h i s work t o carry o u t the above tasks i s validated

by applying i t t o simp1 e electromagnetic systems.

I t i s then used

t o produce MVP contours of an induction machine f o r t h r e e d e f e c t s .

a

Approved

( S i g n a t u r e of G e c t o r )

ACKNOWLEDGEMENTS

I am g r e a t l y indebted t o Dr. Nasser J a l eel i f o r h i s p a t i e n c e ,

guidance and encouragement throughout t h i s d i s s e r t a t i o n . I a1 so wish

t o express m g r a t i t u d e t o Mrs. Farideh J a l eel i f o r her we1 1 wishes. y This d i s s e r t a t i o n i s dedicated t o m wife May and m son Martin y y f o r t h e i r support, understanding and motivation throughout t h e course of t h i s work. F i n a l l y , m thanks go t o t h e members of s t a f f , Department of y El e c t r i c a l and Computer Engineering, Ohio U n i v e r s i t y , who provided t h e f a c i l it i e s t o c a r r y out t h e work.

T A B L E O F CONTENTS

Page ABSTRACT

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

iv

ACKNOWLEDGEMENTS L I S T OF TABLES L I S T OF FIGURES CHAPTER

1

. . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . .

vi
x

. . . . . . . . . . . . . . . . . . . . . . . . .

xi

INTRODUCTION
1.1

. . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . .

1 1
5

General

1.2 2

C o n t e n t and C o n t r i b u t i o n o f t h i s D i s s e r t a t i o n

. . . .
. . . . .

FIELD EQUATIONS AND F I N I T E ELEMENT APPROXIMATION 2.1 2.2 2.3 Introduction

7 7

. . . . . . . . . . . . . . . . . . . . .

G e n e r a l MVP E q u a t i o n

. . . . . . . . . . . . . . . . .
. . . . . .
. . . . .

8
10 10 13 14 17 24 24 24 26 28 32 32
33

U n i f i e d E q u a t i o n f o r t h e I n d u c t i o n Machine 2.3.1 2.3.2 2.3.3 S t a t o r S l o t s o f an I n d u c t i o n Machine A i r Gap and S t a t o r I r o n R e g i o n s S o l i d Rotor Region

. . . . . . . .

. . . . . . . . . . . . . .

2.4

Element Equation

. . . . . . . . . . . . . . . . . . .

SOLUTION METHODOLOGY AND COMPUTER PROGRAM 3.1 3.2 3.3 3.4 3.5 Introduction

. . . . . . . . .

. . . . . . . . . . . . . . . . . . . . .

S o l u t i o n o f Global Equation

. . . . . . . . . . . . .
. . . . . .

Contours o f t h e Magnetic Vector P o t e n t i a l s Computation o f Winding Currents A D e s c r i p t i o n o f t h e Computer 3.5.1 3.5.2

. . . . . . . . . . . Programs . . . . . . . .
. . . . . . . .

D e s c r e t i z a t i o n P r o g r a m . MESHGEN M a i n P r o g r a m . FETIME

. . . . . . . . . . . . .

VALIDATION O F THE COMPUTER P R O G R A M S

4.1 4.2

. . . . . . . . . . .

40 40 41

Introduction

. . . . . . . . . . . . . . . . . . . .

Validation of the Program f o r a Linear Case

. . . .

4.3

Program Results f o r an Inductor Enclosed by Iron Core

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

4.4 4.5

A Magnetic C i r c u i t with a n Air Gap

49

Simulation of a Solid Rotor Induction Motor with N Defect o

. . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

56

SIMULATION RESULTS FOR A DEFECTIVE SOLID ROTOR INDUCTION MOTOR

5.1

65 65

Introduction

5.2

D i s c ~ n n e c t i o n of One of t h e Two P a r a l l e l Coils in Phase AB

. . . . . . . . . . . . . . . . . . . . . .
. . . . . .
. . . . . . . . . . . .

66 56 73 83 83

5.3 5.4 6

Short C i r c u i t of Some Turns of Phase A B Disconnection of Two Phases

CONCLUSION AND SUGGESTIONS FOR FURTHER WORK

6.1 6.2

. . . . . . .

Conclusion

. . . . . . . . . . . . . . . . . . . . .

REFERENCES

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Suggestions f o r Further Work
1

84
85

APPENDIX
A

EXPANSION O F V x .L J x A = J
'J

B.

MATHEMATICAL FORMULAE
B.l

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . .

94

96
96

Vector I d e n t i t i e s Green's Theorem

B.2

96

viii

D:;e

APPENDIX
B.3 B.4

stoke's Theorem

. . . . . . . . . . . . . . . . . . 96

Integration Formuale for a Triangl e

. . . . . . . . 98

C D E

DERIVATION OF MVP WITHIN A TRIANGLE . . . . . . . . . . . 100 DERIVATION OF EQUATION (2.47) FROM (2.43) .

. . . . . . .

105

DERIVATION OF A TIME FUNCTION FOR THE FLUX IN A MAGNETIC CIRCUIT

. . . . . . . . . . . . . . . . . . . . 112

LIST O F TABLES

Page 2.1 4.1

4.2

Constants r, 3 , a n d y f o r D i f f e r e n t R e g i o n s of a n InductionMachine. . . . . . . . . . . . . . . . . Comparison of the Solutions Obtained f o r the Temperature of Different Nodes a t t = 1.2 Hours

. . .

17
43

4.3

. . . . . DatafortheSolidRotorInductionMachine . . . . . . . The Values of n f o r Each Phase . . . . . . . . . . . . . 9

The Values of n f o r Each Phase When Coil A B 1 i s 9 Disconnected . . . . . . . . . . . . . . . . . .

56

60

5.1

. . . . . .

68

5.2
5.3

The Values of n f o r Each Phase When Fifty Percent of 9 One o f the Two Parall el AB Coils i s Bridged Over . . The Values o f n
9

74

f o r Each Phase When Phases A B a n d B C

are Disconnected

. ...... ........ . .

. . .

79

LIST OF FIGURES Figure Page

A Section o f t h e Considered S o l i d Rotor

2.1
2.2

. . . . . . . . .
. . . .

15 18 21

Two-Dimensional R e g i o n Q. Bounded by a C o n t o u r 7

2.3
3.1 3.2 3.3 3.4

A R e g i o n R. D i v i d e d i n t o T r i a n ~ u l a rE l e m e n t s

. . . . . .

C o n t o u r P l o t s f o r a M a g n e t i c C i r c u i t . Each P a i r o f L i n e s D i f f e r by a S p e c i f i c V a l u e o f MVP . . . . . .

A S i n g l e Turn Coil

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. .

27
29
34 36 37 42 45

A F l o w c h a r t o f Program MESHGEN

A S e c t i o n o f a n I n d u c t i o n M a c h i n e S h o w i n g S e c t o r s and Quadri 1a t e r a l s . . . . . . . . . . . . . . . . . . . A F l o w c h a r t o f blain P r o g r a m FETIME

3.5
4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8

. . . . . . . . . . .
. .

The F i n i t e E l e m e n t Mesh f o r t h e Example C o n s i d e r e d i n S e c t i o n 4.2 . . . . . . . . . . . . . . . . . . . . . F i n i t e E l e m e n t Mesh When t h e C o i l i s C e n t r a l l y P l a c e d i n t h e Core . . . . . . . . . . . . . . . . . . . . . MVP C o n t o u r s f o r t h e I n d u c t o r When t h e C o i l i s Symmetrically Placed i n t h e Core . . . . . .

. .

. . . . . .

16
47 48

F i n i t e E l e m e n t Mesh When t h e C o r e i n Not S y m m e t r i c MVP C o n t o u r s f o r t h e I n d u c t o r w i t h U n s y m m e t r i c I r o n Core . . . . . . . . . . . . . . . . . . . . . . .

. . .

. . .

F i n i t e E l e m e n t Mesh f o r the M a g n e t i c C i r c u i t C o n s i d e r e d i n S e c t i o n 4.4 . . . . . . . . . . . . . . . . . . . . C o n t o u r P l o t s f o r t h e M a g n e t i c C i r c u i t w i t h a n Air Gap . . . . . . . . . . . . . . . . . . . . . . . .

50
51
54

. . .
. .

T h e V a r i a t i o n o f t h e F l u x E s t a b l i s h e d i n the C o i l f o r t h e Magnetic C i r c u i t i n Figure 4 . 6 . . . . . . . . .

Variation of Flux Densities f o r Two E l e ~ e n t si n t h e Iron Core of the Magnetic C i r c u i t Shown in Figure 4 . 6 . . . . . . . . . . . . . . . . . . . . . . . 5 5 F i n i t e Element Mesh of the Considered Sol id Rotor Induction Motor . . . . . . . . . . . . . . . . .

. . . .
. .

57
58
61
64

C i r c u i t Diagram of t h e S t a t o r Coil of a Non-Defective Induction Machine . . . . . . . . . . . . . . . . . . Rotating Magnetic Fie1 d of an Induction Nachi ne '+iit h N Defect. . . . . . . . . . . . . . . . . . . . . . o Phase Currents of a Non-Defective Induction wachine Defect in Phase A B , Where Coil AB,* i s Disconnected

. .

. . .

67
69

Magnetic Field of an Induction Machine When One of the Two P a r a l l e l Coils of Phase AB i s Disconnected . . . . Waveform of the Current in Each Phase of an Induction Machine When One of t h e Two P a r a l l e l Coils of Phase AB i s Disconnected . . . . . . . . . . . . . . . . . . . F i f t y Percent of One o f the Two Parall el Coil s of Phase A B i s Bridged Over . . . . . . . . . . . .

. .

71
72

. . . .

Contour P l o t s f o r an Induction Machine When F i f t y Percent of One of the Two Paral 1 el Coils of Phase A B i s Bridged Over . . . . . . . . . . . . . . . . . . . . . . . . . . 75 Variation of Current in Each Phase of an Induction Machine When F i f t y Percent of One of the Two Paral l el Coils of Phase AB i s Bridged Over . . . . . . . . . . Disconnection of Phases AB and BC
BC a r e Disconnected

. . . . . . . . . . . . . .

77

78 80
82
97

Contour P l o t s of an Induction Machine When Phases AB and Variation of Current in Phase CA of an Induction Machine When Phases A B and B C a r e Disconnected . . . . . . . . Two-Dimensional Region 1, Bounded by Y Over Ldhich Green ' s Theorem Appl i es . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . .
.

. . . .

Figure
8.2

Page

A Triangul a r El ement Ze A Triangular Element.

C.l E.l

. . . . . . . . . . . . . . . . . 99 2e. Showing MVPs . . . . . . . . . 101

A Magnetic Circuit with I t s Excitation System

. . . . . .

113

Chapter 1 INTRODUCTION
1.1 General
A single-phase equivalent c i r c u i t i s derived f o r a three-phase

induction machine, when nonl ineari t i e s a r e neglected and the machine i s assumed t o have symmetry in s t r u c t u r e . The parameters of t h i s

c i r c u i t a r e obtained by allowing simp1 ifying assumptions in the flux d i s t r i b u t i o n in the a i r gap. This c i r c u i t i s mainly used f o r the

conceptual understanding of the machine behavior.

I t i s a l s o , when

approximate solution i s allowed, used t o predict the performance of the machine a t various loads. To obtain a s e t of more accurate parameters f o r the machine, a d e t a i l e d derivation of flux d i s t r i b u t i o n and some account of nonl ineari t i e s a r e required. These requi rements can be s a t i s f i e d

by applying Maxwell equations on d i f f e r e n t sections of the machine. The r e s u l t i s a second order p a r t i a l d i f f e r e n t i a l equation, the solution of which can provide much more information r e l a t e d t o the operation of the machine than those obtainable from the equivalent circuit.

