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AbstractInduction motors(IM) are the most popularly used present states of the system are calculated using the previous
motors in the industry. They come in two well known construc- states of the system. In the second stage the values are updated.
tional variations namely, Cage Rotor Induction Motor(CRIM) For the purpose of real time simulation, a programming device
and Wound Rotor Induction Motor(WRIM). In principle, both
the machines are identical, as far as basic running, emf and is required that can handle numerous mathematical operations
torque production mechanisms are concerned. But the former has in very short time. The basic advantage of FPGA is that it
its rotor-bars permanently shorted through end-rings, whereas has a parallel execution capacity. Thus the implementation of
in case of wound rotor machine, the terminals of the rotor- network equations on a FPGA takes very short execution time.
windings are externally available. WRIMs have been used in
variable/adjustable-speed drives for many years. In this paper
modeling of a WRIM in different reference frames in real-time
simulation has been presented. The model is real-time simulated
on a FPGA platform built around an Altera-make Cyclone
EPIC12Q240C processor which can be programmed using a
software known as Quartus-II.
Index TermsInduction motor, CRIM, WRIM, Real-time
simulation, FPGA, Altera, Quartus, Modeling.
Rb
TABLE IV
qs (n) = qs (n1)+ [v (n1)rs .iqs (n1)]t (19)
BASE VALUES Ls qs
Rb
dr (n) = dr (n1)+[0 r .i (n1)r (n1).qr (n1)]t
Lr r dr
The equations for the D-Q model of the SRIM are (20)
Rb
qr (n) = qr (n1)+[0 rr .iqr (n1)+r (n1).dr (n1)]t
vds = rs .ids + pds .qs (3) Lr
(21)
Similarly for synchronously rotating reference frame putting
vqs = rs .iqs + pqs + .ds (4) w = ws , the following equations for ux linkages are obtained,
Rb
ds (n) = ds (n 1) + [ (v (n 1) rs .ids (n 1)) + s .qs
(n 1)]t
Ls ds
vdr =0= rr .idr +
pdr (
r )qr (5) (22)
Rb
qs (n) = qs (n 1) + [ (v (n 1) rs .iqs (n 1)) s .ds
(n 1)]t
Ls qs
vqr = 0 = rr .iqr + pqr
+ ( r )dr (6) Rb
(23)
dr (n) = dr (n 1) + [0 r .i (n 1) + (s r (n 1))qr (n 1)]t
Lr r dr
(24)
ds = Lls .ids + M [ids + idr ] (7)
qr
(n) = qr (n 1) + [0
Rb
r .i (n 1) (s r (n 1))dr
(n 1)]t
Lr r qr
(25)
qs = Lls .iqs + M [iqs + iqr ] (8) Similarly for rotor reference frame putting = r , the
following equations for ux linkages are obtained,
Rb
dr = Llr .idr + M [ids + idr ] (9)
ds
(n) = ds (n 1) + [ (v (n 1) rs .ids (n 1)) + r qs
Ls ds
(n 1)]t
(26)
Rb
qs (n) = qs (n 1) + [ (vqs (n 1) rs .iqs (n 1)) r ds
(n 1)]t
qr = Llr .iqr + M [iqs + iqr ] (10) Ls
(27)
Rb
dr (n) = dr (n 1) + [0 r .i (n 1)]t (28)
Te = 0.75.P.M [idr .iqs iqr .ids ] (11) Lr r dr
Rb
qr (n) = qr (n 1) + [0 r .i (n 1)]t (29)
2 dr Lr r qr
Te = [J + Br ] + TL (12)
P dt Now from the ux linkage equations we get,
Now for stationary reference frame putting = 0 and 1
rewriting it, we get ids = [Lr .ds M.dr ] (30)
Denom
vds = rs .ids + pds (13) where,
Denom = Ls .Lr M 2 (31)
Now, for normalization both sides of the (13) are divided by
Vb . Therefore, Now dividing both sides of (30) by b we get,
vds rs .ids ds
= +p (14) ids 1 Ls .ds M.dr
Vb Vb Vb = [ ] (32)
b Denom b b
rs ids Ls ds
or, vds = . + p (15) ids 1 ds dr
R b Ib Rb b or, = [Lr . M. ] (33)
Ls Ls .Ib Denom b b
or, vds = rs .ids + p (16) Ls
