Stator Winding Induction Motor in The EMTP
Stator Winding Induction Motor in The EMTP
Stator Winding Induction Motor in The EMTP
I. INTRODUCTION
A. Assumptions
The DSIM is designed as an electromechanical system
composed on the stator side by two wye three-phase windings,
which are grounded through two separate neutral impedances,
referred to as stator 1 and stator 2 and on the rotor side by a
common squirrel cage. The squirrel cage is replaced by an
equivalent three-phase winding. The DSIM is depicted in
Figure 1.
The modeling of this motor uses the following assumptions:
unsat
dr = Lunsat
m ids1 + Lm ids 2 + Lrr idr + md
(16)
Where
b1
a2
md , mq
Rn , Ln
ar
b2
br
a1
cr
d m
= Tem kd m Tload
dt
c1
Tem =
c2
(9)
unsat
ds1 = Lss ids1 + Lunsat
m ids 2 + Lm idr + md
0 s1 = (l s + 3Ln )i0 s1
(11)
qs 2 = Lss iqs 2 +
+ mq
(12)
unsat
ds 2 = Lss ids 2 + Lunsat
m ids1 + Lm idr + md
0 s 2 = (l s + 3Ln )i0 s 2
(14)
unsat
qr = Lunsat
m iqs1 + Lm iqs 2 + Lrr iqr + mq
(15)
Lunsat
m iqs1
Lunsat
m iqr
(10)
(13)
(17)
3 p Lm
dr iqs1 + iqs 2 qr ( ids1 + ids 2 )
2 2 Lrr
2
m = r
(18)
(19)
Where
m , r
p, k d
Tload , Tem
C. Transient Modeling
Since vdr = 0 and vqr = 0 , equations (15) and (16) into (7)
and (8) and applying the trapezoidal rule, the matrix form of
rotor d-q currents in an arbitrary reference frame is as follows:
ids1 ( t )
idr ( t )
iqs1 ( t ) histdr ( t T )
= [C ]
+ hist ( t T )
qr
iqr ( t )
ids 2 ( t )
iqs 2 ( t )
Where
(20)
histdr ( t T ) , histqr ( t T )
Sample time
[C ]
2-by-4 matrix
ids1 ( t )
vds1 ( t )
iqs1 ( t ) histds1 ( t T )
i
hist ( t T )
qs1
vqs1 ( t )
ds 2 ( t )
= [Z ]
+
v
i
t
histds 2 ( t T )
qs 2 ( )
ds 2 ( t )
vqs 2 ( t )
idr ( t ) histqs 2 ( t T )
i t
qr ( )
(21)
v0 s1 ( t ) R0 s
=
v0 s 2 ( t ) 0
0 i0 s1 ( t ) hist0 s1 ( t T )
R0 s i0 s 2 ( t ) hist0 s 2 ( t T )
iabcs1 ( t )
vabcs1 ( t ) ihs1 ( t )
= [G ]
+
iabcs 2 ( t )
vabcs 2 ( t ) ihs 2 ( t )
Where
2(l s + 3Ln )
T
4-by-6 resistance matrix
R0 s = ( Rs + 3Rn ) +
[Z ]
histi ( t T )
Gabc12 Z abcs
=
abc 21 Gabcs Z abc 21
6-by-6 conductance matrix
[G ] == G abcs
Where
r ( t ) = 2r ( t T ) r ( t 2T )
(23)
The stator and rotor d-q history terms are not only
dependent on previous d-q currents and speed deviation but
also on previous and actual d-q magnetizing flux correction
terms. Since d-q magnetizing flux correction terms at time t are
unknown, the three-point predictor formula will be used (see
saturation modeling).
(24)
[ Z abcs ]
[ Z abcs12 ] , [ Z abcs 21 ]
eabcs1 , eabcs 2
i (t )
e
(t )
ihs ( t ) = hs1 = [G ] abcs1 6-by-1 current history
ihs 2 ( t )
eabcs 2 ( t )
The modeling in a rotor, for a synchronous and stationary
reference frame, are obtained respectively by setting:
( t ) = r ( t ) , ( t ) = s ( t ) , ( t ) = 0
Given a power system network described by the following
nodal equation:
ihn ( t ) = Gn vabcn ( t )
(28)
Here,
Z abc12
Z abcs
vds1 ( t )
ids1 ( t ) eds1 (t T )
vqs1 ( t )
iqs1 ( t ) eqs1 (t T )
= Rdq
+ e (t T )
vds 2 ( t )
ids 2 ( t ) ds 2
vqs 2 ( t )
iqs 2 ( t ) eqs 2 (t T )
(27)
(29)
(25)
(26)
Self-resistance matrix
E. Saturation Modeling
The characteristics of nonlinear inductance current
dependent can be represented as a multi piecewise linear
inductance with more slopes. Lets assume that the flux versus
magnetizing current is provided (Fig. 3.), which only the first
quadrant is shown, and supposed to be symmetrical.
unsat
dm
( t ) = Lunsat
m idm ( t )
unsat
qm
3.