I n the 1960's with the a v a i l a b i l i t y of computers, the f i n i t e

element method emerged as a useful numerical method of solving problems in mathematical physics and engineering. Since the f i r s t mention of

the " f i n i t e element" name [ I ] - [ Z ] , i t has been used with success in the areas of structural mechanics, f l u i d flow and heat conduction.

A n extension of the f i n i t e element method t o magnetic f i e l d problems

has enjoyed increasing popularity s i n c e S i l v e s t e r and Chari [3] used i t t o analyze a transformer. I t i s a design tool c u r r e n t l y used t o

supply g r e a t d e t a i l s regarding the magnetic f i e 1 d d i s t r i b u t i o n f o r

n o n - d e f e c t i v e t h r e e - p h a s e machines which a r e fed by a balanced three-

phase voltage source.

I t i s used t o optimize t h e design parameters such

as the number and dimensions of s l o t s in e l e c t r i c a l machines [4]-[5], and f o r accurate computation of parameters in c l a s s i c a l c i r c u i t model s [6]-[8]. In t h i s d i s s e r t a t i o n , a f i n i t e el ement-based method i s developed

and t a i l o r e d f o r the a n a l y s i s of a defective induction machine.

An induction machine may become defective while in s e r v i c e . The

d e f e c t may be due t o t h e s h o r t c i r c u i t of some t u r n s of a c o i l , d i s connection of a coil o r a phase, unsymmetrical a i r gap, broken r o t o r bars in cage motors, e t c . When the s i z e of the machine i s huge, taking I t can mean, f o r example, t h a t a power

i t o f f - l i n e i s very expensive. plant must be shut down.

For some p l a n t s , the c o s t may amount to

several thousands of do1 1 a r s per hour. In order t o optimally cope with t h i s s i t u a t i o n , the plant management needs t o know t o what level t h e defective machine can s t i l l be u t i l i z e d without f u r t h e r e s c a l a t i o n of the d e f e c t . The d e s i r e t o answer such

a question has l e d power engineers t o seek methods t o analyze d e f e c t i v e mach i nes. Will iamson and Smith [9] used a graph of the r o t o r of a s q u i r r e l cage induction motor t o determine the number of unknown c ~ r r e n t sin the machine f o r a given r o t o r bar and end ring f a u l t s . For an ideal

s t a t o r winding, relationship between these currents and the applied voltage was made by use of coupl ing impedances between the r o t o r and stator. These impedances a r e derived from the specified resistance

and reactance of the machine.

A1 though saturation e f f e c t was neglected in the a n a l y s i s , the

authors suggested t h a t correction coul d be made by using satirrated values of resistances and reactances. Therefore, accuracy of analysis

in such a case will be limited t o the accuracy of predicting the saturated parameters. I n t h e i r analysis of induction machines with s t a t o r winding faul t s , Will iamson and M rzoian [ l o ] devel oped a Fourier series-based i method which they used t o derive the coupl ing impedance between the rotor and s t a t o r . They employed these impedances t o establ ish a

re1 ationship between the appl ied vol tage and the current harmonics. This analysis did not account f o r saturation of the iron core, as the rotor and s t a t o r were modelled by two concentric smooth cylinders of i nf i ni t e l y permeabl e i ron. The methods proposed by Williamson e t a l . f o r t h e analysis of defective induction machines cannot be used f o r many defects including non-uniform a i r gaps. Even f o r the defects f o r which these methods

a r e developed, the flux density in the machine cannot be represented. Therefore, f o r some of the defects t h a t cause severe saturation in some portions of the machine, t h i s author be1 ieves t h a t a more sophisticated method such as t h a t presented in t h i s d i s s e r t a t i o n i s needed t o val i d a t e these proposed methods.

A method based on f i n i t e e l e m e n t i s t a i l o r e d i n t h i s d i s s e r t a t i o n t o e n a b l e an a c c u r a t e p r e d i c t i o n o f f l u x d e n s i t y d i s t r i b u t i o n i n t h e m a c h i n e w i t h any d i s c u s s e d t y p e o f d e f e c t . s a t u r a t i o n e v e r y w h e r e i n t h e machine.

It w i l l account f o r

W i t h t h i s method, r a d i a l f o r c e s From a

and t h e p o s s i b l e r e s u l t i n g v i b r a t i o n c a n b e d e t e r m i n e d .

knowledge of f l u x d e n s i t y d i s t r i b u t i o n o f a d e f e c t i v e m a c h i n e u n d e r s a t u r a t i o n , t h e new o p e r a t i n g p o i n t of t h e l o a d - m a c h i n e s y s t e m can be f o u n d . W i t h t h i s i n f o r m a t i o n , i t i s p o s s i b l e t o compute t h e s a f e

l o a d w h i c h t h e m a c h i n e can s u p p o r t w i t h o u t f u r t h e r damage. F r e q u e n c y domain methods may b e u s e d t o a n a l y z e a n o n - d e f e c t i v e machine. However, i n a d e f e c t i v e machine, some p o r t i o n s o f t h e

m a c h i n e may become h e a v i l y s a t u r a t e d a n d t h e c u r r e n t may s u b s t a n t i a l l y d e v i a t e from s i n u s o i d a l

Under t h i s c i r c u m s t a n c e , t h e s i n u s o i d a l

v a r i a t i o n o f waveforms assumed i n f r e q u e n c y domain a n a l y s i s i s no longer valid. T h e r e f o r e , a t i m e domain f i n i t e - e l e m e n t b a s e d method

i s developed i n t h i s d i s s e r t a t i o n f o r t h e a n a l y s i s o f d e f e c t i v e i n d u c t i o n machines. One m a j o r d i f f e r e n c e e x i s t s between t h e a n a l y s i s o f a nond e f e c t i v e and d e f e c t i v e machine. I n t h e former category, a balanced

t h r e e - p h a s e c u r r e n t i s assumed t o f l o w i n t h e w i n d i n g i n o r d e r t o compute t h e m a c h i n e p a r a m e t e r s . d i s t r i b u t i o n i s obtained. Based on t h i s a s s u m p t i o n , t h e f l u x

I n t h e l a t t e r c a t e g o r y o f problem, t h e The c u r r e n t i n

a p p l i e d v o l t a g e i s t h e o n l y known i n p u t q u a n t i t y .

t h e t h r e e phases a r e d i f f e r e n t , unknown a n d t h e i r v a r i a t i o n s w i t h t i m e have t o be determined.

1.2

Content and Contribution of t h i s D i s s e r t a t i o n Maxwell ' s equations in the time domain a r e used t o derive a

u n i f i e d equation r e l a t i n g t h e magnetic f i e l d and c u r r e n t a t any point in the cross section of the induction machine. The only unknown

v a r i a b l e in t h i s equation i s the magnetic vector potential ( M V P ) . This equation r e l a t e s the f i r s t and second space d e r i v a t i v e and the f i r s t time d e r i v a t i v e of the MVP t o the applied c u r r e n t .
A version

of such a u n i f i e d equation has been derived by Odamura [11] f o r solving s a t u r a t e d travel 1 ing wave probl ems. However, t a i l o r i n g a f i n i t e

el ement-based dynamic model f o r the a n a l y s i s of r o t a r y d e f e c t i v e induction machines i s considered t o be the contribution of t h i s dissertation. In Chapter 2 , a global equation i s derived from t h e unified equation. To solve t h i s equation a t any time s t e p , an i t e r a t i v e method

together with the B-H c h a r a c e r t i s t i c of the core a r e used t o compute f o r any point. The numerical technique used f o r t h i s purpose a n d

the i n t e g r a t i o n of the global equation i s presented in Chapter 3 . Another contribution i s the development of a computer program which u t i l i z e s the methodology of Chapters 2 and 3 t o compute the f l u x density everywhere in the machine. The program i s developed in

the time domain so t h a t the c u r r e n t waveform in every winding can be predicted under s a t u r a t e d conditions. Using the appl ied vol t a g e ,

the program produces a s o l u t i o n over a s p e c i f i e d time i n t e r v a l . I t produces contour p l o t s a t each time s t e p t o describe the f l u x density d i s t r i b u t i o n over a sol id r o t o r induction machine with a

stationary rotor.

This i s a f i r s t s t e p towards the derivation of For t h i s

the torque-speed c h a r a c t e r i s t i c f o r defective machines.

derivation the f l u x density d i s t r i b u t i o n must be calculated a t d i f f e r e n t rotor speeds. From the torque-speed c h a r a c t e r i s t i c , Based on

the new operating point of the machine can be determined.

t h i s and the computed c u r r e n t s , the plant engineer can decide whether he should remove the defective machine from service immediately, or l e t i t remain until the next scheduled maintenance. The need f o r the development of f i n i t e element-based computer programs f o r magnetic f i e l d analysis has become increasingly recognized in recent years among e l e c t r i c a l power enqineers. This need has

brought about some production grade commercially a v a i l a b l e programs over the past two years [12]. These programs may be g r e a t l y enhanced

i f the methodology developed in t h i s d i s s e r t a t i o n f o r the analysis of defective induction machines i s included.

FIELD EQUATIONS AND FINITE ELEMENT APPROXIMATION

2.1

Introduction The o b j e c t i v e of t h i s d i s s e r t a t i o n i s t h e development o f a

m e t h o d o l o g y by w h i c h a d e f e c t i v e i n d u c t i o n machine may be a n a l y z e d . The method s o u g h t i n t h i s work i s based on t h e d e t e r m i n a t i o n o f t h e m a g n e t i c f i e l d d i s t r i b u t i o n i n t h e machine. I n t h i s c h a p t e r , t h e t h e o r y of e l e c t r o m a g n e t i c f i e 1 ds i s employed t o e s t a b l i s h a r e l a t i o n s h i p between t h e m a g n e t i c q u a n t i t i e s and t h e a p p l i e d c u r r e n t f o r e v e r y r e g i o n of t h e machine. An e q u a t i o n w i t h

o n l y one unknown q u a n t i t y , t h e MVP, i s d e r i v e d from t h e e s t a b l i s h e d relationships. Consideration o f t h i s equation a t different sections

of a s o l i d r o t o r i n d u c t i o n m o t o r l e a d s t o a u n i f i e d e q u a t i o n f o r t h e machine. I n t h i s work, t h e a x i a l l e n g t h of t h e machine i s assumed t o be much l o n g e r t h a n t h e m a c h i n e ' s d i a m e t e r . The c o n t r i b u t i o n o f t h e

m a g n e t i c f i e l d due t o end c o n n e c t o r s w h i c h c o n n e c t t h e a x i a l c o n d u c t o r s i s neglected. W i t h t h e s e a s s u m p t i o n s , t h e v a r i a t i o n of t h e m a g n e t i c

f i e l d i n t h e a x i a l d i r e c t i o n c a n b e n e g l e c t e d , and hence t h e a n a l y s i s may be c o n f i n e d t o two d i m e n s i o n s . I n t h e n e x t s e c t i o n , Maxwell ' s e q u a t i o n s a r e empl oyed t o e s t a b l i s h a r e l a t i o n s h i p between t h e MVP and t h e d e n s i t y o f t h e a p p l i e d c u r r e n t . I n S e c t i o n 2.3 t h i s e q u a t i o n i s a p p l i e d t o t h e s t a t o r s l o t ,

a i r gap, s t a t o r i r o n and s o l i d r o t o r i r o n o f an i n d u c t i o n machine. From t h e s e , a u n i f i e d e q u a t i o n i s o b t a i n e d . The l a s t s e c t i o n o f t h i s

c h a p t e r d e a l s w i t h t h e d e r i v a t i o n o f element e q u a t i o n s i n which G a l e r k i n ' s method [33] i s a p p l i e d t o t h e u n i f i e d e q u a t i o n . between t h e a p p r o x i m a t e s o l u t i o n f o r t h e i s minimized. The e r r o r

MVP

and t h e t r u e s o l u t i o n

T h i s process y i e l d s a s e t o f a l g e b r a i c equations.

