Ashish Kamal * et al.

/ (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH

Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
ISSN 2320 5547 @ 2013 http://www.ijitr.com All rights Reserved. Page | 336
Mathematical Modelling of Dynamic Induction
Motor and Performance Analysis with Bearing Fault
ASHISH KAMAL
Department of Electrical, Madan
Mohan Malaviya Engineering College
Gorakhpur,(UP), INDIA
V.K.GIRI
Department of Electrical, Madan
Mohan Malaviya Engineering College
Gorakhpur,(UP), INDIA
ABSTRACT: In this paper the modelling of 3 phase induction motor having bearing fault is being carried out with the
help of dq0 axis transformation. The theory of axis transformation is widely used to create such model because it
reduces the complexities of time-varying variables. In the present work, a step by step Simulink implementation of an
induction machine using dq0 axis transformations of the stator and rotor variables in the arbitrary reference frame
has been carried out. For this purpose, the relevant equations are derived and stated at the beginning, and then a
generalized model of a three-phase induction motor is developed. The implementation of developed mathematical
dynamic model of induction motor has been done using MATLAB -R2011a Simulink block set. Lastly, the
performance analysis of induction motor with bearing fault has been presented.
Keywords- 3-Phase Induction motor; Bearing Fault; Mathematical Modeling; MATLAB; Simulation
I. INTRODUCTION
In adjustable speed drives, the machine are
normally constitutes an element within feedback
loop and therefore its transients behaviour has to be
taken into consideration [1]. High -performance
drive control, such as vector control and field-
oriented control, is based on dynamic d-q model of
the machine. The machine model can be described
by the differential equation with time-varying
mutual inductance; This model can be seen as quite
complex due to continuous change in the position
of rotor with respect to stator. Therefore to remove
this complexity the dynamic d-q model is used in
present work [3].
Fig. 1: Ideal 2 Pole 3 Phase Induction Motor
Fig. 1 shows idealised three phase induction motor
having 2 poles and winding on stator and rotor are
concentrated types. The three phase winding are
either in star (Y) or in Delta () form are
distributed sinusoidally and embedded in slots. In
case of squirrel cage machine, the rotor is shorted
by the end rings [4]. If we neglected the effect of
slots and space harmonics and consider an ideal
winding distribution then the 3 phase stator supply
is capable to create a rotating magnetic field whose
speed is considered as synchronous speed.
II. DYNAMIC D-Q MODELLING OF
THREE PHASE INDUCTION MOTOR
The 3 phase ac machine can be represented by an
equivalent two phase machine as shown in fig. 2.
Fig. 2: Two Winding Representation of 3 Phase
Induction Motor
Fig. 3: Stationary and Rotating Axes
Where, d
s
-q
s
correspond to stator direct and
quadrature axis and d
r
-q
r
correspond to rotor direct
and quadrature axis.
Ashish Kamal * et al. / (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH
Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
ISSN 2320 5547 @ 2013 http://www.ijitr.com All rights Reserved. Page | 337
Let us assume that the d
s
-q
s
are oriented at
angle as shown above. The voltage
s
ds
V and
s
qs
V
can be resolved into a
s
-b
s
-c
s
components and can be
represented in matrix form as
|
|
|
|
|

|
|
|

0 0
- 0 - 0
0 0
=
|
|
|

s
os
s
ds
s
qs
cs
bs
as
V
V
V
1 ) 120 sin( ) 120 cos(
1 ) 120 sin( ) 120 cos(
1 sin cos
V
V
V
(1)
The corresponding inverse relation can be written
as
|
|
|

