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DYNAMIC SIMULATION OF THREE PHASE INDUCTION MOTOR DRIVING A MECHANICAL LOAD

BY OFFORDILE EUCHARIA ONYEKACHI 2006/142185

A PROJECT SUBMITTED IN PARTIAL FULFILLMENT OF THE REQUIREMENT FOR BACHELOR OF ENGINEERING (B.ENG) IN ELECTRICAL ENGINEERING UNISERTY OF NIGERIA, NSUKKA SEPTEMBER,2011. Author s Signature : ........................................................ Date......................................... .............. Offordile, Eucharia, O Student Certified by:.........................................................................Date................................... ....................... Engr. Ogbuka, Cosmas Uchenna, Project Supervisor Accepted by:.......................................................................Date...................................... .................. Engr. Dr. L. U. Anih Head of Department External Examiner: ...........................................................Date..............................................................

CERTIFICATION

This is to certify that the project title DYNAMIC SIMULATION OF A THREE INDUCTION MOTOR DRIVING A MECHANICAL LOAD is original and was carried out by OFFORDILE, EUCHARIA, O. with Registration number 2006 /142185 and was submitted to the Department of Electrical Engineering, University of Nigeria ,Nsukka. Author s Signature:.................................. ........................................Date....................................... Offordile , Eucharia, O Student Certified by:........................................................ ..................................Date........................................... Engr. Ogbuka Cosmas Uchenna Project Supervisor Accepted by: ..................................................... ....................................Date........................................... Engr. Dr.L.U .Anih Head of Department

ABSTRACT

The qdo transformation theory is applied in the dynamic modelling and simulation, on the stationary reference frame, of a 3-phase motor driving a 20N-m mechanical load. The system of differential equations representing the dynamic state behaviours of a machine, as developed are implemented in

SIMULINK. The effect of the programmed sequence of mechanical loading on the motor output variable namely: phase currents, motor speed and electromechanical torque are examined. The result obtained earlier shows the elegance of the qdo transformation theory in machine modelling and the inherent limitation of the direct-on-line starting of synchronous motor as evident in the excess starting currents.

CHAPTER ONE 1.0 INTRODUCTION The three phase induction machines are used in wide variety of application as a means of converting ele ctric power to mechanical work. They are asynchronous speed machines, operating below the synchronous speed when motoring and above synchronous speed when generating. They are comparatively less expensively to equivalent size synchronous or d.c machines and range in size from a few watts to 10,00hp. They, indeed, are the workhorse of today s electric power industry. As a motor they are rugged and required very little maintenance. However their speeds are not as easily controlled as with d.c motors. They draw large starting currents; typical about six to eight time their full load values and operates with a poor lagging power factor when lightly loaded. The idealized three phase induction machine is research is assumed to have symmetrical air gap. 1.1 Background In the late 1920s, R.H. Park [7] introduced a new approach to electric machine analysis. He formulated a change of variable which, in effect, replaced the variables (voltages, current and flux linkages) associated with the stator winding of synchronous machine with variable associated with fiction winding

rotating with the rotor. In order words, he transfer the stator variables to a frame work of reference fixed in the rotor. Park s transformation, which revolutionized electric machine analysis, has t he unique property of eliminating all time varying inductance from the voltage equation of the synchronous machine which occur due electric circuit in relative motion [7] and electric circuit with varying electric reluctance [8] In late 1930s, H.C.Stanley [8] also employed a change of variable in the analysis of the Induction machines. He showed the time varying inductance in a voltage equation of an induction machine due to electric circuit in relative motion could be eliminated by transforming the variable associated with the fiction stationary windings. In this case the variables are transformed to frame of reference fixed in the stator. G.Kron [9] introduced a change of variables which eliminated the time varying inductance of a symmetrical induction machine by transforming both the stator variables and the rotor variables to a reference frame rotating in synchronism with the rotating magnetic field. The frame of reference is called synchronously rotating reference frame. Park, Stanley, Kron and Brereton et al. developed changes of variable each of which appeared to be uniquely suited for a particular application. Consequently, each transformation was derived and treated separately in

literature until it was noted in 1965 that all kno wn real transformation used in induction machine analysis are contained in one general transformation which eliminates all time-varying inductances by referring the stator rotor variables to a frame of reference which may rotate at any angular velocity or remain stationary. All known real transformation may then be obtained by simple assigning the appropriate speed of rotation of the so-called arbitrary frame work. 1.2 STATEMENT OF PROBLEM The asynchronous (induction) machines like other electrical machines with rotating part are not 100% efficient and thus have limitations which have limited its efficiency. Thus this research work sets out address some of the problem which includes amongst others, as stipulated below: (1) The effect of direct-on-line starting of asynchronous motors as evident in the excess starting current which is often about 10 times its rated value. (2) Voltage dips produced, oscillatory torques and harmonics generated in the power systems during start-up and other severe motoring operations. (3) Poor power factor operation when lightly loaded.

(4) A difficult combination of high starting staring torque and good efficiency.

1.3 OBJECTIVE OF STUDY The quest to achieve a maximum efficiency out of the asynchronous machines during operation is among the thrust that propelled this research work. Others include: (1) To study the effect of the mechanical loading on the motor output variables namely: phase currents, motor speed and Electromechanical Torque. (2) To study how high starting currents can be reduced through the use of reduced voltage starting methods such as soft start method, start/delta method and autotransformer method. (3) To obtain a high Torque to current ratio, a good power factor and a high efficiency.

1.4 SCOPE OF THE STUDY The scope of this work cover the simulation of three phase star connected induction machine driving a mechanical load of say 20N using MATLAB Under the following conditions: Rated voltage =220V. Rated speed =960 revolution per minute, Rated power =3Horse power. Number of poles=4 Rated frequency=60Hz. Rotor referred resistance =0.435 Magnetising reactance =26.13 . Stator reactance= 0.18 Stator resistance=0.435 Rotor referred reactance=0.754 Moment of inertia=0.089kg.m

1.5 SIGNIFICANCES The significances of the study area as follows (1) The discovery of ac machines has gradually offered a permanent solution to huge amount constantly spent in maintaining dc machines . (2) The knowledge of the operational principle of an induction machines help the work men minimize cost and maximize gain this helps to increase productivity.

