Seminar PMK 2012

17-18 Mei 2012, Politeknik Melaka

Modeling and simulation of Three Phase

Induction Motor
Zulhisyam Salleh1, Mohd Aly Rajaie Halim1
1
Jabatan Kejuruteraan Elektrik, Politeknik Melaka, Jabatan Pengajian Politeknik ,KPT Malaysia
Email: zulhisyam@polimelaka.edu.my

Abstract

This study describes a step by step model of the three-phase induction motor and its
computer simulation using MATLAB/SIMULINK. The model is based on two-axis theory of
revolving frame transformation and takes power source and load torque as inputs and gives
speed, electromagnetic torque and stator current as the outputs. Constructional details of
various sub-models for the induction motor are given and their implementation in
SIMULINK is outlined. A simulation study of direct-on-line starting is demonstrated. The
result from the simulation are similar to those obtained using the traditional simulation
method involving differential equations.
Keywords: MATLAB/SIMULINK, induction motor

1.0 Introduction
Simulation of three phase induction motor can be performed using various methods
(Shi, Chan, Wong & Ho, 1999; Sandhu & Pahwa, 2009). This paper presents modeling of
three phase induction motor using MATLAB/SIMULINK. The advantage of this technique is
the simulation model can be built up systematically using block function that exist from the
library. It is a graphical, interactive program that allows dynamic system of almost any kind
to be modeled by simply drawing a block in a system.

2.0 System Modeling

The three phase induction motor consists of four sub-models:

An electrical sub-model-to implement three phase to two-axis (3/2) transformation of
stator voltage and current calculation
A torque sub-model-to calculate the developed electromagnetic torque
A mechanical sub-model- to yield rotor speed
A stator current output sub model-to calculate voltage drop across the supply cables

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Figure 1.0: Induction motor model

2.1 Electrical Sub Model

Electrical sub-model can be perform using three-phase to two-axis voltage

transformation equation and current equation of inductiron motor (Hi, Chan, Wong & Ho,
1999; Krause, Wasynczuk, & Sudhoff, 1995). It can represent by a block diagram in figure
2.0

Figure 2.0: Electrical sub model of induction motor

The three-phase to two-axis voltage transformation is achieved using the following

equation

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1 1 V
Vds 1 2 2
as

V 3 3 bs
V
qs 0 V
2 2 cs (1)

where Vas, Vbs, and Vcs are the three-phase stator voltages, while Vds and Vqs are the two-
axis components of the stator voltage vector Vs. Equation (1) can be represent by block
function as shown in figure 3.0.

Figure 3.0: Three phase to two axis transformation

In the two-axis stator reference frame, the current equation of an induction motor can be
written as

ids Ls 0 Lm 0
1

i
qs t 0 Ls 0 Lm
idr 0
Lm 0 Lr 0
0
iqr
Lm 0 Lr

Rs 0 0 0 (2)
Vds i ds
0 Rs 0 0 i
Vqs qs
x 0
P
0 Lm Rr
P
0 Lr i d
V dr
dr 2 2


P
qr L P

V 0 0 Lr Rr i qr
2
0 m
2

That can be representing by matrix gain for [B] block and function block as shown below for
block [C].

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Figure 4.0: Matrix [C] implement by using four function blocks. In the electrical model, the
three-phase voltage [Vas, Vbs, Vcs] is the input and the current vector [ids, iqs, idr, iqr] is the
output vector. The rotor voltage vector is normally zero because of the short-circuited cage
rotor winding, i.e. Vdr=0 and Vqr=0.

2.2 Torque Sub Model

In the two-axis stator reference frame, the electromagnetic T is given by

T
PLm
idriqs iqrids
3 (3)

And it can represent in SIMULINK as in figure 5.0

Figure 5.0: Torque sub model

2.3 Mechanical Sub Model

From the torque balance equations and neglecting viscous friction, the rotor speed 0
may be obtained as follows

t T TL
0 d
0 J (4)

And figure 6 shows how it represents in SIMULINK.

