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Induction Machines Handbook
 Electric Power Engineering Series
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Induction Machines Handbook, Third Edition (Two-Volume Set)
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Induction Machines Handbook
Transients, Control Principles,
Design and Testing

Third Edition

Ion Boldea
MATLAB® and Simulink® are trademarks of The MathWorks, Inc. and are used with permission. The MathWorks
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Library of Congress Cataloging‑in‑Publication Data

Names: Boldea, I., author.
Title: Induction machines handbook: steady state modeling and performance / Ion Boldea.
Description: Third edition. | Boca Raton: CRC Press, 2020. |
Series: Electric power engineering | Includes bibliographical references and index. |
Contents: v. 1. Induction machines handbook: steady stat — v.
2. Induction machines handbook: transients
Identifiers: LCCN 2020000304 (print) | LCCN 2020000305 (ebook) |
ISBN 9780367466121 (v. 1 ; hbk) | ISBN 9780367466183 (v. 2 ; hbk) |
ISBN 9781003033417 (v. 1 ; ebk) | ISBN 9781003033424 (v. 2 ; ebk)
Subjects: LCSH: Electric machinery, Induction—Handbooks, manuals, etc.
Classification: LCC TK2711 .B65 2020 (print) | LCC TK2711 (ebook) |
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Contents
Preface.............................................................................................................................................. xv
Author ............................................................................................................................................. xxi

Chapter 1 Induction Machine Transients ...................................................................................... 1

1.1 Introduction ....................................................................................................... 1
1.2 The Phase-Coordinate Model............................................................................ 1
1.3 The Complex Variable Model............................................................................ 4
1.4 Steady State by the Complex Variable Model ................................................... 7
1.5 Equivalent Circuits for Drives ........................................................................... 9
1.6 Electrical Transients with Flux Linkages as Variables ................................... 12
1.7 Including Magnetic Saturation in the Space-Phasor Model ............................ 14
1.8 Saturation and Core Loss Inclusion into the State-Space Model .................... 16
1.9 Reduced-Order
 Models ................................................................................... 21
1.9.1 Neglecting Stator Transients .............................................................. 22
1.9.2 Considering Leakage Saturation ........................................................ 23
1.9.3 Large Machines: Torsional Torque ..................................................... 25
1.10 The Sudden Short Circuit at Terminals ........................................................... 28
1.11 Most Severe Transients (So Far) ...................................................................... 31
1.12 The abc–d-q Model for PWM Inverter-Fed IMs............................................. 34
1.12.1 Fault
 Conditions ................................................................................. 36
1.13 First-Order Models of IMs for Steady-State Stability in Power Systems ....... 39
1.14 Multimachine Transients ................................................................................. 43
1.15 Subsynchronous Resonance (SSR) .................................................................. 44
1.16 The M/Nr Actual Winding Modelling for Transients...................................... 47
1.17 Multiphase Induction Machines Models for Transients .................................. 54
1.17.1 The Six-Phase Machine ...................................................................... 54
1.17.2 The Five-Phase Machine .................................................................... 56
1.18 Doubly Fed Induction Machine Models for Transients ................................... 57
1.19 Cage-Rotor Synchronized Reluctance Motors ................................................ 61
1.20 Cage Rotor PM Synchronous Motors .............................................................. 64
1.21 Summary ......................................................................................................... 65
References .................................................................................................................. 68

Chapter 2 Single-Phase IM Transients........................................................................................ 71

2.1 Introduction...................................................................................................... 71
2.2 The d-q Model Performance in Stator Coordinates ........................................ 71
2.3 Starting Transients........................................................................................... 75
2.4 The Multiple-Reference Model for Transients ................................................ 76
2.5 Including the Space Harmonics....................................................................... 76
2.6 Summary ......................................................................................................... 77
References................................................................................................................... 78

Chapter 3 Super-High-Frequency Models and Behaviour of IMs............................................... 79

3.1 Introduction
 ...................................................................................................... 79
3.2 Three High-Frequency Operation Impedances ............................................... 80

vii
viii Contents

3.3 The Differential Impedance ............................................................................ 82

3.4 Neutral and Common Mode Impedance Models............................................. 84
3.5 The Super-High-Frequency Distributed Equivalent Circuit............................ 87
3.6 Bearing Currents Caused by PWM Inverters.................................................. 91
3.7 Ways to Reduce PWM Inverter Bearing Currents .......................................... 94
3.8 Summary.......................................................................................................... 95
References .................................................................................................................. 96

Chapter 4 Motor Specifications and Design Principles .............................................................. 99

4.1 Introduction ..................................................................................................... 99
4.2 Typical Load Shaft Torque/Speed Envelopes .................................................. 99
4.3 Derating due to Voltage Time Harmonics ..................................................... 102
4.4 Voltage and Frequency Variation .................................................................. 103
4.5 Specifying Induction Motors for Constant V and f ....................................... 103
4.6 Matching IMs to Variable Speed/Torque Loads ........................................... 105
4.7 Design
 Factors................................................................................................ 108
4.7.1 Costs ................................................................................................. 108
4.7.2 Material Limitations......................................................................... 110
4.7.3 Standard Specifications .................................................................... 110
4.7.4 Special Factors ................................................................................. 110
4.8 Design
 Features ............................................................................................. 110
4.9 The Output Coefficient Design Concept ....................................................... 111
4.10 The Rotor Tangential Stress Design Concept ................................................ 117
4.11 Summary ....................................................................................................... 120
References ................................................................................................................ 122

