Proceedings of the 7th

World Congress on Intelligent Control and Automation

June 25 - 27, 2008, Chongqing, China

Residual Voltages Analysis in Reclosing Process for

Induction Machine
Aiyuan Wang [1,2] Zhihao Ling[2] Wenbo Liu[3]
2. School of Information Science and
1. School of Electric Engineering 3. Electrical Department
Engineering
East China University of Science & Shanghai Power Equipment Research
Shanghai Danji University
Technology Institute
No. 690 Jiangchuan Road, Min No. 130 Meilong Road, Shanghai 200237, No.1115 Jianchuan Road, Min Hang,
Hang, Shanghai 200240, China China Shanghai 200240, China
[email protected] [email protected] [email protected]

Abstract - Induction motor required continuous running Several papers [5]-[6] have given research on residual
frequently comes with reclosing process due to interrupted voltagH, rotor current, and mechanical process of induction
supply in power frequency. However, large current and torque of machine at the period from switching off supply to reclosing.
the motor incidentally appear in the process. The paper firstly
analyzes reclosing dynamic process of induction machine at the
But the papers have not given clear mathematical model to
time of the absence supply and presence stator residual voltage. describe the reclosing transient for reducing the impact current
Then, the calculation model of stator residual voltage and rotor and torque.
current at the period from absence supply to reclosing and stator The main target in this paper is to cut down the impact
current and motor torque after reclosing, has been established in current and torque at the reclosing transient. By analyzing the
three-phase stationary reference frame. In order to reduce process from absenting supply to rerunning, the research set
impact current and torque at the reclosing instant, the paper up a corresponding mathematical model. Then according to
analyzes the effect of phase difference of power supply and the model, a method for confirming optimal time for reclosing
residual voltage on the current and torque, and presents a has been presented. Then a simulation of a case verifies the
method of confirming optimal reclosing instant. By a simulating
case, validity of the model and method has been verified, which
validity of the model and feasibility of the method, which
provide a solid base for engineering application. provides effectual basis for engineering application.
II. ANALYZING INTERIM OF ABSENTING SUPPLY AND
Index Terms - Induction Machine, Reclosing, Residual RECLOSING
Voltage, Transient Analysis
A. Period of absenting supply
I. INTRODUCTION When the contactors of the breaker fed the induction
Induction machine bas been widely applied in all fields. machine bound off due to the lower voltage of the power
However due to the fluctuation of power supply, the electrical source, the three-phase currents of stator windings do not
machine is frequently interrupted by the absence of the disappear immediately. Following the conservation law of
external power source in a transient. For many successive magnetic flux, they will sustain by arc discharging. There are
processes, the electrical machine requires to operate again in a two kinds of cases according to the phase at the time of
short time after the power recovery to reduce the losses of switching off. One is that one-phase current is zero, the other
production. two-phase currents are not zero, generally considered that
When the running induction machine loses the power phase A is not zero, and phase B and phase C are not zero.
supply abruptly, magnetic field in the electrical machine can Another is that the three-phase currents are nonzero. For any
not disappear instantly. So the current in the rotor windings one of the two kinds, the three-phase currents will reduce to
can not drop to zero immediately, but decline according to the zero rapidly for the increasing resistance of the contactors.
electromagnetic time constant of circuit loop of the rotor The rotor windings make up closing passive loop.
windings. At the same time the induced voltage appear, which Following the conservation law of magnetic flux, the currents
is called residual voltage [1]-[2]. There are two directions for of rotor windings will change acutely at the transient of losing
the application of residual voltage. One is fault diagnosis of supply. Then they will decline as loose direct currents
the induction machine [3]-[4]. Another is recolsing for according to their electromagnetic time constants. At the same
minimizing the time of rerunning. However, improper time, the electromagnetic energy stored in the windings will
recolsing transient will bring impacts of large current and turn into thermal loss. Moreover electromagnetic torque will
torque, which will make the voltage of power instability and not produce. So the speed of the motor will decrease as the
switch off the supply again, shatter the windings, insulation presence of load torque and inertia torque of the motor.
and bearings of the motor, and disturb the normal producing According to the above analysis of absenting supply, the
process. process can be divided into two steps. The first one is the
process from the action of the breaker to the disappearance of

