Object-oriented modeling of electrical machines:

Modelica.Electrical.Machines
Anton Haumer arsenal research, Vienna 03.03.2008

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Contents
Common Mechanical Components DC Machines Induction Machines Asynchronous Induction Machines Synchronous Induction Machines Transformers

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Common Mechanical Components

Rotors moment of inertia Stator:
useSupport = false: fixed useSupport = true: moment of inertia + connect support!

Common parameters Common outputs e.g. wMechanical, tauShaft Icon

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DC Machines: Common Electrical Components

Armature pins Armature resistance + leakage inductance Common parameters for:
PM DC machine Electrical excited DC machine Series excited DC machine

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DC Machines: Airgap
Calculates flux from excitation current Induced armature voltage: ~ psi * omega Induced excitation voltage: ~ der(psi) Torque tau: ~ psi * armature current omega = der(shaft.phi support.phi); tau = - shaft.tau; tau = support.tau;

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 Whats missing:

Permanent Magnet DC Machine

excitation PM acts like constant excitation current turnsRatio * Ie: determined by induced armature voltage at nominal speed and no-load

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DC Machines: Example 1
Starting from standstill, applying an armature voltage ramp Followed by a torque step

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Induction Machines: Three-Phase Winding

Feeding a three-phase winding, i.e. shifted spatially by 120, with three-phase current, i.e. shifted timely by 120, gives a sinusoidal field, rotating with f / p. This rotating field can be represented by a space phasor.
+U 2 1 2 +U 4 4 0 4 0 4 0 4 0 4 0 4 0 0 0 0 0 0 0 0 0 0 0 0 +U 2 2 2 +U 4 3,9 1 1 3,9 -1 3,9 -4 1 -4 -1 8 4 0,3 0,1 3,7 -0 0,3 -0 0,1 -0 -0 0,1 -0 +U 2 3 2 -W 2 1,7 1 -2 1 -2 -1 1,7 -1 1,7 1 11 7 0,5 0,4 7,1 -1 -0 -0 -1 0,2 0,3 -0 0,3 +U 2 4 2 -W 2 1,4 1,4 -1 -1 1,4 -1 -1 1,4 -1 -1 14 10 0,5 0,7 10 -0 -1 0,7 0,1 -0 -0 0,4 -0 -W 2 5 2 -W 0 0 0 0 0 0 0 0 0 0 0 16 12 0,4 0,9 12 0,9 -0 -0 0,8 0,6 0,3 -1 0,2 -W 2 6 2 -W 0 0 0 0 0 0 0 0 0 0 0 18 14 0,2 1,2 14 0,7 0,9 -1 -1 -1 -0 0,7 -0 -W 2 7 2 +V 0 0 0 0 0 0 0 0 0 0 0 18 14 -0 1,2 14 -1 0,9 0,8 -1 0,8 -0 -1 -0 -W 2 8 2 +V 0 0 0 0 0 0 0 0 0 0 0 18 14 -0 1,1 14 -1 -0 0,4 0,9 -1 0,3 0,6 0,3 +V 2 9 2 +V 0 0 0 0 0 0 0 0 0 0 0 16 12 -1 0,8 12 0,1 -1 -1 0,1 0,5 -0 -0 -0 +V 2 10 2 +V 0 0 0 0 0 0 0 0 0 0 0 14 10 -1 0,5 10 0,8 -0 0,1 -1 -0 0,5 0,3 0,4 +V 2 11 2 -U 2 1,7 -1 -2 -1 -2 1 1,7 1 1,7 -1 11 7 -1 0,2 7,1 0,2 0,5 0,5 0,2 0,2 -0 -0 -0 +V -U 2 2 12 13 2 2 -U -U 2 4 1,9 4 -1 -0 0,5 4 -2 -0 -1 4 -2 -0 -2 4 -1 0 -2 4 0,5 -0 8 4 4 0 -0 0 0 0 3,7 -0 -0 0 0,2 0 -0 0 0,2 0 -0 0 0,2 0 0 0 0,2 0 -U 2 14 2 -U 4 3,9 1 1 3,9 -1 3,9 -4 1 -4 -1 0 -4 0,3 0,1 -4 -0 0,3 -0 0,1 -0 -0 0,1 -0 -U 2 15 2 +W 2 1,7 1 -2 1 -2 -1 1,7 -1 1,7 1 -3 -7 0,5 0,4 -7 -1 -0 -0 -1 0,2 0,3 -0 0,3 -U 2 16 2 +W 2 1,4 1,4 -1 -1 1,4 -1 -1 1,4 -1 -1 -6 -10 0,5 0,7 -10 -0 -1 0,7 0,1 -0 -0 0,4 -0 +W 2 17 2 +W 0 0 0 0 0 0 0 0 0 0 0 -8 -12 0,4 0,9 -12 0,9 -0 -0 0,8 0,6 0,3 -1 0,2 +W 2 18 2 +W 0 0 0 0 0 0 0 0 0 0 0 -10 -14 0,2 1,2 -14 0,7 0,9 -1 -1 -1 -0 0,7 -0 +W 2 19 2 -V 0 0 0 0 0 0 0 0 0 0 0 -10 -14 -0 1,2 -14 -1 0,9 0,8 -1 0,8 -0 -1 -0 +W 2 20 2 -V 0 0 0 0 0 0 0 0 0 0 0 -10 -14 -0 1,1 -14 -1 -0 0,4 0,9 -1 0,3 0,6 0,3 -V 2 21 2 -V 0 0 0 0 0 0 0 0 0 0 0 -8 -12 -1 0,8 -12 0,1 -1 -1 0,1 0,5 -0 -0 -0 -V 2 22 2 -V 0 0 0 0 0 0 0 0 0 0 0 -6 -10 -1 0,5 -10 0,8 -0 0,1 -1 -0 0,5 0,3 0,4 -V 2 23 2 +U 2 1,7 -1 -2 -1 -2 1 1,7 1 1,7 -1 -3 -7 -1 0,2 -7 0,2 0,5 0,5 0,2 0,2 -0 -0 -0 -V 2 24 2 +U 2 1,9 -1 0,5 -2 -1 -2 -2 -1 -2 0,5 -0 -4 -0 0 -4 -0 0,2 -0 0,2 -0 0,2 0 0,2