Chapter 5 IM Design below 100 KW and Constant V and f (Size Your Own IM) .................. 123
5.1 Introduction.................................................................................................... 123
5.2 Design Specifications by Example................................................................. 123
5.3 The
 Algorithm ............................................................................................... 124
5.4 Main Dimensions of Stator Core ................................................................... 125
5.5 The Stator Winding ....................................................................................... 127
5.6 Stator Slot Sizing............................................................................................ 129
5.7 Rotor Slots ..................................................................................................... 133
5.8 The Magnetization Current ........................................................................... 137
5.9 Resistances and Inductances ......................................................................... 138
5.9.1 Skewing Effect on Reactances ......................................................... 143
5.10 Losses and Efficiency..................................................................................... 144
5.11 Operation Characteristics .............................................................................. 146
5.12 Temperature
 Rise........................................................................................... 147
5.13 Summary ....................................................................................................... 149
References ................................................................................................................ 150

Chapter 6 Induction Motor Design above 100 KW and Constant V and f

(Size Your Own IM) ................................................................................................. 151
6.1 Introduction
 .................................................................................................... 151
6.2 Medium-Voltage Stator Design...................................................................... 153
6.2.1 Main Stator Dimensions ................................................................... 153
Contents ix

6.2.2 Stator Main Dimensions ................................................................... 155

6.2.3 Core  Construction ............................................................................ 155
6.2.4 The Stator Winding .......................................................................... 157
6.3 Low-Voltage Stator Design ............................................................................ 159
6.4 Deep Bar Cage Rotor Design ........................................................................ 160
6.4.1 Stator Leakage Reactance Xsl........................................................... 160
6.4.2 The Rotor Leakage Inductance Lrl.................................................... 163
6.5 Double-Cage Rotor Design ........................................................................... 166
6.5.1 Working Cage Sizing ....................................................................... 168
6.6 Wound Rotor Design ..................................................................................... 172
6.6.1 The Rotor Back Iron Height ............................................................. 174
6.7 IM with Wound Rotor-Performance Computation ........................................ 175
6.7.1 Magnetization
 mmfs......................................................................... 175
6.7.2 The Airgap Fg ................................................................................... 175
6.7.3 The Stator Teeth mmf ...................................................................... 176
6.7.4 Rotor Tooth mmf (Ftr) Computation................................................. 177
6.7.5 Rotor Back Iron mmf Fcr (as for the Stator) ..................................... 178
6.7.6 The Rotor Winding Parameters ....................................................... 179
6.7.7 The Rotor Slot Leakage Geometrical Permeance Coefficient λsr..... 179
6.7.8 Losses and Efficiency ....................................................................... 181
6.7.9 The Machine Rated Efficiency ηn..................................................... 184
6.7.10 The Rated Slip Sn (with Short-Circuited Slip Rings) ....................... 184
6.7.11 The Breakdown Torque .................................................................... 184
6.8 Summary ....................................................................................................... 185
References................................................................................................................. 186

Chapter 7 Induction Machine Design for Variable Speed......................................................... 187

7.1 Introduction
 ................................................................................................... 187
7.2 Power and Voltage Derating .......................................................................... 189
7.3 Reducing the Skin Effect in Windings .......................................................... 190
7.3.1 Rotor Bar Skin Effect Reduction...................................................... 190
7.4 Torque Pulsations Reduction ......................................................................... 192
7.5 Increasing
 Efficiency ..................................................................................... 193
7.6 Increasing the Breakdown Torque.................................................................. 194
7.7 Wide Constant Power Speed Range via Voltage Management ..................... 197
7.8 Design for High- and Super-High-Speed Applications ................................. 202
7.8.1 Electromagnetic
 Limitations ............................................................ 202
7.8.2 Rotor Cooling Limitations................................................................ 202
7.8.3 Rotor Mechanical Strength............................................................... 203
7.8.4 The Solid Iron Rotor ........................................................................ 203
7.8.5 21 kW, 47,000 rpm, 94% Efficiency with Laminated Rotor.............. 206
7.9 Sample Design Approach for Wide Constant Power Speed Range............... 207
7.9.1 Solution
 Characterization ................................................................. 207
7.10 Summary........................................................................................................ 208
References................................................................................................................. 210

Chapter 8 Optimization Design Issues ..................................................................................... 211

8.1 Introduction ................................................................................................... 211
8.2 Essential Optimization Design Methods ....................................................... 213
x Contents

8.3 The Augmented Lagrangian Multiplier Method (ALMM) ........................... 214

8.4 Sequential Unconstrained Minimization....................................................... 215
8.5 Modified Hooke–Jeeves Method ................................................................... 216
8.6 Genetic
 Algorithms ....................................................................................... 217
8.6.1 Reproduction (Evolution and Selection)............................................ 218
8.6.2 Crossover........................................................................................... 220
8.6.3 Mutation............................................................................................ 220
8.6.4 GA Performance Indices................................................................... 222
8.7 Summary........................................................................................................ 223
References ................................................................................................................ 224

Chapter 9 Single-Phase IM Design ........................................................................................... 227

9.1 Introduction ................................................................................................... 227
9.2 Sizing the Stator Magnetic Circuit................................................................. 227
9.3 Sizing the Rotor Magnetic Circuit ................................................................. 231
9.4 Sizing the Stator Windings ............................................................................ 232
9.5 Resistances and Leakage Reactances ............................................................ 236
9.6 The Magnetization Reactance xmm ................................................................ 239
9.7 The Starting Torque and Current................................................................... 240
9.8 Steady-State Performance around Rated Power ............................................ 241
9.9 Guidelines for a Good Design ....................................................................... 243
9.10 Optimization Design Issues........................................................................... 243
9.11 Two-Speed PM Split-Phase Capacitor Induction/Synchronous Motor.......... 246
9.11.1 Pole-Changing and Using Permanent Magnets ............................... 246
9.11.2 The Chosen Geometry ..................................................................... 247
9.11.3 Experimental
 Results ....................................................................... 248
9.11.4 Theoretical Characterization: Steady-State Model and
Optimal Design �������������������������������������������������������������������������������� 250
9.11.5 Steady-State Model........................................................................... 251
9.11.6 Optimal Design ................................................................................ 251
9.11.7 2D FEM Investigations .................................................................... 254
9.11.8 Proposed Circuit Model for Transients and Simulation Results ...... 254
9.11.9 Conclusion ........................................................................................ 257
9.12 Summary........................................................................................................ 258
References ................................................................................................................ 259