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the three-phase currents of stator. In the step, the rotor currents ­ t −t
− 1
vary sharply following the conservation law of magnetic flux. °i = i Tr
The second one is the process from the beginning decline of ° a a (t = t1+ )e
°
rotor currents to the time of reclosing. Generally speaking, the ° t −t
− 1
first step is shorter than the second one, and has little effect to ° T
mechanic-electric interim. Therefore neglecting the first step, ®ib = ib(t =t1+ )e r (3)
°
the following analysis begins from the second step[7]. ° t −t
The stator windings are assumed in star connection. And ° − 1
T
the rotor windings as equivalent circuit connect to the stator °ic = ic (t =t1+ )e r
°
windings. At the time of t = 0 , the supply begin to absent. At ¯
the time of t = t1 , the three-phase stator currents turn into In (3) , Tr is the time constant of rotor winding circuit. After
zero, and the slip is s1 . Following the conservation law of the stator currents turn into zero, the electrical torque is zero.
So the kinetic equation of the motor is:
magnetic flux, the rotor currents are: d
­
[
M sr
°ia (t =t1+ ) = ia(t =t1− ) + L i A cosθ + iB cos(θ − 120 )
0
TL + R  + J
dt
=0 (4)
° r In (4), TL is load torque, R is constant of rotating resistance,
°
°
°
]
+ iC cos(θ + 1200 ) t =t − + rr [ib + ic ] t =t −
1
M
Lr 1
 is angular velocity of the rotor, J is moment of inertia.
The residual voltages are:
°
­e A = (1 − s )ω1M sr {ia sin [(1 − s )ω1t + θ ]
°°
®ib(t =t1+ ) = ib(t =t1− ) + [
M sr
Lr
i A cos(θ + 1200 ) + iB cosθ  (1) °
°
° + ib sin[(1 − s )ω1t + θ − 1200 ]
° °
°
° ]
+ iC cos(θ − 1200 ) t = t − + rr [ia + ic ] t =t −
1
M
Lr 1
°
° + ic sin[(1 − s )ω1t + θ + 1200 ] }
° °
°i
° c(t =t1+ ) = −ia(t = t1+ ) − ib (t =t1+ )
°
{
®eB = (1 − s )ω1M sr ia sin[(1 − s )ω1t + θ + 120 ]
0
(5)
°
°¯
In (1), θ is the electrical degree of the axes of the rotor phase
°
°
+ ib sin[(1 − s )ω1t + θ ]+ ic sin[(1 − s )ω1t + θ − 1200 ] }
a winding departure from the axes of the stator phase A °
{
°eC = (1 − s )ω1M sr ia sin[(1 − s )ω1t + θ − 120 ]
0

winding, M sr is the maximum mutual inductance between °

stator winding and rotor winding per phase, Lr is self
°¯ }
+ ib sin[(1 − s )ω1t + θ + 1200 ] + ic sin [(1 − s )ω1t + θ ]

inductance of rotor winding per phase, M rr is the mutual In (5), s is slip, ω1 is angular frequency of power source.
inductance of rotor winding between two phases. When the According to (5), the residual voltage will decrease
magnetic field in air gap distributes as sinusoidal wave, the concomitant with the increase of slip and decrease of speed of
M the rotor.
relation of M rr = − sr exists. The voltage equations of B. Period after reclosing
2
At the time of t = t 2 , the motor reconnects to the supply
rotor windings are:
­ source, and the slip is s 2 , the voltages of the source are:
dia § di di ·
° Rr ia + Lr + M rr ¨ b + c ¸ = 0
­u A = U m sin [ω1 (t − t2 ) + ϕ ]
° dt © dt dt ¹
°
° °
®u B = U m sin[ω1 (t − t 2 ) + ϕ − 120 ]
0
° dib § di di · (6)
® Rr ib + Lr + M rr ¨ a + c ¸ = 0 (2) °
° dt © dt dt ¹
° °uC = U m sin[ω1 (t − t 2 ) + ϕ + 1200 ]
¯
° dic § dia dib ·
° Rr ic + Lr dt + M rr ¨ dt + dt ¸ = 0 In (6), ϕ is the angular of phase A at the time of t = t 2 . The
¯ © ¹
voltage equations of stator winging are:
By (1) through (2), when t > t1 the rotor currents are:
­ di A § di di ·
°u A = Rsi A + Ls + M ss ¨ B + C ¸ + e'A
° dt © dt dt ¹
°
° diB § di di ·
®u B = RsiB + Ls + M ss ¨ A + C ¸ + eB' (7)
° dt © dt dt ¹
°
° diC § di A diB · '
°uC = RsiC + Ls dt + M ss ¨ dt + dt ¸ + eC
¯ © ¹

