Proceedings of the 14th International Middle East Power Systems Conference (MEPCON10), Cairo University, Egypt, December 19-21,

2010, Paper ID 215.

Modeling of Induction Motor Based on Winding Function

Theory to Study Motor under Stator/Rotor Internal Faults
Ahmed K. Ibrahim Mostafa I. Marei Hamdy S. El-Gohary Somaya A. M. Shehata
Electrical power and Machine department
Ain-Shams university
Cairo, Egypt
ahkhibess@yahoo.com mostafamarei@yahoo.ca hamdyk@hotmail.com somayaafify@hotmail.com

Abstract - In this work, a detailed induction motor model is 3) Saturation is neglected.

presented, where the stator and the rotor are assumed to consist
of a number of electrical circuits or loops. These circuits are
coupled together. All self and mutual inductances of these
circuits can be calculated using winding function theory. The
proposed model is used to simulate the transient and the steady
state performance of a healthy motor and a motor under rotor,
stator, and mixed faults.
I. INTRODUCTION
Induction motors are widely used in many industrial
processes due to their robustness and reliability. Study of the
different faults of these motors and their effects on efficiency
and performance is a vital requirement due to modern
industrial challenges these days. Motor faults cause a
reduction in motor steady state speed, thus motor slip
increases causing an increase in motor losses and a reduction
in motor efficiency.
Studies reveal that broken rotor bars are intended to be
bended out of rotor slots by the effect of electromagnetic
forces and rub stator inner surface causing the fault to be
developed into a mixed stator/rotor fault type [1].
Detailed modelling of induction motors helps
understanding motor dynamics under different faults, and
selecting suitable techniques to detect these faults.
Detailed d-q modelling is used to represent healthy
motors and motors under rotor faults [2, 3, and 4]. The d-q
model reduces the number of equations required for
simulation. However it can't give any information about rotor
bars and end rings currents, and require a modification in
model structure for each fault case.
Model based on coupled circuits are successfully used to
simulate induction motor at healthy and faulty cases [5, 6, and
7]. It is found that this model gives more information but
requires more calculation time due to large number of
equations required for simulation.
II. COUPLED CIRCUIT MODELLING OF INDUCTION
MOTOR
The model is built considering that both stator and rotor
are consisting of multiple inductive circuits coupled together,
and the current in each circuit is considered as an independent
variable. The analysis is based on the following assumptions:
1) Sinusoidaly distributed stator windings.
2) Infinity iron permeability (iron = ).
4) Uniform air gap.
5) Neglecting inter-bar currents.
6) Evenly distributed rotor bars.
7) Stator winding of different poles are connected in
series.
8) Neglecting flux coupling between different winding
without air gap crossing.
A. Voltage Equations
The Stator comprises conventional three phase windings,
thus three circuits are required to represent the stator. The
rotor consists of n identical and equally spaced bars shorted
together by two identical end rings.
Fig.1. shows the currents distribution of the rotor loops.
Each loop shares two rotor bars with the two neighbour loops
and two end ring segments with the two end-ring loops.
Fig.1.Rotor loop current distribution [3].
Thus the overall model can be represented by:
[Vs] = [Rs][Is] + d[s]/dt (1)
[0] = [Rr][Ir] + d[r]/dt (2)
[s] = [Ls][Is] + [Lsr][Ir] (3)
[r] = [Lr][Ir] + [Lsr][Is] (4)
where, Vs is the stator voltages vector, Is is the stator currents
vector, Ir is the rotor loops currents vector, Rs is the stator
windings resistances matrix, Rr is the rotor resistances matrix,
Ls is the stator windings inductances matrix, Lr is the rotor
inductances matrix, Lsr is the stator to rotor mutual
inductances matrix, and s and r are the total flux linkage by
stator and rotor windings, respectively.
From (1) and (3), the stator phase voltage equations can be
written as:

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Va = RsIa + (La + Lls) dIa/dt + Lab dIb/dt + Lac dIc/dt
+ d/dt (La1Ir1 + La2Ir2 + + LanIrn + LaeIe) (5)
Vb = RsIb + (Lb + Lls) dIb/dt + Lba dIa/dt + Lbc dIc/dt
+ d/dt (Lb1Ir1 + Lb2Ir2 + + LbnIrn + LbeIe) (6)
Vc = RsIc + (Lc + Lls) dIc/dt + Lca dIa/dt +Lcb dIb/dt
+ d/dt (Lc1Ir1 + Lc2Ir2 + + LcnIrn + LceIe) (7)
where, Va, Vb, and Vc are the stator phase voltages, Ia, Ib, and
Ic are the stator phase currents, La, Lb, and Lc are the stator
phase self inductances, Lab, Lbc, and Lca are the stator phase to
phase mutual inductances, Lls is the stator leakage inductance,
(Ir1, Ir2, , Irn) are the rotor loops currents, Ie is the end ring
current, (La1, La2, , Lan, Lae) are phase A to rotor loops
mutual inductances, (Lb1, Lb2, , Lbn, Lbe) are phase B to rotor
loops mutual inductances, and (Lc1, Lc2, , Lcn, Lce) are phase
C to rotor loops mutual inductances.
Any rotor loop is mutually coupled with the other rotor
loops and with the stator windings. From (2) and (4) and with
the aid of Fig.1, the voltage equation for any rotor loop k can
be written as:
0 = 2(Rb + Re) Irk Rb (Ir(k-1) + Ir(k+1)) ReIe
+2( Lb + Le) dIrk/dt Lb (dIr(k-1)/dt + dIr(k+1)/dt)
+ (Lk1dIr1/dt + Lk2dIr2/dt ++ Lkk dIrk/dt ++ LkndIrn/dt)
LedIe/dt + d/dt (LakIa + Lbk Ib + LckIc) (8)
where, Rb, Lb are the rotor bar resistance and inductance, Re,
Le are the end ring segment resistance and inductance, Lkk is
the rotor loop self inductance, (Lk1, Lk2, , Lk(k-1), Lk(k+1), ,
Lkn) are loop k to the other rotor loops mutual inductances,
and (Lak, Lbk, and Lck) are the rotor loop k to the stator
windings mutual inductances.
Since both rotor end rings are identical, the number of
equations to be solved can be reduced by one if the difference
between end ring currents is used instead of using of each ring
current. One of the two rings is considered as an active ring
and carries Ie while the other doesnt carry current. Thus
Ie=Ie1-Ie2. This action results in representing the rotor by n+1
circuits (n loops + 1 end ring loop). It should be noted that
steady state value of Ie = 0 for symmetrical rotor, and the end
ring equation can be written as :
0 = nReIe Re (Ir1 + Ir2 + + Irn) + nLedIe/dt
Le(dIr1/dt + dIr2/dt + + dIrn/dt) (9)
It is worth mentioning that there is no mutual coupling
between the end rings and any other loops because the end
rings produce only axial fluxes (Lae=Lbe=Lce=0).
Thus;
Tem = Ia (IrkdLak/dr) + Ib ( IrkdLbk/dr) + Ic ( IrkdLck/dr)
(10)
where, r is the rotor angular position, Tem is the
electromagnetic torque produced by the motor.
C. Electromechanical Equation
The rotor mechanical equation can be written as:
Tem = J dr/dt + Fr + TL (11)
Where, J is rotor inertia, r is rotor angular speed, F is
the friction coefficient, TL is the load torque.
C. Inductance Equations
The main key of this model is to get inductances
formulas. In [2,3] winding function theory is used to calculate
motor inductances in terms of rotor angular position r.
Referring to the appendix, the motor inductances formulas can
be written as:
La = Lb = Lc = (Ns/2p)2 (oLr/g) = Lms (12)
2
Lab = Lbc = Lca = - (Ns/2p) (oLr/2g) = -Lms/2 (13)
Lkk = (oLr/g) (1-r/2) r (14)
Lk1= Lk2== Lkn= Lki = - (oLr/g) (r) /2 2
(15)
Lak = Lm cos(p(r + (k - 1)r + )) (16)
Lbk = Lm cos(p(r + (k - 1)r + ) - 2/3) (17)
Lck = Lm cos(p(r + (k - 1)r + ) + 2/3) (18)
where, Ns is the effective number of turns of any stator phase,
p is the number of pole pairs, o is the permeability of air, L is
the effective length of the motor, r is the air gap average
radius, g is the air gap length, r is the angle between any two
adjacent bars, Lm = (4/Ns) Lms sin(p), where = r/2.

B. Electromagnetic Torque Equation

From energy conversion principles, the equation of the
electromagnetic torque produced by a poly-phase machine can
be written as [8]:
Tem = [Is]T [dLsr/dr] [Ir]
Fig.2. Algorithm of simulation.

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 III. RESULTS AND DISCUSSION

Speed (RPM)
The flux technique is used to implement the proposed
model. The algorithm for the digital simulation is shown in
Fig.2. The integration of flux linkage derivatives with respect
to time are calculated to obtain flux linkages, as follows:
d /dt = Vsource - RI (19) Time(sec)

Torque (Nm)
The flux derivatives in (19) are used to update the currents as:

= (Vsource RI)dt = LselfIself + LmutualIi (20)

MATLAB/SIMULINK is used to simulate the model and
ode113 is selected as a solver. The Simulation starts with the Time(sec)

Phase A Current (A)

rotor at rest and zero initial conditions are used.

