Modeling of induction machines including stator and rotor slot effects

Three-phase as well as single-phase induction machines form the backbone of a substantial portion of the adjustable-speed drives' applications. Among the current estimation techniques available for speed-sensorless induction motor drives, speed measurement based on rotor or principal slot harmonics (RSH or PSH) detection in machine line current happens to be a prominent one. In practice, two predominant RSH can be seen. The present paper attempts to investigate the effect of slot permeance on the production of RSH. Simulation studies on a small motor but with a popular stator, rotor slot, and pole combination suggest that their effect is less significant compared to rotor space harmonics effect. Also, out of the two aforementioned RSH, the cause of the less significant slot harmonic is shown to be the negative-sequence-current-induced reverse rotating field. Voltage unbalances and constructional imperfections can cause negative-sequence current even in a healthy machine. Thus, although the less significant RSH is absent in the simulated line current of an idealized machine running from a balanced supply, it can be detected in an actual machine.     

Speed estimation method for ultrahigh‐speed induction machine utilizing rotor slot harmonics appearing in neutral point voltage

Recently the development of power electronics technology has made it possible to realize ultrahigh‐speed drives, and ultrahigh‐speed drives promise to be useful in various applications. This research aims at sensorless control drive of an induction machine in the ultrahigh‐speed region by utilizing rotor slot harmonics, which occur due to the structure of the induction machine. In this paper, we focus on the slot harmonics which appear in the neutral point voltage, and we propose a method for detection of the slot harmonics voltage and a speed estimation method utilizing the FFT with limitation of the detection band. The effectiveness of the proposed method and the possibility of speed sensorless control with the proposed method are illustrated through speed estimation results obtained both offline and online. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 176(3): 59–68, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21120     

Slot Numbering and Distributed Winding Effects Analysis on the Torque/Current Spectrum of Three-phase Wound-rotor Induction Machine Using Discrete Modeling Method

Smooth torque production by induction machines is an improbable phenomena that is taken into account only in classic and ideal studying methods. In this research, slot numbering and also non-sinusoidal winding function effects are studied for a three-phase wound-rotor induction machine, which is addressed for the first time, and a new formula is introduced for calculating the spectral components of machine torque and current. To reach this aim, mathematical modeling of the air-gap function is proposed, and a discrete time modeling of the machine is introduced to study the effects of space harmonics on the torque/current spectral. To study the mentioned phenomena, in the first part, the winding functions are considered as ideally sinusoidal and the behavior of simulated machines is investigated based on the winding function approach and numerical method analysis. Two certain formulas are introduced for the spectral components of torque ripple and stator currents according to the slot numbers, rotor speed, and number of machine poles. In the second part, slot opening effects are neglected and non-sinusoidal windings are considered for obtaining the same results. Finally, considering both effects, model validation is confirmed by a finite-element-based method, and the introduced method is proven.     

笼型异步电动机转子断条故障检测新方法

计及实际电机本身所固有的非对称、气隙偏心、转子不对中及其它因素，进行高灵敏度、高可靠性的笼型异步电动机转子断条故障检测，是一个亟待解决并颇具工程意义的研究课题，该文即以此作为研究重心。首先完成了笼型异步电动机转子断条故障数字仿真与物理实验。通过分析仿真与实验结果，总结出在转子断条故障检测实践中保证其灵敏度与可靠性的原则及方法。在此基础上，首次将连续细化傅里叶变换、自适应滤波、转子齿槽谐波转差率估计、检测阈值自整定技术有机结合，形成了笼型异步电动机转子断条故障检测新方法。实验结果表明，该方法是切实可行的。     

基于热力学参数摄动分析的潜油电机温度辨识

为有效提高无传感器温度辨识方法的计算精度,将热力学参数摄动分析理论应用于潜油电机的温度辨识。基于潜油电机的网络热力学建模,给出潜油电机热参数,尤其是定、转子间耦合电阻参数摄动对电机温度变化的规律性。通过对所推导热力学方程进行频域根轨迹分析,可验证所取热力学参数的稳定性与合理性。仿真与实验结果表明,依据本文所提方法给出的潜油电机定、转子间耦合电阻等热力学参数得到的电机辨识温度可与实测结果相印证。     