Chapter 10 Three-Phase Induction Generators........................................................................... 261

10.1 Introduction.................................................................................................... 261
10.2 Self-Excited Induction Generator (SEIG) Modelling .................................... 264
10.3 Steady-State Performance of SEIG ............................................................... 265
10.4 The Second-Order Slip Equation Model for Steady State............................. 266
10.5 Steady-State Characteristics of SEIG for Given Speed and Capacitor ......... 273
10.6 Parameter Sensitivity in SEIG Analysis......................................................... 273
10.7 Pole Changing SEIGs .................................................................................... 274
10.8 Unbalanced Steady-State Operation of SEIG................................................ 275
10.8.1 The Delta-Connected SEIG ............................................................. 275
10.8.2 Star-Connected SEIG ....................................................................... 277
10.8.3 Two Phases Open ............................................................................. 278
Contents xi

10.9 Transient Operation of SEIG........................................................................ 281

10.10 SEIG Transients with Induction Motor Load............................................... 282
10.11 Parallel Operation of SEIGs ........................................................................ 284
10.12 The Doubly Fed IG (DFIG) Connected to the Grid .................................... 285
10.12.1 Basic Equations............................................................................. 285
10.12.2 Steady-State Operation................................................................. 287
10.13 DFIG Space-Phasor Modelling for Transients and Control ........................ 290
10.14 Reactive-Active Power Capability of DFIG ................................................ 292
10.15 Stand-alone DFIGs ...................................................................................... 293
10.16 DSW Cage and Nested-Cage Rotor Induction Generators.......................... 297
10.17 DFIG with Diode-Rectified Output ............................................................. 301
10.18 Summary ..................................................................................................... 303
References ................................................................................................................ 305

Chapter 11 Single-Phase Induction Generators .......................................................................... 307

11.1 Introduction
 .................................................................................................. 307
11.2 Steady-State Model and Performance.......................................................... 308
11.3 The d-q Model for Transients ...................................................................... 313
11.4 Expanding the Operation Range with Power Electronics ........................... 314
11.5 Summary ..................................................................................................... 315
References ................................................................................................................ 315

Chapter 12 Linear Induction Motors........................................................................................... 317

12.1 Introduction ................................................................................................. 317
12.2 Classifications and Basic Topologies ........................................................... 319
12.3 Primary Windings ....................................................................................... 321
12.4 Transverse Edge Effect in Double-Sided LIM ............................................ 323
12.4.1 The Transverse Edge Effect Correction Coefficients ................... 327
12.5 Transverse Edge Effect in Single-Sided LIM.............................................. 329
12.6 A Technical Theory of LIM Longitudinal End Effects .............................. 331
12.7 Longitudinal End-Effect Waves and Consequences.................................... 333
12.8 Secondary Power Factor and Efficiency ...................................................... 337
12.9 The Optimum Goodness Factor .................................................................. 338
12.10 Linear Flat Induction Actuators (No Longitudinal End Effect) .................. 338
12.10.1 The Equivalent Circuit ................................................................. 339
12.10.2 Performance Computation ........................................................... 340
12.10.3 Normal Force in Single-Sided Configurations ............................. 341
12.10.4 A Numerical Example................................................................... 342
12.10.5 Design Methodology by Example................................................. 342
12.10.6 The Ladder Secondary ................................................................. 346
12.11 Tubular LIAs................................................................................................ 348
12.11.1 A Numerical Example .................................................................. 350
12.12 Short-Secondary Double-Sided LIAs.......................................................... 352
12.13 Linear Induction Motors for Urban Transportation .................................... 353
12.13.1 Specifications ............................................................................... 353
12.13.2 Data from Past Experience ........................................................... 354
12.13.3 Objective Functions ...................................................................... 354
12.13.4 Typical Constraints....................................................................... 354
xii Contents

12.13.5 Typical Variables .......................................................................... 354

12.13.6 The Analysis Model ..................................................................... 355
12.13.7 Discussion of Numerical Results ................................................. 355
12.14 Transients and Control of LIMs .................................................................. 357
12.15 LIM Control with Dynamic Longitudinal End Effect ................................ 359
12.16 Electromagnetic Induction Launchers ......................................................... 360
12.17 Summary ..................................................................................................... 362
References ................................................................................................................ 364

Chapter 13 Testing of Three-Phase IMs ..................................................................................... 367

13.1 Loss Segregation Tests ................................................................................ 367
13.1.1 The No-Load Motor Test.............................................................. 368
13.1.2 Stray Losses from No-Load Overvoltage Test ............................. 370
13.1.3 Stray Load Losses from the Reverse Rotation Test...................... 370
13.1.4 The Stall Rotor Test...................................................................... 371
13.1.5 No-Load and Stall Rotor Tests with PWM Converter Supply...... 372
13.1.6 Loss Measurement by Calorimetric Methods............................... 374
13.2 Efficiency
 Measurements ............................................................................ 376
13.2.1 IEEE Standard 112–1996 ............................................................. 377
13.2.2 IEC Standard 34–2 ....................................................................... 377
13.2.3 Efficiency Test Comparisons ........................................................ 378
13.2.4 The Motor/Generator Slip Efficiency Method ............................. 378
13.2.5 The PWM Mixed-Frequency Temperature Rise and
Efficiency Tests (Artificial Loading) �������������������������������������������� 381
13.2.5.1 The Accelerating–Decelerating Method ....................... 381
13.2.5.2 The PWM Dual Frequency Test ................................... 384
13.3 The Temperature-Rise Test via Forward Short-circuit (FSC) Method ....... 386
13.4 Parameter Estimation Tests ......................................................................... 389
13.4.1 Parameter Calculation from No-Load and Standstill Tests ......... 391
13.4.2 The Two-Frequency Standstill Test.............................................. 393
13.4.3 Parameters from Catalogue Data ................................................. 393
13.4.4 Standstill Frequency Response Method ....................................... 395
13.4.5 The General Regression Method for Parameters Estimation........ 399
13.4.6 Large IM Inertia and Parameters from Direct Starting
Acceleration and Deceleration Data ��������������������������������������������� 404
13.5 Noise and Vibration Measurements: From No Load to Load ..................... 409
13.5.1 When On-Load Noise Tests Are Necessary? ............................... 409
13.5.2 How to Measure the Noise On-Load............................................ 409
13.6 Recent Trends in IM Testing ....................................................................... 411
13.7 Cage-PM Rotor Line-Start IM Testing ....................................................... 411
13.8 Linear Induction Motor (LIM) Testing........................................................ 412
13.9 Summary ..................................................................................................... 413
References................................................................................................................. 416