A. Simulation of Healthy Induction Motor

The proposed model is used to simulate the dynamic
performance of a 4kW induction motor with the parameters
given in table I. Time(sec)
TABLE I Fig.3. Dynamic behaviour of the healthy motor.
INDUCTION MOTOR PARAMETERS

Rotor bar peak currents (A)

INPUT SUPPLY PARAMETERS
Input Supply Phase Voltage 220 Volt
Input Supply Frequency 50 Hz
STATOR PARAMETERS
Effective Number of Stator winding turns: Ns 156 turn
Stator windings Ohmic resistance: Rs 1.5
Stator windings Leakage inductance: Lls 7 mH
Number of pole pairs: p 1
ROTOR PARAMETERS
Number of rotor bars: n 28
Rotor bar resistance: Rb 96.940036
End ring segment resistance: Re 5 Rotor bar number
Rotor bar self inductance: Lb 0.28 H Fig.4. Healthy rotor bars current distribution
End ring segment self inductance: Le 0.036 H
AIR GAP PARAMETERS B. Simulation of Motor Under Rotor Faults.
Air gap average radius: r 70 mm Broken rotor bar faults can be simulated by increasing bar
Air gap length: g 0.28 mm resistance [6]. The more the resistance is increased the more
Rotor effective length: L 120 mm severity is added to the fault. It is enough to increase bar
MECHANICAL PARAMETERS resistance to 100 time of its original resistance to represent
Inertia: J 0.002N.sec2
Friction coefficient: F 0.001N.sec
complete open rotor bar.
Figs.5-7 show simulation results for different rotor fault
The motor is simulated at no load for 0.5sec and then the types. It is worth to mention that motor under rotor faults
motor is loaded with 10Nm load. Fig.3 shows the simulation draws a stator steady state balanced three phase currents [9],
results for the healthy motor. When It is directly connected to hence only phase A current is shown. Figs.8, 9, and 10
the supply, it runs at 2996.1850.015rpm at no load, and the present a comparison between steady state speed, torque, and
speed is reduced to 2861.770.015rpm at loading. The stator current at loading for healthy motor and motor under
electromagnetic torque generated by the motor is 0.313Nm at previous simulated rotor faults. It is noticed that ripples level
no load, and 10.3Nm at loading. The motor draws a current of increases as fault severity does.
TABLE II
7.2A at loading. SIMULATION RESULT OF MOTOR UNDER FAULTY ROTOR
Fig.4 shows rotor bars steady state currents distribution Fault type RPM at no RPM at Tem at no Tem at
for the healthy motor. Any rotor bar current can be calculated load loading load(Nm) loading(N
by subtraction of the two loop currents sharing this bar. It is m)
One broken 2996.090.01 28593 0.312 10.30.02
clear that the rotor bar currents are equally distributed (the rotor bar
same max steady state current) for healthy induction motor. Two broken 2996.050.1 285310 0.310.1 10.30.1
rotor bars
One rotor bar 2994.250.15 278080 0.3050.1 10.61
and one end
ring segment
are broken

496
 Speed (RPM)
As shown from table II, both RPM and Tem are not
greatly affected by rotor fault at no load. This is because at no
load rotor only draws small no load currents and effects of
rotor asymmetries can be neglected. While at loading, rotor
currents are significant and rotor asymmetries cause both
RPM and torque ripples to increase as fault severity does. Time(sec)

Torque (Nm)
Fig.11 illustrates that the broken rotor bar current (bar 1)
is dropped to 4A and current is distributed so the nearest bars
carry the highest currents. In Fig.12 rotor steady state currents
distribution for the motor under two broken rotor bars is
shown. Current of the two broken bars are dropped and more
current is carried by neighbour bars. Fig.13 shows that when Time(sec)

Phase A Current (A)

one rotor bar and one end ring segment are broken the steady
state rotor bars currents are distributed so the healthy bar (bar
2) sharing the same loop with the faulty bar (bar 1) and the
faulty end ring segment carry the highest current.
Speed (RPM)

Fig.7. Motor with one broken bar and one broken end Time(sec)
ring segment

Time(sec) Steady State Speed (RPM)

Torque (Nm)

Time(sec)
Phase A Current (A)

Time (sec)
Fig.8. Steady state speed comparison
Steady State Torque (Nm)

Time(sec)
Fig.5. Motor with one broken rotor bar
Speed (RPM)

