ENG460-

Engineering
Thesis
Dynamic Analysis of Three
Phase Induction Motor in
DigSilent Powerfactory

Hossein-Ali Kakai
Supervisor: Dr. Sujeewa Hettiwatte

School of Engineering and Information Technology,

Murdoch University, Perth, Australia
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Abstract
The starting of an induction machine is a highly dynamic process, which on weak systems may result
in voltage fluctuations within the network, potentially leading to load damage. The voltage
fluctuations that may lead to this load damage can result from the high starting current in the
induction machine. Some of the methods used to prevent the voltage fluctuations that lead to
damage, require reducing the voltage supplied to the motor during start up. However, there are
many different starting methods that can be used to solve this issue in electrical systems. The main
object of this thesis is to ensure that PowerFactory can assist the user to choose the most suitable
starting methods. The machine parameters must be known before implementing the machine model
in the simulation tool. Some practical tests are performed to estimate the machine parameters, and
two of the available starting methods from the PowerFactory simulation tool were applied to the
machine model. To simulate the dynamic behavior of an induction in PowerFactory requires knowing
at least some of the parameters of what is known as the equivalent circuit. This information is
generally not available on the name plate data. The other aspect of this report investigated methods
than can be used to find this data.
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Acknowledgements
I would like to articulate the deep gratefulness to my project guidance and support of Dr. Sujeewa
Hettiwatte, who has motivated me for keeping my goal to carry out the project to the end. With the
help of Dr. Sujeewa I made this thesis to the end and possible graduate engineer. Whenever I was
facing various challenges during the work, Dr. Sujeewa’s insightful suggestions from time to time for
the last few months added a new ideas and viewpoints. I am feeling extremely lucky to have Dr.
Sujeewa as my supervisor; his endorsement is the main consideration to this thesis. Throughout my
time at Murdoch University has been incredible with his personal attention to my studies and to me
and his firmness and patience kept me on track. I will miss those face-face conversations but
hopefully will meet a chance to discuss again in future.

I would like to thank Mr. Bradley Baxter, who supported me throughout my studies and thesis.
Thank you to Mr. Thomas Wearne and Piers Klugman for their support and comments to improve
the thesis content.

I would like to thank the supportive administration of Murdoch University Electrical Engineering
Department.

I am also highly thankful to my parent who supported me from the early life. At last, I would like
thank all my friends and family include all the above staffs who help me and support me.
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Table of Contents
Abstract .............................................................................................................................................. 1
Acknowledgements ........................................................................................................................ 2
Table of Contents............................................................................................................................. 3
List of Figures ................................................................................................................................... 5
List of Tables ..................................................................................................................................... 5
Nomenclatures ................................................................................................................................. 7
1. Introduction .............................................................................................................................. 9
1.1 Objective of the Project ........................................................................................................ 10
1.2 Scope of Work ....................................................................................................................... 10
1.3 Literature Review .................................................................................................................. 11
1.3.1 Starting Method of Three Phase Induction Motor ........................................................ 13
1.3.2 Full Voltage Methods .................................................................................................... 14
1.3.3 Reduced Voltage Starting ............................................................................................. 16
1.4 Induction Machine ................................................................................................................ 18
1.4.1 Stator............................................................................................................................. 18
1.4.2 Rotor.............................................................................................................................. 18
1.4.3 Squirrel Cage Rotor ....................................................................................................... 19
2. System Model .......................................................................................................................... 21
2.1 Toshiba Motor....................................................................................................................... 21
2.1.1 Electrical input............................................................................................................... 22
2.1.2 Mechanical Output........................................................................................................ 23
2.1.3 Performance .................................................................................................................. 24
2.1.4 Reliability ....................................................................................................................... 25
2.1.5 Construction .................................................................................................................. 25
2.2 General Equivalent Circuit .................................................................................................... 26
2.2.1 PowerFactory Induction Machine ................................................................................. 27
2.2.2 Three Phase Motor Parameters Determination ............................................................ 30
2.3 (Chan & Shi, 2011) Parameter Test ....................................................................................... 30
2.3.1 DC Test .......................................................................................................................... 31
2.3.2 No-Load Test ................................................................................................................. 32
2.3.3 Locked-Rotor Test.......................................................................................................... 33
2.4 IEEE Standard 112 Test ......................................................................................................... 36
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2.5 Moment of Inertia................................................................................................................. 41

3. Torque Characteristic .......................................................................................................... 42
3.1 Torque-Slip/Speed Characteristics ........................................................................................ 44
4. Mechanical Load .................................................................................................................... 47
4.1 PowerFactory Mechanical Loads .......................................................................................... 47
4.1.1 Mdm_1 .......................................................................................................................... 47
4.1.2 Mdm_3 .......................................................................................................................... 48
4.1.3 Mdm_5 .......................................................................................................................... 50
5. Simulation Results ................................................................................................................ 51
5.1 Equivalent Circuit Parameters Calculation............................................................................ 51
5.2 Direct-on-Line Starting Method ............................................................................................ 51
5.3 Star-Delta Starting Method ................................................................................................... 56
5.4 Electrical Torque Curves ....................................................................................................... 61
5.4.1 Torque Curves................................................................................................................ 61
6. Conclusion ............................................................................................................................... 63
7. Bibliography ........................................................................................................................... 64
8. Appendix .................................................................................................................................. 68
8.1 Appendix A ............................................................................................................................ 68
8.1.1 (Chan & Shi, 2011) Electrical Parameters ..................................................................... 69
8.1.2 PowerFactory Results .................................................................................................... 70
8.2 Matlab Simulation ................................................................................................................. 71
8.2.1 Chan and Shi Parameter Test Matlab Calculation ........................................................ 71
8.2.2 IEEE Standard 112 Matlab Calculation: ........................................................................ 73
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List of Figures
Figure 1: Power Factor Vector Representation .................................................................................... 13
Figure 2: Direct-on-Line Starter (clockwise, forward rotation)............................................................. 15
Figure 3: Star-Delta Starting (Clockwise, forward rotation) ................................................................. 17
Figure 4: Equivalent circuit for per phase of an induction motor......................................................... 26
Figure 5: PowerFactory General Induction Machine Model................................................................. 27
Figure 6: PowerFactory Rotor Impedance of the Single Cage Rotor .................................................... 28
Figure 7: PowerFactory basic data screen inputs ................................................................................. 29
Figure 8: PowerFactory Load Flow/RMS Simulation input ................................................................... 29
Figure 9: Per-Phase Equivalent circuit for DC test ................................................................................ 31
Figure 10: Equivalent Circuit for No-Load test ...................................................................................... 32
Figure 11: Equivalent circuit of locked-rotor test ................................................................................. 35
Figure 12: Simplified Equivalent circuit of lock-rotor test .................................................................... 35
Figure 13: Induction motor Torque Vs Speed characteristic ................................................................ 42
Figure 14: Thevenin Equivalent circuit of an Induction motor model .................................................. 44
Figure 15: Torque-Speed characteristic Curve for Mdm_1 .................................................................. 48
Figure 16: Speed Torque Curve for Mdm_3 ......................................................................................... 49
Figure 17: Speed-Torque Curve for Mdm_5 ......................................................................................... 50
Figure 18: Current, Active Power, Reactive Power, Speed, Torque and Power Factor Curves at
0.37kW Output Power .......................................................................................................................... 52
Figure 19: Current, Active Power, Reactive Power, Speed, Torque and Power Factor curves at 0.37kW
output power ........................................................................................................................................ 57
Figure 20: Matlab Torque vs. Speed Curve ........................................................................................... 61
Figure 21: PowerFactory Torque vs. Speed Curve ................................................................................ 62
Figure 22: Toshiba Manufacturer Data Sheet for equivalent circuit. ................................................... 68
Figure 23: PM300 Three-Phase Power Analyser Connection ............................................................... 68