2.2

General

MVP

Equation

An e q u a t i o n which r e l a t e s t h e

MVP

t o t h e appl i e d c u r r e n t d e n s i t y

a t e v e r y p o i n t i n t h e machine i s d e r i v e d f r o m M a x w e l l ' s e q u a t i o n s . C o n s i d e r i n g t h e f r e q u e n c y o f power systems, t h e d i s p l a c e m e n t c u r r e n t i s neglected i n t h i s derivation. F o r 1 ow f r e q u e n c y a p p l i c a t i o n s , Maxwell ' s e q u a t i o n s may be w r i t t e n i n p o i n t f o r m and i n t i m e domain as [34]:

where:

x , y and

,.

;a r e

u n i t vectors along t h e three-dimensional

orthogonal

c o o r d i n a t e axes.

E B
J

i s the electric f i e l d intensity a t the point. i s t h e magnetic f l u x d e n s i t y a t t h e p o i n t .

fi i s t h e m a g n e t i c f i e l d i n t e n s i t y a t t h e p o i n t .
i s the total current density a t the point.

A1 1 t h e f i e l d q u a n t i t i e s , E , space a n d t i m e .

B,

and

a r e v e c t o r s and f u n c t i o n s o f

I n a d d i t i o n t o equations (2.1) through ( 2 . 4 ) ,

t h e r e a r e c o n s t i t u t i v e r e l a t i o n s between t h e f i e l d q u a n t i t i e s and t h e m a t e r i a l p r o p e r t y o f t h e medium. These a r e :

where:

i s t h e p e r m e a b i l i t y of t h e m a t e r i a l , and changes w i t h

B.

o i s the conductivity.

The MVP, A , may be u s e d t o t r a n s f o r m e q u a t i o n s ( 2 . 1 ) t h r o u q h ( 2 . 7 ) t o a s i n g l e e q u a t i o n w i t h o n l y one unknown q u a n t i t y . d e f i n e d t o b e a v e c t o r s a t i s f y i n g [35]: The MVP i s

Using

from equation (2.6) i n (2.8) gives:

E q u a t i o n ( 2 . 9 ) i s u s e d i n ( 2 . 2 ) a n d t h e r e s u l t i s a g e n e r a l MVP equation:

2.3

Unified Equation f o r t h e Induction Machine In t h i s s e c t i o n , t h e above equation i s s i m p l i f i e d . I t i s applied

t o every region of a sol id r o t o r induction motor t o y i e l d a u n i f i e d equation f o r t h e machine. The following assumptions a r e made in o r d e r t o simplify equation (2.10): a) The a x i a l length of t h e machine i s much longer than t h e The MVP

diameter and t h e a o p l i e d c u r r e n t d e n s i t y i s a x i a l l y d i r e c t e d . i s a l s o assumed t o be a x i a l l y d i r e c t e d .

b)

Contribution of t h e magnetic f i e l d due t o end conductors

i s negl e c t e d .

c)

Ferromagnetic and conducting regions a r e i s o t r o p i c in x and y

directions . Under assumption a ) t h e c u r r e n t d e n s i t y i s w r i t t e n a s :

JZ

(2.11)

S i m i l a r l y the NVP i s w r i t t e n a s :

Under t h e above assumptions, equation ( 2 . 1 0 ) i s simp1 i f i e d in Appendix A . The r e s u l t from ( A . 6 ) i s :

2.3.1

S t a t o r S l o t s of an Induction Machine The t o t a l c u r r e n t d e n s i t y a t any p o i n t within t h e s t a t o r

s l o t s i s resolved i n t o t h e appl ied and induced c u r r e n t d e n s i t i e s .

These components a r e employed in ( 2 . 1 3 ) t o y i e l d t h e MVP equation f o r p o i n t s in t h i s region of t h e induction motor. Use of ( 2 . 8 ) in ( 2 . 1 ) g i v e s :

Since t h e curl of t h e g r a d i e n t of any s c a l a r f u n c t i o n i s zero ( s e e

B.2),

where .I' i s a s c a l a r p o t e n t i a l . gives:

Mu1 t i p l y i n g equation ( 2 . 1 5 ) by c:

Resol ving s7A' i n t o two components, t h e f o l l owing equation i s obtained:

where:

J0

i s the applied current density.

. i s a scalar potential. I
Then, using

f o r oE from ( 2 . 7 ) , ( 2 . 1 7 ) g i v e s :

Taking t h e divergence of t h e above equation g i v e s :

From equation ( 2 . 4 ) , the term on the 1 e f t hand s i d e and the second term on t h e r i g h t hand s i d e of equation ( 2 . 1 9 ) a r e both zero. f o r e , the equation i s reduced to: There-

A theorem of vector a n a l y s i s due t o Helmhol t z [27] ,[50], s t a t e s

t h a t a vector i s s p e c i f i e d when i t s divergence and curl have been specified. The curl of A i s s p e c i f i e d by ( 2 . 8 ) , and according t o Choice

Helmhol t z ' s theorem, the divergence of A has t o be s p e c i f i e d . of t h e divergence of A i s a r b i t r a r y [47] ,[50].

I t i s usually made

so a s t o achieve some s i m p l i f i c a t i o n in the r e l a t i o n between the magnetic vector potential and the c u r r e n t density.
A choice o f :

together with ( 2 . 8 ) f u l l y s p e c i f i e s A .

Considerinq equation ( 2 . 2 0 ) ,

t h i s choice requires . t o s a t i s f y the Laplace's equation: I

A s o l u t i o n which s a t i s f i e s ( 2 . 2 2 ) and s i m p l i f i e s (2.17) i s :

With t h i s choice, equation (2.17) becomes:

Use of the same solution in ( 2 . 1 8 ) gives:

Axial components of the above equation a r e used f o r the r i g h t hand

0 f o r s t a t o r s l o t s , the applicable equation f o r every point within t h i s region i s :

I J

s i d e of ( 2 . 1 3 ) .

Since J =

2.3.2

Air Gap and S t a t o r Iron Reqions As conduction and the applied c u r r e n t in t h e a i r a r e zero,

the r i g h t hand s i d e of (2.13) may be s e t t o zero to g i v e the f i e l d equation f o r any point in the a i r gap a s :

S i m i l a r l y , conduction in the s t a t o r core i s n e g l i g i b l e due t o t h e laminated s t r u c t u r e o f the core. The equation which i s applicable

f o r t h i s region i s obtained from ( 2 . 1 3 ) by s e t t i n g J t o zero, hence:

2.3.3

S o l i d R o t o r Region The c u r r e n t d e n s i t y a t a p o i n t P o f t h e s o l i d r o t o r

shown i n F i g . 2 . 1 may be w r i t t e n as [36]:

where : i s the velocity o f the point. The v e l o c i t y of P may be r e s o l v e d i n t o x and y components a s :

U
= -r

dr

S i n ? = -y,

(2.30)

where :

or i s t h e a n g u l a r v e l o c i t y o f t h e r o t o r
Use o f e q u a t i o n ( 2 . 2 4 ) w i t h t h e f a c t t h a t gives:

Jo

= 0 i n the sol i d r o t o r

E = - -A
S u b s t i t u t i n g (2.32) f o r

2t
and ( 2 . 8 ) f o r

(2.32)

i n (2.29) gives:

Expanding t h e second t e r m on t h e r i g h t hand s i d e o f t h i s e q u a t i o n and e q u a t i n g t h e a x i a l components g i v e s :

Figure 2 . 1

A section of t h e considered solid rotor.

Equations (2.30) and ( 2 . 3 1 ) a r e used, r e s p e c t i v e l y , f o r U x and U the above equation t o y i e l d :

in

The above equation i s used f o r J in ( 2 . 1 3 ) . The r e s u l t i s a r e l a t i o n ship which a p p l i e s t o every point in the sol id r o t o r as:

For t h e purpose of f i n i t e element d e s c r e t i z a t i o n , i t i s convenient t o w r i t e one equation from which equations ( 2 . 2 6 ) , ( 2 . 2 7 ) , ( 2 . 2 8 ) and ( 2 . 3 6 ) may be derived. equation i s w r i t t e n as: This equation which i s named the u n i f i e d

The constants

7 ,

'3 and y a r e given in Table 2.1.

In the next s e c t i o n ,

G a l e r k i n ' s method i s appl ied t o t h e u n i f i e d equation in order t o derive the element equation.

Table 2.1 CONSTANTS

r,

3 AND

FOR DIFFERENT REGIONS

3F AN INDUCTION MACHINE

I /stator Slot
/ ~ i Gap r / S t a t o r Iron !Sol i d Rotor

2.4

Element Eauation The u n i f i e d equation derived in t h e previous s e c t i o n i s converted

i n t o a s e t of a l g e b r a i c equations usinq G a l e r k i n ' s method.

This i s

a means of obtaining an approximate s o l u t i o n t o a p a r t i a l d i f f e r e n t i a l equation.

I t does so by r e q u i r i n g t h e e r r o r between t h e approximate

s o l u t i o n and t h e t r u e one be orthogonal t o t h e i n t e r p o l a t i n g f u n c t i o n s used in t h e approximation. Let

be an approximate s o l u t i o n t o ( 2 . 3 7 ) a s in

f o r a p o i n t within t h e region Figure 2.2.

: bounded by a contour ,

I f A i s s u b s t i t u t e d i n t o ( 2 . 3 7 ) , i t will not, in g e n e r a l ,

s a t i s f y t h e equation, and t h e following i s obtained:

where R i s t h e residual o r e r r o r .

The s m a l l e r t h e R, t h e more

a c c u r a t e l y A r e p r e s e n t s t h e MVP a t t h e corresponding ? o i n t in f. The

F i g u r e 2.2

Two-dimensional r e g i o n 3, bounded by a c o n t o u r

:.

g e n e r a l method o f w e i g h t e d r e s i d u a l [38] may be used t o o b t a i n d i f f e r e n t p o i n t s w i t h i n t h e s o l u t i o n domain. that:

ifor

T h i s method r e q u i r e s

where : W i s a w e i g h t i n g f u n c t i o n t o be s p e c i f i e d s u b s e q u e n t l y . Hence,

T h i s i n t e g r a l w i t h t h e r e s o l u t i o n i n t r o d u c e d i n E q u a t i o n ( B . 3 ) becomes:

where: n i s t h e o u t w a r d normal t o ? i n F i g u r e 2 . 2 . I n t h e s t u d i e s t o be p r e s e n t e d i n t h i s d i s s e r t a t i o n , t h e c o n t o u r 1 i s so chosen t h a t t h e c o n t r i b u t i o n o f t h e m a g n e t i c f i e 1 d due t o c u r r e n t s o u r c e i n 2 i s n e g l i g i b l e beyond T. (2.8), indicates that: This, together with

I n a f i r s t - o r d e r f i n i t e element approximation of ( 2 . J l ) , the

region :i s divided into a number of t r i a n q u l a r elements, :,, Figure 2.3. as in

Over each element, A i s assumed t o vary 1 inearly a n d i t s

values a t any point i s shown by

ie.

The weighting function \!4 f o r t h i s Furthermore, ,and :a r e assumed

element i s similarly shown by W e [39]. constant over each t r i a n g l e .

Yith these assumptions and ( 2 . 4 2 ) , ( 2 . 4 1 )

nay be written a f t e r rearrangement as:

' dxdy =y >Y/

where subscript "e" r e f e r s to any t r i a n g l e within the domain. M i s the total number of t r i a n g l e s within the domain.

J
O e

i s the average current density in t r i a n g l e " e " .

A

ueY de'

-fe

a r e the values of

; S and v , respectively, in ,

triangle " e n .

