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1,UlU

THERMAL MODEL BASED DIGITAL RELAYING ALGORITHM


FOR INDUCTION MOTOR PROTECTION
M.S.Abou-El-Ela A.I. Megahed O.P. Malik
Dept. of Electric Engg. Dept. of Electrical & Computer Engg.
Alexandria University The University of Calgary
Alexandria, Egypt. Calgary. Canada.

-
Abstract Thermal models can be used to protect induction of the body and c its specific heat. if in the process of heating of
motors from excessive overheating resulting from overloading, the body its temperature rises by z"C with respect to the
failure to start, unbalance and frequent starting. Such a model is surrounding medium, the heat energy dissipated by the body into
adopted for use in a relaying algorithm. The developed algorithm the surroundings by radiation, convection and heat conduction
accurately calculates the change in motor temperature and hence, during the time dt will equal (Akdt), where A is the surface area
protects the motor from excessive overheating. The lab results, of the body and h is the surface heat transfer coefficient.. The
included in this paper, of motor temperature during a loading cycle difference between the heat energy generated in the body (Qdt) and
show high correspondence with the established thermal model. the heat energy dissipated by the body into ambient space (Ahzdt)
is responsible for raising the temperature of the body. Hence, the
1. INTRODUCTION fundamental difference equation of heating can be written as:
Adequate protection of induction motors is routinely achieved
Qit -Akdt = G c d ~ (1)
via locked-rotor, phase unbalance and overload protection.
However, conditions of changing load torque, frequent starts,
temporary phase unbalance and high inertia loading must often be At s,teady state, the temperature rise with respect to the
tolerated. Design of protective schemes for these conditions using surrounding medium attains a final value, ,z, and the body
conventional relays is difficult and sometimes impossible. The on- temperature will cease to rise, i.e. dz=O"C. Hence, (1) becomes:
line computational capability of microprocessor based relays can Qit -A1.~p, dt =0 (2)
bring within the realm of feasibility the design of adequate
protection schemes for induction motors. whence:

Motor protection is primarily a temperature estimation problem. (3)


Recognizing that good thermal models exist leads to their adoption
Solution of (1) by integration yields:
for motor protection so that the heating and cooling process is well
represented for virtually all loading and terminal conditions. t
- =-In ( Tfin -7)+ & (4)
=I
In this paper, the method by which temperature rise in induction where,
motors is calculated is first reviewed and then adopted for use in
a digital relay. The methods by which the relaying algorithm can
TI=heating time constant = (Gc/Ah) and
k: = integration constant.
detect overload, failure of starting, unbalance and successive
starting are explained. Finally, a comparison between lab
If at the initial moment, t = 0, the body has an initial
temperature measurements taken for an induction motor during its
temperature rise zo above the ambient medium, then from (4):
loading cycle and temperature calculations for the same motor
during its loading cycle done by the proposed algorithm i s k = E n ( ~- 7 ~, ) (5)
presented. Substituting for k in (4). and solving for z, gives:
2. OVERLOAD - _I -_
I

7 'Tfi, (l-e 9 + 7 , e TI
National Electrical Code (NEC) requirements for motor
protective devices [I] state that the device(s) selected for "motor
running overcurrent (overload) protection", must, "protect the motor If there is no heat dissipation from the surface of the body, all
against excessive heating due to motor overload and failure to generated heat will cause a rise of temperature. Eliminating
start." By NEC definition, "overload in electrical apparatus is an (Ahzdt)l from (l), the temperature rise equation will then be:
operating overcurrent which, when it persists for a sufficient length
QJt =Gail (7)
of time, would cause damage or dangerous overheating of the
apparatus". Integrating (7) and substituting with, TI= Gc/Ah, T , ~ = Q/Ah and
the initial temperature rise 5, the temperature rise T becomes:
Before overload problem is discussed, it is necessary to review
how temperature rise is calculated in a motor. Motor heating has 7 =rfi x + 7 ,
been analyzed in several references [2,3,4] on the basis of the
theory of heating an ideal solid body i.e. a homogeneous mass where, in this case, T,, is defined as the temperature rise
possessing the property of uniform dissipation of heat from its achieved by a motor developing Q heat units in time t equal to
entire surface and of infinitely large heat conduction. T,, provided that the initial temperature rise T" = 0C.