List of Tables
Table 1: Toshiba; three phase induction motor Name-plate................................................................ 21
Table 2: Calculated values of Voltage & Current of DC tests ................................................................ 31
Table 3: Measured Values of voltage, current and power of No-Load Test ......................................... 33
Table 4: Measured values of Voltage, current and power of locked-rotor test ................................... 35
Table 5: No-Load test at synchronous speed ........................................................................................ 37
Table 6: Locked rotor test at rated frequency ...................................................................................... 38
Table 7: Reduced voltage slip test of measured values ........................................................................ 38
Table 8: Locked rotor tests result (Chan & Shi, 2011) and (IEEE, Std 112, 2004) ................................. 40
Table 9: Current Measured values for average test with different Loads ............................................ 53
Table 10: Active Power Measured values for average test with different Loads ................................. 54
Table 11: Reactive Power Measured values for average test with different Loads ............................. 54
Table 12: Speed Measured values for average test with different Loads ............................................ 55
Table 13: Current Measured values for average test with different Loads .......................................... 59
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Table 14: Active Power Measured values for average test with different Loads ................................. 59
Table 15: Reactive Power Measured values for average test with different Loads ............................. 60
Table 16: Speed Measured values for average test with different Loads ............................................ 60
Table 17: Starting and Maximum torque difference from Matlab and PowerFactory ......................... 62
Table 18: DC test calculated values ...................................................................................................... 69
Table 19: No-Load test calculated values ............................................................................................. 69
Table 20: Locked-Rotor test measured values...................................................................................... 69
Table 21: Locked-Rotor test calculated values ..................................................................................... 70
Table 22: Theoretical calculated values of torque characteristics ....................................................... 70
Table 23: Basic Data of (Chan & Shi, 2011) Experimental results by PowerFactory............................. 70
Table 24: Load tab of the PowerFactory calculated values .................................................................. 71
Table 25: Average electrical parameter calculated in Matlab in per unit values ................................. 71
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Nomenclatures
𝐼𝑀 = 𝐼𝑛𝑑𝑢𝑐𝑡𝑖𝑜𝑛 𝑀𝑜𝑡𝑜𝑟

𝑅1 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑆𝑡𝑎𝑡𝑜𝑟 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝑅2 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑅𝑜𝑡𝑜𝑟 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝑋1 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝐿𝑒𝑎𝑘𝑎𝑔𝑒 𝑅𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒

𝑋2 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝐿𝑒𝑎𝑘𝑎𝑔𝑒 𝑅𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒

𝑋𝑀 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝐿𝑒𝑎𝑘𝑎𝑔𝑒 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑖𝑛𝑔 𝑅𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒

𝐼1 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑆𝑡𝑎𝑡𝑜𝑟 𝐶𝑢𝑟𝑟𝑒𝑛𝑡

𝐼2 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑅𝑜𝑡𝑜𝑟 𝐶𝑢𝑟𝑟𝑒𝑛𝑡

𝐼𝑀 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑖𝑛𝑔 𝐶𝑢𝑟𝑟𝑒𝑛𝑡

𝐼𝑓𝑒 = 𝐶𝑜𝑟𝑒 𝐿𝑜𝑠𝑠 𝐶𝑢𝑟𝑟𝑒𝑛𝑡

𝑉𝑎 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑉𝑜𝑙𝑡𝑎𝑔𝑒

𝑃 = 𝐴𝑐𝑡𝑖𝑣𝑒 𝑃𝑜𝑤𝑒𝑟

𝑃𝑎 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑃𝑜𝑤𝑒𝑟

𝑄𝑎 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑅𝑒𝑎𝑐𝑡𝑖𝑣𝑒 𝑃𝑜𝑤𝑒𝑟

𝑉𝑁 = 𝑁𝑜𝑚𝑖𝑛𝑎𝑙 𝑉𝑜𝑙𝑡𝑎𝑔𝑒

𝑉0 = 𝑆𝑡𝑎𝑡𝑜𝑟 𝑉𝑜𝑙𝑡𝑎𝑔𝑒

𝑉𝑁𝐿 = 𝑁𝑜 − 𝐿𝑜𝑎𝑑 𝑉𝑜𝑙𝑡𝑎𝑔𝑒

𝑉𝐿𝑅 = 𝐿𝑜𝑐𝑘𝑒𝑑 𝑅𝑜𝑡𝑜𝑟 𝑉𝑜𝑙𝑡𝑎𝑔𝑒

𝑠 = 𝑆𝑙𝑖𝑝

𝑚 = 𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑃ℎ𝑎𝑠𝑒

𝜔𝑆 = 𝑆𝑦𝑛𝑐ℎ𝑟𝑜𝑛𝑜𝑢𝑠 𝑆𝑝𝑒𝑒𝑑

𝜔𝑚 = 𝑅𝑜𝑡𝑜𝑟 𝑆𝑝𝑒𝑒𝑑 (𝑀𝑜𝑡𝑜𝑟 𝑆𝑝𝑒𝑒𝑑)

𝑓 = 𝑅𝑎𝑡𝑒𝑑 𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦
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𝑝 = 𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑃𝑜𝑙𝑒𝑠

𝑃𝑚 = 𝑀𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑃𝑜𝑤𝑒𝑟 𝑜𝑢𝑡𝑝𝑢𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟

𝑃𝑛 = 𝑅𝑎𝑡𝑒𝑑 𝑃𝑜𝑤𝑒𝑟

𝑇 = 𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑇𝑜𝑟𝑞𝑢𝑒

𝑠𝑚 = 𝑆𝑙𝑖𝑝 𝑎𝑡 𝑚𝑎𝑥𝑖𝑚𝑢𝑚 𝑡𝑜𝑟𝑞𝑢𝑒

𝑇𝑚𝑎𝑥 = 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑇𝑜𝑟𝑞𝑢𝑒

𝐵𝑀 = 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑖𝑛𝑔 𝑠𝑢𝑠𝑐𝑒𝑝𝑡𝑎𝑛𝑐𝑒

𝑅𝑓𝑒 = 𝐶𝑜𝑟𝑒 𝐿𝑜𝑠𝑠 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝐺𝑓𝑒 = 𝐶𝑜𝑟𝑒 𝐿𝑜𝑠𝑠 𝐶𝑜𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒

𝑃ℎ = 𝑇𝑜𝑡𝑎𝑙 𝑐𝑜𝑟𝑒 𝑙𝑜𝑠𝑠

𝑀𝑑𝑚 = 𝑀𝑜𝑡𝑜𝑟 𝐷𝑟𝑖𝑣𝑒 𝑀𝑎𝑐ℎ𝑖𝑛𝑒

𝐷𝑂𝐿 = 𝐷𝑖𝑟𝑒𝑐𝑡 − 𝑂𝑛 − 𝐿𝑖𝑛𝑒

𝑍 = 𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒

𝑅𝑟𝐴 = 𝑃𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑅𝑜𝑡𝑜𝑟 𝑅𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝑋𝑟𝐴 = 𝑃𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑅𝑜𝑡𝑜𝑟 𝐿𝑒𝑎𝑘𝑎𝑔𝑒 𝑅𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒

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1. Introduction
In this thesis, the equivalent model of a three phase induction motor is developed to analyze the
dynamic behavior using computer based program DigSilent’s PowerFactory. The dynamic behavior of
interest is that of the starting condition of an induction motor. The starting process of an induction
motor is an extremely dynamic process, which may lead to adverse effects on the entire network.
The main issues from the motor start that cause damage to the power system are the high inrush
current. Other starting methods can be implemented to reduce the inrush current that occurs during
startup of a direct-on-line (DOL) system.