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In (7), Ls is self inductance of stator winding per phase, M ss reaching the ratio speed, the motor will produce acutely
is the mutual inductance of stator winding between two bidirectional electrical torque. Generally the bigger current
phases. When the magnetic field in air gap distributes as amplitude, the higher impact torque will produce, and the
M sr sharper concussion of the rotor will be. Contrarily the smaller
sinusoidal wave, the relation of M ss = − exists. e 'A , eB' current amplitude, the lower impact torque will produce, and
2
the slighter concussion of the rotor will be.
and eC' are the rotating voltages of stator windings induced by According to above analysis, the key problem of lower
excitation of rotor currents, and they are expressed as eA , eB the impact current and torque is exact calculating the phases of
and eC in (5). The voltage equations of rotor winging are: power voltage and residual voltage, and switch on at the time
when they have equal phase.
­ dia § di di ·
°0 = Rr ia + Lr + M rr ¨ b + c ¸ + sω1M sr IV. SIMULATION AND ANALYSIS
° dt © dt dt ¹

[
In order to verify the validity of the model, the simulation
°
°
°
(
i A sin (sω1t + θ ) + iB sin sω1t + θ − 120 0 ) of reclosing for induction machine has been carried out in

( )]
Simulink of Matlab. The simulating target is a three-phase
° + iC sin sω1t + θ + 1200 induction machine of 2.2Kw rated power. Its main parameter
°
° and running condition lists as table 1.
°0 = R i + L dib + M §¨ dia + dic ·¸ + sω M TABLE I
° rb r
dt
rr
© dt dt ¹
1 sr MAIN PARAMETER AND RUNNING CONDITION OF THE MOTOR
° Rs 2.804 Rr 2.179
°
® [ ( )
i A sin sω1t + θ + 1200 + iB sin (sω1t + θ ) Ls 224.1 mH Lr 224.1 mH
° (8)
°
°
(
+ iC sin sω1t + θ − 1200 )] M sr
Un
213.8 mH
380 V
fn
Tl
50 Hz
12.6 N·m
°
°0 = Rr ic + Lr dic + M rr §¨ dia + dib ·¸ + sω1M sr R 0.0032 N·m/(rad·s-1) J 0.0423 Kg·m2
° dt © dt dt ¹ After the motor operate at steady state, a three-phase
°
[ ( ) ( )
breaker controls the supply to the motor. Fig. 1 shows
° i A sin sω1t + θ − 120 0 + iB sin sω1t + θ + 120 0
° simulating model of reclosing for induction machine.
°
° + iC sin (sω1t + θ )]
°
¯
The electrical torque is:
Te = n p Lsr [(iAia + iBib + iCic )sin(sω1t + θ )

( )
+ (iAib + iBic + iCia )sin sω1t + θ + 1200

+ i i )sin(sω t + θ − 120 )]
+ (iAic + iBia C b 0 Fig. 1 Simulating model of reclosing for induction machine
1 (9) The three-phase breaker switches off at 1.5 second after
The kinetic equation of the motor is: starting simulation. The variation of phase A voltage and
d three-phase rotor currents are shown in fig. 2. It indicates that
TL + R  + J = Te (10)
dt the residual voltage decreases as extending time for absenting
supply. The reason lies in two aspects. One is the decreasing
III. THE OPTIMAL TIME FOR RECLOSING speed of the motor, which due to no electrical torque produced
The time when the phase of power voltages is equal to when the supply absents. Another is the decreasing rotor
the phase of residual voltages are: currents, which decline following the time constant of rotor
windings. At the transient of power switching, the rotor
³t1 [1 − s(t )]ω1dt − ϕ = 2kπ
t2
(k = 0, ± 1, ± 2, !) (11) currents change sharply as for the conservation law of
By (5) to (7), if the reclosing instant meets (11), the magnetic flux. The results comply with (1), (3) and (5).
current amplitude of stator windings is smallest, so impact
current is slightest. If the phase of power voltages is adverse to
the phase of residual voltages, the current amplitude is bigest,
and impact current is heaviest. In other cases, impact current
lies in the slightest to heaviest.
The relations between current, torque, and speed or slip
are complicated. However, one is certain. That is after
reclosing the speed of the motor supplied by constant voltage
and frequency source will increase by (9) and (10). And before Fig. 2 Variation of stator voltage and rotor current absenting supply