A comparison of spectrum estimation techniques for sensorless speeddetection in induction machines

This paper compares digital spectrum estimation techniques which can be used to extract speed information from rotor slot and eccentricity harmonics contained in the stator current. In previous work, speed-related current harmonics have been shown to improve the performance of existing back-EMF-based sensorless schemes, since these harmonics are parameter independent and exist at virtually any nonzero speed. Digital filtering, however, requires a minimum data sampling time in order to achieve the desired resolution. The contribution of this paper is to determine the optimal method for accurately extracting the speed-related harmonics in the least amount of time. Several digital signal processing algorithms are investigated, including the fast Fourier transform and other traditional methods, as well as parametric techniques which can provide improved spectrum estimation for short data records. Each approach is evaluated on the criteria of accuracy, robustness, and computation time given a short data record     

Speed estimation of induction motor drive using d‐axis slot harmonics and parameter identification method

This paper describes a rotor speed estimation technique of an induction motor, which utlizes slot harmonics on the d‐axis caused by permeance variation across the air gap. The frequency of the slot harmonics is a multiple of the actual rotor speed, and is proportional to the number of rotor slots. In order to extract the slot harmonics, a novel adaptive bandpass filter incorporating coordinate transformation is proposed, which is effective to estimate the rotor speed from 400 to 2000 rpm. This rotor speed estimation is applied to a field‐oriented controller as well as a speed controller. In addition, performance improvement is carried out by compensating a motor parameter mismatch. Feasibility of the proposed technique is confirmed through several tests, using a prototype experimental setup. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 171(2): 50–58, 2010; Published online in Wiley InterScience ( www. interscience.wiley.com ). DOI 10.1002/eej.20901     

Speed sensorless vector control of induction motor using extendedKalman filter

A vector control of an induction motor by an estimated speed using an extended Kalman filter is proposed. With this method, the states are composed of stator current and rotor flux. The rotor speed is regarded as a parameter, and the composite states consist of the original states and the rotor speed. The extended Kalman filter is employed to identify the speed of an induction motor and rotor flux based on the measured quantities such as stator currents and DC link voltage. The estimated speed is used for vector control and overall speed control. Since the current control is performed at a synchronous rotating reference frame, the estimated speed information is also used for the reference frame transformation of the current controller. Computer simulations and experiments of the speed control have been carried out to test the usefulness of the speed estimation algorithm. The experimental results show that the performance of the speed estimation is very good     

DEVELOPMENT OF A STATOR-CONTROLLED BRUSHLESS INDUCTION MACHINE WITH LEADING VAR CAPABILITY

ABSTRACT

The use of the DC-component of rotor current to continuously generate large amounts of reactive kVA from the stator of cage-rotor induction machines in which the total line current may be at a leading power factor, has been recently discussed [ 1-3 ] with initial test results from a 35 H.P. unit. The only constructional difference between these space-transient machines and conventional rotary motors is in the stator MMF layout which includes mixing of two wavelengths in operation simultaneously. The rotor current distribution is no longer sinusoidal but contains a series of harmonics similar to those present in a sheet-secondary linear induction motor with a pronounced longitudinal exit-edge effect at high speed. The development of the 35 and 150 H.P. machines which operate at unity power factor on 50?Hz is presented in light of the work performed earlier[4]to neutralize the exit-edge effect in a 17?kW LIM which attained an 80% terminal power factor at 50?Hz by the use of an asynchronous condenser winding of a second pole-pitch smaller than the main stator pole-pitch     

电枢磁动势谐波对转子涡流损耗的影响分析

永磁电机多采用变频器供电,变频器输出的电流中除包含基波电流外还存在谐波电流,由其产生的电枢磁动势空间谐波会在转子中产生涡流损耗。基于对各次电枢磁动势空间谐波幅值及其相对于转子交变频率的详细分析,提出涡流损耗强度的概念,用于评估不同的电枢磁动势空间谐波对转子涡流损耗的影响程度。对采用整数槽和分数槽绕组的永磁电机转子涡流损耗做了解析对比和有限元分析,证明了利用涡流损耗强度评估电枢磁动势谐波对转子涡流损耗影响的有效性。     