It is possible to determine the most appropriate starting method by simulating the system under
various starting methods, to find the most secure, economical and effective approach. It is not
practical to test each starting method on an actual machine because of the likelihood of damage to
the equipment.

First of all, the literature is reviewed, which identifies the associated problems of starting an
induction motors. The literature describes the most common starting methods that will be used in
this project. Several methods are identified in this review, some of which are then used in
PowerFactory to investigate advantages and drawbacks of each.

The second section of the thesis covers the construction and basic operating principle of induction
motors, including the model which is used to simulate the dynamic system. There are two starting
methods that are well-accepted and will be used in the simulation of an asynchronous motor in
PowerFactory. Conclusions are then drawn from the results obtained from the simulation studies.
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1.1 Objective of the Project

The first objective of this project is to determine the dynamic characteristics of three phase
induction motor in computer based program, DigSilent PowerFactory and to investigate the starting
characteristics of an induction motor. The main points of interests are to investigate the waveforms
of current, active power, reactive power, speed and torque under different starting conditions with
the variable loads. The main aim of the project is to find the most appropriate starting method. It
will identify the appropriate method for a specific motor by simulating two methods within the
DigSilent PowerFactory environment.

1.2 Scope of Work

This project will undertake the following tasks:

- Research on details of starting characteristics of three phase induction motor

- Selection of a three phase induction motor
- Calculation of electrical parameters
- Modeling the asynchronous machine in the computer program DigSilent PowerFactory
- Implementation of model in PowerFactory
- Discussion of results from simulation of model
- Investigate the project outcome
- Suggestions for future work.
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1.3 Literature Review

The literature review explains the detailed background of the three phase induction motor and some
starting methods used for induction machines. The parameters and calculation methods that have
been used in this report are listed in sections 2.3 & 2.4.

The starting of an induction motors poses a lot of problems which are quite challenging to solve in
order to maintain a stable power supply. When it comes to choosing the starting method of
machine, the technicians and engineers must take this into consideration. There are some tradeoffs
that must be considered when investigating the dynamic characteristics during start up. They may
include factors such as system efficiency, robustness, machine life span and equipment cost.

Thornton & Armintor (2003) explains that electromechanically energy conversion occurs by
interchanging the energy between electrical system and mechanical system. This results from the
magnetic coupling that occurs when a motor is connected to an electrical supply. The conversion
from electrical energy to mechanical energy then takes place.

The basic working principles of a motor from the role of the stator, rotor, rotor slip, losses and
torque characteristics machine are briefly described in Rockwell Automation (1996). The design
measurement and operation characteristics of three phase induction machine are also briefly
described in Rockwell Automation (1996). Bakshi & Bakshi, (2009) gives details of the construction of
the stator, rotor and operation characteristics of a three phase induction machine.

The squirrel cage motor is the focus of this report. The rotor for these machines is a slotted
cylindrical mechanism that consists of un-insulated copper or aluminum bars. The design of its
mounting places is described briefly in Bakshi & Bakshi, (2009). Bakshi & Bakshi, (2009) describe the
mathematical working steps on the production of torque for an induction motor with reference to a
number of factors. The book also indicates the calculation of the torque equation, starting torque
and the maximum torque equation.

The squirrel cage induction motor is used for 85% of industrial motors (Saravanan, Azarudeen, &
Selvakumar, 2012) (Siang, Gobbi, & Sa'diah, 2003). Three phase induction motors with squirrel cage
rotor types are preferred by many industries due to their robustness and economical cost (Chapman,
2005), (Kadhim, 2014), (Trzynadlowski, 2001), (Siang, Gobbi, & Sa'diah, 2003), (Wigington, 2010) and
(Kjellber & Kling, 2003).

Some of the major problems that are associated with the startup of squirrel cage motors are
discussed below:
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Voltage Dip:

According to IEEE Standard 399 (1997), the voltage dip is the most widely studied effect of motor-
starting, which is experienced in power system throughout industries. The voltage for motor starting
depends on the motor and on the load torque characteristics (IEEE Std 399, 1997). The requirement
that limit voltage dip during startup varies. It may be allowed to fall as low as 80% of the nominal
voltage or have tighter regulations that limit the drop to only 95% or higher. According to NEMA
Standards Publication MG 1 (2009), the minimum the voltage can dip to be approximately 80% of
the rated voltage for a NEMA design B motor, which has a standard starting torque of 150% for a
constant torque load. The torque will vary with the square of the voltage, 150% starting torque is at
full rated voltage (IEEE Std 399, 1997).

Inrush Current:

During the starting operation, the motor can experience a high initial current called inrush current.
This current can cause mechanical stress on bearings and belts and can lead to large power losses.
The resistive and copper losses are proportional to the square of current, 𝐼 2 𝑅 and this effects the
efficiency of motor (Wigington, 2010). The power losses are dissipated as heat which will cause the
machine thermal stresses and can affect the stability of a machine, which may lead to financial costs
(Wigington, 2010).

Power Factor and Reactive Power:

The product of amps and volts is called apparent power. However apparent power does not convert
into useful power. Generally only active power contributes to useful work and even then not all
active power delivered to a motor will be use full. Power can be broken down into three
components, active, reactive and apparent, as is shown in Figure 1. Motors starting with full voltage
impose a high reactive power requirement, with a low, lagging power factor, for a short period of
time. The ratio decrease as the motor accelerates towards its steady state speed (Kay, Paes,
Seggewiss, & Ellis, 2000). Power factor is the ratio of real power to apparent power. Low power
factor creates problems mainly from the high-line currents that are required to meet the real power
demand (Lawrence Berkeley National Laboratory, 2008). According to IEEE Standards 399 (1997), the
typical values of power factor are approximately 0.2 for motors under 1000HP.
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Figure 1: Power Factor Vector Representation

1.3.1 Starting Method of Three Phase Induction Motor

The above consideration are the most important when choosing the starting method for a motor. It
is also noted that in the dynamic startup process the greatest impact and fatigue of the induction
motor is caused, although this is largely less than the impact from the mechanical load of motor
(Wigington, 2010). Thermal stress is also very important to take into consideration, because
induction motors rotor bars fatigue determine the motor lifetime (Wigington, 2010). This report
focuses on the dynamic system which does not relate to long term reliability.

There following methods are used for motor starting: full voltage start, reduced voltage start,
incremental voltage start, soft-starter and variable frequency drives (Wigington, 2010) and (Patil &
Porate, 2009). Only two of these methods are studied in this thesis, the reduced voltage method and
the full voltage method. The PowerFactory software provides three starting methods, although only
two options are available for the squirrel cage induction motor. The third option, the rotor
resistance starting method, applies only for wound rotor motor types.

The instant power is supplied to an induction motor the slip is at unity (i.e. s=1). The slip-torque
characteristics show that when the rotor resistance is low the starting torque is small, compared to
the available maximum torque (Prasad, 2009).