Figure 6.0: Mechanical sub model

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2.4 Stator Current Output Sub Model

The stator current output sub-model is used to calculate the stator current amplitude
according to the following equation

is
2
3
i i
e
ds
2 e
qs
2
(5)
A SIMULINK Fcn block is used to implement the above equation as shown below

Figure 7.0: Stator current output sub model.

The electrical sub-model, the torque sub-model in, the mechanical sub-model and the
stator current output sub-model are grouped together to form the induction motor model as
shown in Figure 1.0.

3.0 Simulation of Three Phase Induction Motor

The complete simulation system of the induction motor includes the induction motor
model and a power supply sub-model.

3.1 Power Supply Sub Model

The voltage supply block consists of a three-phase sinusoidal voltage generator and a
terminal-voltage calculation block which accounts for the voltage drop in the supply cable.
The three-phase sinusoidal voltage generator is based on Equation (6).

Vas V cos(t )
Vbs V cos(t 2 ) (6)
3
Vcs V cos(t 2 )
3
where |V | is the amplitude of the terminal voltage, is the supply frequency, and is the
initial phase angle. The voltage drop in the supply cable, the terminal voltage is given by:

V E Rc is (7)

where E is the supply voltage and Rc is the cable resistanceAll the power sub model is shown
in figure 8.

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a) Voltage supply to the motor

b) Terminal voltage calculation block

c) Three-phase sinusoidal voltage supply block

Figure 8: Power supply sub model

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4.0 Simulation Result

The induction motor chosen for the simulation studies has the following parameters:

Type: three-phase, 7.5 kW, 4-pole, wye-connected, squirrel-cage induction motor

Rs=0.288 /ph Rr=0.158 /ph
L s=0.0425 /ph L m=0.0412 /ph
L r=0.0418 /ph J=0.4 kg m2
JL=0.4 kg m2 Rc=0.05

To illustrate the transient operation of the induction motor, a simulation study of direct-on-
line starting is demonstrated.

Figure 9 show the results of computer simulation using the SIMULINK model. The results
are similar to those obtained using the traditional simulation method involving differential
equations.

The simulation condition are:

Runge-Kutta method
Max step size: 0.01 sec
Min step size: 0.0001 sec

300

Amplitude of
250 phase voltage (V)
Amplitude of
stator current (A)

200

Rotor speed
150 (rad/sec)

100

50

0
0 0.5 1 1.5 2 2.5 3
Time (sec)

a) Simulation result shows amplitude of stator current,

amplitude of phase voltage and rotor speed.

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Speed response
200

180

160

140

Speed (rad/sec)
120

100

80

60

40

20

0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)

b) Speed response

Torque/speed characteristic with cable resistance Rc=0.05ohm

250

200

150
Torque (Nm)

100

50

-50

-100
0 20 40 60 80 100 120 140 160 180 200
Rotor speed (rad/sec)

c) Torque versus rotor speed characteristics

Figure 9: Simulation result from the three phase

induction motor

5.0 Conclusion

The computer simulation model presented in this paper is effective for transient
analysis of the induction motor. Using the SIMULINK software, each block of the model
may be connected and modified easily. The result obtain from the simulation is similar from
previous literature and traditional simulation method. The induction motor model can be used
alone, as a direct on-line starting, or can be incorporated to advance motor drive system.

6.0 References

Shi, K. L., Chan, T. F., Wang, Y. K. & Ho, S. L. (1999) Modelling and Simulation of the
Three-Phase Induction Motor Using Simulink. International Journal of Electrical
Engineering Education, vol36, pp 163-172
Sandhu, K. S. & Pahwa, V. (2009) Simulation Study of Three Phase Induction Motor with
Variations in Moment of Inertia. ARPN Journal of Engineering and Applied Science,
Vol. 4, 72-77.
Krause, P. C., Wasynczuk, O. And Sudhoff, S. D., Analysis of Electric Machinery, IEEE
(1995).