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Department of Electrical Engineering, ETSEIB-UPC, Av. Diagonal 647, 08028 Barcelona, Spain
Department of Electrical Engineering, ETSEIT-UPC, Colom 1, 08222 Terrassa, Spain
c
Asea Brown Boveri, S.A. Fabrica de Motores, Poligono Industrial S.O., 08192 Sant Quirze del Valles, Barcelona, Spain
b
a r t i c l e
i n f o
Article history:
Received 27 March 2008
Received in revised form 14 October 2008
Accepted 7 January 2009
Available online 10 February 2009
Keywords:
Induction motor modeling
Parameter estimation
Saturation
a b s t r a c t
An induction motor model which includes stator leakage reactance saturation, rotor leakage reactance
saturation and magnetizing reactance saturation is presented. This improved model is based on experimental data from 96 motors. The power range of the motors is between 11 and 90 kW. The effects on
the torquespeed and currentspeed curves of each kind of saturation have been studied. In addition,
the parameters of magnetizing reactance saturation and stator leakage reactance saturation have been
studied for each motor, and an average value and its dispersion for each parameter are given. This model
is considerably more accurate than other models. In particular, it explains the signicant differences
between theoretical and experimental torquespeed curves in the braking regime (s > 1).
2009 Elsevier B.V. All rights reserved.
1. Introduction
The incorporation of magnetic saturation into induction
machine models is a complex topic that has received considerable
attention in the past few years. For simulation study, different nonlinear models for saturated induction motors have been elaborated
based on the equivalent circuit approach [114]. Ref. [1] presents
a comparative table with the main features of different models in
the bibliography. Most of the papers in the bibliography present a
dynamic dq axis model with saturation. In this paper a steady-state
model with saturation has been chosen because all the experimental data have been obtained in steady-state test. Refs. [2,3] also
present dynamic double-cage saturated models, but the former
has saturation in the magnetizing reactance only whereas the latter includes the mutual rotor reactance saturation. In the authors
opinion, the tting of the model parameters to experimental data
becomes more complicated if dynamical models are used.
This paper experimentally justies the need for a model with
three different saturations: magnetizing reactance saturation, stator leakage reactance saturation and rotor leakage reactance
saturation. The new saturation model for the induction motor has
been developed from the experimental data of the locked-rotor
test, the no-load test and the torquespeed curve. As is pointed
out in Ref. [2], representation of the rotor with two rotor windings
rather than with a single winding is known to lead to signicant
improvement in the accuracy of simulation results for both deep-
1055
Fig. 1. Torquespeed curve similar to that plotted in Ref. [8], showing the anomalous
torque in the braking regime (s > 1).
Fig. 2. Torquespeed measured points where the anomalous increase in torque near
zero speed can be clearly observed.
Xak Xbk
p
(1 + (|ik |/i0k ) k )
qk /pk
+ Xbk ,
(1)
where for Xak , Xbk , pk , qk and i0k , k = m corresponds to the magnetizing reactance saturation, k = s to the stator leakage reactance
saturation and k = r to the rotor leakage reactance saturation. These
ve parameters have a clear physical interpretation:
-
Fig. 3. Steady-state equivalent circuit for the double-cage model of the three-phase
induction motor.
1056
- torque transducer mounted on the motor axis and speed and current sensors,
- variable three-phase sinusoidal voltage source.
The experimental data on the non-linear behavior of the
squirrel-cage induction motor have been obtained from:
- Locked-rotor test.
- No-load test.
- Torquespeed curve.
The locked-rotor test plays a major role in stator leakage reactance saturation. The no-load test determines the magnetizing
reactance saturation. The shape of the torquespeed curve near zero
speed is greatly inuenced by the rotor leakage reactance saturation.
(2)
U2
,
P
(3)
Table 1
Linear parameters of double-cage model.
P (kW)
rs
xsd
xm
r1
x1d
r2
x2d
75
45
30
18.5
0.0039
0.0045
0.0076
0.0075
0.1106
0.0641
0.1124
0.1270
3.4424
3.0145
3.7235
3.2218
0.0176
0.0181
0.0355
0.0208
0.1261
0.1644
0.1588
0.1472
0.1358
0.1416
0.1466
0.0662
0.0829
0.1479
0.1111
0.0397
In the no-load test (s = 0), the stator leakage inductance has been
considered linear because its inuence is negligible in this test. The
no-load test has been made at voltages: 0.25, 0.35, 0.5, 0.75, 0.95,
1, 1.0375, 1.05, 1.1 and 1.25. The impedance that is measured in this
case is
ZNL (im ) = |Rs + jXsd + jXm | Xm (im ), Xsd Xm .
(4)
1057
Table 2
Saturation parameters of double-cage model.
P (kW)
pk
qk
i0k
xbk /xak
75
m
s
r
4.49
10.0
10.0
1.0
2.0
3.0
0.3468
0.90
1.716
0.03
0.65
0.2
45
m
s
r
4.74
10.0
10.0
1.0
1.5
4.5
0.357
0.90
2.05
0.03
0.50
0.38
30
m
s
r
4.3
10.0
9.0
1.0
2.0
7.0
0.27
0.90
1.80
0.035
0.70
0.1
18.5
m
s
r
4.9
10.0
10.0
1.0
1.8
10.0
0.32
0.9
2.98
0.04
0.75
0.1
Table 3
Manufacturer data of no-load test (s = 0).
pm = 4.096 1.204
i0m = 0.363 0.118
Table 4
Manufacturer data of locked-rotor test (s = 1).
i = I/IN
u = U/UN
z(i) = Z/ZN
zR (i) = z(i)/z(1)
(zR )
0.75
1
1.25
iST 7
0.1447
0.1822
0.2166
1
0.1929
0.1822
0.1733
0.1428
1.059
0.043
0.951
0.784
0.034
0.070
i0m =
1.164
;
xam
xbm = 0.0705xam .