(3) these work in a most special way will avail the reader the opportunity to have access to the internal variables that control the induction operation.

CHAPTER TWO LITERATURE REVIEW 2.1. THE OVERVIEW OF A POLYPHASE INDUCTION MACHINE An induction machine is the one in which alternating current is supplied to the stator directly and to the rotor by induction or transfer action from the stator. The polyphase induction machine can be best described as a rotating transformer in which the primary winding (stator) is stationary and the secondary winding (rotor) is rotating. It is a singly excited machine even though it is with both field (stator) and armature (rotor) windings with poles. The field (stator) winding is connected to an ac supply and there is no electrical connection from the armature (rotor) to the supply. The field produced by the stator interact with the current that flow in the conductor by inductor and

this produces a unidirectional torque [1].the number of the poleis determined by the speed requirement. The greater the number of the poles the lesser the speed. The number of poles P, produced in the rotating field is P , where

10

n is the number of the stator slots per pole per phase. An induction machine can be considered as asynchronous machine because the machine can never run at the synchronous speed of the rotating parts. Induction machine can alternatively be used as a motor or a generator depending on t he mode. The polyphase induction machine find wide application in industries say about 90% of the whole machine use in the industries are induction machines due to its i. ii. Low cost Simple

iii. Rugged construction iv. Absence of commutator v. Good operating characteristics such reasonably good power factor, sufficient high efficiency and good speed regulation Generally an induction machine consist primarily of stator and rotor { as shown below} enclosed in a frame, there are also the stator cores, the rotor cores, the stator and rotor winding, the air gap, Shaft and bearings, fans and slip rings and the slip _ring enclosure. The rotors employed in polyphase induction machine are basically of two types 1. The squirrel case rotor 2. The wound rotor {slip ring}

11

The formal is most commonly use because it is cheaper and more robust. It also designed in a way that a very high current is obtained with a low resistance due to the fact that the slots are placed parallel to the shaft. The later is use when variable speed start ing torque is desired. In both cases, power is transferred from the primary to the secondary by mutual induction.

Figure 1 : Cross Section of a cut Away Polyphase Induction Motor

2.2 Principle of Operation of a Polyphase Induction Machine

The electrical behaviour of an induction machine is similar to that of a transformer but with additional feature of frequency transformation produced

12

by the relative motion of the stator and the rotor winding. And as such the wound rotor type induction motor can be used as frequency changer. The relative motion of the stator flux and the rotor conductors induced voltage of the frequency = Called the slip frequency in the rotor. One can say that the electrical behaviour of an induction motor is similar to that of the transformer except with additional feature of frequency transformation produced by the relative when the stator of three phase motor is fed from the three phase supply, the flux of a constant magnitude but rotati ng with synchronous speed is developed. The flux cut the rotor into vibration with a speed close to that of the synchronous speed. It tries to catch up with the synchronous speed. The application of Right Hand Rule shows that the induced EMF in the rotor that the magnitude of the rotor EMF, rotor current and torque depend on the relative motion between the rotor field and the stator. If the relative motion is zero, the rotor runs at zero speed, no emf will be induced and the torque is zero. The motor cannot run at synchronous speed. In fact, a wound rotor machine can be used as a frequency changer. The primary winding { stator } is stationary

13

while the secondary winding {rotor} is rotating. When the stator is connected to a three phase AC supply, a rotat ing magnetic field is established which rotates at a synchronous speed

Ns =

Where f = frequency, P = pole. The rotor receives electrical power by induction the same way the secondary part of a transformer does in a 2 -winding transformer [2]. When the rotor is stationary and about to start, the frequency of the induced emf in the rotor is equal to that of the supply emf in the stator because the relative motion is at the synchronous speed. As the machine picks up the speed, the relative motion between the rotor and the synchronous rotating magnetic field becomes less and the frequency emf decreases. The magnitude of the rotor emf induced rotor current and so that of torque developed depends upon the relative motion [1]. If the relative motion is zero, the rotor runs at synchronous speed so no induced emf, no current in the rotor field and hence no torque, thus one can say that induction machine can never run at synchronous speed. When an induction machine runs at no load, the speed will very close to the synchronous speed and will be very small, just enough to keep the machine in

14

motion. As the mechanical load is applied on the motor shaft, it must slow down because the torque developed at no load will not be suff icient keep rotor revolving at the no load speed against the additional opposing torque. As the motor slows down, the relative motion between the magnetic field and rotor is increased [2]. This gives rise to greater rotor current and greater developed torque. Thus as the load is increased, the motor slow down until the relative motion between the rotating magnetic field is just sufficient to result in the development of torque necessary for the particular load. The decrease in speed from no load to full load is usually 4 to 5 per cent in small and medium side induction machine and in case of large size machine, it varies from 2 to 2.5 in large side induction motion. In respect to speed load characteristics a three phase induction machine is quite similar to a dc shunt motor. The direction of revolution of the field will depend upon the phase sequence of the primary current and therefore will depend upon the other of connection of the primary terminal to the supply. The direction can also be changed by interchanging any of the loads. The speed at which the field produced by primary current will revolve is called synchronous speed given as Ns = . The whole idea of an induction machine is to keep the rotor speed

close and possible very close to the synchronous speed but never to equal it. If the synchronous speed Ns equal to the rotor speed Nr, there will be

15

synchronization and the idea of induction or mutual induction or asynchronism fails. Mathematically,