Three phase induction motor starting methods are basically divided into three main categories

1. Full voltage starting method

2. Reduced voltage starting method
3. Variable frequency drives starting method (Zhang, Xueshen, Zhao, & Yang, 2012).

Starting process of induction motors for small to large size motors may produce voltage dips within
the power systems. During these dips the power factor is low, typically between 10%-20% and a high
current is drawn. The current can be as high as 6-10 times the rated value, leading to this
 14

undesirable effect (Prates da Silveira, Pires, Lyrio de Almeida, & Junqueira Rezek, 2009). Therefore,
several solutions are preferred to minimize the problem for different sizes of motors. The most
common solutions which have been applied in most industrial applications are:

- Shunt Capacitors
- Reactor Start
- Wye-Delta Start
- Auto Transformer Start
- Frequency Variable Driver Start
- Soft Starter

These solutions, except the Capacitor Start method, basically depend on the reduction of voltage
across the motor terminals. This reduces the locked rotor current as the voltage is related to the
impedance of total system, which is very low at start up (Prates da Silveira, Pires, Lyrio de Almeida, &
Junqueira Rezek, 2009). The Frequency Variable Driver and Soft Starter, which are Solid State
solutions are the most complex and expensive, and also requires expert maintenance (Farr & Farr,
2007). Both FVD & Soft Starters are very manageable and are able to start the motor without any
starting torque reduction, but, the starting torque will decrease quadratically with the reduction of
the motor terminal voltage (Prates da Silveira, Pires, Lyrio de Almeida, & Junqueira Rezek, 2009).

To correctly implement a starting method requires a full and detailed analysis of the load
characteristics. If the motor doesn’t accelerate at the rated speed over time then the thermal
protection may trip and the motor will be stopped (Prates da Silveira, Pires, Lyrio de Almeida, &
Junqueira Rezek, 2009), . Other starting methods including three phase starting by a single phase
motor are described in Badr, Halim & Alolah (1995), and are not included in this discussion. The
associated problems in 3-phase asynchronous motor under voltage imbalance are described in
Ansari & M (2009).

1.3.2 Full Voltage Methods

Full voltage methods include the direct-on-line (DOL) method and the capacitor method. Only the
DOL full voltage method will implemented to the available starting methods in DigSilent’s
PowerFactory version 14.

1.3.2.1 Direct-On-Line (DOL) Starting Method

Direct-on-line starting method is one of the easiest methods of starting a motor. For a DOL starter
the stator windings of asynchronous motor are directly connected to the main power supply, by the
process of single switch (Randermann, 2010). Its direct connection to the stator terminal of motor
 15

makes it one of the most economical starting methods. When the full voltage is applied to a motor, a
very large current will pass through the armature; this in turn can cause troublesome voltage change
on the main power supply (Randermann, 2010). For this reason, the power supply industries are
limiting the permissible rated powers of motor connected to the main power supply using this
method (Randermann, 2010). Because of this limitation, the DOL starting method is generally more
suitable for small motor types, relative to the size of system and generation, as it can’t induce a large
voltage dip when starting & stopping (Pillay, Nour, Yang, Harun, & Haw, 2009). This method also
imposes thermal stresses in the motor winding and causes momentary electro-dynamic forces,
which with frequent DOL starting reduces the life of the windings (Randermann, 2010).

When the rotor of a motor is locked a very high current is experienced, which has a serious threat of
possible thermal destruction. Therefore, it is very important that every motor has some form of
protection. The protection device is connected to the motor in order to prevent any thermal
overload occurring. This can be incorporated by using protection relays, which can be incorporated
into protective circuit-breakers in combination with contactors (Randermann, 2010). Figure 2 below
shows the schematic diagram of a DOL starter with the overload protection and contactors.

L1

L2

L3
PE

Contactors

Overload
Protection
Circuit Breaker or
Fuse Protection

Contactors

U1 V1 W1

M
3~

Figure 2: Direct-on-Line Starter (clockwise, forward rotation)

 16

1.3.3 Reduced Voltage Starting

This starting method reduces the voltage to the motor windings during startup. Whilst this reduces
the current it also reduces the starting torque (Sace, 2008). The most common types of reduced
voltage starters are stator resistors, reactors, star-delta, auto-transformer and soft starter. These
methods intervene on the torque curve of the motors to adapt the load characteristics (Sace, 2008).
For this report only the star-delta starting method will be simulated.

1.3.3.1 Star-Delta (Y/Δ) Starting Method

This type of starting is the most common and perhaps the best known system of reduced voltage
starting (Pillay, Nour, Yang, Harun, & Haw, 2009) (Sace, 2008). It starts the motor by reducing the
mechanical stresses and limiting the current values during start up. During the startup process, the
𝑉𝑁
windings of motors are in star-connection, with each winding supplied with per phase voltage of
√3
𝑉𝑁
and in per phase current 𝐼𝑌 = where 𝑍𝑤 is impedance of the winding (Sace, 2008).
√3×𝑍𝑤

1.3.3.2 Star Phase (Y)

For the starting phase, the windings of the motor are star-connected; the main voltage supply (VN)
1
on the individual windings is reduced by a factor of (0.58) (Randermann, 2010). In star-
√3

connected, inrush current and starting torque are reduced to almost one third of the rated values
for delta connection. The star-delta configuration is more suitable for small load torque
characteristics that increases with speed, such as fans, pumps or compressors (Sace, 2008)
(Randermann, 2010).

1.3.3.3 Changeover Phase

The changeover from star-connected to delta-connected occurs through the opening or closing of
the dedicated contactors (switch), the switching and calibration time of the changeover phase are
essential (Sace, 2008). In circuit configuration from star to delta changeover, the current drops to
zero and speed of motor decreases, depending on the load (Randermann, 2010). Now the full
voltage is applied to the motor windings, the delta connection causes a dramatic increase in current,
which can lead to voltage dips in weak and unreliable system supplies (Randermann, 2010). The
torque of the motor will also increase during the changeover, which will cause an extra loading on
the system (Randermann, 2010).
 17

1.3.3.4 Delta Phase (Δ)

After the changeover has been carried out, the last phase of starting is reached; it shows the
condition of steady-state running in which the windings of the stator remain delta-connected.

The star to delta changeover is controlled by the contactor circuit or timing relay on the contactors
(Sace, 2008) (Randermann, 2010). The time required for staying star connection is load dependent
and has to continue until the motor has reached between 75% to 80% of its operating speed, to
ensure that the least possible post-star connection acceleration occurs (Randermann, 2010). This
post-acceleration is associated in delta configuration where high currents occur (Randermann,
2010).

The flowchart and control strategy of star-delta start is designed as shown below in Figure 3.

Figure 3: Star-Delta Starting (Clockwise, forward rotation)

The main circuit breaker act as a main power supply switch and the main contactor connects to the
source voltage A, B & C to the primary terminal of the motor U1, V1 & W1. Initially, the star-
contactor and main contactor are closed and then after a period of time, the star-contactor opens
 18

and closes the delta contactor. Initially the star-contactor acts as short to secondary terminal U2, W2
& V2, this supplies 1/3 of direct-on-line current to the motor (Parmar, 2012)

1.4 Induction Machine

The induction machine is one of the most common motors in industrial applications and it is the
workhorse of industry (Ishikawa & Murai, 1998), (Bakshi & Bakshi, 2009), (Chapman, 2005) and
(Lindenmeyer, Dommel, Moshref, & Kundur, 2001). It has two main parts, a stator and a rotor, two
different types of rotors are available: squirrel-cage rotor and wound-rotor (Shahl, 2010). Most
industrial applications use squirrel-cage rotor induction motors.

