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Modeling and vector control of unbalanced


induction motors (faulty three phase or single
phase induction motors)

Conference Paper · March 2010


DOI: 10.1109/PEDSTC.2010.5471830 · Source: IEEE Xplore

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M. Jannati E. Fallah
Universiti Teknologi Malaysia University of Guilan
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1st Power Electronic & Drive Systems & Technologies Conference

Modeling and Vector Control of Unbalanced


Induction Motors (Faulty Three Phase or Single
Phase Induction Motors)
M. Jannati, and E. Fallah

conventional vector control, its ability in controlling


unbalanced or faulty motors is not good. This paper concerns
Abstract-- All types of electrical machines can be modeled with the problem of modeling and control of unbalanced
by an equivalent two phase machine. For example a induction motors.
balanced three phase induction motor can be modeled as
an equivalent two phase induction motor (The dq Model). In section II, a method for modeling a faulty three phase
In the same way an unbalanced induction motor can be induction motor (when it loses one of its feeding phases) is
modeled as an unbalanced two phase induction motor. presented. By using this model, a new method of vector
This paper shows this concept by modeling a faulty control is presented in section III. The Performance of the
induction motor with one of its three feeding phases, open. presented method is checked by computer simulation in
Moreover the paper shows that the speed control of this section IV.
faulty motor can be performed by a few modifications in
the conventional vector control. This new vector control is II. MODELING OF A THREE-PHASE INDUCTION MOTOR WITH
suitable for unbalanced induction motors such as the ONE OPENED PHASE
single phase induction motor with unequal main and
auxiliary windings. Computer simulation shows the good Suppose that a phase cut out fault is occurred in the phase
performance of the proposed method. “c” of a three-phase drive system, as shown in fig 1.

Index Terms-- Unbalanced, Fault, Induction motor, Modeling,


Vector control.

I. INTRODUCTION

T HE vector control method is known as one of the best


methods in controlling the torque and the speed of the
induction motors. The vector control separates motor current
into field and torque producing components. The torque is
proportional to the product of these two perpendicular
components and they can be treated separately. Among the
various types of the vector control method, the approach
called Rotor Field Oriented (R.F.O) is more convenient [1].
Fig. 1. Three phase induction motor drive with one opened phase.
A faulty three phase induction motor, when one of its feeding
phases opened, can be considered as an unbalanced induction Assuming sinusoidal waveform for the spatial distribution of
motor. On the other hand, all of the single phase induction the windings, Stator and rotor winding flux, axes can be
motors have two unequal main and auxiliary windings. So shown as fig 2. If the angle between ds-axis and as-axis is
they can be considered as unbalanced two phase induction “θo”, d and q components of flux can be written as follows:
motors. Inventing a method for controlling faulty or
unbalanced induction motors has many advantages. In some ⎡ϕ as ⎤ (1)
application (such as military or astronomy) the controlling ϕ ds = [cos(θ o ) cos(θ o + 2π / 3)]⎢ ⎥
system must be fault tolerant [2]-[5]. Furthermore in some low ⎣ϕ bs ⎦
power applications using single phase induction motors is ⎡ϕ ⎤ (2)
more economical [6]-[8]. In spite of good performance of ϕ qs = [sin(θ o ) sin(θ o + 2π / 3)]⎢ as ⎥
⎣ϕ bs ⎦
M. Jannati is the M.S. student of the electrical engineering at the
University of Guilan, Rasht, Iran (e-mail: m_jannatyy@yahoo.com).
E. Fallah is the Assistant Professor of the electrical engineering at the
University of Guilan, Rasht, Iran (e-mail: fallah_e@guilan.ac.ir).