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Induction Machines: Space Phasors

Length ~ field magnitude Points to maximum of field i.e. rotating with f / p Space phasor transformation:
1 V0 = (v[1] + v[2] + v[3]) 3 2 0 1 2 V = a v[1] + a v[2] + a v[3] 3

a=e

2 3

v[1] = V0 + Re a V
0 2 0 1

( ) v[2] = V + Re(a V ) v[3] = V + Re(a V )

0

2 2 = cos + j sin 3 3

coordinate system (2) rotated by the angle against the original coordinate system (1):
V ( 2) = V (1) e j
V (1) = V ( 2) e + j

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Assumptions
Phase symmetric windings are assumed, as well as symmetry of the whole machine structure. Only first harmonics (in space) of current coverage, field excitation curve and flux density distribution are taken into account. Waveform of all signals is not restricted. Resistances and inductances are considered as constant parameters. Eddy currents in solid iron as well as iron losses and friction losses are neglected. Skin effects are neglected. http://www.haumer.at/refimg/SpacePhasors.pdf
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AC Machines: Common Electrical Components

Stator plugs Stator resistances + leakage inductances Space phasor transformation Common parameters for:
AIM squirrel cage AIM slip ring SM permanent magnet SM electrical excited SM reluctance

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AC Machines: Airgap
Calculates main flux from stator + rotor current Common coordinate system: stator or rotor fixed Induced voltage: der(psi) Torque tau: m *
2 p Im i S S

omega = der(shaft.phi support.phi); tau = - shaft.tau; tau = support.tau;

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AIM Squirrel Cage

Whats missing: squirrel cage resistance and inductance of squirrel cage: w.r.t. stator

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AC Machines: Example 1
AIM with squirrel cage Starting from standstill Quadratic load torque

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SM Permanent Magnet
Whats missing: excitation PM acts like constant excitation current turnsRatio * Ie: determined by induced stator voltage at nominal speed and no-load User can choose whether damper cage is present or not Different inductances d-axis and q-axis
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AC Machines: Example 2
SM with electrical excitation Driven with constant speed Constant excitation Varying load angle

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AC Machines: Example 3
SM with permanent magnet Simple open-loop inverter Load torque step

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Transformers
Primary + secondary resistance + leakage inductance No magnetizing current, no magnetizing losses Record TransformerData helps to calculate parameters All vector groups
Yy Yd Yz Dy Dd Dz
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Transformers: Example 1
12-pulse rectifier Transformer Dy1 + Dd0 Significant reduction of harmonic currents

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Thank you for your attention.

mail: Anton.Haumer@arsenal.ac.at web: www.arsenal.ac.at

Controlled / Inverter fed drives SmartElectricDrives Library

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