|
|
|

0 - 0 0
0 - 0 0
=
|
|
|
|
|

cs
bs
as
s
os
s
ds
s
qs
V
V
V
5 . 5 . 5 .
) 120 sin( ) 120 sin( sin
) 120 cos( ) 120 cos( cos
3
2
V
V
V
(2)
Here,
s
os
V shows the zero sequence component
which may or may not be present. The current and
flux can be transformed by similar equation [7].
So far, we have transformed the three axes variable
into two axis variable now we have to transform
two axes stationary variables into two axes rotating
variables, for that consider the fig.3 [8]. In fig.3, we
have considered d
e
-q
e
as the rotating reference
frame which is rotating with speed
e
e with
respect to d
s
-q
s
axes, we can relate
e
0 and
e
e as
e
0 =
e
e t (3)
The two phase d
s
-q
s
winding are transformed into
the hypothetical winding mounted on d
e
-q
e
axes.
The voltages on d
s
-q
s
axes can be transformed into
d
e
-q
e
frame by following equations,
e
s
ds e
s
qs
e
qs
sin V cos V V 0 - 0 = (4)
e
s
ds e
s
qs
e
ds
cos V sin V V 0 0 = (5)
We can transform back again the rotating frame
into stationary frame by using following equation,
e
ds
e qs
s
qs
sin V cos V V 0 0 = (6)
e
ds
e qs
ds
cos V sin V V 0 0 = (7)
Since, we have considered that
) 120 t cos( V V and ) 120 t cos( V V ), t cos( V V
m cs m bs m as
e = - e = e =
therefore, variable in stationary reference frame and
rotating reference frame can be written as,
) t cos( V V
e m
s
qs
e = (8)
) t sin( V V
e m
s
ds
e - = (9)
= cos V V
m qs
(10)
- = sin V V
m ds
(11)
From equations (8) and (9) it can be seen that
s
ds
s
qs
V and V are balanced two phase voltage of equal
peak values and the latter /2 angle phase lead with
respect to other component.
The equation (10) and (11) shows that, sinusoidal
variable in stationary frame appears as a d.c.
quantities in a synchronously rotating reference
frame. This is an important derivation. One thing is
important to note that the stator variables are not
necessarily balanced sinusoidal wave. In fact, they
may be any arbitrary time function.
We can write the following stator circuit equation
in stationary frame as [5],
s
qs
s
qs s
s
qs
dt
d
i R V = (12)
s
ds
s
ds s
s
ds
dt
d
i R V = (13)
Where,
s
qs
and
s
ds
are q-axis and d-axis stator
flux linkage respectively.
When these equation are converted to d
e
-q
e
frame,
the following equation can be written
ds e qs qs s qs
dt
d
i R V e = (14)
qs e ds ds s ds
dt
d
i R V e - = (15)
The last term in equation (14) and (15) can be
defined as speed e.m.f due to rotation of axes, that
is, when
e
e =0, the equation reverts to stationary
form. It is important to note here that flux linkage
in d
e
and q
e
axis induces e.m.f in q
e
and d
e
axes
respectively, with /2 angle (lead).
When all the variable and parameter are referred to
the stator, since the rotor actually moves at
speed
r
e , the d-q axis fixed on rotor moves at a
speed
r e
e - e relative to synchronously rotating
frame. Therefore, in d
e
-q
e
frame, the rotor equation
can be modified as,
dr r qr qr r qr
) (
dt
d
i R V e - e =
c
(16)
qr r dr dr r dr
) (
dt
d
i R V e - e - =
c
(17)
Ashish Kamal * et al. / (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH
Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
ISSN 2320 5547 @ 2013 http://www.ijitr.com All rights Reserved. Page | 338
Fig. 4: d
e
q
e
Dynamic Model Equivalent Circuit
In fig. 4, the flux linkage expression in terms of
current can be written as follow
) i i ( L i L
qr qs m qs s 1 qs
= (18)
) i i ( L i L
qr qs m qr r 1 qr
= (19)
) i i ( L
qr qs m qm
= (20)
) i i ( L i L
dr ds m ds s 1 ds
= (21)
) i i ( L i L
dr ds m dr r 1 dr
= (22)
) i i ( L
dr ds m dm
= (23)
Putting equation (18) & (21) in equation (14) and
(15),
dr m e ds s e qr m qs s s qs
i L i L i sL i ) sL R ( V e e = (24)
qr m e qs s e dr m ds s s ds
i L i L i sL i ) sL R ( V e - e = (25)
Similarly putting equation (19) & (22) in equation
(16) & (17), we get
ds m r e dr r r e qs m qr r r qr
i L ) ( i L ) ( i sL i ) sL R ( V e - e e - e = (26)
qs m r e qr r r e ds m qr r r dr
i L ) ( i L ) ( i sL i ) sL R ( V e - e - e - e - = (27)
The development of torque by the interaction of
air-gap flux and rotor MMF is discussed before.
Here, it will be expressed in more general form
relating the d-q component if variable.
,
dr qm qr dm
i i
2
P
2
3
T - |

\
|
=
c
(28)
From equations (24), (25), (26), (27), and (28)
gives the complete model of electro-mechanical
dynamics of induction machine in synchronous
frame [6].
III. EFFECT OF BEARING DAMAGE ON
INDUCTION MOTOR
If we consider damage in either in outer race or in
inner race of the bearing then rotor shifts toward
the line joining centre of bore and the point of
damage, and from the figure 5, it can be seen that
the air-gap is no longer remains uniform[11].
Fig. 5: Schematic Diagram of Static Eccentricity
Therefore, air-gap at any point P is given by,
0 - o = 0 o cos * a ) ( (29)
Since, permeance of the air-gap is inversely
proportional to the air-gap length. Therefore,
) cos * 1 (
1
cos * a
1
) (
1
ec
0 - o
=
0 - o
=
0 o
= . (30)
The Fourier series expansion of equation (30),
gives the harmonics contents in the permeance due
to static eccentricity and given by,
......) cos (
1
1 0 ec
0 . .
o
= . (31)
This can be also written as
0 . = .

=
se i
0 i
ec
i cos
se
se
(32)
Where i
se
=1,2,3, the value of magnitude of
harmonics content can be found from
2 i
2
i
1
1 1 2
se
se
i
se
-
|

- -
= . (33)
the permeance of a slotted rotor and stator can be
expressed as,
, { t R i S i R i cos ) t , (
r rt st rt st rt
i i
st , rt
st rt
e - 0 . . = 0 .