978-1-4244-5971-1/10/$26.00 ©2010 IEEE 208


III. EQUATIONS OF ROTOR FIELD ORIENTED VECTOR
CONTROL IN FAULTY MODE
For obtaining vector control equations, it is necessary to
indicate machine equations in the Rotor Field Oriented
reference frame. For this purpose rotational transformation
must be applied to the stationary reference frame. Since the
rotor is intact the balanced rotational transformation is applied
to the rotor currents isdr and isqr , as follows [1]:
(a) (b)
(9)
⎡idre ⎤ ⎡ cosθ e sinθ e ⎤ ⎡idrs ⎤
Fig. 2. a) Stator winding flux axes
⎢ e ⎥=⎢ ⎢ ⎥
b) Rotor winding flux axes
⎣iqr ⎦ ⎣− sinθ e cosθ e ⎥⎦ ⎣iqrs ⎦
The transformation vectors “d” and “q” can be defined as Where, the superscript “e” indicates the variables in the rotor
follows: field oriented reference frame. For the unbalanced situation
investigated in this paper, the following unbalanced
d = [cos(θ o ) cos(θ o + 2π / 3)] (3) transformation is proposed:
q = [sin(θ o ) sin(θ o + 2π / 3)] (4)
⎡ Mq ⎤ (10)
The transformation vectors must be perpendicular, so we have: cosθ e sin θ e ⎥ s
T (5) ⎡ids ⎤ ⎢
e
Md ⎡i ⎤
T
d q . = . =0 ⇒ q d =π /6θ0 ⎢ e⎥=⎢ ⎥ ⎢ dss ⎥
Mq
By using above transformation vectors, the following ⎣iqs ⎦ ⎢− sin θ e i
cosθ e ⎥ ⎣ qs ⎦
normalized transformation matrix is obtained: ⎢ Md ⎥
⎣ ⎦
⎡1 / 2 − 1 / 2 ⎤ (6)
[T S ] = 2⎢ Where, θe is the angle between the stationary reference frame
⎣1 / 2 1 / 2 ⎥⎦ and the Rotor Field Oriented reference frame. The same
Because the rotor is still in balanced condition, the transformation is applied to the stator voltage variables υsds,
decomposition matrix for rotor variables remains unchanged υsqs. Machine equations in the Rotor Field Oriented reference
(the same transformation matrix of balanced condition [9]). frame are obtained as follows:
Voltage equations of induction machine in “abc” frame are Stator voltage equations:
available in [9]. By applying transformation (6) to the stator
variables and the balanced transformation to the rotor ⎡ Lds + Lqs Lds + Lqs ⎤
variables we have the following equation: ⎡vdse ⎤ ⎢rs + ( ) p − ωe ( ) ⎥ ⎡i e ⎤
⎢ e ⎥=⎢ 2 2 ⎥ ⎢
ds

L + Lqs Lds + Lqs iqse ⎦⎥
⎡υdss ⎤ ⎡rs + Lds p 0 Md 0 ⎤⎡idss ⎤ (7) ⎣⎢vqs ⎦⎥ ⎢ ωe ( ds ) rs + ( )p ⎥ ⎢

⎢ s⎥ ⎢ 0 rs + Lqs p 0 Mq ⎥⎢⎢iqss ⎥⎥ ⎣⎢ 2 2 ⎦⎥
⎢υqs ⎥ = ⎢ ⎥
⎢ 0 ⎥ ⎢ Md p ωr Mq rr + Lr p ωr Lr ⎥⎢idrs ⎥ ⎡ Md + Mq
2 2
Md + Mq ⎤
2 2

⎢ ⎥ ⎢ ⎥⎢ ⎥ ⎢( ) p − ωe ( )⎥ e
⎣ 0 ⎦ ⎣ − ωr Md Mq p − ωr Lr rr + Lr p⎦⎣⎢iqrs ⎦⎥
+ ⎢ 2M q 2M q ⎥⎡idr ⎤
Where, υsds, υsqs, isds, isqs, isdr and isqr are the “d” and the “q” ⎢ Md + Mq 2 2 2
Md + Mq
2
⎥⎢iqre ⎥
components of the stator and the rotor voltages and currents, ⎢ωe ( ) ( ) p ⎥⎣ ⎦
all of them in the stationary reference frame and ωr is the rotor ⎢⎣ 2M q 2M q ⎥⎦
angular velocity. Moreover:
3 1 3
⎡ Lds − Lqs Lds − Lqs ⎤
Lds = Lls + Lms , Lqs = Lls + Lms , Lr = Lls + Lms ⎢( ) p ωe ( ) ⎥ ⎡i − e ⎤
2 2 2 +⎢ 2 2 ds
⎥⎢ −e ⎥ +
L − L L − L i
3 3 d ⎢ω ( ds ) p ⎥ ⎣⎢ qs ⎦⎥
qs ds qs
M d = Lms , M q = Lms , p = ) −(
⎣⎢ ⎦⎥
e
2 2 dt 2 2
Where, Lms is the magnetization inductance defined in [9].
Electromagnetic torque is as follows: ⎡ Md 2 − Mq2 Md − Mq ⎤
2 2

Pole (8) ⎢( ) p ωe ( ) ⎥ −e
τe = ( M qiqss idrs − M d idss iqrs ) + ⎢ 2M q 2M q ⎥⎡idr ⎤
2 ⎢ Md − Mq ⎢ ⎥
M d − M q ⎥⎣iqr−e ⎦
2 2 2 2
Equation (7) and (8) completely represent “dq” model of ⎢ωe ( ) −( ) p⎥
three-phase induction machine with one opened phase. In fact,
⎣⎢ 2M q 2M q ⎦⎥
(7) and (8) introduce the equations of an unbalanced two
phase induction motor. By writing these equations in the form (11)
of the state equations, the computer simulation can be Rotor voltage equations:
performed.