1.4.1 Stator
The stator is the stationary part of induction machine. The stator winding consists of three individual
windings that overlap each other but are offset by an angle of 1200 (Rockwell Automation, 1996).
The stator is energized by the incoming current when it is connected to a power supply, and
magnetizing current produces magnetic field that rotates at synchronous speed 𝜔𝑆 (Rockwell
Automation, 1996) (Chapman, 2005).

1.4.2 Rotor
The rotor is the rotating part of induction machine, and comes in two types: squirrel cage winding
rotor and wound rotor (Rockwell Automation, 1996). Squirrel cage rotors consist of a slotted
cylindrical rotor core sheet with aluminum bars which are connected at the front by rings to form a
closed cage (Rockwell Automation, 1996).

When the rotor is in a stationary position it acts like a transformer with a short circuited secondary
terminal. Thus, the stator winding acts as a primary winding and the rotor winding acts as a
secondary winding (Rockwell Automation, 1996). Because the rotor is short circuited, the rotor
current depends on its resistance and induced voltage, so the interaction between the magnetic flux
and the current conductors in the rotor generate a corresponding torque of the rotating field
(Rockwell Automation, 1996). The cage bars are designed like skew which is an offset pattern to the
axis of rotation in order to prevent torque fluctuations (Rockwell Automation, 1996).

In the presence of small counter-torque, no-load losses, the rotor reaches a synchronous speed of
the rotating field (Rockwell Automation, 1996). If the speed of rotor is the same as the synchronous
 19

speed, a voltage can’t be induced and current will cease to flow and there will not be any more
torque (Rockwell Automation, 1996).

When the induction motor operates, the rotor speed drops to the load speed and the slip (s) is
defined here by the difference between the synchronous speed and load speed (Rockwell
Automation, 1996).

Slip - The stator current creates a rotating magnetic field in the air gap and the rotational speed of
the magnetic field is proportional to stator current frequency

𝜔𝑠 = 2𝜋𝑓𝑠 (1)

𝑓𝑠 Is the stator current frequency in equation (1) (Hamon, 2010).

The rotating magnetic field, which is the stators magnetic field, rotates at the same speed of
synchronous speed (𝜔𝑆 ). The slip “s” of induction motor is defined when speed of rotor (𝜔𝑚 ) is
equal to mechanical speed.

𝜔𝑆 − 𝜔𝑚 (2)
𝑆= × 100%
𝜔𝑆
And synchronous speed in rpm

120 × 𝑓 (3)
𝜔𝑆 =
𝑃

1.4.3 Squirrel Cage Rotor

Three-phase induction motors are one of the most commonly used machines for industrial
applications. This is due to its low cost that makes it very popular in industries compare to
synchronous machines. They are the most rugged and robust to operate and require less
maintenance (Gaucheron, 2004) and (Wigington, 2010). The induction machine response varies as
changes occur in the operating state, for example the response to a dynamic load. The downsides of
induction machines are the large starting currents. They are difficult to control and manage, which
has led to the increased attention given to studying this aspect of power studies.

The squirrel cage rotor that makes up most of the induction machines usually consists of laminated
core with a conductor running through each slot. This is very similar to a wound rotor. The
conductors have heavy copper lightly insulated from the core and each end is short-circuited by a
 20

pair of rings (Prasad, 2009). The slots of the rotor are in a skewed shape to help the motor during
startup as well as a quieter running. Some squirrel cage rotor windings conductors and rings are
made of aluminum which is casts into position when the core of rotor is assembled (Prasad, 2009).
Some squirrel cage rotors are made of a solid cylinder without any conductor or slots, the cylinder
steel itself acts as a conductor (Prasad, 2009). The squirrel cage rotor resistance is very small
compared to the wound rotor and it is impossible to insert external resistance as the bars are
permanently short-circuited to each other by the end rings (Bakshi & Bakshi, 2009).
 21

2. System Model

2.1 Toshiba Motor

The Toshiba three phase induction motor has been chosen for this project. This machine is a Toshiba
Premium Efficiency Motor model, which is a low voltage motor with a low output power. The
manufacturers data sheet for the Toshiba motor is obtained from the Toshiba International
Corporation website.

The specifications for the Toshiba (TSH01) Motor are given on the Name-Plate, which is reproduced
in the Table 1.

Table 1: Toshiba; three phase induction motor Name-plate

The information given in the name-plate (Table 1) conforms to the NEMA standard. National
Electrical Manufacturer Association (NEMA) defines the mounting parameters, dimensional
parameters, basic performance and basic designs of a motor (NEMA Standards Publication MG 1,
2009). When the parameters are coded on the motor’s nameplate it provides the basic definition of
what can be achieved. The minimum amount of information that is required when choosing an
induction machines for a given application are:

- Manufacturer’s type
- Output Power (kW or Hp)
- Voltage
- RPM at rated load
- Frequency
- Number of phases
 22

- Rated load current

- Frame designation
- Insulation system, maximum ambient temperature
- Design letter and rating
- Nominal efficiency and power factor

This information is usually available on the motors nameplate. Information on the motor nameplate
is arranged into categories. The rated output (shaft) power can be achieved when supplied by the
rated electrical input. The nameplate information describe how effective the motor works and how
safe and reliable it is. The following section gives brief description of the motor nameplate data
along with some applications of this motor.

2.1.1 Electrical input

Voltage:

The most important parameter is voltage; it shows the motors designed operating point. The
current, power factor and efficiency are all defined on the nameplate for rated voltage and
frequency. Different performance would likely to be produced by application at other than
nameplate information.

Frequency:

The rated frequency for the Toshiba motor is 50Hz. If the nameplate shows more than one
frequency, then parameters for all other operating points will differ, these should also be defined on
the nameplate (Thornton & Armintor, 2003). Adjustable frequency drives (AFDs) are becoming more
important for motor in term of frequency range; they should be carefully programed so they do not
violate information on the nameplate, particularly for motors in hazardous applications.

Phase:

Single phase and three-phase motors are both common. In an industrial setting three phase motors
are more common. The number of phases is based on how many active lines are connected to the
motor.

Current:

The rated load current represents the current that will be drawn when the motor is operating at
nameplate voltage, frequency and load power. In case of unbalanced phases, under voltage
 23

conditions, or combination of both, the current may deviate from the nameplate amperage
(Thornton & Armintor, 2003).

Power factor:

Power factor represents a percentage, given as “P.F.” or PF on the nameplate. It is the ratio of active
power to apparent power. The power factor displayed on the nameplate is for full load at rated
voltage and frequency. It varies with the load on induction motor. Numerically it is equal to cosine of
the angle that the input current lags the voltage. For percentage values this value is multiplied by
100. There are tradeoffs when designing an induction motor, for improved efficiency or other
performance parameters, power factor sometimes suffers. The power factor can be improved by
adding capacitors in parallel with the motor (Thornton & Armintor, 2003).

2.1.2 Mechanical Output

Output Power:

The output power is generally specified as “P [W]or HP” on the nameplate. This is the rated shaft
mechanical power or output power of the motor. It is capable of delivering the torque at rated
speed to a load. Equation (4) below represents the power calculation which is obtained from Toshiba
(2009) and the rated torque can be obtained from equation (5).

