A Generalized Dynamic Model of Induction Motor using Simulink

P. M. Palpankar, R. U. Ghanmare & *N. Makade

D.B.A.C.E.R, Nagpur
*Y.C.C.E, Nagpur
E-mail : [email protected], [email protected], [email protected]

interconnection of appropriate function blocks, each of

Abstract - This paper describes a generalized model of the
three-phase induction motor and its computer simulation which performing a specific mathematical operation.
using MATLAB/SIMULINK having advantage that it does Programming efforts are drastically reduced and the
not require the compilation. Constructional details of debugging of errors is easy. Since SIMULINK is a
various sub-models for the induction motor are given and model operation programmer, the simulation model can
their implementation in SIMULINK is outlined. For this be easily developed by addition of new sub-models to
purpose, the relevant equations are stated at the beginning, cater for various control functions. As a sub-model the
and then a generalized model of a three-phase induction induction motor could be incorporated in a complete
motor is developed. This approach could be extended to electric motor drive system.
other engineering systems.
Index Terms— mechanical sub model, modeling, speed, II. ANALYSIS METHOD
torque sub model.
The stator voltages of three phases are phase
I. INTRODUCTION shifted by 120° each and are given by the equations

In the case of Matlab, the proper state equations Vas  V sin(t )

should be obtained in order to describe the power Vbs  V sin(t  2 / 3)
conversion circuit. With the state equations, the circuit
can be easily modeled by using the functional blocks, Vcs  V sin(t  2 / 3)
which are supported in Matlab Simulink. In particular,
in Matlab, the various kinds of control algorithms can be where |V | is the amplitude of the terminal voltage, v is
easily implemented without using actual analog the supply frequency and θ is the initial phase angle.
components. However, obtaining the state equation Due to the voltage drop in the supply cable, the terminal
according to the circuit configuration is a cumbersome voltage is given by Equation:
and time-consuming job. Whenever there is a minor
change in the circuit configuration, new state equations V  E  Rc ic
should be obtained for describing the new circuit.
Therefore, a simple method to model the power
conversion circuits is highly desirable, which is not
based on the state equations.
Thus the SIMULINK software of MATLAB for the
dynamic modeling of the induction motor is used here.
The main advantage of SIMULINK over other
programming software is that, instead of compilation of
program code, the simulation model is built up
systematically by means of basic function blocks.
Through a convenient graphical user interface (GUI),
the function blocks can be created, linked and edited
easily using menu commands. A set of machine
differential equations can thus be modeled by

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Fig.2 Three-phase stator voltages Fig.4 abc-qd conversion

In the two-axis stator reference frame, the current

The three-phase to two-axis voltage transformation equation of an induction motor can be written as the
means the conversion of coordinates from the three- differentiation operator, d/dt, while Lls, Llr and Lm are
phase stationary the stator and rotor leakage inductances and the
coordinate system to the dq rotating coordinate system. magnetizing inductance, respectively The sum of the
This transformation is made in two steps: stator leakage inductance and magnetizing inductance is
called the stator inductance and denoted by Ls
1) a transformation from the three-phase stationary Analogously, the rotor inductance, Lr is
coordinate system to the two-phase, so-called αβ,
stationary coordinate system and defined as the sum of the rotor leakage inductance and
magnetizing inductance. Thus,
2) a transformation from the αβ stationary coordinate
system to the dq rotating coordinate system.
Ls  Lls  Lm
The three-phase to two-axis voltage transformation is
can be achieved using the following Equation Lr  Llr  Lm

The dynamic model allows derivation of the voltage-

1 1/ 2  1 / 2  Vas  current equation of the induction motor. Using space
Vds  0
V   ( 2 / 3)  3/2  3 / 2 Vbs  vectors, the equation can be written as where
 qs    Vcs 
di
[A]  Av  Bi
dt
where Vas, Vbs, and Vcs are the three-phase stator
voltages, while Vds and Vqs are the two-axis i  Av  Bi
 
components of the stator voltage vector Vs.
i  ids
T
iqs idr iqr
v  v 
T
ds v qs v dr v qr

L2  Ls Lr  L2m

In the two-axis stator reference frame, the current

equation of an induction motor can be written as
  
  Vds  
Rs 0 0 0 
 Ls
1
ids  0 Lm 0 
    0  ids  
iqs  t   0 Ls 0 Lm
Rs 0 0  iqs  
      Vqs   
0 Lr    dt
P P
idr  0
    0 0 Lm Rr
 Lm 0 Lr 0    Vdr   2 2  idr  
Fig.3 Two-axis components of the stator voltage    0    Vqr   P  Lm   
 0 Lr Rr  iqr  
P
iqr  
Lm 0 Lr 
  0
  2  
0
 2