Time(sec)
Torque (Nm)

Time (sec)
Fig.9. Steady state Torque comparison
Steady State Stator current (A)

Time(sec)
Phase A Current (A)

Time(sec)
Fig.6. Motor with two broken bars
Time (sec)
Fig.10. Steady state current comparison

497
Rotor bar peak currents (A)
3) Winding geometry distortion is neglected.
4) 20% shorted turns are considerd. This violates
previous assumptions but it is only assumed to
amplify the effect of the fault.
Fig.14 shows simulation results for motor with a 20%
inter-turn fault at phase A. Motor speed is 299535rpm at no
load and 288030rpm at loading. The generated torque is
2.5Nm at no load and 10.53.5Nm at loading with
unbalanced three phase current at stator. Fig.15 shows that
rotor bars currents are raised to 250A due to the unbalance
Rotor bar number
component generated by the stator inter-turn fault.
Fig.11. Rotor current distribution of the motor with one broken
rotor bar

Speed (RPM)
Rotor bar peak currents (A)

Time(sec)

Rotor bar number Torque (Nm) Time(sec)

Fig.12. Rotor current distribution of the motor with two broken
Phase A Current

rotor bars
(A)
Rotor bar peak currents (A)

Time(sec)
Phase B Current
(A)

Time(sec)
Phase C Current

Rotor bar number

Fig.13. Rotor current distribution of the motor with one broken rotor
(A)

bar and one broken end ring segment

C. Simulation of Motor Under Stator Faults. Time(sec)

Fig.14. Motor under stator faults of 20% inter-turn
Stator windings faults can be classified into:
Rotor bar peak currents (A)

short circuit
1) Phase to ground short circuit.
2) Phase to phase short circuit.
3) Phase to phase to ground short circuit.
4) Three phase to ground short circuit.
5) Open circuit faults.

None of these cases will happen suddenly. Stator faults

start with inter-turn short circuits then develop into one of the
previous cases. In this work inter-turn short circuits are
considered at the earlier stages and simulated as follows[10]:
1) The effect of the shorted turns are neglected. Hence
the number of useful turns producing the main MMF
is reduced.
2) Inter-harmonic components generated due to shorted
turns are neglected.
Rotor bar number
Fig.15. Rotor current distribution of the motor with 20% inter-turn
short circuit at phase A
D. Simulation of Motor Under Mixed Faults.
Mixed faults are the most cases that can be found
practically. Actually, one type of fault can lead to another. For
example, stator inter-turn faults lead to overloading the rotor

498
 bars thus increases the probability of building of cracks.
Fig.16 shows the simulation of the motor under mixed fault,
where one rotor bar and one end ring segment are broken and
20% of phase A are shorted. It is found that the motor runs at
299525rpm at no load and 2800100rpm at loading. The
torque generated is 3Nm at no load and 10.54.5Nm at
loading. Unbalanced three phase stator currents due to the
inter-turn fault are obvious from the results. Fig.17 reveals
that rotor bars currents distribution of the motor under the
mixed fault is similar to the case of one broken end ring
segment and one broken bar with an overall increase in rotor
bars currents due to stator unbalance component. It is clear
that bar 2 currents jumps to 420A which greatly increase
probability of crack building in this bar.
Speed (RPM)
Torque (Nm)
Phase A Current
(A)
Phase B Current
(A)
Phase C Current
(A)
Fig.16. Motor under a mixed fault
Rotor bar peak currents (A)
Rotor bar number
Fig.17. Rotor current distribution of the motor under a mixed fault.
Figs. 18 and 19 show the frequency spectrums of phase A
current for a healthy motor, and for a motor under different
rotor and stator faults.
It is noticed that rotor faults cause the stator current to be
modulated with inter harmonic components or side bands
around the fundamental (50Hz), while stator faults produce
frequency components at multiple of the fundamental
frequency.
Magnitude w.r.t. fundamental
(50Hz) in dB
Frequency (Hz)
Time(sec) Fig.18. Frequency spectrum of Phase A current for healthy and motor
under rotor faults.
Magnitude w.r.t. fundamental
Time(sec)
(50Hz) in dB
Time(sec)
Frequency (Hz)
Fig.19. Frequency spectrum of Phase A current for the motor under
stator inter-turn fault.
Time(sec) IV. CONCLUSION
This paper presents a model based on coupled circuits and
winding function theory for squirrel cage induction motors.
The proposed model successfully simulates the steady state
and the transient response of the healthy induction motor and
the motor under stator, rotor, and mixed faults without the
Time(sec) need to change the model structure. The simulation results
reveal that the rotor faults increase speed and torque ripples
levels as fault severity increases. In addition, the rotor bars
currents distribution are affected and the nearest rotor bars to
the fault carry highest currents which add a probability for
easier fault development.
It is worth mentioning that the rotor failure effects on
motor performance are not great.
Simulation of motor under stator faults reveals that the
speed and torque ripples are greatly affected by the faults.
Furthermore, the motors draw unbalanced stator currents.
Finally, simulation of motor under mixed faults shows
that mixed fault are more severe due to overall increase in
rotor bar currents because of unbalanced magnetic field
499
produced by stator. Thus fault severity development will be [5] Tarek Aroui , Yassine Koubaa, Ahmed Toumi, "Modeling and Diagnostics
of Inductions Machines Under Rotor Failures", ICGST-ACSE Journal,
faster. Volume 7, Issue 2, November 2007.