Chapter 14 Single-Phase IM Testing........................................................................................... 419

14.1 Introduction ................................................................................................. 419
14.2 Loss Segregation in Split-Phase and Capacitor-Start IMs .......................... 420
14.3 The Case of Closed Rotor Slots ................................................................... 425
14.4 Loss Segregation in Permanent Capacitor IMs ........................................... 426
Contents xiii

14.5 Speed (Slip) Measurements ......................................................................... 426

14.6 Load Testing ................................................................................................ 426
14.7 Complete Torque–Speed Curve Measurements........................................... 427
14.8 Summary ..................................................................................................... 429
References ................................................................................................................ 430

Index............................................................................................................................................... 431
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Preface
MOTIVATION
The 2010–2020 decade has seen notable progress in induction machine (IM) technology such as

• Extension of analytical and finite element modelling (FEM) for better precision and
performance
• Advanced FEM-assisted optimal design methodologies with multi-physics character
• Introduction of upgraded premium efficiency IM international standards
• Development and fabrication of copper cage rotor IMs drives for traction on electric
vehicles
• Extension of wound rotor induction generators (WRIGs) or doubly fed induction genera-
tors (DFIGs) with partial ratings A.C.–D.C.–A.C. converters in wind energy conversion
and to pump storage reversible power plants (up to 400 MVA/unit)
• Extension of cage-rotor induction generators with full-power PWM converters for wind
energy conversion (up to 5 MVA/unit)
• Development of cage (or nested cage)-rotor dual stator winding induction generators/
motors with partial ratings power electronics for wind energy and vehicular technologies
(autonomous operation)
• Development of line-start premium efficiency IMs with cage rotor, provided with PMs and
(or) magnetic saliency for self-synchronization and operation at synchronism (three phase
and single phase), for residential applications, etc.
• Introduction of multiphase (m > 3) IMs for higher torque density and more fault-tolerant
electric drives.

All the above, reflected in a strong increase of line-start IMs and variable-speed IM motor and
generator drives markets, have prompted us to prepare a new (third) edition of this book.

Short DeScription
As a way to mediate between not discomforting the readers/users of second edition, but still bring/
add, wherever thought, proper, recent/representative knowledge, the titles of chapters from the
second edition in this volume have been kept almost the same but reordered/corrected/improved
and enhanced also with recent “knowledge pills” as new sections such as
Chapter 1/1.17 Multiphase induction machines models for transients
Chapter 1/1.18 Doubly fed induction machine models for transients
Chapter 1/1.19 Cage-rotor synchronized reluctance motors
Chapter 1/1.20 Cage-rotor-PM synchronous motors
Chapter 9/9.11 Two-speed PM split-phase capacitor induction/synchronous motor
Chapter 10/10.9 Transient operation of SEIG
Chapter 10/10.13 DFIG space-phasor modelling for transients and control
Chapter 10/10.14 Reactive-active power capability of DFIG
Chapter 10/10.15 Dual stator winding cage and nested cage-rotor induction generators
Chapter 10/10.16 DFIGs with diode-rectified output
Chapter 12/12.15 LIM control with dynamic longitudinal end effect
Chapter 13/13.6 Recent trends in IM testing
Chapter 13/13.7 Cage PM-rotor line start IM testing
Chapter 13/13.8 Linear induction motor (LIM) testing

xv
xvi Preface

Although efforts have been made to make all chapters rather self-sufficient within volume II, there
is still a notable quantity of knowledge – expressions of parameters especially – from volume I, to
reduce the text length.
Finally, the large number of numerical examples and representative graphic results from litera-
ture, processed and quoted exhaustively, should offer the reader solid understanding of phenomena
with quantitative back-up as well as inspiration for follow-up work.