Consider a body in which Q heat units are liberated in a unit of The .formula for the cooling of a motor can be obtained
time. The heat energy generated in the body during an infinitely from (1) by substituting with Q = 0, hence:
small time dt will then be equal to (Qdt). If during this period the
temperature of the body rises by dT degrees, the heat energy
absorbed by the body will then equal (GcdT) where G is the mass

CCECE'96 0-7803-3143-5 /96/$4.00 0 1996 IEEE


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1,017
where, I *p
T,= cooling time constant. AV( I ) %= x -Xt 100 + A q l 4)%. (17)
I 2p,.d TI
It is, of-course, an over-simplification to regard a machine as a Now, if AV%=lOO% this means that the motor is at its rated
homogeneous body. It actually comprises several parts, each with temperature and if AV%>IOO% this means that it is overloadcd.
a characteristic surface area, mass, heat capacity, thermal
conductivity and rate of heat production so that each part in the Similarly the cooling of a motor is expressed by:
motor may have a different temperature rise. However the -
-I
exponential equations give a fair approximation of motor heating A V ( t ) % = A ~ , , , ) % e *,
and cooling characteristics.

3. THERMAL OVERLOAD PROTECTION 3.2. Motor Thermal Capaciry


3.1. Current-Temperature-TimeRelation The permissible limit temperature of the winding, and hence
In section 2, the rise of temperature in a motor is discussed. In the thermal capacity of the motor, is dctermincd by thc
the operation of an induction motor, the most likely phenomenon insulation. The IEC recommendations for electric machines [5]
to occur is overloading due to overcurrent. The function of a differentiate between various insulating material classes to which
digital relay is to translate the current drawn by an induction motor specific limits are assigned, Fig. 1. The rated operational
into rise of temperature (T), and detect whether this rise of temperature data of a standard motor always refers to the coolant
temperature has reached the maximum permissible temperature rise temperature of 4OOC. At rated operational temperature the motor
or not. If it reaches that maximum, then the relay should directly can deliver its rated power without becoming unacceptably hot.
initiate a trip signal to disconnect the motor. The winding temperature is the sum of the coolant temperature
and the temperature rise due to loading. The sum of the
It is clear that in order to adequately protect the motor against maximum tcmperature rise in a motor and the coolant
overload, the variation of current with time must be correlated with temperature should be less than the limit temperature of winding.
the motor temperature. The relation between the final temperature
rise in a motor and current drawn is driven from (3). In that 180 $*I n
~m.x>180'

equation; Q = heat generated in unit time = k,$z, where k, is a 185


constant and I, peak value of fundamental component of current 155
drawn by motor. Hence (3) can be written as: 14 0
130
120
rfm =k2IP2 110
where,
k, = constant

If I = Ipnlcdrpeak value of the rated motor current, then 40


T~~ = T~~~ = rated temperature rise above coolant temperature, as
indicated in (1 1). 0
E B F H C
'rated = k21 'pnared Fig. 1. Permissible temperature rise for various insulation classes.
m Coolant temperature "rn Limit temperature
If (6,8) are divided respectively by (1l), then: &.,Maximum permissible temperature rise

3.3. Use of Temperature Rise Equations in Rehying


Algorithm
Equations (16.17) are used in the relaying algorithm to:
1) Calculate temperature rise of the motor during all its
operating conditions except in case of short circuit.
2) Calculate the thermal tripping characteristics at the detection
where, of overload. The relay permits overloading as long as the
T / T = ,=
~ relative temperature rise in motor and maximum temperature rise (AV,%) is not exceeded.
T,,/T~,=
~ relative initial temperature rise in motor.
let: The relay has two thermal tripping characteristics, one without
TIT^^,, = AV(t) and T,,IT~~&= AV(,*,. prior loading (cold curve, AVo,% = 0), and the other with prior
hence: rated load (hot curve, AV,,,% = 100%) [5]. The inverse
characteristics are calculated using (16.17) by substituting with
AV,% as AV(t)% and inverting the equations such that, VT,= F
(I~,,,, AV,,%). It should be noted that (16) is used when there
is proper ventilation in the motor. However, during overload, the
motor current increases, and accordingly its speed decreases [2].
The substantial decrease in speed prevents heat dissipation to the
atmosphere and hence the temperature rise is calculated using (17).
As the use of either one of these equations, (16,17), depends on
If AV(t) is expressed as a percentage, then: motor characteristics, the value of current, above which (17) is
I
used, is lcft as a sct paramctcr. In this rclaying algorithm a sctting
I 2
of twice the rated motor current is used. Hence, for current less
than twice rated current the cold curve equation is
1,018
Once the motor has tripped (18) is used in order to calculate the
minimum cooling time for the motor before it could be restarted.
The c;alculation of the cooling time is done in the cool down
and the hot curve equation is section which is described later.