Rb ds ids =
[Lr .ds
M.dr ] (34)
Rb Denom
or, pds = [v rs .ids ] (17) Similarly, the other current equations are obtained as follow-
Ls ds
ing,
In digital platform, integrations are done in discretized form. Ls
So, in order to solve (17) in FPGA, the equation(in continuous iqs =
[Lr .qs
M.qr ] (35)
Denom
Lr
idr =
[Ls .dr
M.ds ] (36)
Denom
Lr
iqr =
[Ls .qr
M.qs ] (37)
Denom
Now dividing both sides of (11) by Tb we get,
Te [idr .iqs iqr .ids ]
= 0.75.P.M (38)
Tb Tb
Te [idr .iqs iqr .ids ]
or, = 0.75.P.M.mb (39)
Tb 3.Vb .Ib
Te 0.25.P.M.mb [idr .iqs iqr .ids ]
or, = (40)
Tb Rb Ib .Ib
0.25.P.M.mb
Te = [idr .iqs iqr .ids ] (41)
Rb
Putting the values of P = 6, M = 0.12681 H, mb = 104.72
rad/sec, Rb = 32 Fig. 2. torque vs. speed in stationary reference frame
Fig. 6. ids and iqs in synchronously rotating reference frame Fig. 9. va and ia in different reference frames at steady state
Fig. 7. ids and iqs at steady state in rotor reference frame at steady state Fig. 10. va and ia in different reference frames in a large time scale
VIII. E XPERIMENTAL R ESULTS waveforms of currents and voltages it can be concluded that
This work is an initial step towards a larger venture though the waveforms of voltages & currents look different
to implement a 4-quadrant conguration on a mechanically in different reference frames, the steady state performance
coupled IM-IG (induction generator)set-up. Hence, previous characteristic like torque-slip etc. and the transient response
to this, the electrical and mechanical parameters have been indices like settling time etc. are same in all the cases.
experimentally evaluated by the authors. Some results of the Close agreement between the results highlight the accuracy
parameter evaluation test are given below. For these tests, the of modeling and validate established theoretical claims.
rotor is shorted and the stator is connected to the 3-ph AC X. ACKNOWLEDGEMENTS
mains through a variac.
The authors express their gratitude to the NaMPET initiative
From No-load test we get,
of the DIT, MCIT, Govt. of India for the resources and
Stator voltage 420V funding. The authors sincerely thank Prof. D. Sarkar, Prof.
Stator current 5.5A and Head, Department of Electrical Engineering for providing
Input power 320W the necessery support and infrastructure. The authors owe
Speed 997rpm
Power factor 0.08 a great deal to Chandrasekhar Roy and other colleagues at
PG&R level at APE lab for their help, support and constant
TABLE VI
motivation.
R EFERENCES
From Blocked rotor test we get,
[1] OKelly, Simmons,Generalised Theory of Electrical machines.
[2] Say,M.G.,Performance and Design of Alternating Current Machines,
Stator voltage 80V London, M/s.Pitman.1983.
Stator current 7.7A [3] Kedarisetti J., Gopinath D., Jain M.,Real-Time Simulation Models of
Input power 600W Power Electronics & Drives, IISc Bangalore.2006.
TABLE VII [4] Roy,C.,Speed Control in a Slip-Ring Induction Motor using Power
Electronic Converters on the Rotor-side, BESU,Shibpur.2011.
Fig. 11. Set up photo: Here a 4-pole SCIM is coupled to a 6-pole WRIM
IX. C ONCLUSIONS
In this work 3 models of the IM have been simulated in
real time in three established and signicant refrence frames
namely, the Stationary, the Synchronously Rotating & the Ro-
tor Reference Frames. From the simulated performances and