𝑀𝑜𝑡𝑜𝑟 𝐸𝑓𝑓 (4)

(1.732 × 𝐿𝑖𝑛𝑒 𝑉𝑜𝑙𝑡𝑎𝑔𝑒 × 𝐿𝑖𝑛𝑒 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 × 𝑝. 𝑓.× ( ))
100
𝑃(𝑘𝑊) =
1000

𝑃(𝑘𝑊) = 0.746 × 𝐻𝑜𝑟𝑠𝑒𝑝𝑜𝑤𝑒𝑟

𝑇𝑜𝑟𝑞𝑢𝑒 (𝑁𝑚) × 𝑆𝑝𝑒𝑒𝑑 (𝑟𝑝𝑚) (5)

𝑃𝑜𝑤𝑒𝑟 (𝑘𝑊) =
9550

Full-Load speed:

The full load speed is generally given in rev per minute (RPM) on the motor nameplate. It is the
speed at which the rated torque is delivered at rated output power. It is sometimes called actual
speed of the rotor or slip speed. For an induction motor it is not the synchronous speed. When the
motor runs from a fixed frequency AC power supply, the synchronous speed is the speed of the
 24

magnetic flux, which will be a ratio between the electrical frequency and the number of poles of the
machine (Thornton & Armintor, 2003). The synchronous speed is always greater than induction
motor name plate speed as slip is required to produce torque. The motor speed will decrease slightly
as the load is increased.

Design:

Motor designs are assigned letters to identify certain characteristics. The given design “N” type of
Toshiba motor is equivalent to Design B of NEMA motor type (Elgeland, 2014). It is important to
know the design letter whenever replacing the parts of a motor, as some manufacturers assign the
motor’s design letter but does not describe the industry standard. Design B, bounds the designer to
limit inrush currents, this ensures that the user can expect certain currents during motor startup and
therefore select suitable devices (Thornton & Armintor, 2003). NEMA Standards Publication MG 1
(2009)-explains the design which defines the torque and current characteristics of the motor

2.1.3 Performance
Nominal Efficiency:

Nominal efficiency (in percent) is defined as the power output divided by the power input multiplied
by 100:

𝑝𝑜𝑤𝑒𝑟 𝑜𝑢𝑡𝑝𝑢𝑡
𝜂= × 100
𝑝𝑜𝑤𝑒𝑟 𝑖𝑛𝑝𝑢𝑡

The nominal efficiency represented on the nameplate is an average efficiency of a number of like
motors. The manufacturer defines the actual efficiency of induction motor so that it is guaranteed to
be within a tolerance band of its nominal efficiency, but each manufacturer has different bands.
NEMA has established its own allowable maximum variation, allowing an additional 20% of motor
losses, such as stray load losses, friction losses, iron losses and windage losses (NEMA Standards
Publication MG 1, 2009).

Duty:

Continuous three phase induction machines are designed for rated power. There are nine main duty
types, from S1-S9 (IEC Standard 60034-1, 2004). S1 is a continuous duty types which operates with
constant load with duration sufficient to reach thermal equilibrium (Rockwell Automation, 1996).
 25

2.1.4 Reliability
Insulation Class:

Insulation classes are very often represented as “INSUL CLASS” on the nameplate. The letter defines
the motor insulation class, depend on winding. This shows the thermal tolerance of the motor
winding according to standard classification of industry. The insulation class letter on the Toshiba
three phase inductions motor is “F” class. The designation letters (A, B or F) basically depend on the
windings ability to survive a given operating temperature over a given time period. The performance
or time period improves with higher classes which are categories in alphabetical order (Thornton &
Armintor, 2003). Insulation class F has better and longer nominal life than class A at a given
operating temperature and it may survive at higher temperature for a given nominal life span.
Operating temperature is a result of the ambient conditions and factors such as energy losses that
result in heat, which will raise the motor temperature (Thornton & Armintor, 2003).

Ambient Temperature:

The ambient temperature often represented as “AMB” on the nameplate, is usually given in degrees
centigrade as a unit. The maximum ambient temperature on the listed nameplate of the motor
shows the users that at that temperature the motor is capable of operating within the tolerance of
maximum temperature rise for that insulation class type.

2.1.5 Construction
Frame:

Motors, like other devices, come in different sizes to match the application requirement. As the
horsepower increases the frame size increases too. Frames are often represented as letters and
numbers on the nameplate. The mounting dimensions of the frame size such as shaft height, shaft
diameter and foot hole mounting pattern are important in frame sizing.

Bearings:

Bearing data gives information about the drive-end bearing and other side drive-end bearings. The
information given on the nameplate varies from manufacturer to manufacturer. NEMA has not set
any requirements for bearing data, although, manufacturers generally do provides bearings data on
the nameplate. Bearings are used in a motor to reduce friction which allows high speed and high
thrust operation and reduces temperature rise and noise.
 26

2.2 General Equivalent Circuit

The model for a three phase induction motor consists of stator and a rotor which are magnetically
connected as shown in Figure 4. The equivalent circuit is quite similar to a transformer, which has
magnetically connected electrical systems. A transformer has a set of primary and secondary
winding, for a motor the equivalent of the secondary windings is almost a short circuited (Shahl,
2010). Like a transformer a balanced AC voltage is supplied to the motor stator windings, this
current induces a voltage in the rotor (Shahl, 2010). The applied voltage (V1) across phase A is equal
to the sum of

Induced voltage (V2)

Voltage drop across the stator resistance (I1 R1)

Voltage drop across the stator leakage reactance (I1. jX1)

Figure 4: Equivalent circuit for per phase of an induction motor

In figure 4:

𝑉1 = 𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑜𝑟 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒 𝑖𝑛 𝑉𝑜𝑙𝑡𝑠

𝑉2 = 𝑅𝑜𝑡𝑜𝑟 𝑝ℎ𝑎𝑠𝑒 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑜𝑟 𝑠𝑖𝑑𝑒 𝑖𝑛 𝑉𝑜𝑙𝑡𝑠

𝑐𝑢𝑟𝑟𝑒𝑛𝑡
𝐼1 = 𝑆𝑡𝑎𝑡𝑜𝑟 𝑜𝑟 𝑙𝑖𝑛𝑒 𝑝ℎ𝑎𝑠𝑒
𝑖𝑛 𝐴𝑚𝑝

𝐼2 = 𝑅𝑜𝑡𝑜𝑟 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑠𝑡𝑎𝑡𝑜𝑟 𝑖𝑛 𝐴𝑚𝑝

𝐼𝑚 = 𝑀𝑎𝑔𝑛𝑒𝑡𝑖𝑧𝑖𝑛𝑔 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑖𝑛 𝐴𝑚𝑝

𝐼𝑓𝑒 = 𝐶𝑜𝑟𝑒 𝑙𝑜𝑠𝑠 𝑐𝑢𝑟𝑟𝑒𝑛𝑡 𝑖𝑛 𝐴𝑚𝑝

𝑅1 = 𝑠𝑡𝑎𝑡𝑜𝑟 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒/𝑝ℎ𝑎𝑠𝑒

𝑅2 = 𝑅𝑜𝑡𝑜𝑟 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒, 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑜𝑟 𝑠𝑖𝑑𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