contentS
Chapter 1: “Three and Multiphase Induction Machine Transients”/70 pages
To investigate IM transients or their control system design, rotor – position – independent
machine inductance models are required, to simplify the mathematics. This is how the d-q for two
phase and three phase – orthogonal space phasor – models have been developed 100 years ago from
the phase –coordinate models, whose stator – rotor coupling inductances do depend on rotor posi-
tion (to secure non-zero average torque production).
A zero sequence component is added for full power and loss equivalence. For five, six, nine
phases multiple orthogonal (d-q) models with multiple zero sequence components are required.
The chapter derives the d-q model of three phase IMs from the phase coordinate model by the so
called Park transformation directly in space phasor (complex variable) form in general coordinates
(the airgap is ideally constant) if the slot openings are neglected or considered globally (as an airgap
increase, by the Carter coefficient Kc > 1).
The steady state equivalent circuit and space phasor diagram are derived first and illustrated via
a numerical example.
Then a fairly general structural diagram with stator and rotor flux linkage and space phasors as
variables, valid at given speed (slip) is derived and proven to yield analytical solutions for transients
in the form of complex eigen values. Magnetic saturation was introduced also in the d-q (space pha-
sor) model together with core loss via a numerical example of transients which shed more light on
the first milliseconds after a transient initiation behaviour of IM, with further decoupling of d-q axis
needed for field oriented control (FOC).
Finally, recent models for transients of multiphase IMs, IMs with dual stator windings and regu-
lar or nested cage rotor and for PM assisted cage rotor IMs (for premium efficiency), are given in
new Sections 1.17–1.20 to hopefully inspire the diligent reader to further self-study and application.
Chapter 2: “Single-Phase Source-Fed IM Transients”/8 pages
The d-q model as applied to starting and load transients for the single phase source (split – phase
capacitor) IM via a MATLAB program is unfolded here in a dedicated specialized small chapter
to facilitate the interested reader in this subject a quick introduction orientation. Multiple reference
(+−, f-b) modelling for transients and the inclusion of space harmonics is added to serve in advanced
studies.
In general the possible asymmetry of stator windings of split-phase capacitor IM with cage (or
cage +PM) rotor leads to the use of stator coordinates in pertinent orthogonal models.
Chapter 3: “Super-High Frequency Models and Behaviour of IMs/21 pages
Fast electric (voltage) transients (in the microseconds range), typical to atmospheric discharges and
to voltage steep repetitive pulses of PWM static power converters with long power cables in variable
speed motor/generator drives, require totally different models to describe properly the response of
IMs to them.
A 2–3 p.u. voltage amplification was measured in long cable PWM-converter fed IM variable
speed drives; also, specific bearings stray currents and shaft voltages with detrimental effects have
been met in variable speed drives. The chapter treats these aspects discerning line (Zm), -differential -,
neutral (Zon) ground (common made, Zog) impedances for high (converter switching) frequency range,
via circuit models and frequency responses. The distributed equivalent circuit for high frequency is
Preface xvii

described with FEM calculations. Finally, the bearing currents caused by PWM converter and ways
to reduce them, are presented.
Chapter 4: “Motor Specifications and Design Principles”/24 pages
Typical specifications (in numbers) are basis for any design (dimensioning) of IM. Typical load
speed/torque profiles are given also; derating due voltage time harmonics, voltage and frequency
variations, specifications for constant voltage and frequency (V and f), matching the IM with the
given variable speed load, design factors, design features and the output coefficient and rotor tan-
gential stress design concepts are treated in detail.
Coefficients, with numerical examples, are introduced to create a solid basis for IM dimensioning.
Chapter 5: “IM Design below 100 kW and Constant V1&f1”/28 pages
An analytical nonlinear circuit model – based IM dimensioning rather complete sequence, with
included starting current, torque, peak torque (in p.u.) and rated power factor and efficiency with
limited winding over temperature for given equivalent heat transmission (convection) coefficient
defined for the outer area of stator laminations (stack) is followed step by step through a case study
in order to grasp the fundamentals of electromagnetic IM design.
The design methodology introduced in this chapter may serve as preliminary design in industry
and/or as an initial design in developing optimal design methodologies (codes).
Chapter 6: “Induction Motor Design above 100 kW and Constant V1&f1”/38 pages
Induction machines above 100 kW are built at low (up to 690 Vline-RMS) and medium (up to or
even more than 6 kVline-RMS) voltage, with cage or wound rotor.
The present chapter develops an IM electromagnetic design sequence for 736 kW, V1n = 4 kV(s),
f1 = 60 Hz, 2p1 = 4 pole, m = 3 phases in quite a few rotor variants: deep bar rotor, dual cage rotor,
and, respectively, wound rotor (V2l = 644 V, star connection), including performance calculation for
the latter case yielding an efficiency of 0.946 for a rather slip sn = 1.57%. In general, when used for
variable speed, the WRIG is expected to a much higher maximum slip.
So, if the maximum rotor voltage equals the stator rated voltage at Smax, then the rotor number of
turns /coil and the conductor cross – section (and current) are modified accordingly for around 0.3
p.u. rotor power capability.
The presented methodology avoids iterations and thus may constitute a solid preliminary design
tool that requires a small computation time, while being fully intuitional and thus very useful to the
young reader/designer in the field.
Chapter 7: “Induction Machine Design Principles for Variable Speed”/26 pages
The complex process of designing a variable speed IM to meet performance/cost and torque/
speed envelops per given D.C. input voltage (current) to the inverter is treated in this chapter by
introducing key principles for electromagnetic design such as: general drives, constant power speed
range (CPSR), power and voltage derating (due to the PWM converter supply), reducing skin effect
in windings – especially in the rotor bars, torque pulsation reduction methods, increasing efficiency
and breakdown torque, voltage management for wide constant power range (CPSR) design for high
and super – high speed (a 21 kW, 47 krpm, 94% efficiency IM sample design, for wide CPSR is
included).
Chapter 8: “Optimization Design Issues”/15 pages
Again, the “optimization design”, an art of itself, has been “reduced” here to a solid intro-
duction of key issues related to specifications, single multi-dimensional objective function and the
constraint function, variable vector and its range for the case in point, the machine model and the
mathematical search method for finding of the global optimum geometry of IM. Four essential opti-
mization methods (algorithms) are selected for orientative presentation here: augmented Lagrangian
multiplier method, sequential unconstraint minimization, modified Hooke – Jeeves method and
genetic algorithms. For the last two methods and IM, dedicated chapters with MATLAB computer
programs on-line are available in [24]; more information on FEM based optimization design of IMs
may be found in [25–27].
xviii Preface