I n Appendix C , the assumption t h a t Ae varies 1 inearly within each

t r i a n g l e i s used t o derive the following expression:

F i g u r e 2.3

A region 2 , divided i n t o t r i a n g u l a r elements

where:
A
Ni,

A . and ffk a r e t h e values of ie a t nodes i , j and k . 3 N . and N a r e i n t e r p o l a t i o n ( o r shape) f u n c t i o n s given by 3 k

= - -1; ( a m 2 - m

b x + c y), m m

f o r m = i , j and k

where:
2 i s t h e area of t h e element, given by ( B . 5 ) .

my

rn

and cm f o r each node a r e some c o n s t a n t s defined in ( C . 12)

t o (C.20). G a l e r k i n ' s neth hod i s made complete by sel e c t i n s t h e weighting function We t o be N i , N . and N k one a t a t i n e [39],
3

[all,

and i n t e g r a t i n g

t h e terms of equation ( 2 . 4 3 ) f o r element " e " . used t o d e f i n e :

These s e l e c t i o n s may be

In Appendix D , ( 2 . 4 4 ) and every row of ( 2 . 4 6 ) a r e s u b s t i t u t e d i n t o ( 2 . 4 3 ) and t h e i n t e g r a l s a r e evaluated t o y i e l d f o r element " e " :

where :

[gel i s a 3x3 m a t r i x , ( s e e 0 . 1 4 ) .

[Pel [Eel

i s a 3x3 m a t r i x , ( s e e 0 . 3 3 ) . i s a 3x1 column v e c t o r , ( s e e 0 . 1 7 ) .

Appl i c a t i o n of ( 2 . 4 7 ) t o each o f t h e M e l e m e n t s i n :, and s u b s t i t u t i o n of t h e s e c o n t r i b u t i o n s i n t o ( 2 . 4 3 ) , y i e l d s t h e f o l l o w i n g g l o b a l m a t r i x equation:

where:
[PG] i s an nxn g l o b a l m a t r i x .

[aG]

i s an nun g l o b a l m a t r i x . a r e nxl global v e c t o r s .

:1

[IG] [A] and -

n i s t h e t o t a l number of nodes i n

and on ? .

Chapter 3 SOLUTION METHODOLOGY AND COMPUTER PROGRAM 3.1 Introduction The objective of t h i s d i s s e r t a t i o n i s t o develop a method f o r the analysis of a defective induction machine.

A global d i f f e r e n t i a l
In t h i s chapter, Two computer

equation was derived f o r the machine in Chapter 2.

a method t o solve the equation numerically i s provided.

programs developed t o hand1 e a1 1 the computations involved and generate the required resul t s a r e described.

I n Section 3.2, a step-by-step method used t o solve the global

equation i s presented. Having obtained the s o l u t i o n , Section 3 . 3 In Section 3 . 4 the

describes t h e i r use in plotting MVP contours.

procedure used t o compute the currents in the s t a t o r windings i s presented. In the l a s t s e c t i o n , two flowcharts, one f o r each computer The function

program developed in t h i s d i s s e r t a t i o n , are presented. of each block in the chart i s described.

3.2

Solution of the Global Equation The global equation was derived in Chapter 2 and in t h i s section,

a method used t o solve t h i s equation i s presented. reproduced here f o r convenience as:

The equation i s

The above equation i s solved by c e n t r a l d i f f e r e n c e method [ i . 4] This involves evaluation of t h e v e c t o r p o t e n t i a l and i t s d e r i v a t i v e , a s well a s t h e r i g h t hand s i d e of ( 3 . 1 ) a t t h e midpoint of t h e time interval

The resul t i s :

Hence:

[PGIntl
of

in ( 3 . 3 ) i s a f u n c t i o n of

and hence depends on t h e value

[&Intl. compute [!Intl

Therefore, t h e following i t e r a t i v e orocess i s used t o a t each s t e p :

[A],

K K t1 ( C Q G I / ~ t [PGln+l/2) n+l +

[A]

(LQ,3/it -

[ P G l n ) W n+

n+

[kln)/2

(3.4)

Solution ( 3 . 4 ) i s taken t o have converged a t t h e k - t h i t e r a t i o n , i f :

where s i s a t o l e r a n c e .

The n e x t s e c t i o n d e s c r i b e s how t h e s o l u t i o n

i s u s e d t o p l o t MVP c o n t o u r s .

3.3

C o n t o u r s of t h e M a g n e t i c V e c t o r P o t e n t i a l s S o l u t i o n of t h e g l o b a l e q u a t i o n g i v e s t h e v a l u e s o f t h e NVP f o r

a l l nodes o v e r t h e c r o s s s e c t i o n o f t h e machine.

The l o c u s o f t h e

p o i n t s w h i c h h a v e a s p e c i f i c v a l u e o f MVP can be d e t e r m i n e d b y interpolation. P l o t t i n g t h e s e p o i n t s w h i c h h a v e t h e same MVP g i v e s Contour p l o t s p r o v i d e a v e r y u s e f u l t o o l

a contour f o r t h a t value.

t o u n d e r s t a n d t h e s t a t e of m a g n e t i c c i r c u i t s r e g a r d i n g f l u x d e n s i t y d i s t r i b u t i o n a n d s a t u r a t i o n , e s p e c i a l l y when t h e

MVP v a l u e a s s o c i a t e d

w i t h a c o n t o u r l i n e d i f f e r s f r o n t h e two a d j a c e n t ones by a s p e c i f i c value. A r e l a t i o n s h i p between t h e f l u x d e n s i t y and c o n t o u r 1 i n e s o f MVP may b e seen when t h e f o r m e r i s e x p r e s s e d i n t e r m s o f t h e MVP. T h i s i s g i v e n i n (A.2) as:

F o r example, t h e above e q u a t i o n s u g g e s t s t h a t a t P, Q a n d R i n F i g u r e 3.1, points, the B i s perpendicular t o the x-axis,

=

3A -i ; and 3X

'*Y +7

0. F o r t h e s e

t h e f o l l o w i n g c o n c l u s i o n s c a n b e made:

Figure 3 . 1

Contour p l o t s f o r a magnetic c i r c u i t .

Each p a i r of

1 i n e s d i f f e r by a s p e c i f i c value of WIP.

where Bp, B

4 and

BR a r e the flux densities a t points ?,

0 and R ,

respectively.
(b)

The material medium a t Q i s magnetical l y more s a t u r a t e d

than t h a t a t R. Hence, t h e contour 1 i nes imp1 i c i t l y r e p r e s e n t t h e f l ux densi t y distribution. region. Closer l i n e s suggest higher f l u x d e n s i t i e s in t h e

Contour p l o t s of MVPs a r e employed in Chapters 4 and 5 t o

d i s p l a y t h e d i s t r i b u t i o n of f l u x d e n s i t i e s and t h e i r v a r i a t i o n s in time.

3.4

Computation o f Winding Currents

A method t o i n t e g r a t e t h e global equation in time and o b t a i n

a s o l u t i o n f o r t h e MVP was presented in Section 3 . 2 .

The s o l u t i o n

i s used i n t h i s s e c t i o n t o compute d i f f e r e n t types of c u r r e n t in a sing1 e t u r n c o i l .

A s i n g l e turn c o i l of t h e s t a t o r carrying a c u r r e n t , i , i s shown

in Figure 3 . 2 .

The v o l t a g e equation f o r t h e c o i l i s :

where: v ' i s t h e instantaneous value of t h e v o l t a g e a c r o s s t h e considered

turn.
r ' i s t h e r e s i s t a n c e of t h e turn.
$

i s t h e f l u x which l i n k s the turn.

P
I

Side ionductar

End
connect0 r

J . .

A,

Figure 3 . 2

A s i n g l e turn c o i l .

S o l u t i o n o f t h e g l o b a l e q u a t i o n g i v e s t h e YVPs a t e v e r y node i n t h e s o l u t i o n domain. I n o r d e r t o compute t h e c u r r e n t i n e v e r y w i n d i n g

2

from t h e r e s u l t s , i t i s necessary t o express t h e f l u x t e r m s of t h e s e MVPs.

i n (3.7)

in

T h i s i s a c h i e v e d b y i n t e g r a t i n g b o t h s i d e s of

(2.8) o v e r t h e s u r f a c e S o f t h e s i n g l e t u r n c o i l i n F i g u r e 3.2:

A p p l y i n g (B.4) t o t h e above e q u a t i o n g i v e s :

where t h e c o n t o u r i n t e g r a l on t h e r i g h t hand s i d e o f ( 3 . 9 ) i s t a k e n a r o u n d t h e c u r v e C, b o u n d i n g t h e s u r f a c e S. The i n t e g r a l f o r t h e end c o n n e c t o r a t one end o f t h e t u r n c a n c e l s t h a t a t t h e o t h e r end. Assumption ( a ) o f S e c t i o n 2.3 i s used t o

e v a l u a t e t h e i n t e g r a l a l o n g t h e r e m a i n i n q two s i d e c o n d u c t o r s of t h e turn. Hence, ( 3 . 9 ) r o u n d t h e c o n t o u r

C i n Figure 3.2 gives:

where:
i i s the axial length o f the turn.

A1 and A 2 a r e t h e MVPs a t t h e t w o s i d e s o f t h e c o i l . Equation (3.10) t u r n c o i l as: i s used i n (3.7) t o g i v e the voltage across t h e s i n g l e

The above equation i s written f o r every sing1 e turn coil connected in s e r i e s in a phase and the t o t a l winding current i i s obtained a s :

where: i 0 i s the appl ied current in the winding.

v i s the instantaneous voltage across the turns connected in

series. r i s the total resistance of the turns connected in s e r i e s . indicates a summation f o r a l l single turn c o i l s connected e in s e r i e s t o make one phase.
Aj, Ak a r e the M P a t the two sides of any of the coil s connected Vs

in s e r i e s . The second term of the r i g h t hand side of ( 3 . 1 2 ) i s the induced current.

I n simulation s t u d i e s , three currents, namely the t o t a l

current i , the appl ied current i 0 and the induced current a r e plotted t o show t h e i r variations with time. The procedures described in t h i s

and previous sections a r e implemented in the second computer program described in the next section.

3.5

A Description of the Computer Programs

Two computer programs developed in t h i s work and used t o obtain the MVPs within an induction machine a r e described in t h i s s e c t i o n . The f i r s t one i s a program which divides t h e cross s e c t i o n of the induction machine i n t o t r i a n g l es with s p e c i f i c p r o p e r t i e s which a r e given subsequently. This program i s employed in Chapter 4 t o

d e s c r e t i z e the cross section of an induction machine used in simulation studies. Other programs a l s o developed and used t o d e s c r e t i z e

rectangular domains f o r some examples in Chapter 4 a r e n o t described. The second program described in t h i s section u t i l i z e s the method of Section 3 . 2 t o i n t e g r a t e the qlobal equation in time. The output

of the program i s mainly the MVP a t d i f f e r e n t nodes f o r d i f f e r e n t time s t e p s . The program a1 so employs the d e r i v a t i o n s presented in

Section 3 . 4 t o compute the c u r r e n t s in the s t a t o r windings. 3.5.1 Descretizati on Program, MESHGEN The mesh generation program, MESHGEN described here i s devel oped with the fol 1 owing p r o p e r t i e s : ( a ) The el ements generated a r e acute angled t r i a n g l e s , because elements c l o s e t o an e q u i l a t e r a l shape produce more accurate r e s u l t s

1411.
(b)

If t h e region has curved boundaries, the s i d e s of t h e

elements along the boundary a r e assumed t o approximately represent the curvature. ( c ) The boundaries between any two regions of d i f f e r e n t material p r o p e r t i e s a r e made t o coincide with the s i d e s of the elements.

A flowchart of program MESHGEN i s shown in Figure 3 . 3 .

A complete

s e t of data describing the domain t o be descretized i s read. are:

They

radius of the r o t o r , s l o t opening, s l o t angles, s l o t depth,

s t a t o r inner and outer r a d i i , number of s l o t s and material properties of d i f f e r e n t subdomains of the region. sectors as in Figure 3 . 4 . The domain i s divided into

Each sector i s divided i n t o q u a d r i l a t e r a l s .