S=

2.3.0 Performance Equation of a Polyphase Induction Machines. The key variables in the machine are the air gap power , mechanical and shaft output power and electromagnetic torque. 2.3.1. Slip and Frequency of the Rotor Current. In practise, the rotor of a three phase induction machine is always trying to catch up with the stator field but never succeed [1, 3]. It runs at a speed less than that of the synchronous speed. The implication of the rotor running at a speed is that there will be no relative speed. Slip can be expressed as

S=

At normal load, the slip of an induction machine is usually between2 and 5 per cent. At no load, the slip can be as low as 0.5per cent and at such the machine may be considered to be running at synchronous speed [1,4] as the low increased the torque increase and slow down the machine and the slip

16

increase until the driving torque equals the retarding torque of the of the balances the torque of the load. It was observed that the rotor runs in the direction of rotating magnetic field. When the rotor as stationary, the rotor conductor are being cut by the rotating flux at synchronous speed , at this the frequency of rotor current is

same as that of the supply frequency, but when the rotor starts revolving, the rate at which the rotor conductors are being cut by the rotating flux depends upon the relative speed between the rotor and the stator revolving magnetic field called the slip speed usually express as

Frequency of rotor {f } =

= S=

Since slip = S=

, Ns-Nr =SNs=

. and by away of substitution, Sf. So we conclude that

rotor frequency will be given as f = SNs=

the frequency of rotor emf or rotor current is given a the product of the slip and the supply frequency. And this is called slip frequency. 2.3.2 ROTOR CURRENT AND POWER FACTOR If we assume the circuit diagram of an induction motor rotor to be

17

At stand still,

Induced emf per phase in rotor equals = Rotor winding resistance per phase = Rotor winding reactance per phase Where f =frequency of supply. Rotor winding reactance impedance per phase = =2 f

Rotor Current

Power factor =

18

AT SLIP S

I nduced emf per phase in rotor winding =s Rotor winding resistance per phase= Rotor winding reactance per phase =2 f

Rotor winding impedance per phase

Rotor Current

Power factor =

2.3.3 Rotor Torque and Condition

19

The torque of an induction machine is due primary to the interaction of the rotor and stator field and it depends on the strength of those field and the phase relation between them. Hence the torque developed by an induction machine is direction proportional to the rotor current

Stator flux per pole T

and the power factor of the rotor circuit

Since rotor emf at stand still varies with Torque developed T This implies that T= 2.3.4 Torque Under Running Condition Recall that Current ,

, T=

T=

20

The running torque is therefore is proportional to the square of supply voltage because rotor induced emf is proportional to the supply voltage

Where

is a constant and

is the starting torque.

2.3.5 Full Load Torque and Maximum Let be the speed corresponding to full load torque

Dividing both the numerator and the denominator by

, we have

Where a =

21

In fact a =

= slip corresponding to the maximum torque. In that case , the

relationship becomes

Where

= Full load.

In general

T=

Fixed supplied voltage will be maximum at

OR

OR

IF

= 0 OR S =

so that

Hence we conclude that maximum torque 1. 2. 3. Is independent of the rotor circuit resistance. The slip of maximum is govern by rotors. It varies inversely as a standstill reactance of the rotor.

22

4.

It varies directly as the square of supply voltage [4].

2.4.1 Condiction for Maximium Starting Toque will be maximium when =1 or

2.4.2 Effect of Rotor Resistance upon Torque-Slip From the torque equation, it was observed that for a Constance voltage supply when rotor resistance is very small compared to but at large , the the

torque for a given slip is directly proportional to slip for a given torque varies inversely as

. Hence variation of rotor

resistance does not changed the value of the magnitude of the maximum torque but merely changes the value of slip at which it

occurs. Therefore, the larger the rotor resistance the larger the slip at which maximum torque occurs. Recall that at a given torque , the slip is proportional to the rotor resistance so additional in the rotor circuit

merely stretches the maximum torque so that the same torque value occur at a lower speed .

23

2.4.3 The Steady State Equivalent Circuit The key variables in the machine are the air gap power, mechanical and shaft output power, and electromagnetic torque. These are derived from the equivalent circuit of the induction machine as follows. The real power transmitted from the stator. P,. To the air gap, p., is the difference between total input power to the stator windings and copper losses in the stator and is given as

FIGURE 2.1: SIMPLIFIED PHASOR DIAGRAM OF INDUCTION MOTOR

24

Neglecting the core losses, the air gap power is equal 10 the total power dissipated in in the three phases of the machine: there is no other

element to consume power in the rotor equivalent circuit. It is given as

Which could be written alternatively as

The

term is recognized as the rotor copper loss and hence the

remainder.[5]

gives the power converted into mechanical form. The rotor copper losses are equal to the product of the slip and air gap power from equation (2.27).and this is referred to as slip power. The common term of three in equations (2.28) and (2.29) accounts for the number of phases in the machines. The mechanical power output Pm. is obtained as

25

Alternately, in terms of the electromagnetic torque and ro tor speed. the mechanical power output is equal to their product

where

is the internal or electromagnetic torque, derived from equations

(2.22) and (2.23) as

Substituting for the rotor speed in terms of the slip and stator frequency, given by

into (2.20).The electromagnetic or air gap torque is obtained as

(2.33)

[1,4]To obtain the shaft output power of the machine, Pi' the windage and friction losses of the rotor, denoted as have to be subtracted from the

mechanical output power of the machine, symbolically given as follows:

The friction and windage losses are two distinct and separate losses: They are proportional to the speed and the square of the speed respectively. Therefore

26

they have to be represented as a function of speed for evaluation of the variable-speed performance of the induction motor. There are also losses due to stray magnetic fields in the machine; they are covered by the term stray load losses. The stray-load losses vary from 0.25 to 0.5 percent of the rated machine output. The stray-load losses are obtained from the measurements on the machine under load from the remainder of the difference between the input power and the sum of the known losses such as the stator and rotor copper and core losses, friction and windage losses, and power output. Note that the stray-load losses have not been accounted for in the equivalent circuit of the machine. Various analytical formulae and empirical relationships are in use, but a precise prediction of the stray losses is very difficult.