209
(a)
⎡0 ⎤ ⎡ Md p − (ω e − ω r ) M d ⎤ ⎡idse ⎤
⎢0⎥ = ⎢(ω − ω ) M Md p ⎥ ⎢i e ⎥
⎣ ⎦ ⎣ e r d ⎦ ⎣ qs ⎦

⎡ r +L p − (ωe − ωr )Lr ⎤ ⎡idre ⎤


+⎢ r r ⎢ ⎥
⎣(ωe − ωr )Lr rr + Lr p ⎥⎦ ⎣iqre ⎦
(12)
Electromagnetic torque:

Pole (13)
τe = M d (iqse idre − idse iqre )
2 (b)
Where, ωe is the angular velocity of the Rotor Field
Oriented reference frame. The superscript “-e” denotes the Fig. 3. Simulation results of the conventional R.F.O vector controller;
Speed reference= 500rpm, Load torque= 10N.m
variables in the backward rotating reference frame (with the (a) Speed, (b) Steady state torque.
angular velocity of “- ωe”). From (12) and (13), it can be seen
that the rotor voltage and the torque equations are similar to Results show considerable oscillations in the
the balanced motor equations. However the stator voltage electromagnetic torque. Simulation results for modified R.F.O
equation (11) has extra terms due to the backward variables. vector controller is shown in fig.4.
Since the backward terms are proportional to the difference of
the inductances, it is possible to neglect them. So by the
following modifications in the R.F.O vector control, it is
possible to control a faulty motor. The proposed modifications
are listed in Table I.
TABLE I
PROPOSED MODIFICATION IN THE CONVENTIONAL R.F.O VECTOR CONTROL
METHOD

Vector control of Vector control of faulty


balanced motor or unbalanced motor
Ls (Lds+Lqs)/2
Transformation of stator Transformation of stator (a)
variables from “abc” to variables from “abc” to
“dq” frame, as indicated in “dq” frame, according to
[1] (6)
Balanced rotational Unbalanced rotational
transformation as indicated transformation as indicated
in (9) in (10)

IV. SIMULATION RESULTS


Computer simulation results are presented in this section. A
three-phase induction motor with one opened phase is
simulated. The motor is fed from a SPWM voltage source
inverter. Two controllers are used for the speed control of the
motor. The first is the conventional R.F.O vector controller (b)
and the second is the same controller with the proposed
Fig. 4. Simulation results of the modified R.F.O vector controller; Speed
modifications of Table I. Simulation results of the reference= 500rpm, Load torque= 10N.m
conventional controller are shown in fig.3. (a) Speed, (b) Steady state torque.

It is obvious that the proposed modifications decrease the


torque oscillation considerably. Existence of the torque
oscillation is due to the non-sinusoidal voltage source and also
neglecting the backward terms of (11).

V. CONCLUSION
A method for modeling the opened phase fault of an
induction motor is presented in this paper. By this method a
faulty motor can be modeled as an unbalanced two phase

210
motor. A three phase induction motor with one opened phase
is modeled by this method. Equations of the equivalent two
phase motor transformed to the Rotor Field Oriented reference
frame. A new transformation matrix is invented such that the
transformed equations of the faulty motor become the same as
the equations of the balanced motor. According to theses
transformed equations a new vector control method for the
unbalanced motors is presented. The advantage of the
presented method is its simplicity so that it can be obtained by
a few modifications in the conventional vector control.
Simulation results show that the performance of the proposed
vector control is good. Especially the amplitude of the torque
oscillation is less, compare to the conventional vector control.

VI. REFERENCES
[1] Peter Vas, Vector Control of AC Machines, Oxford science publication
1990.
[2] Y.Zhao, T.A.Lipo, “Modeling and control of a multiphase induction
machine with structural unbalance, part I-machine modeling and multi-
dimensional current regulation,” IEEE Trans. on Energy Conversion,
no.3, pp.570-577, Sept.1996.
[3] Y.Zhao, T.A.Lipo, “Modeling and control of a multiphase induction
machine with structural unbalance, part II-field-oriented control and
experimental verification,” IEEE Trans. on Energy Conversion, no.3,
pp.578-584, Sept.1996.
[4] F.Tahami, A.Shojaei, “A novel fault tolerant reconfiguration concept for
vector control of induction motors,” in Proc. 2006 Power Electronics
and Motion Control Conf., pp. 1199-1204.
[5] J.Mili Monfared, K.Abbaszadeh, E.Fallah, “Modeling and simulation of
dual three phase induction machine in fault condition (two phase cut off)
and propose a new vector control approach for torque oscillation
reducing,” in Proc. 2000 ICEM conf.
[6] M.B.R.Correa, C.B.Jacobina, A.M.N.Lima, E.R.C.daSilva, “Rotor flux
oriented control of a single phase induction motor drive,” IEEE Trans.
on Industrial Electronics, vol. 47, no. 4, pp. 832-841, August 2000.
[7] M.B.R.Correa, C.B.Jacobina, E.R.C.daSilva, A.M.N.Lima, “Vector
control strategies for single phase induction motor drive systems,” IEEE
Trans. on Industrial Electronics, vol. 51, no. 5, pp. 1073-1080, Oct.
2004.
[8] S.Vaez-Zadeh, S.R.Harooni, “Decoupling vector of a single phase
induction motor drives,” in Proc. 2005 Power Electronics Specialists
Conference, pp. 733-738.
[9] Paul C. Krause, Analysis of Electric Machinery, McGraw-Hill, 1986.

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