(5)
Fig. 6. Relation of impedancecurrent in the locked-rotor test.
1
,
(1/jXm ) + 1/(R1 + jX1d ) + 1/(R2 + jX2d )
(6)
(7)
(8)
(9)
(10)
1058
Fig. 7. Torquespeed and currentspeed curves and measured torque and current data of four squirrel-cage induction motors at three different voltages.
(11)
the measured data in the locked-rotor test. This saturation substantially affects the torquespeed curve and some iterations (by
means of which, rst the torquespeed measurements and then
the locked-rotor test measurements are adjusted) must be made
to obtain good parameters. Next, the non-linear parameters of the
magnetizing reactance are calculated by trial and error to obtain
good agreement with the measured data in the no-load test. This
saturation does not signicantly affect the torquespeed curve and
affects only slightly the currentspeed curve near zero slip. Finally,
the non-linear parameters of the rotor leakage reactance are calculated by trial and error to obtain good agreement with the measured
data in the torquespeed curve and currentspeed curve near zero
speed. The inuence of this saturation on the currentspeed curve
near zero speed is very little. This fact agrees with the manufacturer
experience.
As an example, the parameters of the 75 kW motor in
Tables 1 and 2 are
rs = 0.0039; r1 = 0.0176; r2 = 0.1358; xm = xm (im )
xsd = xsd (is ); x1d = 0.1261; x2d = x2d (i2 ),
where
xm (im ) =
xs (is ) =
4.5. Parameter determination
The process to obtain linear and non-linear parameters is mainly
a trial and error method. In the rst step, a set of linear parameters
is obtained from the manufacturer data using the algorithm of Ref.
[17]. The manufacturer data are conveniently modied to obtain
good agreement with the torquespeed and currentspeed measured points (the starting torque must normally be undervalued).
Then, the non-linear parameters of the stator leakage reactance
are calculated by trial and error to obtain good agreement with
(12)
x2 (i2 ) =
(1 + ((|im |/0.3468))
+ 0.03 3.4424
+ 0.65 0.1106
(1 + (|is |/0.9) )
(13)
+ 0.2 0.0829,
(1 + (|i2 |/1.716) )
1059
Fig. 8. Inuence of magnetizing reactance saturation on the torquespeed and currentspeed curves.
only one type of saturation, i.e., the other two saturations have been
eliminated.
5.1. Magnetizing reactance saturation
Fig. 8 shows the inuence of magnetizing reactance saturation, xm (im ), on the torquespeed and currentspeed curves for
two motors. The range of speed is between s = 0.5 and s = 0,
since the inuence of saturation for higher slips is negligible. The
torquespeed and currentspeed curves for three different voltages, u = 1.732, 1 and 0.577, are also plotted in Fig. 8.
The change in current with voltage at s = 0 shown in Fig. 8 is in
agreement with the experimental data of the no-load test in Fig. 5.
When the voltage is lower than u = 1, the inuence on the torque and
current is negligible, and when the voltage is higher, then the current increases but the torque decreases. It must be remembered that
the current values are normalized with different values of nominal
current for each voltage (11).
5.2. Stator leakage reactance saturation
Fig. 9 shows the inuence of stator leakage reactance saturation,
xsd , on the torquespeed and currentspeed curves for two motors.
The torquespeed and currentspeed curves for two different voltages, u = 1 and 0.333, and the case when the motor is linear are also
represented.
Fig. 9. Inuence of stator leakage reactance saturation on the torquespeed and currentspeed curves.
Fig. 10. Inuence of rotor leakage reactance saturation on the torquespeed and currentspeed curves.
1060
Fig. 11. Inuence of the outer- and inner-cage on torquespeed and currentspeed curves. Variation of the outer-cage impedance with the slip.
Fig. 12. Inuence of parameter qr of the rotor leakage reactance saturation on the
torquespeed and currentspeed curves.
1061
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Joaqun Pedra was born in Barcelona (Spain) in 1957. He received his B.S. degree
in Industrial Engineering and his Ph.D. degree in Engineering from the Universitat
Politcnica de Catalunya, Barcelona, Spain, in 1979 and 1986, respectively. Since 1985
he has been professor in the Electrical Engineering Department of the Universitat
Politcnica de Catalunya. His research interest lies in the areas of power system
quality and electrical machines.
J. Ignacio Candela was born in Bilbao (Spain) in 1962. He received his B.S. degree
in Industrial Engineering from the Universitat Politcnica de Catalunya, Barcelona,
Spain, in 2000. Since 1991 he has been professor in the Electrical Engineering Department of the Universitat Politcnica de Catalunya. His main eld of research is power
system quality and electrical machines.
Amalia Barrera was born in Barcelona (Spain) in 1967. She received her B.S. degree in
Industrial Engineering from the Universitat Politcnica de Catalunya, Tarrasa, Spain,
in 1994. Since 1994 she is with the Asea Brown Boveri S.A. Motors Factory technical
department and since 2000 she is the Electrical Design Engineer responsible for I + D
and applications.