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motor,
I. INTRODUCTION
III. DQ MODELING
The direct and quadrature axis model (d-q model)
based on the space phasor theory is widely used for
simulation the dynamic behaviour of three phase
induction motor.
43
d:
direct axis
q : quadrature axis
:
stator
variables
s
r : rotor variables
n : normalized value
Pb
: normalized power
Vb
vasn, vbsn, vcsn : normalized input voltage for phase a, b
and c
vqsn, vdsn
: normalized stator q and d axis voltages
vqrn, vdrn
: normalized rotor q and d axis voltages
iqsn, idsn
: normalized stator q and d axis current
iqrn, idrn
: normalized rotor q and d axis current
qsn, dsn : normalized stator q and d axis modified
flux linkages
qrn, drn : normalized rotor q and d axis modified
flux linkages
b
: base speed
rn
: normalized rotor speed
cn
: normalized angular speed in
synchronous reference frame
Ten
: normalized electromagnetic torque
Tln
: normalized load torque
Rsn
: normalized stator resistance
Rrn
: normalized rotor resistance
Xsn
: normalized stator reactance
Xrn
: normalized rotor reactance
Xmn
: normalized magnetizing reactance
J
: moment of interia
H
: interia constant
P
: number of poles
(1)
(2)
(3)
4)
For squirrel induction motor as in the case of this paper
and
in equation (3) and (4) are set to zero since
rotor cage bars are short circuited.
Modified flux linkages in normalized form are:
(5)
(6)
(7)
(8)
Normalized electromagnetic torque equation in terms
of normalized modified flux linkage and normalized
current form:
(
idsn
wcn*fqsn
(wcn-wrn)*fqrn
(Xrn-Xmn)/wb
Rrn
Xmn/wb
iqsn
Vqsn
Where
idrn
(Xsn-Xmn)/wb
Vdsn
Rsn
(9)
B. Equations
Driving the model equations can be generated from the
dq0 equivalent circuit of the induction machine shown in
figure 1.
Rsn
idrn
(Xsn-Xmn)/wb
wcn*fdsn
(wcn-wrn)*fdrn
(Xrn-Xmn)/wb
Rrn
Xmn/wb
44
][
f dsn
v dsn
f dsn
vdsn
f drn
v drn
f qsn
vdrn
wrn
fdsn
fdrn
4
idrn
f qrn
idsn
f dsn
f drn
idrn
idsn
idsn
ten
][
f qsn
f qsn
f dsn
f qsn
f qrn
[ ]
[ ]
fqrn
wrn
tln
tln
3
iqrn
wrn
iqrn
iqsn
v qsn
vqsn
iqsn
][ ]
ten
fqsn
f qrn
f drn
][ ]
iqsn
9
10
v qrn
vqrn
ten
4
iqsn
1
fdsn
v qsn
iqsn
iqsn
idsn
idsn
v qsn
idsn
3
fqsn
iqrn
iqrn
idrn
idrn
idsn*fqsn
1
ibsn
Scope
tln
1
s
1/(2*H)
ten
2
iarn
v dsn
1
ten
Subtract
iasn
icsn
v dsn
iqsn*fdsn
Add
Gain
Integrator
wrn
ibrn
ten
v qrn
i0n
icrn
Scope1
i0n
wrn
f dsn
v drn
f drn
f qsn
0
TL
Scope4
tln
f qrn
f qsn
2
fqrn
v qsn
vqsn
iqsn
iqsn
f qsn
f qrn
f dsn
fdsn
2
iqsn
45
1
fqsn
6
wrn
1
f dsn
vdsn
idsn
vqrn
v dsn
idsn
f dsn
f drn
fdrn
rrn
wb
iqrn
fdsn
1
s
1
fqrn
wcn
f qsn
fqsn
2
Constant
4
wrn
fdrn
idsn
1
vdrn
v qrn
vqrn
f qrn
iqrn
f qsn
f qrn
f drn
fqrn
fdrn
4
wrn
1
s
1
fdrn
fqrn
v drn
vdrn
idrn
wrn
iqrn
f drn
Constant
4
wrn
1
idrn
f dsn
fdsn
wb
wcn
fqsn
rrn
idrn
iqrn
f qrn
fqrn
3
wrn
xrn
fqsn
f drn
fdrn
1/(xrn*xsn-xmn*xmn)
1
iqsn
xmn
fqrn
wrn
2
idrn
xrn
fdsn
1/(xrn*xsn-xmn*xmn)
1
idsn
xmn
fdrn
1
vqsn
rsn
1
s
wb
iqsn
xsn
fqrn
fqsn
1/(xrn*xsn-xmn*xmn)
wcn
Constant
fqsn
1
iqrn
xmn
3
fdsn
xsn
fdrn
1/(xrn*xsn-xmn*xmn)
vdsn
2
i dsn
rsn
wb
1
s
xmn
1
idrn
fdsn
1
fdsn
wcn
Constant
3
fqsn
V. MATLAB/SIMULINK RESULTS
iarn
5
Rs=0.22
Rr=0.209
Lm=0.04H
Ls=0.0425H Lr=0.043H
2
B=0
Load torque= 0 J=.124kg-m
0
-5
0
0.05
0.1
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
0.15
0.2
0.25
ibrn
5
0
-5
0
fdsn
1
0.5
0
-0.5
0.05
0.1
icrn
0.05
0.1
0.15
0.2
0.25
fdrn
-5
0.2
0
-0.2
-0.4
0.05
0.1
0.15
0.2
0.05
0.1
0.25
ten
fqrn
0
-0.5
-1
-1.5
2
1
0.05
0.1
0.15
0.2
0.25
fqsn
0.5
0
-0.5
-1
-1
0
0.05
0.1
wrn
0.05
0.1
0.15
0.2
0.25
1
iasn
0.5
5
0
0
-5
0
0.05
0.1
0.15
0.2
0.05
0.1
0.25
iqsn
2
0
-2
-4
-6
ibsn
5
0
0.05
0.1
idsn
6
4
2
0
-2
-5
0
0.05
0.1
0.15
0.2
0.25
icsn
5
0.05
0.1
iqrn
6
4
2
0
-2
0
-5
0
0.05
0.1
0.15
0.2
0.25
0.05
0.1
idrn
2
0
-2
-4
-6
0.05
0.1
47
VI. CONCLUSIONS
In this paper, an implementation and dynamic
modeling of a three-phase induction motor using
Matlab/Simulink are presented in a step-by-step manner.
The model was tested by 40 hp 60hz 3-phase induction
motors. The simulated machines have given a satisfactory
response in terms of the torque and speed characteristics.
48