Chapter 9: “Single-Phase IM Design”/36 pages

Given the single (split) phase capacitor IM peculiarities and low power applications, this chapter
is dedicated to the young reader designer centred on this subject.
A general/preliminary electromagnetic design (dimensioning) of a split phase capacitor induc-
tion motor is offered via a case study at 186. 5 W, 115 V, 60 Hz, 2p1 = 4 poles, dealing with: sizing
the stator and rotor magnetic circuits, sizing of stator windings (for quasi – sinusoidal mmf), resis-
tances and leakage reactances, steady state performance around rated power, optimization design
issues via a case study.
Finally, the design of a PM assisted cage rotor split phase capacitor IM is presented in some
detail as it is credited for premium efficiency but with conflicting starting performance require-
ments (new).
Chapter 10: “Three-Phase Induction Generators”/49 pages
This chapter concentrates mainly on self (capacitor) excited cage rotor induction generator cred-
ited with good performance in small and medium power applications.
Issues such as IG classification, self-excited IG (SEIG) modelling, SEIG steady state perfor-
mance, second order slip equation model for SEIG with numerical example, SEIG performance for
constant speed and capacitors, unbalanced steady state operation of SEIG, SEIG transients with IM
motor load, parallel operation of SEIGs are all treated in this chapter.
Also, the WRIG (or DFIG) with slip rings and brushes to connect a partial (smax) p.u. PWM
D.C.–D.C.–A.C.
­ converter to the rotor is characterized.
Finally, in notable length new Sections 10.13–10.15 dual stator winding cage and nested – cage
rotor IGs are treated together with DFIG with variable stator frequency and diode rectified output,
credited with high potential in wind energy (with H(M)VDC interfacing) and for D.C. power bus
vehicular(aircraft, marine vessel etc.) power systems.
Chapter 11: “Single-Phase Induction Generators”/10 pages
This short chapter, intended for the selective reader, deals with:
Single phase SEIGs topologies, steady state modelling performance, the d-q model via a case study
and a battery fed inverter excited single phase IG with parallel output A.C. capacitor for variable speed
bidirectional inverter power flow, to increase the power – speed range and reduce voltage regulation.
The rather complete model for steady state, with asymmetric stator orthogonal windings, empha-
sizing the role of magnetic saturation and the V-I characteristics with capacitors in both windings
offer solid ground for application oriented industrial designs.
Chapter 12: “Linear Induction Motors (LIMs)”/51 pages
This is an extended review on steady state and transients modelling and performance of three
phase LIMs with flat and tubular topologies, considering the transverse edge and dynamic lon-
gitudinal effects (including their coefficients in control: in a new Section 12.15 with numerical
examples and data all over the place, to enforce quick assimilation of knowledge (more on LIMs,
for transportation, especially).
Chapter 13: “Testing of Three Phase IMs”/56 pages
This rather comprehensive chapter follows in good part the international standards in use and
adds nuances to virtual load testing and free acceleration – deceleration testing to offer a rounded
view on a dynamic technology in full swing.
Loss segregation tests, stray load losses from no load overvoltage test and from reverse rotation
test, no load and stall rotor tests with PWM converter (variable frequency and voltage) supply, calo-
rimetric loss measurement, efficiency measurement, standard IEEE 1/2 – 1996, IEC – standard 34-2,
efficiency test comparisons, motor/generator slip efficiency method, mixed frequency artificial (vir-
tual) load testing with PWM converter supply, the slow free acceleration and deceleration testing – for
parameters and efficiency measurement in medium/high power IMs, parameter (Ri, Li) estimation
from no-load and standstill, two frequency, catalogue data, standstill frequency testing and by general
regression methods, noise measurements, are all treated in this rather comprehensive chapter.
Preface xix

To bring some very recent knowledge, new Sections 13.6 and 13.7 refer to very recent innovative
IM testing sequences.
Chapter 14: “Single-Phase IM Testing”/12 pages
This short chapter deals with single phase IM testing as it is quite different from the three phase
IM testing and has been given far less attention by Academia and Industry. The main issue treated
hereby is the loss segregation tests of single phase IM based on a method developed by the now
legendary C. G. Veinott in 1935 and unsurpassed until today (in our opinion). Reference is made to
[5] where the method is extended /adopted for the cage – PM rotor IM of premium efficiency.

Timisoara, 2019

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Taylor & Francis
Taylor & Francis Group
http://taylorandfrancis.com
Author
Ion Boldea, IEEE Life Fellow and Professor Emeritus at University Politehnica Timisoara,
Romania, has taught, did research, and published extensively papers and books (monographs and
textbooks) over more than 45 years, related to rotary and linear electric motor/generator variable
speed drives, and maglevs. He was a visiting professor in the USA and UK for more than 5 years
since 1973 to present.
He was granted four IEEE Best Paper Awards, has been a member of IEEE IAS, IE MEC, and
IDC since 1992, was the guest editor of numerous special sections in IEEE Trans, vol. IE, IA, deliv-
ered keynote addresses at quite a few IEEE-sponsored International Conferences, participated in
IEEE Conference tutorials, and is an IEEE IAS distinguished lecturer since 2008 (with lecture in
the USA, Brasil, South Korea, Denmark, Italy, etc.). He held periodic intensive graduate courses for
Academia and Industry in the USA and Denmark in the last 20 years.
He was a general chair of ten biannual IEEE-sponsored OPTIM International Conferences
(www.info-optim.ro) and is the founding and current chief editor, since 2000, of the Internet-only
Journal of Electrical Engineering, “www.jee.ro”.
As a full member of Romanian Academy, he received the IEEE-2015 “Nikola Tesla Award” for
his contributions to the development of rotary and linear electric motor/generator drives and maglevs
modelling, design, testing, and control in industrial applications.

xxi
Taylor & Francis
Taylor & Francis Group
http://taylorandfrancis.com
 1 Induction Machine Transients

1.1 INTRODUCTION
Induction machines (IMs) undergo transients when voltage, current, and/or speed undergo changes.
Turning on or off the power grid leads to transients in induction motors.
Reconnecting an IM after a short-lived power fault (zero current) is yet another transient. Bus
switching for high-power IMs feeding urgent loads also qualifies as large deviation transients.
Sudden short circuits, at the terminals of large induction motors, lead to very large peak transient
currents and torques. On the other hand, more and more induction motors are used in variable speed
drives with fast electromagnetic and mechanical transients.
So, modelling transients is required for power-grid-fed (constant voltage and frequency) and
pulse width modulation (PWM) converter-fed IM drives control.
Modelling the transients of IMs may be carried out through circuit models or through coupled
field/circuit models (through finite element modelling or FEM). We will deal first with phase-
coordinate abc model with inductance matrix exhibiting terms dependent on rotor position.
Subsequently, the space-phasor (d–q) model is derived. Both single- and double-rotor circuit
models are dealt with. Saturation is included also in the space-phasor (d–q) model. The abc–d-q
model is then derived and applied, as it is adequate for nonsymmetrical voltage supplies and for
PWM converter-fed IMs.
Reduced-order d–q models are used to simplify the study of transients for low- and high-power
motors, respectively.
Modelling transients with the computation of cage bar and end-ring currents is required when
cage and/or end-ring faults occur. Finally, the FEM-coupled field circuit approach is dealt with.
Autonomous generator transients are left out as they are treated in Chapter 10 dedicated to induc-
tion generators (IGs) (in Volume 2).