A new algorithm for transient motor current signature analysis using wavelets

A new algorithm is introduced for motor current signature analysis of induction machines operating during transients. The algorithm is able to extract the amplitude, phase and frequency of a single sinusoid embedded in a nonstationary waveform. The algorithm is applied to the detection of broken rotor bars in induction machines during startup transients. The fundamental component of current, which varies in amplitude, phase, and frequency, is extracted using the algorithm. The residual current is then analyzed using wavelets for the detection of broken rotor bars. This method of condition monitoring does not require parameters such as speed or number of rotor bars, is not load dependent and can be applied to motors that operate continuously in the transient mode, e.g., wind generators or motor-operated valves.     

EFFECT OF SKEWING ON THE COGGING TORQUE IN INDUCTION MACHINES

ABSTRACT

This paper presents a simplified method to predict the cogging torque in induction machines including the skewing effect An equivalent circuit including die effect of both slot harmonics and rotor skewing is developed. A special attention is paid to study the skewing effect on the machine behaviour especially at starting instant. Moreover, the leakage reactance due to the skewing is calculated using the suggested method. Useful conclusions are given at the end of this paper which is thought of good use and valuable for both designers and users of squirrel cage induction motors.     

Magnetic field analysis of a squirrel cage induction motor considering rotor skew and higher harmonics in the secondary current

This paper describes a method to analyze harmonic magnetic fields of squirrel cage induction motors considering rotor skew and higher harmonics in the secondary current. The proposed method is based on a two‐dimensional finite element method. The rotor skew structure is expressed by multiple 2D finite element mesh models, produced in suitable axial positions, and the magnetic field in each mesh model is calculated by the revised secondary current taking into account the skew effect. The secondary currents, magnetic flux densities, and electromotive forces are calculated by the proposed method. Then the differences between a skewed rotor and a nonskewed rotor are discussed. From the comparison between the calculated and the experimental results, the proposed method is shown to be appropriate and useful for quantitative estimation of harmonic components of induction motors. © 1999 Scripta Technica, Electr Eng Jpn, 129(2): 98–109, 1999     

高速永磁电机转子涡流损耗解析计算

高速永磁同步电机采用变频器供电含有大量谐波、频率高等特点导致转子涡流损耗升高,从而使电机温度上升,给散热带来困难,影响电机效率、永磁体性能等指标。针对表贴式高速永磁电机,推导转子涡流损耗的解析计算,该方法在极坐标系下建立物理模型,考虑气隙长度、护套、永磁体等子域,并为了提高模型的计算精度,考虑了涡流反应影响和定子的开槽效应。以一台15kW表贴式高速永磁电机为例,采用正弦波供电和PWM供电两种供电方式,分析气隙长度、槽开口宽度以及护套材料对转子涡流损耗的影响。将解析法的计算结果和有限元法结果进行比较,验证解析方法的准确性。     

Low-speed high-torque drive system applying vernier motor torque

The application of the direct drive system is increasing in the field of robot and factory automation because of controllability with high accuracy. However, it requires the motor high torque at low speed. Although the vernier motor presented by Lee in 1963 could produce the reluctance torque in low speed, it involved many problems to be solved. This paper studies the reluctance torque of the vernier motor using the finite-element field analysis. Since the increase of rotor slot number is effective in producing high torque, in the model here, there are not only winding slots but also small slots on the stator teeth surfaces. Also, the rotor slots are provided in the periphery of the core more than the total number of stator slots by the pole number. The calculated torques have agreed very well with the experimental results. A prominent feature of the control scheme is to control the armature current phase based on the detected rotor slot position. Thus there is no problem such as pull-in or pull-out in Lee's vernier motor. Then the instantaneous torque is controlled by the amplitude of armature current. The experimental results on both the speed control and the position control also are shown in this paper.     