CHAPTER THREE DYNAMIC MODELLING OF THREE PHASE INDUCTION MOTOR 3.0. The Analysis of Induction Machine in the Arbitrary Reference Frame During start up and other severe motoring operations, the induction motor draws large currents, produce voltage dips, oscillatory torques and can even generate harmonics in the power system. [ 4] It is therefore important to

27

be able to predict these phenomena. Various models have been developed and the q d or two axis model for the study of transient behaviours has been tested and proven to be very reliable and accurate. [ 5 ] This method of modelling has been applied by several authors.[4,5 ] 3.1.0 Circuit Model of Three Phase Induction Machine Using the coupled circuit approach and motor notation, the voltage equations of the magnetically coupled stator and rotor circuits shown in figure 3.1 can be written as follows: [ 5 ]

28

FIGURE 3.1: The Idealized Circuit of as Three Phase Induction Motor

3.1.1 Stator and Voltage Equations

dPas dt dPbs vbs ! ibs rs  dt dPcs vcs ! ics rs  dt

vas ! ias rs 

(3.1)

3.1.2 Rotor Voltage equations

dPar dt dPbr vbr ! ibr rr  dt dP vcr ! icr rr  cr dt var ! iar rr 

(3.2)

3.1.3 Flux Linkage Equations The flux linkage equations of the stator and rotor windings in terms of the winding inductances and currents may be written in compact form using matrix notation as:

29

Pabc Labc s ss abc ! abc Pr Lrs

Where

Labc isabc sr Labc irabc rr

Wb-turn

(3.3)

P abc ! ( P as , P bs , P cs ) t s P abc ! ( P ar , P br , P cr ) t r i sabc ! (i as , i bs , i cs ) t i rabc ! (i ar , i br , i cr ) t

(3.4)

and the superscript, t, denotes the transpose of the array The submatrices of the stator-to-stator and rotor-to-rotor winding inductances are of the form:

abs ss

Lls  Lss ! Lsm Lsm

Lsm Lls  Lss Lsm

Lsm H Lls  Lss Lsm

(3.5)

abs rr

Llr  Lrr ! Lrm Lrm

Lrm Llr  Lrr Lrm

Lrm Llr  Lrr Lrm

(3.6)

30

The stator-to-rotor winding inductances are functions of the rotor angle as shown below:
2T 2T cos(U r  ) cos(U r  ) cosU r 3 3 2T 2T ! sr cos(U r  ) H ) cosU r cos(U r  3 3 2T 2T cos(U r  ) cos(U r  ) cosU r 3 3

abc sr

abc t rs

Where Lls is the per phase stator winding leakage inductance, Llr is the per phase rotor winding leakage inductance, L ss is the self-inductance of the stator winding, Lrr is the self inductance of the rotor winding, L sm is the mutual inductance between stator windings, L rm is the mutual inductance between rotor windings, and Lsr is the peak value of the stator-to-rotor mutual inductance. 3.2.0 Machine Model in Arbitrary qd0 Reference Frame Let us first derive the equations of induction machine in arbitrary reference frame which is rotating at a speed of in the direction of the rotor rotation.

The relationship between the abc quantities and qdo quantities of a reference frame rotating at an angular speed is shown in figure 3.2.

? A

(3.7)

31

bs q-axis

br ar r

as-axis

cr d-axis

cs

Figure 3.2: The Relation between abc and Arbitrary qdo

The transformation equation from abc to qdo reference frame is given by

fq fa f ! T (U ) f qdo d b f0 fc

(3.8)

Where the variable f can be the phase voltages, currents, or flux linkages of the machine. The transformation angle, (t), between the q-axis of the reference frame rotating at a speed of may be expressed as and the a-axis of the stationary stator winding

U (t ) !

[ (t )dt  U (0)
0

elect. rad.

(3.9)

32

Likewise, the rotor angle,

r(t),

between the axes of the stator and the rotor ar (t)

phases for a rotor rotating with speed

U r (t ) ! [ r (t )dt  U r (0) elect. rad.
0 t

may be expressed as

(3.10)

The qd0 transformation matrix, [T qd0 ( )], is

cosU 2 Tqd 0 (U )] ! sin U 3 1 2

cos(U 

2T 2T ) cos(U  ) 3 3 2T 2T ) ) sin(U  sin(U  3 3 1 1 2 2

(3.11)

And the inverse

cos U sin U 1 2T 2T ) sin(U  ) 1 ! cos(U  3 3 cos(U  2T ) sin(U  2T ) 1 3 3

? T

qd 0

(U )

1

(3.12)

3.2.1 qd0 Voltage Equations In matrix notation, the stator winding abc voltage equations can be expressed as

vsabc ! pPabc  rsabcisabc s

(3.13)

Applying the transformation, [T qd0 ( )], to the voltage, flux linkage and current, equation 2.13 becomes

33

qd 0 s

0 1 0 ! [  1 0 0 Pqd 0  pPqd 0  rsqdo isqdo s s 0 0 0

(3.14)

Where [ !

dU and dt

rsqd 0

1 0 0 ! rs 0 1 0 0 0 1

(3.15)

Likewise the rotor quantities must be transformed onto the same qd frame. From figure 2.2, we can see that the transformation angle for the rotor phase quantities is ( - r). The qd0 voltage equations for the rotor windings are likewise:
0 1 0 ! ([  [r ) 1 0 0Pqd 0  pPqd 0  rrqd 0irqd 0 r r 0 0 0

qd 0 r

(3.16)

3.2.2 qd0 Flux Linkage Relations The stator qd0 flux linkages are obtained by applying T qd0( ) to the stator fluc linkages in equations 2.3, that is

Pqd 0 ! Tqd 0 (U ) ( s

abc abc ss s

abc abc sr r

(3.17)

Using the appropriate inverse transformation to replace the abc stator and rotor currents by their corresponding qd0 currents, equation 2.17 becomes

Pqd 0 ! Tqd 0 (U ) Labc Tqd 0 (U ) isqd 0  Tqd 0 (U ) Labc Tqd 0 (U  U r ) irqd 0 s ss sr

A ?