t =T,h (Iplfpraed . (20) 4. PROTECTION FUNCTIONS


(I,/ I w e d ) *-AVm,% 0. 01 4.1. Start Up Protection
Starting normally causes a temperature rise of about 30 to 40 %
while for current greater than twice rated current the cold CUN~
of motor rated temperature rise tmId,if a motor is started from
equation is
cold. Hence it is not possible to detect a prolonged starting case
AV,,%x 0.01 based ;purely on temperature calculation. The correct measure of
=T,x
the starting of a motor is given by the integral IZt [6],where; I is
(Ip/pted )2
the root mean square value of the motor phase to neutral current.
and the hot curve equation is The quantity f,,,,T,,,, provides the exact amount of energy
(AV,,%- 100 ) x O . 01 dissipated by the motor during starting, where; I- is the root mean
t = T1x square value of staring current and T,, is the maximum starting
(IJI,mred IZ time of motor. Tripping takes place when calculated 12t exceeds
where, the setting 1- T-. The logic used by the relaying algorithm for
t = the relay inverse trip time, start up protection is as follows:
1) The start setting (ST) is calculated as follows:
The thermal tripping characteristics obtained using (1 9,20,21,22) ST = ( I p d T, (23)
are shown in Fig. 2. The relaying algorithm uses the outlined whexe,
thermal model to follow the changes in motor temperature and to I,, = peak value of starting current,
trip when the thermal capacity is exceeded. The logic used by 2) The value of t] is summed every 2 0 m s and
the relay is as follows: compared to the start setting (ST).
1) Calculate the magnitudes of the three phase currents of the 3) Tripping takes place if the value of the start setting (ST) is
induction motor. exceeded.
2) Calculate the ratio of the highest current value in the three
.,,&I
phases relative to the rated current, i.e. 4.2. Unbalance Protection
3) According to the motor status (cold or hot) and the highest Unbalance, including phase unbalance or loss of one phase,
current value (<21,, or > 2&,J select one of causes excessive heating in the motor [6]. Hence, if unbalance
( 19,20,21,22) to calculate the inverse trip time. is detected by the relaying algorithm the relay should disconnect
4) Start counter that has a setting corresponding to the inverse the motor after a selected time delay, usually between 1-5
trip time. seconds, provided that unbalance continues during this period.
5) When the counter reaches its setting the relay trips, provided
that neither the motor highest current value nor motor status 4.3. Protection Against Successive Starting
changes during this period. However, if a change occurs the According to the temperature rise associated with the starting
following procedure is done: of the motor and the initial temperature rise of motor at starting,
- If the motor status changes from cold to hot, i.e. the the rela.ying algorithm should be able to calculate the permissible
motor temperature reaches loo%, then the relay calculates a number of consecutive starts. This part is done in the cool down
new inverse time using either (20) or (22) depending on section mentioned before. When the relay trips due to any fault
motor current. Afterwards the relay proceeds with steps 4 and except ,phase faults, the cool down section does the following:
5 as mentioned above. 1) It decides whether the motor can withstand restarting or not.
- If a change in current occurs, the relay also calculates a new 2) If motor can withstand restarting it calculates the permissible
inverse time using one of (19,20,21,22),, then the relay number of consecutive starts.
proceeds with steps 4 and 5. 3) If tht: motor can not withstand restarting it specifies a minimum
cooling time before restarting, and initiates a blocking signal.
4) If the motor is not started after the elapse of the minimum
cooling time, it keeps calculating the temperature of motor.
*l t
5. COMPARISON OF LAB TEST RESULTS
AND MOTOR THERMAL MODEL RESULTS

-
The aim of the lab tests is to verify the established thermal

-1 I
ti++-+ Cold curve model of the motor by measuring the variation of temperature of
Hot curve the motor with time during a complete loading cycle, and
companing the measured results with those calculated using the
thermal model. The machine used for these tests is the Universal
Machine set [7], with a squirrel cage rotor. This machine is
provided with thermocouples, embedded in different parts of the
c
stator, tlo measure the rise in temperature.