These q u a d r i l a t e r a l s a r e subdivided into acute angled t r i a n g l e s according t o ( a ) above. For example, the program will subdivide

quadrilateral Q , Figure 3 . 4 , in the form shown by case A , a n d not as t h a t in case B. Element numbers, node numbers a n d material properties If a l l q u a d r i l a t e r a l s within

are assigned and saved in a n array.

one sector a r e considered, the program checks whether a l l the sectors have been considered. The above process i s repeated until every The

sector has been considered a f t e r which execution terminates.

next section describes a flowchart of the second computer program used t o integrate the global equation. 3.5.2 Main Program, FETIME

A flowchart of the main program, FETIME, i s shown in

Figure 3 . 5 .
MESHGEN.

I t reads element data generated f o r the domain by program

Based on the d a t a , the program s e t s u p pointers f o r diagonal This process

elements of the matrices in the global equation.

exploits the sparse nature of the global matrix by assigning storage only f o r non-zero elements above the diagonal. the required storage. The program estimates

If the memory i s not s u f f i c i e n t , the program

Read ciomain d a t a : r o t o r r a d i u s , s t a t o r o u t e r and i n n e r r a d i i , s l o t opening, s l o t depth, number of s l o t s , and material properties.

1
Divide dorain i n t o s e c t o r s .
1
1

I
I

I Divide a s e c t o r i n t o a u a d r i l a t e r a l s .
Divide a q u a d r i l a t e r a l i n t o t r i a n q u l a r el ements. a c u t e angled

i
Number each element and nodes of t h e e l e n e n t .
1

Consider another quadrilateral

Figure 3 . 3

A flowchart of proqrarnPlESPGEM.

Assign material property t o each element.

Save element number, node numbers a n d m t e r i a1 a property in an a r r a y .

Consider another sector

i

1 Yes
Save element numbers, node numbers and material property on a d i s c

Figure 3 . 3

(concluded)

F i g u r e 3.4

A s e c t i o n o f a n i n d u c t i o n machine showing j e c t o r s and

q u a d r i l a t e r a l s. Q u a d r i l a t e r a l Q i s sub-divided i n t o Ease S

t r i a n g l e s i n t h e f o r r shown b y c a s e A a b o v e .

i s avoided by the proqran.

L
Read e l ement d a t a g e n e r a t ~ d . by program MESHGEN. S e t up p r o f i l e and p o i n t e r s f o r diagonal elements of rnatri ces i n g l o b a l e q u a t i o n . Estimate r e q u i r e d s t o r a g e .

Figure 3.5

A f l o w c h a r t of main p r o g r a m , FETIl*E.

Figure 3.5

(concluded)

t e r m i n a t e s a u t o m a t i c a l 1y . the global equation. The NVPs, A -n

O t h e r w i s e , t h e p r o g r a m commences t o i n t e g r a t e

K a r e used t o update t h e g l o b a l m a t r i x equation f o r

T h i s equation i s s e t up

t h e k - t h i t e r a t i o n and n - t h t i m e s t e p . according t o (3.4) a f t e r the m a t r i x [QG]

[PG] and t h e column v e c t o r Solution of

[k]a r e

assembled f r o m ( 0 . 1 4 ) ,

( 0 . 3 3 ) and ( 0 . 1 7 ) .

( 3 . 4 ) i s a c c o m p l i s h e d u s i n g l o w e r and u p p e r ( L U ) d e c o m p o s i t i o n o f t h e l e f t hand s i d e o f t h e e q u a t i o n a n d s u b s e q u e n t b a c k w a r d s u b s t i t u tion. S o l u t i o n a t each i t e r a t i o n i s checked f o r c o n v e r g e n c e a c c o r d i n g

I f convergence i s achieved, t h e n e x t t i m e s t e p i s c o n s i d e r e d

t o (3.5).

and t h e above p r o c e s s i s r e p e a t e d u n t i l t h e s p e c i f i e d t i m e i n t e r v a l i s exhausted. A t t h e end o f t h e t i m e i n t e r v a l , t h e p r o g r a m computes t h e w i n d i n g c u r r e n t as d e s c r i b e d i n S e c t i o n 3 . 4 .

I t uses e q u a t i o n (3.12)

t o compute t h e t o t a l c u r r e n t w h i l e u s i n g t h e second q u a n t i t y on t h e r i g h t h a n d s i d e t o compute t h e i n d u c e d c u r r e n t . i s computed f r o m ( 3 . 1 3 ) . The a p p l i e d c u r r e n t

Each o f t h e t h r e e c u r r e n t s i s p l o t t e d a g a i n s t

t i m e u s i n g a s e p a r a t e p l o t t i n g program.

Chapter 4 VALIDATION O F THE COMPUTER PROGRAMS 4.1 Introduction The o b j e c t i v e of t h i s d i s s e r t a t i o n i s t o develop a methodology f o r the a n a l y s i s of defective induction machine. required f o r t h i s method was derived in Chapter 2 . The global equation Computer programs

developed t o carry out the computations involved were described in Chapter 3 . exampl e s . A n example which has a closed form s o l u t i o n i s used in Section 4.2 t o val i d a t e a portion of the proqram. Other examples a r e f o r e l e c t r o In t h i s chapter, t h e program i s applied t o s p e c i f i c

magnetic devices and a r e employed t o a s s e s s the r e s u l t s produced by the program when system n o n l i n e a r i t i e s a r e considered. In Section 4.3 t h e program i s used t o simulate an inductor which comprises a coil enclosed in a rectangular iron core. Contour p l o t s

of MVPs a r e presented f o r two d i f f e r e n t p o s i t i o n s of t h e coil on the core. The example given in Section 4 . 4 i s f o r a magnetic c i r c u i t which includes an a i r gap. Results from the c l a s s i c a l a n a l y s i s of t h i s

magnetic c i r c u i t a r e compared with those produced by the program. This chapter ends with Section 4 . 5 in which a non-defective s o l i d r o t o r induction motor i s simulated. Equipotential contours and the c u r r e n t s These contours are f o r a time when

in d i f f e r e n t windings a r e p l o t t e d . the t r a n s i e n t s have di ed down.

4.2

Validation of t h e Program f o r a Linear Case In t h i s s e c t i o n , t h e closed form s o l u t i o n f o r a 1 i n e a r p a r t i a l

d i f f e r e n t i a l equation i s used t o v a l i d a t e a portion o f t h e program. The considered p a r t i a l d i f f e r e n t i a l equation i s shown below a n d d e s c r i b e s the temperature d i s t r i b u t i o n T , in a r e c t a n g u l a r domain:

S u b j e c t t o t h e boundary c o n d i t i o n s :

and i n i t i a l temperature:

where :
K x and K

Y
Y

a r e thermal c o n d u c t i v i t i e s taken t o be 1 . 2 5 . a r e t h e length and width of t h e s o l u t i o n domain both

L, and L

taken t o be 3 m . The s o l u t i o n of ( 4 . 1 ) through ( 4 . 3 ) over t h e region shown in Figure 4 . 1 i s d e s i r e d . Analytical s o l u t i o n t o t h e problem i s 1421:

where:

Figure 4.1

The f i n i t e e l e m e n t mesh f o r t h e example c o n s i d e r e d i n t h i s section. nodes.

I t c o n s i s t s o f 200 t r i a n g l e s w i t h 121

Dimensions a r e g i v e n i n meters.

c o m m h m ~ m a m m a m m no r-m cc m ~ w m a m w a m m mu, N N
a0

do do o
oc oc
00

0 0

co a m h w
00

00

00

oc o m w m 0c c e m N- -m a0 mm 00 T O
0 0

co

00 00

00

- - - - - . . . . . . . . . . . - - - - - - - - - - . . . . . . 7 ? yqc: . . - - - - - -. . . . . . . . . . . . . . . . . . . . . . - - - - - - - - - - - - - - - - - - - - . . . . . . . . . . . . . . . . -- . . . . . - - - - - - - - .- - h m m a m~ m~ mm w w
00
L O N

- e-

m o

be

mm

mm

mm

u a

mm

- - .-. - qq - 0 0
-

00

N m OCU NIO Om m m N00

- - . . . . . . - - - - . -. -- --. - .a m h a Nmm 00
- 4

--o 4 d 3
-

i n

hh

t c =c
CC,

w
1

mm m o
h a
00
- 3

cc
3 -

3 -

00

-3CU -?a h n Q W CUN CUN coc .oa ~m a0 o c c c

= t

c o

=C

c o
3 C

cJ

0-

d m a m

C Q m a a-3
- 3

o m e m
- 3

UU

N U 2
e e -

ma:

U C U

S G mm = c
C C

0 0

C3

o=

c o c c oc
S Z

a m m n
W W

n~ m m

mm ~m hh w a

m n -3COI a m 30

00

4 -

4 -

- - - h e -

-+

4 -

n m mm mm a0

cc

m o mm o w -10 h w m w LDm 0 0 a a
00

O N P s h

mm

ON

N-

=a2

-+

3 -

- - - c

mm o a m'n m c mew C C h a 9 0 ~ m h n a 3 C ) mm 3 4 3 0c

DC =C
C =

ac

oc oc

C C

L O D

00

- - - - - - - - -- - 88 %% Z Z 2 g SZ --. --. . . . . . . . . --. =. =. . . . . . . . - - - - - - - - - .- 3 4

- 4 - 4

'S2 G Z . . 0 0. . . . . . . . . . . . . . . mu,. C = . . . . o t
n m mm
030
- e
- 3 4 -

-Q'Nm m N '.Om C U a m m m o m m - 3 ru- - a m c c s r m Q W h h 9'.0 c m o c

=,7

1 3

00

a-3

QOq

= G

- c c.r
c^.
3 ,

3-7 N C
N

D C U

-a-

'f-

r i c T
- 4

4 4 ::C'

G i T

c z
= S

=z

00

00

3 0

3 -

c-

S C

c=

00

co

dd 6 6 6 6 6 6
m

- - - - - - - & - 6 - = &-& &-2

-

~ h ~ L NN N N W W mm ~w mm

t o

He

~ 3 h'.O iWoc oo

2%

-.- . o m m c

c ? z hO= =~ za m ~ %=
F N
OIU

2.7

c o d m h m m m m n u,o o n c d i ? J N O m m m '.OG c r m a m hh @ oc m s o m m m err m m -.J

C C

dd

d d d & j - - d - d - d - 46 - & - d - 66 & =- '

j&

-e

h n m n 5,mru h h - _ m n c s

--

Table 4 . 1 shows the values of T a t t shown in Figure 4.1.

1.2 hr f o r d i f f e r e n t nodes

The number enclosed in parenthesis a r e obtained

from equations ( 4 . 4 ) and ( 4 . 5 ) , while those without a r e produced by the program. The resul t s compare favorably. The maximum deviation

from the analytical r e s u l t i s 3.46 percent.

4.3

Program Results f o r an Inductor Enclosed by Iron Core In t h i s s e c t i o n , the computer program i s used t o produce contours

f o r two d i f f e r e n t enclosures considered f o r a 96-turn c o i l . resistance of the coil i s 0.862 ohms.

The t o t a l

The f i n i t e element mesh f o r The contour p l o t s

these two cases are shown in Figures 4.2 and 4.4.

of the MVPs f o r these configurations a r e given in Figures 4.3 and 4.5, respectively. The contour plots in Figure 4.3 a r e produced f o r an applied coil voltage of v = 50 "7Sin (,t + 9), with 3 = 7 / 2 . These indicate

a reasonabl e pattern of flux d i s t r i b u t i o n f o r the symmetrical 1y p1 aced coil

.
When v = 10
Y??