[6] C. Kral, A. Haumer, and C. Grabner, "Modeling and Simulation of Broken

APPENDIX
WINDING FUNCTION THEORY
Winding function states that the mutual inductance
between any two circuits can be calculated from:
Lij = (oLr/g) Ni(r, ) Nj(r, ) d
where, is a particular point along the air gap, and Ni(r, ),
Nj(r, ) are winding function of circuit i and j and they are
defined as the magneto motive force (MMF) distribution
along the air gap for a unit current flowing in winding.
For a sinusoidal distributed stator windings the winding
function is:
Na(r, ) = (Ns/2P) cos (P)
Nb(r, ) = (Ns/2P) cos (P (2/3))
Nc(r, ) = (Ns/2P) cos (P + (2/3))
where, Ns = (4/)NKdKpKs = effective number of turns of
winding, N = pNtspNspp = actual number of turns of windings,
Kd, Kp and Ks are distribution, pitch, and skew factors, p is
number of pole pairs, Ntsp is the number of turns per slot per
phase, and Nspp is the number of slots per pole per phase.
For the rotor, the winding function of each rotor loops can
be written as [2]:
Rotor Bars in Squirrel Cage Induction Machines", Proceedings of the World
Congress on Engineering 2009, Vol. I, WCE 2009, July 1 - 3, 2009, London,
U.K.
[7] Y. Lipo, T.A. Lipo, H.A. Toliyat, and M.M. Rahimian, "Transient
(21) Analysis of Induction Machines Under Internal Faults Using Winding
Functions", Wisconsin Electric Machines and Power Electronics Consortium,
RESEARCH REPORT 92 1.
[8] Mohamed E. El-Hawary, "Principles of Electric Machines with Power
Electronic Applicatios", 1986 by Prentice-Hall, Englewood Cliffs, NJ
07632, A Reston Book Published by Prentice-Hall, A Division of Simon &
Schuster, Inc.,
[9] C. J. Verucchi, G. G. Acosta and F. A. Benger, "A Review On Fault
(22) Diagnosis Of Induction Machines", Grupo INTELYMEC Facultad de
Ingeniera Universidad Nacional del Centro de la Provincia de Buenos,
(23) Aires, Argentina.2008.
(24) [10] Djalal Eddine Khodja, and Aissa Kheldoun, "Three-phases Model of the
Induction Machine Taking Account the Stator Faults", World Academy of
Science, Engineering and Technology 52 2009.

-(r/2) , 0 < < k

Nk(r, ) = 1-(r/2) , k < < k+1 (25)
-(r/2) , k+1 < < k

where, r = (2/n) = angle between any two adjacent bars,

k = r + (k 1)r = bar k angular position.

REFERENCES
[1] William T. Thomson, Ronald J. Gilmore, " Motor Current Signature
Analysis To Detect Faults In Induction Motor Drives-Fundamentals, Data
Interpretation, And Industrial Case Histories", Proceedings of the thirty-
second turbo machinery symposium-2003.

[2] Samir Hamdani, Omar Touhami, Rachid Ibtiouen, A Generalized Two

Axes Model of a Squirrel-Cage Induction Motor for Rotor Fault Diagnosis,
Serbian journal of electrical engineering, Vol. 5, No. 1, May 2008, 155-170.

[3] Alfredo R. Munoz and Thomas A. Lipo, "Complex Vector Model of the
Squirrel-Cage Induction Machine Including Instantaneous Rotor Bar
Currents", IEEE transactions on industry applications, VOL. 35, NO. 6,
November/December 1999.

[4] Mohamed Boucherma, Mohamed Yazid Kaikaa, Abdelmalek Khezzar,

"Park Model Of Squirrel Cage Induction Machine Including Space Harmonics
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