1

A ?

1

(3.18)

34

ls

 0 0

ss

0
ls

P qd s

 0

ss

(3.19) Similarly, the qd0 rotor flux linkages are given by

P qd 0 ! Tqd 0 (U  U r ) Labc Tqd 0 (U ) r rs

A ?

Ai

1 qd 0 s

 Tqd 0 (U  U r ) Labc Tqd 0 (U  U r ) rr

A ?

sr

lr

 0 0

P qd r

sr

lr

 0

(3.21) The stator and rotor flux linkage relationship in equations 3.19 and 3.21 can be expressed compactly as

3 2

3 2 ! 0 0

0 0 i sqd 0

3 2

rr

0 3 2
rr

3 2

3 2

0 0 i sqd ls

3 2  0 0

sr

0 3 2
sr

0 0 i rqd 0

Ai

1 qd 0 r

(3.20 )
0 0 i rqd lr

35

ls

ls

0 0 0

0 0 0

ls

0 0 0

0 0

' lr

 0

Where the primed rotor quantities denote referred values to the stator side according to the following relationship:
Ns N Pqr , P'dr ! s Pdr Nr Nr

P'qr !

' iqr !

r s

' iqr , idr !

r s

idr

' lr

s r

3.2.2 qd0 Torque Equation The sum of the instantaneous input power to all six windings of the stator and rotor is given by
' ' ' ' ' ' pin ! vas ias  vbs ibs  vcs ics  var iar  vbr ibr  vcr icr w

In terms of the qd0 quantities, the instantaneous input power is

2 lr

Lm !

3 3 Ns 3 Ns Lss ! Lsr ! Lrr 2 2 Nr 2 Nr

' lr

Pqs P ds P0 s ' ! P qr P'dr ' P0 r

0 iqs 0 ids 0 i0 s ' 0 iqr ' 0 idr ' ' lr i0 r

(3.22)

(3.23)

(3.24)

(3.25)

(3.26)

36

pin !

3 ' ' ' ' ' (vqd iqs  vds ids  2v0 s i0 s  vqr iqr  vdr idr  2v0 r ) w 2

(3.27)

Substituting equations 2.14 and 2.16 into equation 2.27 and retaining only the i terms which represents the rate of energy converted to mechanical work. The electromechanical torque developed by the machine is given by the sum of the i terms divided by the mechanical speed, that is
3 P ' ' [ (Pds iqs  Pqs ids )  ([  [ r )(P'dr iqr  P'qr idr ) N.m 2 2[ r

Tem !

(3.28)

Using the flux linkage relationship in equation 22, we can show that
' ' ' ' Pdsiqs  Pqsids ! (P'dr iqr  P'qr idr ) ! Lm (idr iqs  iqr ids )

(3.29)

Equation 28 can thus be expressed in the following fo rms:

3 ' ' (P'qr idr  P'dr iqr ) N.m 22

Te !

Te !

3 (Pds iqs  Pqs ids ) N.m 22

For simulation purposes, the preference of one form over another is usually influenced by what variables are availab le in other pats of the simulation

Te !

3 22

 

(3.30a)

(3.30b)

' ' (idr iqs  iqr ids ) N.m

(3.30c)

37

The speed voltages are defines as follows:

Eqs ! [Pds , Eds ! [Pqs V

(3.31a)

' ' Eqr ! ([  [ r )P'dr , Edr !  ([  [ r )P'qr V

(3.31b)

Sometimes, machine equations are expressed in terms of the flux linkages per second, s, and reactances, s, instead of s and L s. These are related simply
b, that

but the base or rated value of angular frequency,

] ! [b P

is (3.32) (3.33)

V or per unit

G ! [ b L H or per unit

Where [b ! 2Tf rated electrical radians per second, f rated being the rated frequency in Hertz. A summary of the Arbitrary Reference Equation in 3.2.3 Stator and Rotor Voltage Equations
[ p ] qs  ] ds  rs iqs [b [b

s and s is shown below.

vqs !

(3.34a)

vds !

[ p ] ds  ] qs  rs ids [b [b

(3.34b)

v0 s !

p ] 0 s  rs i0 s [b

(3.34c)

38

' vqr !

p ' [  [r ] qr  [ [b b

' ' ] dr  rr'iqr

(3.34d)

' vdr !

p ' [  [r ' ' ' ] dr  [ ] qr  rr idr [b b

(3.34e)

' v0 r !

p ' ' ] 0 r  rr'i0 r [b

(3.34f)

Where
] qs xls  x ] 0 ds ] 0 s 0 ' ! ] qr x ' ] dr 0 ' ] 0 r 0 0 0 0 0 0 0 xls 0 0 0
' lr

0 0 0

0 0 0

3.2.4 Torque Equations

[ [  [r ' ' ' ' (] dr iqr  ] qr idr ) (] dsiqs  ] qs ids )  [b [b

Tem !

3 P 2 2[r

Tem !

3 P ' ' ' ' (] qr idr  ] dr iqr ) 2 2[b

Tem !

3 P (] dsiqs  ] qs ids ) 2 2[b

Tem !