1.2 THE PHASE-COORDINATE MODEL

The IM may be viewed as a system of electric and magnetic circuits which are coupled magnetically
and/or electrically.
An assembly of resistances, self-inductances and mutual inductances is thus obtained. Let us first
deal with the inductance matrix.
A symmetrical (healthy) cage may be replaced by a wound three-phase rotor [2]. Consequently,
the IM is represented by six circuits (phases) (Figure 1.1). Each of them is characterized by a
self-inductance and five mutual inductances.
θe r

ar
c
br
b ωr c

FIGURE 1.1 Three-phase IM with equivalent wound rotor.

1
2 Induction Machines Handbook

The stator- and rotor-phase self-inductances do not depend on rotor position if slot openings
are neglected. Also, mutual inductances between stator phases and rotor phases do not depend on
rotor position. A sinusoidal distribution of windings is assumed. Finally, stator/rotor-phase mutual
inductances depend on rotor position (θer = p1θr).
( )
The induction matrix, L abca b c θer is
r r r

[ Laa Lab L ac L aa L ab Lac ]

| r r r |
| L L bb L bc L ba L bb L bc |
| ab r r r |
| L L bc L cc L ca L cb L cc |
ac
]=| |
[L
[| abca b c
r r r
( )
θ er ]| | L L ba L ca La a
r
La b
r
La c
r
| (1.1)
| aa r r r r r r r r r |
| L L bb L cb La b Lb b Lb c |
| abr r r r r r r r r |
| L L bc L cc La c Lb c Lc c |
| ac r r r r r r r r r |
[ ]

with

Laa = L bb = L cc = L ls + L ms ; L ab = Lac = L bc = − Lsm 2;

Laa = L bb = L cc = Lsrm cos θer ; L a a = L b b = L c c = Lrlr + Lrrm ;

r r r r r r r r r
2π (1.2)
L c a = La b = L b c = L srm cos )| θer − )| ; L a b = L a c = L b c = − Lrrm 2;
r r r ( 3 ) r r r r r r
2π
L c b = L b a = L a c = L srm cos | θer + )|
)
r r r ( 3 )

Assuming a sinusoidal distribution of windings, it may be easily shown that

Lsrm = L sm ⋅ Lrrm (1.3)

Reducing the rotor to stator is useful especially for cage-rotor IMs, as no access to rotor variables
is available.
In this case, the mutual inductance becomes equal to self-inductance Lsrm → Lsm and the rotor
self-inductance equal to the stator self-inductance Lrrm → L sm .
To conserve the fluxes and losses, with stator-reduced variables,

iar i br i cr L srm
= = = = K rs (1.4)
r
iar i rbr i rcr Lsm

r
Var Vbr Vcr iar ir ir 1
= = = = br = cr = (1.5)
r r r
Var Vbr Vcr iar i br i cr K rs

R r L lr 1
= = (1.6)
R rr Lrlr K 2rs
The expressions of rotor resistance R r and leakage inductance Llr, both reduced to the stator for both cage and wound rotors, are given in Chapter 6, Vol. 1.
The same is true for Rs and Lls. The magnetization self-inductance Lsm has been calculated in Chapter 5, Vol. 1.
Now, the matrix form of phase-coordinate (variable) model is

d
[V] = [R][i] + [Ψ ]
dt
T
[V] = [ Va ,Vb ,Vc ,Va r ,Vbr ,Vcr ]
(1.7)
T
[i] = [ i a , i b , i c , i a r , i br , i cr ]
Induction Machine Transients

[R] = Diag [ R s , R s , R s , R r , R r , R r ]

[Ψ ] =  L abca b c θer  [i] ( ) (1.8)

 r r r 

L θ =
( )
 abca r br c r er 
 2π   2π  
 L ls + Lsm − Lsm 2 − L sm 2 Lsm cos θer Lsrm cos  θer +  Lsrm cos  θer −  
  3   3  
  2π   2π  
 − Lsm 2 L ls + L sm − L sm 2 Lsrm cos  θer −  Lsm cos θer Lsrm cos  θer +  
  3   3  
  2π   2π  
 − L sm 2 − Lsm 2 L ls + L sm L srm cos  θer +  L srm cos  θer −  Lsm cos θer  (1.9)
  3   3  
  2π   2π  
 Lsm cos θer L srm cos  θer −  L srm cos  θer +  L ls + L sm − Lsm 2 − Lsm 2 
  3   3  
 2π  2π  
 L srm cos  θer +  Lsm cos θer L srm cos  θer −  − Lsm 2 L ls + L sm − Lsm 2 
  3   3  
 2π  2π  
 Lsrm cos  θer −  Lsrm cos  θer +  L sm cos θer − Lsm 2 − L sm 2 L ls + L sm 
 3   3 
3

 
4 Induction Machines Handbook

with (1.8), (1.7) becomes

  ∂L   d[i] d[L] dθer

[V] = [R][i] +  [L] +   [i] + [i] (1.10)
  ∂i   dt dθer dt

Multiplying (1.10) by [i]T, we get

d 1 T 1 T d
[i]T [V] = [i]T R[i] +  [L][i][i]  + [i] [L][i]ω r (1.11)
dt 2 2 dθer

where the first term represents the winding losses, the second, the stored magnetic energy variation,
and the third, the electromagnetic power, Pe.