Analysis techniques for detection of IM broken rotor bars after supply disconnection

This paper presents some analysis techniques of the space vector of voltages induced in the stator windings after supply disconnection, to detect broken rotor bars in squirrel-cage induction machines. When the motor is disconnected from the supply no currents flow in the stator windings and the voltages measurable at its terminals are due to flux produced by rotor currents. When the rotor is healthy, the voltages measured at motor terminals are almost sinusoidal because of the symmetry of rotor windings. When there are broken rotor bars, the magnetomotive force generated by rotor windings is distorted, and some particular harmonics, contained in the voltages induced in the stator windings, increase their amplitudes. The diagnostic technique is based on monitoring these voltage harmonics and analyzing the space vector of the voltages induced in the stator windings via MUSIC pseudospectrum and short-time MUSIC (STMUSIC) time-frequency pseudorepresentation. The MUSIC algorithm is based on the eigen analysis of the autocorrelation matrix, and permits us to evidence the principal harmonic frequencies of the signal and decrease the noise influence, thus allowing a better detection of the broken rotor bars. The results obtained using MUSIC and STMUSIC algorithm have been compared experimentally with those obtained by fast Fourier transform (FFT) and short-time FFT, respectively, and two different sized induction motors have been tested, to demonstrate the superiority of the former approach. Differently from most of the diagnostic techniques already proposed in the technical literature, the proposed approach is effective regardless of the load condition of the machine, source characteristics, and iron saturation.     

Stray load loss efficiency connections

This paper deals about the stray load loss efficiency in electrical machines. Induction motors are the most commonly employed electrical machines, in industries. When examining the losses of an induction machine, it is possible to identify the "conventional" losses that include stator and rotor conductor losses, magnetic core loss, frication and windage loss. However induction motors also have an additional power loss component termed "stray load loss" (SLL) which is caused by practical nature of the machine. However, SLL is very significant part of overall losses that may have a big influence on the temperature situation of the motor. The evaluation of SLL in induction motors is an important part of the efficiency estimation process. The use of calorimetry precisely determines the stray load loss.     

笼型感应电动机转子故障时的参数计算

采用磁导分析的方法 ,考虑转子故障时 ,即由于转子偏心、转子导条断条和端环开裂的情况下 ,研究笼型感应电动机的气隙磁场。通过对定转子绕组中单元绕组的分析 ,考虑气隙高次谐波的影响 ,根据气隙磁场分析 ,建立数学模型。从而导出定转子三相绕组的参数计算 ,为转子故障时的电流分析计算 ,及笼型感应电动机的故障诊断和在线监测提供理论基础和计算方法。     

Novel frequency-domain-based technique to detect stator interturnfaults in induction machines using stator-induced voltages afterswitch-off

Traditionally, for medium- and high-voltage motors and generators, condition-based monitoring of stator faults is performed by measuring partial discharge activities. For low-voltage machines, negative-sequence impedance or currents are measured for the same. Such diagnostic schemes should be carefully implemented as supply voltage unbalance, manufacturing-related asymmetry, etc., also produce negative-sequence voltages. A few approaches based on motor current signature analysis have already been proposed to detect stator interturn faults. However, little or no physical insight was provided to explain the occurrence of certain harmonics in the line current or the influence of voltage unbalance on these harmonics. Also, in at least one of these papers, a large portion of the stator winding was shorted to emulate the faults. The method proposed in this paper monitors certain rotor-slot-related harmonics at the terminal voltage of the machine, once it is switched off. In the absence of supply voltage, issues such as voltage unbalance, time harmonics do not influence the measurements except as initial conditions, which is a very desirable feature when the machine is fed from an adjustable-speed drive. Satisfactory simulation and experimental results have been obtained with only about 1.5% (5/324) of the total number of turns shorted     

Development of Motor Model of Rotor Slot Harmonics for Speed Sensorless Control of Induction Motor

This paper proposes a novel mathematical dynamic model to represent the steady‐state and transient‐state characteristics of rotor slot harmonics of an induction motor for sensorless control. Although it is well known that the rotor slot harmonics originate from the mechanical structure of the induction motor, a mathematical model that describes the relationship between the stator/rotor currents of the induction motor and the slot harmonics has not yet been proposed. Therefore, in this paper, a three‐phase model of the induction motor that depicts the rotor slot harmonics is developed by taking into consideration the magnetomotive force harmonics and the change in the magnetic air gap caused by the rotor slots. The validity of the proposed model is verified by comparing the experimental results and the calculated values. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(3): 63–74, 2014; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.22478