(t ) =
Lunsat
m iqm
(36)
(t )
(37)
m (t ) = munsat ( t ) Li im (t ) + bi
4.
md (t ) = m (t )
mq (t ) = m (t )
(t ) =
Lunsat
m im
( t ) + m ( t )
(30)
be:
Tem =
as msat
( t ) = Li im (t ) + i ,
unsat
qm
(t )
(31)
(32)
(33)
im ( t ) = idm ( t ) + iqm ( t )
(34)
3 p Lm
s
dr iqs
2 2 Lrr
(41)
s
Where iqs
= iqs1 + iqs 2
If
dr is constant,
which
implies
that idr = 0 ,
dr = Lm idss
s
on iqs
the
. Hence,
(42)
(43)
s
Where ids
= ids1 + ids 2
Where
idm ,iqm
ik
dr =
Where r =
2.
(40)
msat ( t )
(39)
msat ( t )
1.
unsat
dm
(t )
im (t ) is given as follows:
msat
(38)
munsat ( t ) = Lunsat
m im ( t )
(35)
Lm s
ids
1 + s r
Lrr
Rr
(44)
k ps =
given as follows:
T (s) =
Lm k pf 1 + T s
(1 + r s ) T s
(45)
Where
m ( p1 + p2 ) 1
km
r
1
+
Lm Lm s
km k p
m p1 p2
s*
iqs
(49)
Gc ( s ) =
Ts =
i ds*
*
iabcs
iqs* = 0
vabcs
(46)
i abcs
s*
ids
2
(47)
Where
TABLE I
AFE RECTIFIER VOLTAGE CONTROLLER PARAMETER
k
3 p Lm
J
dr , km = t , m =
kd
kd
2 2 Lrr
Voltage controller
k pv
kiv
0.32
15.45
Where
k pv and kiv are respectively the proportional and integral of
iqss*
Tem*
*
iabcs
2
ids* 2
iabcs2
3 p Lm
2 2 Lrr
dr*
Lm
1 + s r
i dss *
iqs* 1
dr
idss
iabcs2
*
iabcs
1
ids* 1
iabcs1
iabcs1
i qss
Flux controller
Speed controller
kp
ki
449.57
23.54
2881.884
107
Where
k p and ki are respectively the proportional and integral of
the flux or speed controller.
V. SIMULATION RESULTS
The first scenario was carried out to compare online startup of the saturated (black color) and unsaturated (blue color)
Load Models
VI. CONCLUSIONS
The modeling of the DSIM for the EMTP-type solution and
a simple approach to the IFOC has been presented. The
validity of the model and control was verified by several
informative simulations. The modeling and control of the
DSIM are based on a two axes d-q model, and can be easily
extended to any number of phases, which are a multiple of
three. The DSIM can be modeled in any reference frame and
any arbitrary angle displacement between the two three-phase
winding sets.
The redundancy of the VFDs improves reliability and
availability of the system even when one VFD has failed.
Within the acceptable limit for the DSIM current, the simple
IFOC presented allows control of the DSIM under balanced
conditions and required torque even when one of the inverters
is out of service.
VII. APPENDIX
The DSIM is a 460 V, 60 Hz, 4 poles and = 300 . The
maximum torque allows is 500 Nm and the motor is
ungrounded through an impedance Rn = 1e5 , Ln = 0 mH .
The DSIM parameters are given in table III.
TABLE III
DSIM PARAMETERS
Stator resistance
Rs
0.087
Rotor resistance
Rr
0.228
l r
0.8 mH
0.8 mH
Magnetizing inductance
Moment of Inertia
34.7 mH
Lm
J
*
dr
Rated flux
1.662 kgm 2
1Wb
Saturation curve
(Wb)
0.0347im
0.801 + 0.0069im (Wb)
m =
For im 28.9 A
For im > 28.9 A
sin
f abc = sin 2 3
sin + 2
3
Where
(
(
)
)
cos
( 3)
cos ( + 2 )
3
cos 2
1 f dq 0
f : Voltage or current