(34)
MMF produced by stator and rotor winding
comprised of space and time harmonics.
Ashish Kamal * et al. / (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH
Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
ISSN 2320 5547 @ 2013 http://www.ijitr.com All rights Reserved. Page | 339
,
, {

- =
0 e e 0 e

- =
e 0 e
0 e
0
0 e
0
e - 0
e - 0 = 0
1 i i
r i
1 i i
1 i t
r r
r 1 r r r
r
s s
s s s
s
t p n s i p i cos i F
t i p i cos i F ) t , ( F
(35)
Now the flux density distribution in the air-gap is
given as the product of the permeance and the mmf.
Hence, combining equations (34) and (35) to get
complete expression of flux density distribution as
,
,
r i i M
M
s i i M
M
t M cos B
t M cos B ) t , ( B
rt rt
rt
i
rt
i
rt
i
rt
i
st st
st
i
st
i
st
i
st
i
0 O - 0
0 O - 0 = 0
O
O
O
O

(36)
Where,
r n sa r r i
sa r r i
sa ec s r i
sa ec s r i
mp s i 2 R i
i 2 R i
p i 2 i S i R i np M
p i 2 i S i R i mp M
rt
st
st
rt
e e e e = O
e e e = O
=
=
IV. SIMULATION MODEL , TEST RESULT
AND DISSCUSSION
On the basis of mathematical equation following
simulation model has been designed in Simulink.
Two bearing damages; 5mm and 10mm are tested
on simulated model of 5.4 HP, 3 phase induction
motor with following specification:
HP= 3
L
V =400V f= 50Hz
s
R =0.435
s
Xl =0.004
r
R =0.816

T
Xl =0.002

J=0.089Kgm
2
m
X =0.06931

rpm=1430 P=4
Fig. 6: Simulation Model of 5.4 Hp Motor
It can be seen from fig.6. that the 3-phase supply is
given to B 1 ,where, it is converted into dynamic d-
q voltage variable. In block B 2 and B 3 separate
fluxes of stator and rotor are produced. Now, the
output of block B 2 and B 3 is given to block B 4,
where both fluxes interacts each other. The output
of block B 4 is again fed back to B 2 and B 3, after
which, the influenced rotor and stator current are
taken into consideration. The input in block B 6 is
produced by the interaction of electromagnetic
torque and load torque.
Fig. 7: Rotor and Stator Current of Healthy
Induction Motor
Fig. 7. shows the behaviour of stator and rotor
current of healthy induction motor. The transient
state of stator and rotor current is complete in
around in 0.75 sec and after that steady state
reaches.
Fig. 8: Electromagnetic Torque of Healthy
Induction Motor
Fig. 8 shows the behaviour of electromagnetic
torque. The transient state of electromagnetic
torque ends after 0.85 sec.
Ashish Kamal * et al. / (IJITR) INTERNATIONAL JOURNAL OF INNOVATIVE TECHNOLOGY AND RESEARCH
Volume No. 1, Issue No. 4, June - July 2013, 336 - 340
ISSN 2320 5547 @ 2013 http://www.ijitr.com All rights Reserved. Page | 340
Fig. 9: Stator and Rotor Current with Load
Torque 15N and Coefficient of Friction 0.1
Fig. 10: Electromagnetic torque with Load
Torque 15N and Coefficient of Friction 0.1
As the bearing fault occurs in the induction
machine the transient state of induction machine
increases. It becomes around 1.2 sec for stator and
rotor current and 1.75 sec for electromagnetic
torque. It can be seen from fig. 9 and fig. 10. As the
severity of the bearing damage increases the
transient time also increases. If the harmonic
analysis of either stator or rotor current spectrum is
performed then we find that a particular harmonic
component is observed for certain degree of
damage.
The comparisons of different parameter of the
induction motor are shown in table 1.
HIM IMBF IMBF
L
T (N-m) 11.9 15 20
c
k 0 0.1 0.2
s
I (A) 8.66 20.15 36.88
r
I (A) 7.7 20.5 36.77
e
T (N-m) 14.2 33.33 45.9
Where,
c
k = Coefficient of Friction, HIM= Healthy
Induction Motor, and IMBF= Induction Motor with
Bearing Fault
It can be seen from the table 1, that as the bearing
damage is getting severe, the magnitude of stator
and rotor current also increased. The
electromagnetic torque is also increases.
V. CONCLUSION
In this paper, an implementation and dynamic
modelling of a three-phase induction motor using
Matlab/Simulink are presented in a step-by-step
manner, by using differential equation. It can be
observed that how bearing damage affects the
performances of induction motor. The model was
tested by two different bearing damage of induction
motors. The two bearing fault in machines have
given a significant response in terms of stator and
rotor current. From the simulation results of
presented work it may be concluded that the wave
shape of stator and rotor changes as the percentage
of severity of damage increases. The harmonic
analyses further justify the presented result.
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