3 P ' ' xm (idr iqs  iqr ids ) 2 2[b

x x

' xlr  x

xls  x

0 x

0 iqs 0 ids 0 i0 s ' 0 iqr ' 0 idr ' ' xlr i0 r

(3.35)

(3.36a)

(3.36b)

(3.36c)

(3.36d)

39

The corresponding equivalent circuit of an induction machine in the arbitrary reference frame is shown in figure 3.3.

iqs + vqs s -

dr

rs

xls xm

xlr
- +

 [r [b

rr

iqr s + vqr s -

- Eqr s +

q-axis

ids + vds s -

qr

rs

xls xm d-axis

xlr

 [r [b

rr

idr s + vdr s -

+ -

- Edr s +

40

i0s + v0s -

rs

xls

xlr

rr

i0r + v0r -

zero-sequence

Figure 3.3 Equivalent Circuit Representation of an Induction Machine In Arbitrary Reference Frame

3.3.0 Machine Model in Stationary qd0 Reference Frame Various reference frames are used for the simulation of induction machine but in transient studies of adjustable speed drives, it is usually more conv enient to simulate an induction machine and its converters on a stationary reference frame. [5] The rest of this chapter is devoted to the derivation of the equivalent circuit suitable for simulation of induction machine in the stationary reference frame. Since the equations of the induction machine for the general case that is in the arbitrary reference frame have been derived, the equations of the machine in the stationary reference frame can simply be obtained by setting the speed of the arbitrary reference frame, , to zero. Lets distinguish the variables in the

stationary reference frame by an additional superscript, s. The equations of the

41

symmetrical machine in terms of are summarized below. 3.3.1 Stator and Rotor Equations
p s s ] qs  rs iqs [b

s and s in the stationary reference frame

s vqs !

(3.37a)

s vds !

p s s ] ds  rs ids [b

(3.37b)

v0 s !

p ] 0 s  rs i0 s [b

(3.37c)

's vqr !

p ' s [r ' s 's ] qr  ] dr  rr'iqr [b [b

(3.37d)

's vdr !

p ' s [r ' s 's ] dr  ] qr  rr'idr [b [b

(3.37e)

' v0 r !

p ' ' ] 0 r  rr'i0 r [b

(3.37f)

3.3.2 Flux Linkage Equations

s ] qs xls  x s ] ds 0 ] 0 s 0 's ! ] qr x ] ' s 0 dr ' ] 0 r 0

0 0 0

xls 0 0 0
' lr

0 0 0

0 0 0

3.3.3 Torque Equations

x x

' xlr  x

xls  x

0 x

s 0 iqs s 0 ids 0 i0 s 's 0 iqr 's 0 idr ' ' xlr i0 r

(3.38)

42

Te !

3 's 's 's 's (] qr idr  ] dr iqr ) 2 2[b

Te !

3 s s s s (] dsiqs  ] qs ids ) 2 2[b

The corresponding equivalent circuit of an induction machine in the stationary reference frame is shown in figure 3.4.

iqs + vqs s -

ids + vds s -

"

Te !

3 's s 's s G (idr iqs  iqr ids ) 2 2[b

 !

(3.39a)

"

(3.39b)

(3.39c)

s dr

rs

xls xm

xlr
- +

 [r [b

rr

iqr s + vqr s -

- Eqr s +

q-axis

s qr

rs

xls xm d-axis

xlr

 [r [b

rr

idr s + vdr s -

+ -

- Edr s +

43

i0s + v0s -

rs

xls

xlr

rr

i0r + v0r -

zero-sequence
Figure 3.4 Equivalent Circuit of an Induction Machine In the Stationary Reference Frame

3.3.5 Base Quantities The base quantities with peak rather than rms value of a P-pole, three phase induction machine with rated line-to line rms voltage, Vrated, and rated voltampere, S rated, are as follows: Base voltage Vb ! 2 3Vrated (3.40a )

Base volt-ampere Sb ! S rated Base peak current I b ! 2 S b / 3 Base impedance Z b ! Vb I b Base torque Tb ! Sb [ Where [bm ! 2[b P

(3.40b) (3.40c)

bm

(3.40d)

(3.40e)

(3.40f)

44

CHAPTER FOUR DYNAMIC SIMULATION OF THREE PHASE INDUCTION MOTOR DRIVING A MECHANICAL LOAD 4.0 SIMULATION Simulation is a process that involves setting up a model of a real situation. It is an experiment with a logical and mathematical especially mathematical representation of the dynamic kind that are characterised by a mix of differential and algebraic equations. Mathematical models may be linear or non-linear, may be lumped or distributed The model equations of the induction ma chine in the stationary qd0 reference frame may be rearranged into the following form for simulation .
s r s s s ] qs ! [b vqs  s (] mq  ] qs ) dt xls

(4.1)

s r s s s ] ds ! [b vds  s (] md  ] ds ) dt xls

(4.2)

i0 s !

[b (v0 s  i0 s rs ) dt xls

(4.3)

45

's [ 's r ' 's 's s ] qr ! [b vqr  r ] dr  r' (] mq  ] qr ) dt [b xlr

(4.4)

's [ 's r ' 's 's s ] dr ! [b vdr  r ] qr  r' (] md  ] dr ) dt [b xlr

(4.5)

' i0 r !

[b ' ' (v0 r  i0 r rr' )dt ' xlr

(4.6)

s s 's ] mq ! xm (iqs  iqr ) s s 's ] md ! xm (ids  idr )

(4.7)

s s s ] qs ! xls iqs  ] mq

Implying that

s iqs !

s s ] qs  ] mq

xls

(4.8)

s s s ] ds ! xls ids  ] md

Implying that

s ids !

s s ] ds  ] md xls

(4.9)

's ' 's ] qr ! xlr iqr  ] s q

Implying that

's iqr !

's s ] qr  ] mq ' xlr

(4.10)

's ' 's ] dr ! xlr idr  ] s d

Implying that

's idr !