Sin ( w t + 3 ) , with E=7.;/12,

i s applied t o the

inductor shown in Figure 4 . 4 , the contours a r e changed t o t h a t shown in Figure 4.5. This new pattern seems t o have a reasonable deviation

from t h a t in Figure 4.3 due t o the change in the position of the c o i l . The computer program has been applied in t h i s section to two simple magnetic c i r c u i t s f o r which e l e c t r i c a l engineers have a good feel i n g of the flux density d i s t r i b u t i o n s . Results produced by the

F i g u r e 4.2

F i n i t e element mesh when t h e c o i l i s c e n t r a l l y p l a c e d i n t h e core. nodes. Mesh c o n s i s t s o f 950 elements w i t h 520 Dimensions a r e g i v e n

C o i l l o c a t i o n i s shaded.

i n centimeters.

46

t=t0

t=to+At

4
0

.=

I
tZt0+2At

t=t0+3At

t=t0+4At Figure 4.3 placed i n t h e c o r e .

t= t0+5At
Contour 1
in
Wb/m.

MVP c o n t o u r s f o r t h e i n d u c t o r with t h e c o i l symmetrically

* 3 " = n713 ,.

t o =0.3s.

F i g u r e 4.4

F i n i t e element mesh when t h e c o r e i s n o t symmetric. has 1140 elements w i t h 620 nodes. shaded. Coil location i s

It

Dimensions a r e g i v e n i n c e n t i m e t e r s .

Figure 4 . 5

MVP contours f o r the inductor with u n s y m e t r i c iron core. -5 1 1 to = 0 . 3 s . Contour 1 ines i n 10 IJb/m. i?t = - * - S . 24 60

program have n o t been o u t o f e x p e c t a t i o n s , t h e r e b y s u p p o r t i n q t h e v a l i d i t y o f t h e program t o t h e e x t e n t examined. I n t h e next section, Results

t h e program i s a p p l i e d t o a m a g n e t i c c i r c u i t w i t h an a i r gap. g e n e r a t e d b y t h e program a r e compared w i t h a n a l y t i c a l r e s u l t s .

4.4

A M a g n e t i c C i r c u i t w i t h an A i r Gap A f i n i t e element mesh f o r t h e m a g n e t i c c i r c u i t w i t h an a i r gap

c o n s i d e r e d i n t h i s s e c t i o n i s shown i n F i g u r e 4.6. i s t h e same one used i n t h e p r e v i o u s s e c t i o n .

The c o i l employed

F i g u r e 4 . 7 g i v e s c o n t o u r p l o t s of t h e MVPs f o r h a l f a c y c l e when v = 40 "7 S i n ( w t + 8) i s appl i e d t o t h e c o i l . The c u r v a t u r e o f t h e

c o n t o u r 1 i n e s around t h e a i r gap i n d i c a t e s t h e f r i n g i n g e f f e c t . Appendix E g i v e s an a p p r o x i m a t e c l o s e d f o r m s o l u t i o n f o r t h e m a g n e t i c c i r c u i t when t h e a p p l i e d v o l t a g e i s : v =

\Im S i n

+ i)

The f l u x 3 i n t h e c o i l from ( E . 1 3 ) i s : Vm(o Cos O

N(s2

3 Sin 3) 32)

-3 t
Cos ( w t + 9 ) ;

"m N(WZtp2) CB S i n ( w t + 6)

where:

Figure 4 . 6

F i n i t e element mesh in t h i s section. Coil i s shaded.

f o r the magnetic c i r c u i t considered

I t has 760 elements and 420 nodes. Dimensions a r e given in centimeters.

51

I'

/ -

t=t +ZAt 0
\

i
\

i
?I
,-'

r'
,

' .
,/ ,
*

\., <-.

.
I

t=tQ+4pt
F i gu r e 4 . 7

t=t0+51t
Ub/m.

Contour p l o t s f o r the magnetic c i r c u i t w i t h a n a i r g a o . Contour 1 ines i n

It = - * - s . 24 60

to = 0 s .

Figure 4 . 7

(concluded).

m0

i s the flux a t t = 0.

R i s the resistance of the c o i l .

N i s the number of turns in the coil. Ac i s the area of the ferromagnetic core.

ec i s the magnetic path length through the core.

g i s the length of the a i r gap.
p

i s the permeability of the core. i s the permeability of free space.

i s the effective area of the a i r gap.

Figure 4.8 shows the variation of flux in the core of the magnetic c i r c u i t shown in Figure 4.6 when v = 40 fl sin ( w t to the coil.
t 8)

i s applied

One of the curves shown i s obtained by the use of

equation ( 4 . 7 ) . The other one i s produced by the f i n i t e elementbased computer program developed in this work. The closeness of The

these curves support the soundness of the computer program.

small differences seen in the peaks are due to the approximations allowed in Appendix E t o derive ( 4 . 7 ) .
I n Figure 4.9, flux densities are plotted against time for two

elements in the iron core.

These plots, which are produced by the This may

program show i n i t i a l transients as suggested by ( 4 . 7 ) .

indicate that the program i s sui tab1 e for transient as well as steady s t a t e simulations.
I n the next section, the program i s applied t o

a non-defective induction machine.

Figure 4.8

The v a r i a t i o n of t h e f l u x e s t a b l i s h e d i n t h e c o i l f o r t h e magnetic c i r c u i t i n Figure 4.6. The a p o r o x i m a t e The o t h e r o l o t

p l o t i s g e n e r a t e d from e q u a t i o n ( 4 . 7 ) . i s produced by t h e program.

Figure 4 . 9

V a r i a t i o n s of f l u x d e n s i t i e s f o r two elements i n t h e i r o n core of t h e magnetic c i r c u i t shown in Figure 4 . 6 .

4.3

S i m u l a t i o n of a Sol i d R o t o r I n d u c t i o n Wotor w i t h >lo D e f e c t In t h i s s e c t i o n , a non-defective s o l i d r o t o r i n d u c t i o n motor i s

simulated.

Data f o r t h e machine t a k e n from 0 ' K e l l y [45] i s g i v e n F i g u r e 4 . 1 0 shows a c r o s s s e c t i o n o f t h e machine A c i r c u i t diagram o f t h e s t a t o r

i n Table 4.2.

d i s c r e t i z e d i n t o f i n i t e elements. w i n d i n g s i s shown i n F i g u r e 4 . 1 1 .

Table 4 . 2 DATA FOR THE SOLID ROTOR INDUCTION MACHINE Stator Phases Slots Conductors Rated C u r r e n t Core L e n g t h , m A i r Gap, rn Radius, m S l o t Width, rn S l o t Depth, rn Tooth Width, rn Rotor
I

Diameter, m Axial L e n g t h , m C o n d u c t i v i t y , Siemensim

1
I

0.0535 0.09533 4.6968 x lo6

Figure 4.10

F i n i t e element mesh of the considered solid rotor induction motor. I t consists of 1421 elements with 751 nodes.

Coil BC2

w Coil BC1

Figure 4.11

C i r c u i t diagram o f t h e s t a t o r c o i l s of a non-defective induction machine.

The conductors of each phase a r e d i s t r i b u t e d i n s l o t s t o give a s i n u s o i d a l v a r i a t i o n of t h e magnetic f i e l d f o r a balanced t h r e e phase c u r r e n t i n t h e s t a t o r winding.

I n o r d e r t o achieve t h i s , t h e

fol lowing equation suggested by Sl emon and Straughen [44] i s used t o compute t h e f r a c t i o n of t h e number of conductors i n the q - t h s l o t over t h e t o t a l number of t u r n s of one of t h e two c o i l s i n phase AB:

Cos 3 d 5

where

S i s t h e t o t a l number of s l o t s .

i s t h e f r a c t i o n of t h e number of conductors i n t h e q - t h s l o t belonging t o c o i l AB1 o r A B 2 over t h e t o t a l number of t u r n s i n t h e same coi 1 .

To compute t h e number of conductors of c ~ i l s C , , BC2, C A I and C A 2 i n B

*

t h e q - t h s l o t , 3 i n ( 4 . 9 ) i s replaced by ( ?

2713) f o r t h e f i r s t two Application of ( 4 . 9 )

9

c o i l s and ( 9 + 2 ~ 1 3 )f o r t h e second two c o i l s .

t o a 2 4 - s l o t non-defective i n d u c t i o n machine gives t h e n phases as shown i n Table 4 . 3 .

for different

given i n Table 4 . 3 , 9 i s s u b j e c t e d t o a balanced three-phase v o l t a g e of 60 Hz and 63.5 V line to line. While t h e r o t o r i s kept s t a t i o n a r y , t h e M'IP contour

The machine described above, with t h e n

p l o t s produced f o r ha1 f a c y c l e of t h e a p p l i e d v o l t a g e a r e shown i n Figure 4 . 1 2 . As e x p e c t e d , t h e contours produced by t h e program a r e

Table 4.3 THE VALUES OF n SLOT

FOR EACH PHASE PHASE BC

PHASE AB

II

PHASE CA

61

t=to

t=tO+Lt

-1

t=to+2Ct

t=t0+3Lt

t=to+5At Figure 4 . 1 2

t=to+6Ct Rotating magnetic f i e l d of an induction machine with 1 1 no defect. Contour 1 ines in Ub/m. A t = 24 * 60 ts= 3s.

"

r o t a t i n g a t t h e angular v e l o c i t y of 1 2 0

r a d i a n s per second.

These

contours a r e taken a f t e r t h r e e seconds when t h e t r a n s i e n t s have died down. V a r i a t i o n s of t h e s t a t o r c u r r e n t s with time a r e shown i n Figure 4 . 1 3 f o r each of t h e t h r e e phases. These c u r r e n t s have equal

amplitudes as expected f o r t h i s case where no d e f e c t has occurred.

I n t h e next c h a p t e r , t h i s machine i s simulated f o r v a r i o u s s t a t o r

winding d e f e c t s . Resul t i ng phase c u r r e n t s a n d MVP contour o l o t s a r e

compared with t h o s e given i n t h i s s e c t i o n .

F i g u r e 4.13

Phase c u r r e n t s o f a n o n - d e f e c t i v e i n d u c t i o n machine.

Chapter 5 SIMULATION RESULTS FOR A DEFECTIVE SOLID ROTOR INDUCTION MOTOR

5.1

Introduction To develop a method f o r the analysis of defective induction

motors, a unified equation relating the MVP a t every point of the machine t o t h e applied current was derived in Chapter 2 .
A computer

program u t i l izing the numerical methods described in Chapter 3 i s developed. The program was used t o compute the flux d i s t r i b u t i o n These r e s u l t s support t h a t the

f o r d i f f e r e n t systems in Chapter 4. program works properly.

The program i s used in t h i s chapter t o

compute the waveform of the current in every phase f o r a sol id rotor induction motor with d i f f e r e n t s t a t o r winding defects. a t many time steps a r e plotted f o r each defect. The i n i t i a l MVP value f o r a l l nodes i s taken t o be zero. produces a t r a n s i e n t in the values computed f o r M'JPs. This Contour plots

The s t a r t i n g

time of the cycle over which MVP contours a r e plotted i s chosen to be three seconds so t h a t a l l t r a n s i e n t s have damped out.

I n Section 5 . 2 , one of the two parallel c o i l s of Phase A B shown

in Figure 4 . 1 1 i s considered disconnected. In Section 5.3, f i f t y

percent of one of the two parallel c o i l s in phase AB i s considered bridged over. The defect simulated in Section 5.4 i s a disconnection

of two of the three phase windings.

5.2

Disconnection of One of the Two P a r a l l e l Coils in Phase AB The machine considered in t h i s section i s the same as t h a t

described in Section 4.5. Figure 5.1 shows the s t a t o r c i r c u i t of the machine when the defect i s the disconnection of one of the two para1 1 el c o i l s in phase AB. f o r the disconnected coil equal 9 t o zero as given in Table 5.1. The remaining n ' s and i t s counter9 parts f o r the other phases a r e computed from ( 4 . 9 ) .
A voltage of 63.5 V rms, 60 Hz i s applied t o t h i s defective

This i s modelled by s e t t i n g n

machine.