 27

𝑅𝑓𝑒 = 𝐶𝑜𝑟𝑒 𝑙𝑜𝑠𝑠 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑋1 = 𝑆𝑡𝑎𝑡𝑜𝑟 𝑙𝑒𝑎𝑘𝑎𝑔𝑒 𝑟𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑋2 = 𝑅𝑜𝑡𝑜𝑟 𝑙𝑒𝑎𝑘𝑎𝑔𝑒 𝑟𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒, 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑜𝑟 𝑠𝑖𝑑𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑋𝑚 = 𝑀𝑒𝑔𝑛𝑎𝑡𝑖𝑧𝑖𝑛𝑔 𝑟𝑒𝑎𝑐𝑡𝑎𝑛𝑐𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑍 = 𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑍2 = 𝑅𝑜𝑡𝑜𝑟 𝑖𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒 𝑝𝑒𝑟 𝑝ℎ𝑎𝑠𝑒, 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑜𝑟 𝑠𝑖𝑑𝑒 𝑖𝑛 𝑂ℎ𝑚𝑠

𝑠 = 𝑠𝑙𝑖𝑝 𝑖𝑛 𝑝𝑒𝑟 𝑢𝑛𝑖𝑡

2.2.1 PowerFactory Induction Machine

The induction machine model in DigSilent PowerFactory is also called a type 2 asynchronous
machine model and it has been available since version 12. The general induction machine model is
given in Figure 5. It is basically the classical model type that includes slip (frequency) dependent
rotor impedance.

The equivalent circuit diagram shows the stator currents and voltages in a steady reference frame,
as instantaneous phasors. Rotor currents and voltages are given in a reference frame that rotates
with mechanical frequency (DigSilent, 2013). The rotor impedance (Figure 6) is referred to the stator
side, which is why the rotating transformer doesn’t have any winding ratios in Figure 5 (DigSilent,
2013). Also, the general induction machine model is not earthed, which is why there is no zero
sequence equation.

Figure 5: PowerFactory General Induction Machine Model

 28

Figure 6: PowerFactory Rotor Impedance of the Single Cage Rotor

𝑍𝑟𝑜𝑡 is a frequency dependent and it can be modeled for squirrel cage induction machines on wide
range of slip or speed.

Comparing Figure 5 with Figure 4:

𝑅𝑆 = 𝑅1

𝑋𝑆 = 𝑋1

𝑍𝑟𝑜𝑡 = 𝑅𝑜𝑡𝑜𝑟 𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒

𝑅𝑟𝐴 = 𝑅2

𝑋𝑟𝐴 = 𝑋2

There are two types of input modes in PowerFactory for induction machines, one is electrical
parameters mode and the second is the slip-torque and the slip-current characteristic mode, see
Figure 7 & Figure 8.
 29

Figure 7: PowerFactory basic data screen inputs

Figure 8: PowerFactory Load Flow/RMS Simulation input

 30

When the input mode is set to “electrical parameter”, then the electrical parameters of the
equivalent circuit diagram are entered in the “white boxes”. The highlighted values are automatically
calculated from the entered parameters (𝑅1 , 𝑋1 , 𝑋𝑚 , 𝑅2 𝑎𝑛𝑑 𝑋2 ) including rated mechanical (output)
power, rated frequency, poles and inertia. After the values are entered, pressing the “calculate”
button then PowerFactory starts conversion from the parameters. If PowerFactory doesn’t find
conversion, then it will display an error message on the screen to indicate inconsistent input
parameters.

When the input mode is set to “slip-torque/current characteristic” then some of the electrical
parameters will be calculated automatically and will be displayed as greyed out values. However, the
stator resistance and leakage reactance 𝑅1 & 𝑋1 still require an entry, as well as maximum torque,
rated output power, power factor, efficiency, nominal speed, poles and inertia.

The electrical parameters are not provided in the nameplate of motor nor given in the data sheet
(Toshiba, 2009). So the Toshiba three phase induction motor is tested in order to determine the
electrical parameters.

2.2.2 Three Phase Motor Parameters Determination

A per phase equivalent circuit is shown in Figure 4, it is mainly developed in order to obtain an insight
into induction motor operation. Toshiba model No # TSH01, three phase induction machine was
chosen to perform the tests for the purpose of electrical parameters values. The book “Applied
Intelligent Control of Induction Motor Drive” by (Chan & Shi, 2011) provides three tests to determine
the electrical parameters of an induction machine. IEEE Standards 112 (2004), also explains the test
procedure for three phase induction motors and generators, with a different approaches to
determining the parameters.

A set of measurements were performed to achieve the electrical parameters of the Toshiba Motor.
Method 1 was performed, but the provided power analyzers (PM300, PM6000 and Yokagawa)
couldn’t provide accurate values for locked-rotor test. The rotor resistance was resulting in a
negative value when the Yokagawa meter was used. The power analyzers did not perform well over
low frequency ranges. However, the test was then performed with variable frequency drive (VFD),
but still the results were negative values. Method2 &3 are to be performed on 25% of rated
frequency, so the power analyzer could not be used to perform the test under this circumstance.

2.3 (Chan & Shi, 2011) Parameter Test

(Chan & Shi, 2011) Test method provides three tests which are dc, no-load and locked-rotor tests to
determine the electrical parameters.
 31

2.3.1 DC Test
This is the simplest method which measures the stator resistance. From Figure 9, the motor is
supplied by the DC voltage across the two terminals and the DC voltage and current are measured,
so that the stator resistance is obtained from equation (6). Table 2 below shows the measured
values of the DC test for the motor.

𝑉𝐷𝐶 (6)
𝑅𝐷𝐶 =
𝐼𝐷𝐶

Figure 9: Per-Phase Equivalent circuit for DC test

The machine is Y-Connected, therefore

𝑅𝐷𝐶 = 2 𝑅1𝑌

And so the actual stator resistance can be calculated from equation (7)
𝑅𝐷𝐶 (7)
𝑅1𝑌 = 2

Table 2: Calculated values of Voltage & Current of DC tests

DC Test
Phases Voltage (V) Current (A)
a 25.85 0.99
b 26.43 1.01
c 26.5 1.02
Average 26.26 1.01
 32

2.3.2 No-Load Test

In this test the induction motor is operating at rated voltage and there is no connected load in order
to measure the magnetizing reactance. The mechanical (rotor) speed is approximately equal to
synchronous speed, assuming no mechanical friction or load. At rated frequency (50Hz), slip at no-
load is close to zero and the rotor impedance reaches close to infinity. The current, voltage and input
power are measured and the no-load impedance is calculated from equation (10). The equivalent
circuit for no-load test is shown in Figure 10.

Figure 10: Equivalent Circuit for No-Load test

The following formulas are taken from Chan & Shi (2011).

Per Phase stator resistance

𝑃𝑎 (8)
𝑅1 = 2
𝐼𝑁𝐿

Per phase of nominal voltage

𝑉𝑁
𝑉𝑎 =
√3

Per phase of real power

𝑃
𝑃𝑎 =
3
 33

Per phase of reactive power

𝑄𝑎 = √(𝑉𝑎 𝐼𝑎 )2 − 𝑃𝑎2

𝑄𝑎 (9)
𝑋𝑛 =
𝐼𝑎2

As s = 0, therefore the magnetizing reactance can be measure from the following equation (10)

𝑋𝑛 ≈ 𝑋1 + 𝑋𝑚 (10)

The measured values of voltage, current, active power and reactive power are shown in Table 3.