5.1. Healing and CooZing characteristics of an Znduction


- Motor
51.1. Tests
The inachine was operated at its rated values (380 volts, 9
ampere), and the readings of the slot (middle of winding)
thermocouple were recorded. The machine was then allowed to $1
cool down at standstill condition and the readings of the slot
thermocouple were also recorded. Comparisons of measured and
calculated values of temperature in the slot during temperature rise
and cooling down are shown in Figs. 3 and 4.

5.1.2. Results
1) The heating time constant at the slot is 50 minutes (T, = 50
minutes) and the cooling time constant is 105 minutes (T2=105
minutes) as calculated from Figs. 3 and 4 (lab results).
2) Rated current corresponds to a temperature rise of 53.3 OC.

5.2. Induction Motor Loading cycle


5.2.1. Test
The Universal Machine was loaded as follows:
0 4 I I I
1) Loaded at 1.08 rated current for 60 minutes. d d0 160 150 200 250 300
2) Loaded at 0.48 of its rated current for 55 minutes. Time (min)
3) Allowed to cool at stand still for 133 minutes. Fig. 5. Comparison between calculated and
4) Blocked for 1 minute at 3 times its rated current. measured temperoture in slnt ri~w;~--

5) Loaded at 1.08 its rated current for 40 minutes.


A comparison between measured and calculated values is shown in 5.3. Comments
Fig. 5. The following comments on the results can be made:
1) The motor cools during running conditions with a time constant
5.2.2. Results equal to the heating time constant, i.e. T,, and during standstill
1) The motor winding cooled with a time constant of 50 minutes condition it cools with its cooling time constant T2. This shows
when it operated at a current of 0.48 of its rated current and that the cooling characteristics differ in running conditions than
cooled with a time constant of 105 minutes at standstill. at standstill condition.
2) The algorithm is able to follow changes in motor winding 2) Equation (16) can be used during motor running conditions to
temperature during all its operating conditions except during follow the changes in motor temperature, while (18) can be
blocking. used at standstill condition to express the cooling in motor.
3) The rise in motor temperature is proportional to the square of
g1I
the input current, (10).
_---- 4) Equation (17) failed to follow changes in motor temperature
during a blocked rotor condition. This may be attributcd to thc
change of the value of the heating time T, constant during
blocking conditions, due to the changes in the surface area
available for cooling and the cooling coefficient. It should be
+++U Measured noted that (17) is used to calculate the rise in motor temperature
Calculated
when the motor is overloaded with a current higher than twice
its rated current. At this value the motor is still running, i.e.
not blocked. Hence the value of T, could remain unchanged and

I]//,
0 50 100
,

150
Time (min)
,

200
,

250 300
this permits the use of (17) in the algorithm.

6. CONCLUSIONS
This paper describes a new relaying algorithm that can be used
in induction motor protection. The proposed algorithm adopts an
Fig. 3. Comparison between measured and induction motor thermal model. The relaying algorithm manages
calculated va!ues of rise in
., temperature in slot. to faithfully calculate changes in motor temperature, hence
adequately protecting the motor from overload, failure of starting,
unbalance and successive starting.

7. REFERENCES
[I] ANSI/IEEE, IEEE Guide for AC Motor Protection, The
Institute of Electrical and Electronics Engineers, Inc. 1976.
[2] M. Kostenko and L. Piotrovsky, Electrical Machines, volume
II, Mir. Publishers, 1969.
[3] M.G. Say, The Performance and Design of Alternating Current
Machines, Sir Isaac Pitman and Sons, LTD., 1958.
[ 4 ] A. Still and C.S. Siskind, Elements of Electrical Machine
Design, McGraw-Hill Inc., 1954.
[5] Sprecher -t Schuh, Contactor Selection Made Easy, Sprecher
+ Schuh-Group, 1985.
01
0
I
50 I00 150 200
I [6] S.P. Patra, S.K. Basu and S. Choudhuri, Power System
Time (min) Protection, Oxford and IBH Publishing Co., 1980.
Fig. 4. Comparison between measured and [7] Siemens, A.C. Universal Machine and D.C. Machine, Siemens,
colculated values of cool down
temeperature in slot. E l , E4. 78/49.

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