Vs S t a r t i n g from 3 s , contour plots of M P a r e shown in

Figure 5.2.

I n t h i s simulation, the rotor i s assumed to be s t a t i o n a r y .

However,

u i s changed according t o the value of B a t any point and

I n contrast with those shown in Figure 4.12 f o r

a t every time step.

a non-defective machine, the contour p l o t s here show t h a t the rotating magnetic fie1 d i s non-symmetric. each phase i s shown in Figure 5.3. the t o t a l current in each phase. The variation of the currents in This shows unequal amplitudes f o r As expected, t h i s i s in contrast

with the r e s u l t s shown in Figure 4.13 when the machine has no defect.

5.3

Short Circuit of Some Turns of Phase AB

A defect in the s t a t o r winding which occurs when a portion of

the winding of one coil i s bridged over i s simulated in t h i s section. For t h i s example, f i f t y percent of coil AB1 i s assumed t o be bridged over. This condition i s i l l u s t r a t e d in Figure 5.4.

I i

Coil

BC2
S
C

y I
1
I

I
1
I
I

C o i l BC1 C
C

Figure 5.1

D e f e c t i n phase AB, where c o i l AB1 i s d i s c o n n e c t e d .

Table 5.1 THE VALUES OF n FOR EACH PHASE WHEN C O I L AB1 I S DISCONNECTED q SLOT PHASE AB PHASE BC

PHASE CA

Figure 5.2

Magnetic field of an induction machine when one of the two parallel coils in phase AB is disconnected. Contour 1 lines in lov4 Wb/rn. Lt = * 1 s . to = 3s.

Figure 5.2 (concluded).

Legend
0 BlU s u 1 m r a- 4 suelotr

Legend
I M W C C D CURRtRT
10141 C U l I D l

a 4mnn N

R ~ ~ U

Figure 5.3

Wavefom of the current in each phase of an induction machine when one of the two parallel c o i l s of phase AB i s disconnected.

i s bridged over

\,

3
0

1 wi
Coil BC1
C r:

Figure 5 . 4

F i f t y percent of one of t h e two p a r a l l e l c o i l s of phase AB i s bridged over.

I n order t o model t h i s d e f e c t , the n ' s in s l o t s 1 t o 1 2 of 4 phase AB shown in Table 4 . 3 a r e reduced by f i f t y percent. The new

n ' s a r e given in Table 5 . 2 .

9

Contour p l o t s of the M P f o r an Vs

applied l i n e voltage of 63.5 V rms, 60 Hz a r e given in Figure 5 . 5 . The r e s u l t i n g c u r r e n t s in each phase a r e shown in Figure 5 . 6 . 5.4 Disconnection of Two Phases The d e f e c t considered in t h i s s e c t i o n i s t h e disconnection of two of the t h r e e phase windings. Figure 5.7 shows the s t a t o r c i r c u i t when

phases A6 and B C are disconnected. The d e f e c t i s modelled by s e t t i n g the n ' s of phases A6 and BC f o r 4 every s l o t t o zero as in Table 5.3. Application of 63.5 V rms,
60 Hz three-phase voltage r e s u l t s i n t h e contour p l o t s shown in

Figure 5 . 8 .

These p l o t s show, as expected, t h a t the magnetic f i e l d s Although

have symmetry about the s t a t i o n a r y a x i s of t h e phase CA c o i l .

the amp1 i t u d e of the magnetic f i e l d a r e changing in time, t h e f i e l d pattern does not r o t a t e in space. of c u r r e n t in phase C A , with time. Figure 5.9 shows the v a r i a t i o n

T a b l e 5.2 THE VALUES OF nq FOR EACH PHASE WHEN FIFTY PERCENT

OF ONE PARALLEL COIL OF PHASE AB I S E R I D G E D OVER

PHASE AB

PHASE BC

PHASE CA

t=to+4At
L

t=t0+5At
J

Figure 5 . 5

Contour plots f o r an induction machine when f i f t y percent of one of the two parallel c o i l s of phase A B i s bridged 1 1 over. Contour l i n e s a r e in Ub/m. \ t = - * - s . 24 60 to = 3s.

Figure 5.5

(concluded).

Figure 5.6

Variation of current in each phase o f an induction machine when f i f t y percent of one o f the two parallel c o i l s of phase AB i s bridged over..

Coi 1

disconnected

I-'
Coil BC1
Figure 5 . 7

:
C
0

disconnected

Diconnection of phases AB and 8 C .

Table 5.3
THE VALUES OF nq FOR EACH PHASE WHEN PHASES AB AND BC ARE DISCONNECTED

SLOT

PHASE AB

PHASE BC

PHASE CA

Figure 5.3

Contour alots of an induction machine when phases AB and BC are disconnected. Contour 1 ines are in 'bIb/rn. 1 - 1 s. to = 3s. \t - = -24* 60

Figure 5.8

(concluded)

iegenc
I
3
U@U:ED CIISnEV
TOTAL C 2 P O C N T

O APQL ED C - R S M '

F i g u r e 5.9

V a r i a t i o n o f c u r r e n t i n phase C A o f an i n d u c t i o n machine when phases AB and BC a r e d i s c o n n e c t e d .

Chapter 6 CONCLUSION AND SUGGESTIONS FOR FURTHER WORK

6.1

Conclusion
A methodology f o r t h e a n a l y s i s of a d e f e c t i v e induction motor

has been presented.

Maxwell's equations a r e applied t o d i f f e r e n t These equations a r e manipulated t o a r r i v e

s e c t i o n s of t h e machine.

a t a u n i f i e d time domain equation in which t h e MVP i s the only unknown v a r i a b l e . The cross s e c t i o n of t h e machine i s divided i n t o Using Gal e r k i n ' s f i n i t e el ement method, t h e

t r i a n g u l a r elements.

u n i f i e d equation i s transformed i n t o a global time domain d i f f e r e n t i a l equation. A step-by-step i n t e g r a t i o n algorithm i s u t i l i z e d

t o y i e l d an i t e r a t i v e numerical procedure f o r solving the global equation. devel oped. This program which i s v a l i d a t e d in Chapter 4 has the unique c a p a b i l i t i e s t o compute t h e following, f o r d i f f e r e n t s t a t o r d e f e c t s : ( a ) MVP a t every node of t h e machine, ( b ) f l u x d e n s i t i e s throughout t h e cross s e c t i o n of t h e machine, Based on t h e above methodology, a computer program i s

. and
( c ) d i f f e r e n t types of c u r r e n t s in t h e t h r e e phases of t h e machine In t h e s e computations, t h e r o t o r i s assumed t o be s t a t i o n a r y . The value of 9 f o r every point i s computed a s a function of B a t t h e point.

I n Chapter 5 , the program i s appl ied t o a specific induction motor with various s t a t o r defects. For each case, MVP contours

which imp1 i c i t l y show the flux density distributions are plotted a t d i f f e r e n t time steps. phase i s plotted. The torque-speed c h a r a c t e r i s t i c of the defective machine can be derived when the program developed in t h i s work i s extended t o a1 low the rotation of the rotor. With the know1 edge of t h i s and the mechanial Also, the variation of current f o r each

load supported by the machine, i t i s possible t o predict whether the defective machine can safely continue i t s operation or not. formulation of the methodology presented in t h i s work and the computer program based on i t provides electrical engineers with a powerful t o o l f o r a detailed analysis of a defective induction machine. Hence,

6.2

Suggestions f o r Further Work The computer program developed in t h i s work may be enhanced for

the following capabil it i e s : ( a ) To allow the consideration of d i f f e r e n t types of rotors, with various kinds of defects.
(b)

To d i r e c t l y compute the torque f o r any speed of the rotor.

( c ) To compute vibration forces on the machine. Also, the man/machine interface of the program may be improved.

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Reddy, J . N . , An I n t r o d u c t i o n t o t h e F i n i t e Element Method (McGrawHi1 1 Book Company, 1 9 8 4 ) . N o r r i e , D . H . and DeVries, G . , The F i n i t e Element Method (Academic P r e s s , 1973). Zienkiewicz,
O . C . , The F i n i t e Element Method, 3 r d e d i t i o n (McGraw-

Hi 11 Book Company, 1977) . S e g e r l i n d , L . J . , Applied F i n i t e Element A n a l y s i s ( W i l e y , 1 9 7 6 ) .

Gruch, John C . , J r . and Zyval o s k i , George, " T r a n s i e n t Two-

Dimensional Heat Conduction Problems Solved by t h e F i n i t e Element Method", I n t e r n a t i o n a l J o u r n a l f o r Numeri ca1 Methods i n Enqineering , Vol. 8 , 1974, pp. 481-494. Matsch, Leander W . , E l e c t r o m a q n e t i c and Electromechanical Machines,

2nd e d i t i o n (Crowel 1 , Harper and Row, 1 9 7 1 ) . Sl emon, G . R . and S t r a u g h e n , A., El e c t r i c a l Machines (AddisonWesl ey Pub1 i shing Company, 1 9 8 0 ) .

0' l y , D., Kel

"Theory and Performance of Sol id-Rotor I n d u c t i o n and

H y s t e r e s i s Machines," IEE P r o c . , Vol. 123, No. 5 , May 1976, pp. 428-429. S i l v e s t e r , P . P . and F e r r a r i , R . L . , F i n i t e Elements f o r E l e c t r i c a l

Engineers (Cambri dqe U n i v e r s i t y P r e s s , 1 9 8 3 ) . Chari, M.V.K. and S i l v e s t e r , P . ( e d s . ) , F i n i t e Elements i n

E l e c t r i c a l and Maqnetic Fie1 d Probl ems (Wil e y , 1 9 8 0 ) .

K; a u s - J u r g e n , Bathe, F i n i t e Element Procedures i n E n g i n e e r i n g

A n a l y s i s ( P r e n t i c e Ha1 1 , 1 9 8 2 ) . B r a n d l , P . , R e i c h e r t , K . and Vogt, W. Baden, " S i m u l a t i o n of TurboG e n e r a t o r s on S t e a d y - S t a t e Load," Brown Boveri Review, 1975, 9 , pp. 444-449. Pl onsey, R . and Coll i n , R.E., P r i n c i p l e s and A p p l i c a t i o n s o f E l e c t r o m a g n e t i c Fi el ds (McGraw-Hi 11 Book Company, 1961) . Pl o n u s , Martin A., Appl i e d El e c t r o m a g n e t i c s (!:&raw-Hi1 1 Book Company, 1 9 7 8 ) .

52.

Heuser, J . , " F i n i t e Element Method f o r Thermal A n a l y s i s , " YASA Paper T D-7274, November 1973. N

53.

B r a u e r , John R . , "Simple Equations f o r t h e M a g n e t i z a t i o n and R e l u c t i v i t y Curves of S t e e l ," IEEE T r a n s . on Maqnetics, Vol MAG-11, No. 1, J a n u a r y 1975, p . 8 1 .

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Foggia, A . , S a b o n n a d i e r e , J.C. and S i l v e s t e r , P . ,

" F i n i t e Element

S o l u t i o n of S a t u r a t e d Travel 1 ing Magnetic F i e l d Problems ," IEEE T r a n s . , Vol 55.

PAS-94, No. 3 , May/June 1975, up. 866-871.

Huebner, Kenneth H . , The F i n i t e Element Method f o r Engineers ( J o h n Wiley and Sons, 1 9 8 2 ) . Alger, P.A., York: I n d u c t i o n Machines, T h e i r Behavior and Uses (New

Gordon and Breach S c i e n c e Pub1 i s h e r s , 1 9 6 5 ) .