ω r 1 T d[L]
Pe = Te = [i] [i]ω r (1.12)
p1 2 dθer

The electromagnetic torque Te is

1 d[L]
Te = p1[i]T [i] (1.13)
2 dθer
The motion equation is

J dω r dθer
= Te − Tload ; = ωr (1.14)
p1 dt dt

An eight-order nonlinear model with time-variable coefficients (inductances) has been obtained,
even with core loss neglected.
Numerical methods are required to solve it, but the computation time is prohibitive. Consequently,
the phase-coordinate model is to be used only for special cases as the inductance and resistance
matrices may be assigned any amplitude and rotor position dependencies.
The complex or space vector variable model is now introduced to get rid of rotor position depen-
dence of parameters.

1.3 THE COMPLEX VARIABLE MODEL

Let us use the following notations:

2π
j 2π 4π
a=e 3 ; cos = Re[a]; cos = Re a 2 
3 3
(1.15)
2π 4π
cos  θer +  = Re ae jθer  ; cos  θer +  = Re a 2 e jθer 
 3   3 
Based on the inductance matrix, expression (1.9), the stator phase a and rotor-phase a r flux linkages,
Ψa and Ψar, are

( )
Ψ a = L ls i a + L sm Re  i a + ai b + a 2 i c  + L sm Re  i a r + ai br + a 2 i cr e jθer  (1.16)

( )
Ψ a r = L lr i a r + L sm Re  i a r + ai br + a 2 i cr  + L sm Re  i a + ai b + a 2 i c e − jθer  (1.17)
Induction Machine Transients 5

We may now introduce the following complex variables as space phasors [1]:

2
s
is =
3
(
i a + ai b + a 2 i c ) (1.18)

2
r
ir =
3
(
i a r + ai br + a 2 i cr ) (1.19)

Also,

()
Re i s = i a −
s 1
3
( ia + i b + ic ) (1.20)

() r
Re i r = i a r −
1
3
( i a r + i br + i c r ) (1.21)

In symmetric steady-state and transient regimes (or for star connection of phases),

i a + i b + i c = i a r + i br + i c r = 0 (1.22)

With the above definitions, Ψa and Ψar become

() s
(
Ψ a = L ls Re i s + L m Re i s + i r e jθer ; L m =
s r
) 3
2
L sm (1.23)

() r
Ψ a r = L lr Re i r + L m Re i r + i s e − jθer ( r s
) (1.24)

Similar expressions may be derived for phases br and cr. After adding them together, using the
complex variable definitions (1.18) and (1.19) for flux linkages and voltages, we also obtain

s
s s dΨ s s s r
Vs = R s is + ; Ψ s = L s i s + L m i r e jθer
dt
(1.25)
r
r dΨ rr r r s
V =R i +
r r r; Ψ r = L r i r + L m i s e − jθer
dt
where

L s = L sl + L m ; L r = L rl + L m (1.26)

2 2
s
Vs =
3
( r
)
Va + aVb + a 2 Vc ; V r = Va r + aVbr + a 2 Vcr
3
( ) (1.27)

In the above equations, stator variables are still given in stator coordinates and rotor variables in
rotor coordinates.
Making use of a rotation of complex variables by the general angle θb in the stator and θb − θer in
the rotor, we obtain all variables in a unique reference rotating at electrical speed ωb

dθ b
ωb = (1.28)
dt
6 Induction Machines Handbook

s b s b s b
Ψ s = Ψ s e jθb ; i s = i s e jθb ; V s = V s e jθb
(1.29)
Ψ r = Ψ r e j(θb −θer ); 1 i r = i r e j(θb −θer ); V r = V r e j (θb −θer )
r b r b r b

With these new variables, Equations (1.25) become

dΨ s
Vs = R s is + + jω b Ψ s ; Ψ s = L s i s + L m i r
dt
(1.30)
dΨ r
Vr = Rr ir + + j( ω b − ω r ) Ψ r ; Ψ r = L r i r + L m i s
dt

For convenience, the superscript b was dropped in (1.30). The electromagnetic torque is related to
motion-induced voltage in (1.30).

Te =
3
2
( *
) 3
(
*
⋅ p1 ⋅ Re j ⋅ ψ s ⋅ i s = − ⋅ p1 ⋅ Re j ⋅ ψ r ⋅ i r
2
) (1.31)

Adding the equations of motion, the complete complex variable (space-phasor) model of IM is
obtained.
J dω r dθer
= Te − Tload ; = ωr (1.32)
p1 dt dt

The complex variables may be decomposed in a plane along two orthogonal d and q axes rotating
at speed ωb to obtain the d–q (Park) model [2].

V s = Vd + j ⋅ Vq ; i s = i d + j ⋅ i q ; Ψ s = Ψ d + j ⋅ Ψ q
(1.33)
V r = Vdr + j ⋅ Vqr ; i r = i dr + j ⋅ i qr ; Ψ r = Ψ dr + j ⋅ Ψ qr

With (1.33), the voltage equations (1.30) become

dΨ d
= Vd − R s ⋅ i d + ω b ⋅ Ψ q
dt
dΨ q
= Vq − R s ⋅ i q − ω b ⋅ Ψ d
dt
dΨ dr
= Vdr − R r ⋅ i dr + ( ω b − ω r ) ⋅ Ψ qr (1.34)
dt
dΨ qr
= Vqr − R r ⋅ i qr − ( ω b − ω r ) ⋅ Ψ dr
dt
3 3
Te = P1 ( Ψ d i q − Ψ q i d ) = P1L m ( i q i dr − i d i qr )
2 2
Also from (1.27) with (1.19), the Park transformation for stator P(θb) is derived.

 Vd   Va 
   
 Vq  =  P ( θ b ) ⋅  Vb  (1.35)
 V   Vc 
 0   
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