[B] [C]

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Matrix [A] in Equation (1) and matrix [B] can be implemented Stator current output sub-model
by the „Matrix Gain‟ block of SIMULINK, while matrix [C]
can be implemented by four „Fcn‟ blocks of SIMULINK. In The stator current output sub-model is used to calculate
the electrical model, the three-phase voltage [Vas, Vbs, Vcs] is
the stator current amplitude according to the following
the input and the current vector [ids, iqs, idr, iqr] is the output
vector. equation
The rotor voltage vector is normally zero because of the short-
circuited cage rotor winding, i.e. Vdr=0 and Vqr=0.
is 
2
ids 2  iqs 2
3

Fig.8 Stator current output sub-model

III. PROPOSED MODEL OF INDUCTION

MOTOR
Fig.5 Matrix [B] implemented using 4 function blocks
Torque sub-model of induction motor
In the two-axis stator reference frame, the electromagnetic T is
given by

T 
3PLm
id siq s  id riq r 
4

Fig.6 Torque sub-model Fig.9 Proposed overall model for Induction motor
Mechanical sub-model of induction motor
IV. SIMULATION RESULT AND DISCUSSION
From the torque balance equations and neglecting viscous The induction motor chosen for the simulation
friction, the rotor speed w0 may be obtained as studies has the following parameters:
Type: three-phase, 3hp, 380V 4-pole, wye-connected,
T  TL
t squirrel-cage induction motor
0   dt
0 J Rs=3.5 ohm Rr=3.16ohm
where J is the moment of inertia of the rotor and load and TL
L ls=6.90732mH L m=0.26674H
is the load torque.
L lr=6.81183 J=0.4 kg m2
JL=0.4 kg m2 Rc=0.2
To illustrate the transient operation of the induction
motor, a simulation study is demonstrated. At t=0, the
motor, previously de-energized and at standstill, is
Fig.7 Rotor speed model connected to a 380 V, 50 Hz three-phase supply through
a cable. The load torque, TL, is constant at 11.9N.m.

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Fig. show the results of computer simulation using the

SIMULINK model. The results are similar to those
obtained using the traditional simulation method
involving differential equations.

Fig 10 a) Three-phase stator voltages

Fig 11.b) Current idr and iqr

Fig 10.b) Two-axis components of the stator voltage

Fig.10 Simulation voltage waveforms of Induction motor Fig 11.c) Stator Current is
Fig.11 Simulation current waveforms of Induction motor

Fig 11.a) Current id and iqs Fig 12. Rotor speed (rad/sec)

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[3] Krause, P. C., Wasynczuk, O. and Sudhoff, S. D.,

Analysis of Electric Machinery, IEEE (1995)
[4] Adel Aktaibi & Daw Ghani,” Dynamic Simulation of a
Three-Phase Induction Motor Using Matlab Simulink”,
IEEE
[5] B. Ozpineci, L. M. Tolbert, “Simulink implementation
of induction machine model – A Modular approach”,
IEEE, 2003, pp 728-734.
[6] Muhammad Rashid,” Power electronics handbook”.

Fig.13 Torque waveform [7] Electrical Machines by SK Bhattacharya, Tata Mc

Graw Hill, New Delhi
[8] Electrical Machines by Nagrath and Kothari, Tata Mc
V. CONCLUSION Graw Hill, New Delhi

Thus simulation of three phase as well as two axis [9] B.K.Bose,‟Modern power electronics and AC drives.
components of stator voltages and currents are obtained. ‟New Delhi, PHI Learning Private Limited,
The induction motor model developed may be used 2011.pp.413-408
alone, as in the direct-on-line starting. It can be
incorporated in an advanced motor drive system, e.g.
field oriented control. It is also helpful in designing of
induction motor according to the requirement.

VI. REFERENCES
1] K.L.SHI, T.F.CHAN, Y. K. WONG and S.L.HO,
“Modeling and simulation of the three-phase induction
motor using simulink”, Int. J. Elect. Enging. Educ.,
Vol. 36, pp. 163–172, Manchester U.P., 1999
[2] Trzynadlowski, Andrzej,‟Control of Induction
Motors‟United State of America (1994)

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