57.

I t o , Motaya, Fujimoto, N . , Okuda, H . , T a k a h a s h i , T. and Watahiki,

S . , " E f f e c t of Broken Bars on Unbalanced Magnetic Pull and Torque

of I n d u c t i o n Motors," E l e c t r i c a l Engineering i n J a p a n , Vol 1980, pp. 42-49. 58.

100,

Chari , M . V . K . and S i l v e s t e r , P . , " A n a l y s i s of Turbo-A1 t e r n a t o r Magnetic F i e l ds by F i n i t e Elements," IEEE T r a n s . , Vol No. 2, March/April 1971, pp. 454-464.

. PAS-90,

APPENDICES

APPENDIX A

EXPANSION OF V

x U

1 7

The assumptions out1 ined in Section 2.3 together with equations (2.11) and (2.12) a r e used in t h i s Appendix t o expand equation ( 2 . 1 0 ) . Using equation (2.12) the curl of A i s given by:

Therefore:

Hence:

-,

1 :A 1 A ine q u a n t i t i e s - - and - - nave no v a r i a t i o n along t h e z d i r e c t i o n .

L
X

- -Y

Therefore, t h e f i r s t t1,vo terms on t h e r i g h t hand s i d e of eauation ( 4 . 4 ) a r e zero, hence:

El iminating T

:( -

'c!

:x A and 2 between equations ( 2 . lo), ( 2 . 1 1 ) and

( A . 5 ) and cancel1 ing z from both s i d e s of t h e resul t i n 9 equation

gives :

MATHEMATICAL FORMULAE
B.l

Vector I d e n t i t i e s [35]
' i * C x ' i --

f o r any vector function

B.2

7 and s c a l a r function V .

Green's Theorem [39]

where:
g , U and V a r e s c a l a r functions in a two-dimensional region,
2 , bounded by a contour

r.

n i s a u n i t outward normal t o T as in Figure B . 1 .

B.3

S t o k e ' s Theorem [50]

where:
f i s a vector, S i s an a r b i t r a r y surface bounded by the

contour c

dT i s along c .

Figure B . l

Two-dimensional region theorem a p p l i e s .

>

bounded by ? over which Green's

8.4 I n t e g r a t i o n Formulae f o r a T r i a n g l e [Sl]

w i t h v e r t i c e s a t ( x1 . . 1 ) , ( xJ. ' y J ) . and ( x , y ) , F i g u r e 5 . 2 , of a r e a I, t h e f o l lowina a p p l y :
k k

For a t r i a n g u l a r element

ne,

where:
N i , N . and N k a r e s h a p e f u n c t i o n s d e f i n e d i n e q u a t i o n s ( C . 9 ) J t h r o u g h ( C . 11).

~ N ~ rn! n! Ji,e ( N ~ ) " ' ( N ~ ) dx( dy ~ ) (m+n+p+2) !

= p!

20

where:

rn, n and p a r e p o s i t i v e i n t e g e r s a n d ! d e n o t e s f a c t o r i a l .

Figure 8.2

A triangular element y e .

APPENDIX C

DERIVATION OF MVP WITHIN A TRIANGLE The assumption used in t h i s derivation i s t h a t the MVP varies linearly within a t r i a n g l e . This assumption i s used t o derive an

expression f o r the MVP within the t r i a n g l e in terms of those a t the nodes.

I n Figure C . l ,

i , j and k are the nodes of a t r i a n g l e when a l l The M P a t these nodes a r e Vs

J' J

the nodes a r e sequently enumerated. Ai, A . and

J

Ak.

The coordinates of the nodes a r e ( x i , y i ) , ( x . y .) and

( x k , y k ) Let the approximate solution of

Ae

within the shown triangle

be a 1 inear function of i t s coordinates as:

where a , b and c are constants t o be determined from the values of

A a t the nodes of the t r i a n g l e .

Writing equation ( C . l ) f o r the vector potential a t each node of the t r i a n g l e gives:

Figure c.1

A t r i a n g u l a r element,

.I,,

s h o w i n g MVPs.

Equations (C.2) t h r o u g h (C.4) a r e s o l v e d simui taneousl y f o r t h e c o n s t a n t s a, b and c. The r e s u l t i s :

where:

A =

yixj

+ XjYk

YjXk

XkYi

ykxi)

(Cm

S u b s t i t u t i n g a, b and c f r o m e q u a t i o n (C.5) i n t o (C. 1) g i v e s :

or:
1

Be

=
+

[ ( x ~ Y ~ jxk) -y

( YJ' - Y I( lx ( x k - x j ) ~ I H i +

[ ( Y ~ ~ ~ +- (Y k ~y i~ ~ ~ + ) y - )

+ 1 [(xiyj

yixj)

+ ( y .1- y J. ) x + ( 3x - x ~ ) ~ ] ~ ~

Equation (C.7) may be w r i t t e n a s :

where: Ni, N . and N k a r e i n t e r p o l a t i n g ( o r shape) f u n c t i o n s , given by:

3

+ bix

ciy) ,

in Qe

0 elsewhere

'

( C . 10)

0 el sewhere

0 el sewhere
( C . 12) ( C . 13)

( C . 14) ( C . 15)
(C .!6)

(C. 1 7 )

ak=

X.Y i

- y 1xj -

(C. 18)

(C. 20)
E q u a t i o n ( C .8) t o g e t h e r w i t h e q u a t i o n s ( C . 9 ) t h r o u g h ( C . 20) p r o v i d e a d e f i n i t i o n f o r t h e approximate s o l u t i o n ,

8,.

APPENDIX D

DERIVATION OF EQUATION ( 2 . 4 7 ) FROM ( 2 . 4 3 ) The integral equation ( 2 . 4 3 ) i s evaluated in t h i s appendix with the use of ( 2 . 4 4 ) f o r

Key

and ( 2 . 4 6 ) f o r

Ge.

These a r e reproduced

here f o r convenience as:

Using ( C . 9 1 - ( C . l l ) f o r N i , N. and N k , the p a r t i a l d e r i v a t i v e s 3 3A 3A e - and - a r e given by: ;x .Y

E v e r y row of ( D . 3 ) A i s u s e d f o r W e a n d ( C . 9 ) - ( C . 1 1 ) 'ide r_. w e t o g i v e - and - a s : ^1x 3Y

f o r Yi,

j Nk '

2x

2a

U s e of ( D . 4 )
side o f (D.l)

(D.7)

and

(B.5) f o r t h e f i r s t i n t e g r a l on t h e l e f t hand

w r i t t e n w i t h each row of ( 0 . 3 ) a s W e g i v e s :

where:

Mith t h e use of ( 0 . 2 ) f o r de and every row of ( 0 . 3 ) f o r Ue, the second integral on t h e l e f t hand s i d e o f ( D . l ) may be w r i t t e n a s :

The f i r s t row of t h e matrix in ( D . 11) i s evaluated using ( 8 . 8 ) as:

( D . 12)

The remaining elements of (D.11) a r e s i m i l a r l y evaluated t o y i e l d :

( D . 13)

kine re:
7

1
:
A

roe]

e= -

;I

12

(D. 1 4 )

Every row of ( 0 . 3 ) i s used f o r L in t h e t h i r d term on the ? e f t hand i e s i d e of ( D . 1 ) t o give:

(D. 1 5 )

The f i r s t row of ( D . 1 5 ) in ( 6 . 8 ) :

i s evaluated by s e t t i n g rn = 1 , and n = p = 0

( D . 16)

S i m i l a r l y , t h e l a s t two rows of ( D . 1 5 ) a r e evaluated t o give the column vector [ F ] a s : -e

(D. 17)

Using t h e t h r e e values given in ( 0 . 3 ) f o r Ye, the l a s t term on the

1 e f t hand s i d e of ( D . 1 ) may be w i r t t e n a s :

(C. 18)

where:

(D.19)

(D. 20)
Using every row of (0.3) f o r Qe, (8.6) f o r x and ( 0 . 2 ) f o r A,, (0.19) becomes :

Therefore:

(D.22)
The f i r s t diagonal element of [MI may be evaluated as shown below:

i ( N f x i + N iN . x ~+ PijNk x k ) - dx dy i 2~
"

E v a l u a t i o n of o t h e r e l e m e n t s o'f [ M I w i t h a s i m i l a r approach g i v e s :

(D. 24)

where: xa = ~ x . + x . + x 1 J k ( D . 25)

( D . 26)
(D. 27) S i m i l a r l y (8.7) i s u s e d f o r y, ( 0 . 3 ) f o r

we

and (D.2) f o r

Ae i n

(D. 20) t o e v a l u a t e [ D l as:

( D . 28)

where:

S u b s t i t u t i n g (D.8),

( D . 1 3 ) , (D. 15) a n d ( D . 18) i n t o ( D . l ) gives:

where:

[pel

= [SI +

[MI -

[Dl

APPENDIX E DERIVATION OF A TIME FUNCTION FOR THE FLUX

IN A MAGNETIC CIRCUIT

Figure E . l shows a magnetic c i r c u i t with a coil on one limb and an a i r gap on the other. The coil i s excited by a sinusoidal voltage i s the angular frequency and 2 i s

+ source, Vm Sin (.Lt i ) , where

the phase angle. Assumptions in t h i s derivation a r e : (a) Leakage fluxes a r e n e g l i g i b l e so t h a t a l l the flux
$

are

confined t o the core and l i n k a l l the turns of the c o i l .

(b)

Permeabil i t y of the core i s independent

of

the 1 eve1 of

the flux density. (c) Fringing e f f e c t around the a i r gap can be accommodated by

applying an a i r gap correction f a c t o r suggested by Matsch [43]. For the coil shown in Figure E . l , Kirchhoff's voltage equation may be written f o r the terminal condition a s :

( E . 1)
where: i i s t h e coil c u r r e n t .
N i s the number of t u r n s .
R i s the r e s i s t a n c e of the c o i l .

The t o t a l magnetomotive f o r c e (mmf) in the magnetic c i r c u i t may be wri t t e n a s :

Figure E. 1

A magnetic c i r c u i t with i t s excitation system. depth o f the core i s b .

The

where: H
g

i s t h e magnetic f i e l d i n t e n s i t y i n t h e a i r gap.

g i s t h e 1 ength o f t h e a i r gap.
H c i s t h e magnetic f i e l d i n t e n s i t y i n t h e c o r e .
LC i s t h e average f l u x p a t h 1ength t h r o u g h t h e c o r e .

Under assumption ( a ) , t h e l e v e l of t h e f l u x e s t a b l i s h e d i n t h e c o r e i s t h e same as t h a t i n t h e a i r gap. as: E q u a t i o n (E.2) may be w r i t t e n

where:

9 i s t h e permeabil i t y o f t h e c o r e .

a i s t h e w i d t h o f t h e core.

b i s t h e depth o f t h e c o r e .

i s t h e e f f e c t i v e a r e a o f t h e a i r gap g i v e n by [43]:

Therefore:

S u b s t i t u t i n g i f r o m e q u a t i o n (E.6) i n t o e q u a t i o n ( E . l ) g i v e s :

Theref ore:

Let:

then equation ( E . 8 ) becomes:

d6 dt
t

64

"m Sin (,t +

9)

( E . 10)

Equation ( E . l O ) i s a f i r s t order d i f f e r e n t i a l equation whose solution is:

a =

"m

[2 Sin ( i t + 7) -

COS ( h t +

-)I

+ Ae

- ijt

where:
A i s a constant determined subsequently.

If a t t = 0 , 5 =

a,,

then ( E . l l ) gives A a s :
A = " +
(b

Cos 9 - 3 Sin
N(,2+$2)

$)

"

( E . 12)

Using (E.12) f o r A in ( E . 1 1 ) , the complete solution f o r as:

i s obtained

"m

' 3 S i n (,t + 5 )

- c o s (,t

?);