Where
1 1 1 1 !   ' xM x xls xlr

and

'

% &

's ] dr  ] s d ' xlr

(4.11)

(4.12)

46
's s ] qs ] qr s ] mq ! x  ' x xlr ls

(4.13)

Wr= Rotor speed

The equations of the of the machine is obtained by equating the inertia torque to the accelerating torque, that is
d[ r ! Te  T dt

ech

Where Tmech is the externally applied mechanical torque in the direction of the rotor speed and T damp is the damping torque in the direction opposite to rotation. When used in conjunction with equations 4.1 to 4.6, the per unit speed,
r/

needed for building the speed voltage terms in the rotor voltage equations, can be obtained by integrating
2 J[b d ([ r / [b ) ! Tem  Tmech  Tdamp P dt

s md

's s ] ds ] dr !x  ' xls xlr

(4.14)

 Tda

(4.15)

(4.16)

47

Often, the above equation of motion is written in terms of the inertia constan t, H, defined as the ration of the kinetic energy of the rotating mass at base speed to the rated power, that is
J[b2 2 Sb

H !

Expressed in per unit values of the machine s own base power and voltage, equation 2.56 becomes
d ([ r / [b ) ! Tem  Tmech  Tdamp per unit dt

2H

4.1a Introduction to Matlab/ Simulink MATLAB MATRIX LABOURATORY was invented in the late

1970 s by Cleve Moler, then chairman of the computer science Department at the University of mexico [7]. He designed it to give his student access to LINPACK without having to learn FORTRAN. Later it spread to other universities and found a strong audience within maths community. In 2000, the program was modified to include a newer set of library for matrix manipulation. The control designers were the first Engineers to adopt the use of matlab. Today, the processes have found application in most other field such as education particularly in the teaching of linear algebra,

(4.17)

(4.18)

48

numerical analysis and very popular amongst scientist involve with image processing. Matlab program has gone a long way in reducing the stress posse by higher order differential equation, trigonometrically functions and generally in the calculation. It is a high-level language which performs technical computing language and interactive environment for algorithm development, data visualization, data analysis and numeric computation 4.1b: Modelling A model is a representation of a theory that can be used for prediction and control, it is the process of analysis and synthesis to arrive at a suitab le mathematical description that encompasses the relevant dynamic characteristics of a component, preferably in terms of parameters that can be easily be determine in pact ice. Model must be realistic and yet simple to understand and easy to realistic models cannot be simple. A model should possess a certain characteristics of the actual condition []. It must be verified and validated.

4.1.2 TEMPLATE OF SIMULINK SOURCES

CLOCK Provide and display system time

Constant Inject constant FROM FILE Read data from file FROM WORK SPACE Read data from a matrix in Workspace SIGNAL GENERATOR

49

Generate various wave forms SINE WAVE Generate a sine wave STEP FCN Generate a step function REPEATING SEQUENCE Repeat an arbitrary signal WHITE NOISE Generate random noise

SINKS

SCOPE Display signal during simulation

TO FILE Write data to file TO WORKSPACE Write data to a matrix in workspace

CONNECTIONS
INPORT Input port to a masked block

OUTPORT

Output port of a masked block MUX

Multiplex several scalar input into a vector input DEMUX

Demultiplex vector input into scalar component input

50

LINEAR
DERIVATIVE Output a time derivative of the input

GAIN INTEGRATOR

Multiply an input by a constant

Integrate input signal(s) STATESPACE Linear state space system SUM Sum input TRANSFER FCN Linear transfer function in a domain

ZERO POLE Linear systems specified in poles and zeros

NONLINEA
Abs Absolute value of input

Black lash

Model hysteresis

Dead zone Zero output dead zone

51 Fcn look up table MATLAB Fcn Apply a MATLAB function to an input Product Multiply input together Rate Linear Limit the rate of change of an input Relay Switch an output between two values Saturation Limit the execution of a signal S-function Switch Make an S-function into a block Switch between two inputs Any legal C function of input Perform piece-wise linear mapping

Transport Delay

Delay an input signal by a given amount of time

52

Below Are Some Data Of A few Sample Machine Und er Study Table 4. Machine data
RATED VOLTAGE 220v

WINDING CONNECTION Star RATED FREQUENCY SAMPLE 60Hz NUMBER OF POLES RATED SPEED 960rpm STATOR RESISTANCE ROTOR REFERRED RESISTANCE 0.18 STATOR REACTANCE ROTOR REFERRED REACTANCE 0.754 MAGNETISING REACTANCE MOMENT OF INERTIA 0.089kg. POWER RATING 3Hp 26.13 0.754 0.435 4

53 4.2 Simulink Implementation of the Induction Machine Model.

Figure 4.1: Complete Simulink Model of Induction Machine in Stationary Reference Frame

Figure 4.2 abc 2dqs block

54

Figure 4.3 q-axis block

Figure 4.3 d-axis block

55

Figure 4.5: ROTOR block

Figure 4.6 Zero- sequence block.

56

Figure 4.7 qds2abc block

4.2.2 The MATLAB processes

%Dynamic Simulation of a 3-hp Induction Motor in the Stationary %Refrence Frame. clear rs=0.435;%Stator resistance rpr=0.816;%Refered value of rotor resistance xls=0.754;%Stator leakage reactance xplr=0.754;%Refered value of rotor leakage reactance xm=26.13;%magnetizing reactance J=0.089;%Moment of inertia P=4;%Number of Poles fb=60;%Base frequency wb=2*pi*fb;

57

xM=1/(1/xls+1/xm+1/xplr); Vrated=220; Vm=(sqrt(2/3)*Vrated); Sb=2238;%Rate power Ib=(2*Sb/3*Vm); Zb=Vm/Ib; wbm=(2*wb)/P; Tb=Sb/wbm; H=(J*wbm^2)/(2*Sb);

disp('run simulation, type ''return'' when ready') keyboard

figure(1) plot(y(:,1),y(:,2)) ylabel('Phase Voltage, Vag [V]') xlabel('Time[Sec]') grid on

figure(2) plot(y(:,1),y(:,5)) ylabel('Electromechanical Torque, Tem [N-m]') axis([0 1 -25 120]) xlabel('Time[Sec]') grid on