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 In order to reduce the effect of declining rotor current and Table 2 Maximum current and scope of torque reclosing at variable phase
difference
speed on impact of current and torque, four special reclosing
phase difference maximum current (A) scope of torque (N·M)
time are selected in a period of variation of phase difference of -900 67.6 -138.4Д68.2
supply voltage and stator residual voltage. At 1.5295 second, 00 48.3 -42.1Д72.2
1.5330 second, 1.5364 second and 1.5398 second, the degree 900 63.5 -252.2Д64.5
of the phase difference are -900, 00, 900 and 1800 respectively. 1800 75.0 -261.5Д65.9
And the simulation results show in fig. 3 to fig. 6.
V. CONCLUSION
In order to meet successive manufacturing, the residual
voltage of induction machine can be applied in reclosing when
absenting supply in transient, which can reduce the starting
time of the motor. At reclosing transient large current and
torque will produce. The impact of current and torque affluent
the safe running of the motor and stability of power net. When
the phase of supply voltage equals to that of residual voltage,
Fig. 3 Reclosing at the time of -900 phase difference reclosing operation can make the maximum current and the
scope of torque minimum.

REFERENCES
[1] Miki Ichiro, Matsuse Kouki, and Nishiyama Sakae, “TRANSIENT
TORQUE CHARACTERISTICS OF INDUCTION MOTORS DUE TO
RAPID RECONNECTION TO VARIABLE FREQUENCY POWER
SUPPLY,” Electrical Engineering in Japan (English translation of Denki
Gakkai Ronbunshi), Vol 100, No 2, pp.57-64, Mar-Apr, 1980
[2] Akiyama, Yuj, “Induction motor residual voltage,” in 1990 IEEE Industry
Fig. 4 Reclosing at the time of 00 phase difference Applications Society Annual Meeting - IAS-25 Part 1 (of 2), Seattle, WA,
USA. Published by IEEE., Oct. 7-12 1990, pp. 24-29
[3] Ma Hongzhong, Huang Yunkai, Hu Qiansheng, Wang Huiqing, “The
analysis and application of residual voltage of AM after AC dump,” in
Proceedings of the Eighth International Conference on Electrical
Machines and Systems, Nanjing, China, Sep 27-29 2005, Vol 1, pp. 86-88
[4] Nandi Subhasis, “Detection of stator faults in induction machines using
residual saturation harmonics,” IEEE Transactions on Industry
Applications, Vol. 42, No. 5, pp. 1201-1208, September/October, 2006
[5] Faiz Jawad, Ghaneei M., and Keyhani A., “Performance analysis of fast
reclosing transients in induction motors,” IEEE Transactions on Energy
Conversion, Vol. 14, No. 1, pp. 101-107, Mar, 1999
Fig. 5 Reclosing at the time of 900 phase difference [6] Zenginobuz G., Cadirci I., Ermis M., and Barlak C., “Soft starting of large
induction motors at constant current with minimized starting torque
pulsations,” IEEE Transactions on Industry Applications, Vol. 37, No. 5,
pp. 1334-1347, September/October, 2001,
[7] Tang Yun-Qiu. Dynamic Analysis of AC Machine in Chinese. Beijing:
Chine Machine Press. 2005.

Fig. 6 Reclosing at the time of 1800 phase difference

Fig. 3 to Fig. 6 indicate that the impact currents and
torque at recolsing transient are several to decades times of
that at normal steady state. And the motor will endure distinct
sharp vibration before running into steady state. Table 2 lists
the maximum current and scope of torque reclosing at variable
phase difference of supply voltage and stator residual voltage
by Fig. 3 to Fig. 6. The table reveals the following conclusion.
When the phase degree is 00, the maximum current and torque
are smallest. When the phase degree is 1800, the maximum
current and torque are biggest. And when the phase degree is
900 or -900, the maximum current and torque lie in the former
two cases.

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