58

figure(3) plot(y(:,1),y(:,6)) ylabel('Per-Unit Speed, wr/wb') xlabel('Time[Sec]') grid on figure(4) plot(y(:,1),y(:,7)) ylabel('Motor Speed, wr [Rad/Sec]') xlabel('Time[Sec]') grid on

figure(5) plot(y(:,1),y(:,8)) ylabel('Mechanical Load, Tmech [N.m]') axis([0 1 -25 0]) xlabel('Time[Sec]') grid on figure(6) plot(y(:,1),y(:,9),'-.') ylabel('Phase Currents,[A]') hold on plot(y(:,1),y(:,10),':') hold on plot(y(:,1),y(:,11),'--') xlabel('Time[Sec]') legend('Phase A Current','Phase B Current','Phase C Current')

59

grid on figure(7) plot(y(:,1),y(:,12)) ylabel('q-axis Stator Voltage[V]') xlabel('Time[Sec]') grid on figure(8) plot(y(:,1),y(:,13)) ylabel('Zero Sequence Stator Voltage[V]') xlabel('Time[Sec]') grid on

60

CHAPTER FIVE 5.0 RESULT, OBSERVATION AND CONCLUSION The simulation yield the following curves

Figure 5.1: Phase Voltages [V] Against Time [Sec]

Figure 5.2 :The Graph Of Voltages [V] Against Time [Sec]

61

Figure 5.3 :Per-Unit Speed (

) Against Time [Sec]

Figure 5.4 : Motor Speed

] Against Time [Sec]

62

Figure 5.5: Mechanical Load,

] Against Time [Sec]

Figure 5.6: Phase Current (Ia, Ib, Ia) Against Time [Sec]

63

figure 5.7: q-axis stator voltage against time [sec]

Figure 5.8: Zero-Sequence Voltage Against Time [Sec]

64

5.2 OBSERVATION AND CONCLUSION At stand still, the input impedance of the induction machine is essential the stator resistance and the leakage reactance in series with the rotor resistance and leakage reactance. Consequently, when the rated voltage is applied, the starting current is large and in some cases may rise up to 10times the rated value. This is observed in the graph of phase current versus time (figure 5.6) as the major limitation of direct on line starting of motor. It therefore recommended that reduced voltage starting method such as starting in star and ending in delta (star/delta), the use of auto transformer and soft start methods should be employed to reduce the excess starting current. The graph of rotor speed against time (figure 5.4) shows that rotor accelerates from start with zero mechanical torque and since friction and windage losses are not taken in consideration, the machine accelerates with synchronous speed. Figure 5.5 shows that the application of 20N -m mechanical load for say 3second leads to a sharp drop in the motor speed, this applied mechanical loading is in the negative sense since the machine operates as a motor. Also, an increase in electromechanical torque in sympathy with the applied loading from [20 10 20]N-m in the time sequence [0.3-0.4] seconds, [0.5-0.6] seconds respectively as indicated in figures 5.2 and 5.3. and these also show the per unit speed used to compare the actual motor speed and the

65

rated speed. The simulated motor is symmetrical and the windage and frictional losses are assumed negligible. Finally, this work is concluded by saying that it off ers the user the opportunity to have access to the basic parameters that makes for the best operation of three phase induction motor.

66

REFERENCES

1.

K. Ashwini , G. N. Sreenivas and T. Giribabu,MODELING AND SIMULATION

OF ENGINE DRIVEN INDUCTION GENERATOR USING HUNTING NETWORK METHOD. Department of Electrical and Electronics Engineering, JNTUH College of Engineering, Hyderabad, A. P., India 2. R. Krishnan,ELECTRIC MOTOR DRIVES Modeling, Analysis, and

Control.Virginia Tech. Blacksburg. V A Pn'nlin'

J.B GUPTA,THEORY OF ELECTRICAL MACHINES. 2008

4 B. L. THERAJA AND A.K THERAJA, A TEXT BOOK OF ELECTRICAL TECHNOLOGY 5 Ong. C.m.1997 Dynamic Simulation of Electric Machinery Using

MATLAB and SIMULINK , presentice Hall PTR: Pince. NJ. 6 Lee, R.J,P.Pillay, and R.G. Harley. 1984/1985. D,Q reference Frame for the simulation of Induction Motor . Electric Power System. Research. 8:15-16 7 .Burack, O. and M.T Leon. 2003 SIMULINK Implementation of

Induction Machine Model- Modulation Approach . IEEE Transaction on Energy Conversion. 21(8): 728-734.

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8 Leonard, W. 1995. controlled AC Drives, A successful Transfer From Ideas Induction practice . CETTT 95. Brasil, ppl-12. 9 MacDonald, M.L and P.C Sen. 1979. Control loop study of induction Motor Drive Using D-Q Model . IEEE Transaction on Industrial

Electronics and Control Instrumentation. 26(4):237-241. 10 Okoro, O.I. 2005. Steady and Transient states Thermal Analysis of a

7.5kw Squirrel- cage Induction Machine at Rated - Load operation . IEEE Transaction on Energy Conversion. 20(4):730-736. 11 Krause,P.O. Wasynrzuk and S.D. Sudhoff 1986. Machinery . McGraw-Hill ine : New York,NY 12 Vas, P. 1992. Electrical machine and Drives- A Space Vector Theory Approach . Oxford Clarendoon Press: London, Uk 13 Krause,P.C and C.H Thomas. 1965. Simulink of Symmetrical Induction Machinery . IEEE Transaction PAS -84, 11:1053. 14 Mulay, S.P . and M.V. Aware. 2008. V/F Control of an Induction Analysis of Electric

Machine prediction Inverter Machine interaction . Internation Journal of Innovation in Energy system and Power. 3(1): 27 -31. 15 Pillay, p and R.G Harley. 1993. Comparison of Model for Predicting

Disturbances Caused by Induction Motor Starting . SAIEE Symposium on Power System Disturbances. Pretoria, Suoth Africa.

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