Table 3: Measured Values of voltage, current and power of No-Load Test

No-Load Test
Reactive
Voltage (V) Current (A) Power (W)
Power (Var)
3 Phase 413.300 0.689 50.550 490.000
Per Phases
a 238.200 0.662 20.170 157.050
b 238.900 0.717 21.040 169.650
c 238.800 0.688 9.336 163.950
Average 238.633 0.689 16.849 163.550

2.3.3 Locked-Rotor Test

The rotor was blocked physically by a piece of metal hooked to the shaft of motor for this test. A low
voltage was applied so that the rated current was flowing in the stator winding. As the rotor
(mechanical) speed is zero, then the applied slip is equal to unity (S & T, 2014). The rotor impedance
becomes much smaller than the magnetizing impedance. As a consequence, the current flow can be
neglected in the magnetizing impedance and only the stator and rotor impedances are involved in
the equivalent electric circuit, as shown in Figure 12 (S & T, 2014). The voltages, currents and input
powers are measured by blocking the rotor, so the impedances can be calculated by the following
formulas taken from Chan & Shi (2011).

Per phase voltage

 34

𝑉𝐿𝑅
𝑉𝑎 =
√3

Phase current

𝐼𝑎 = 𝐼𝑎𝑣𝑔

Per phase active power

𝑃
𝑃𝑎 =
3

Per phase reactive power

𝑄𝑎 = √(𝑉𝑎 𝐼𝑎 )2 − 𝑃𝑎2

The stator resistance (𝑅1 ) was already determined by the DC resistance test, so from the locked-
rotor measured values the rotor impedance can be calculated.

Toshiba three phase induction machine is design “N” type on the nameplate as Roberts (2003)
shows that the design “N” type of motors are equivalent to design “B” of NEMA class motor. As the
Chan & Shi (2011) provides the NEMA motor classification to calculate the impedances so the design
letters are necessary according to NEMA class motors. Information is given in Bhatia (2011) about
the nameplate values and comparisons of the NEMA and IEC standards (International
Electromechanical Commission) standards.

The following equations (11) & (12) are used to calculate the stator and rotor leakage reactance for
class B motor.

𝑄𝑎 (11)
𝑋1 = 0.4 ×
𝐼𝑎2
 35

𝑄𝑎 (12)
𝑋2 = 0.6 ×
𝐼𝑎2
jX1 jXr

ILR R1

Rr
jXm

Figure 11: Equivalent circuit of locked-rotor test

Figure 12: Simplified Equivalent circuit of lock-rotor test

Table 4 shows the measure values of locked-rotor test.

Table 4: Measured values of Voltage, current and power of locked-rotor test

Locked-Rotor Test with Active Power (W) Results

Reactive
Voltage (V) Current (A) Power (W)
Power (Var)

3 Phase 92.128 1.019 96.040 134.150

Per Phases
a 53.320 1.018 32.680 44.360
b 53.340 1.036 32.480 45.700
c 52.910 1.002 30.880 44.090
Average 53.190 1.019 32.013 44.717
 36

Simplifying equation (10) from no-load test to measure the magnetizing reactance

𝑋𝑚 = 𝑋𝑛 − 𝑋1 (13)

𝑃𝑎
𝑅=
𝐼𝑎2

𝑅𝑟 = 𝑅 − 𝑅1

Comparing Figure 11 & Figure 12 to make an equation (14) and calculate the rotor resistance.

(𝑅2 + 𝑗𝑋2 ) × 𝑗𝑋𝑚

𝑅𝑟 + 𝑗𝑋𝑟 =
(𝑅2 + 𝑗𝑋2 ) + 𝑗𝑋𝑚

2
𝑅2 𝑋𝑚
𝑅𝑟 ≈
(𝑅2 + (𝑋2 + 𝑋𝑚 )2

𝑋2 + 𝑋𝑚 2 (14)
𝑅2 = 𝑅𝑟 × ( )
𝑋𝑚

2.4 IEEE Standard 112 Test

IEEE recommends four methods for testing the stator reactance and resistance. They are:

a) Method 1: A locked-rotor test where the frequency supplied to the motor is 25% of the
motor’s rated frequency. The voltage supplied to the motor will be the voltage at which the
current delivered to the motor is equal to the motor’s rated full load current.
b) Method 2: A locked-rotor test where three frequencies are supplied to the motor (25%, 50%
and 100% of the motor’s rated frequency). For each test the voltage supplied to the motor
will be the voltage at which the current delivered to the motor is equal to the motor’s rated
full load current. The results are tabulated to generate a curve from which the equivalent
stator resistance and reactance can be determined (IEEE, Std 112, 2004).
c) Method 3: A motor with no load connected is supplied at rated frequency, at a reduced
voltage, such that the slip speed of the motor is equal to the rated full load slip. For this test
 37

the slip of the motor has to be measured very accurately to obtained accurate equivalent
impedance results.
d) Method 4: This test is performed when all other methods cannot be practically
implemented. This test is also a locked-rotor test where the only frequency supplied to the
motor is at the motor’s rated frequency. The voltage supplied to the motor will be the
voltage at which the current delivered to the motor is equal to the motor’s rated full load
current (IEEE, Std 112, 2004).

To find the complete motor equivalent circuit parameters, a no load test must be carried out
regardless of the method used. This report used IEEE method 4 to find the equivalent circuit.

For the no load test the PM300 power analyzer was used to measure voltage, current, active and
reactive power.

The no-load test used per-phase measurements as per IEEE guidelines to determine the equivalent
circuit parameters. The reactive power was determined using Equation (15) from the average
measured per-phase voltage, current and active power shown in Table 5.

(15)
𝑄0 = √(𝑚 ∗ 𝑉0 ∗ 𝐼0 )2 − 𝑃02

Where 𝑚 is the number of phases (three for this motor).

Table 5: No-Load test at synchronous speed

No-Load Test (1501 RPM)

Reactive
Current Io Power Frequency
Voltage Vo (V) Power
(A) Po (W) (Hz)
(Var)
3-Phase 417.753 0.703 52.092 49.988 505.496
Per Phases
a 241.700 0.693 22.052 49.988 165.982
b 240.610 0.725 17.945 49.988 173.555
c 241.260 0.690 12.095 49.988 165.960
Average 241.190 0.703 17.364 49.988 168.499

Equation (16) was used to calculate the reactive power from the locked rotor test at rated frequency
(50Hz) and at a reduced voltage (~97V). The measured values from the locked-rotor test along with
the calculated reactance are shown in Table 6.
 38

(16)
𝑄𝐿 = √(𝑚 ∗ 𝑉𝐿 ∗ 𝐼𝐿 )2 − 𝑃𝐿2

Table 6: Locked rotor test at rated frequency

Locked-Rotor Test (Rated Current & Frequency)

Apparent
Voltage VLR Current ILR Power Frequency
Power
(V) (A) PL (W) (Hz)
(VA)
3-Phase 96.734 1.071 107.025 49.956 179.475
Per Phases
a 55.863 1.056 35.370 49.957 59.006
b 55.311 1.074 35.943 49.957 59.387
c 56.374 1.084 35.712 49.955 61.082
Average 55.849 1.071 35.675 49.956 59.825

Table 7: Reduced voltage slip test of measured values

Impedance (Slip) Test (1411 RPM)

Reactive
Power Frequency Power
Voltage Vs (V) Current Is (A) Power Qo
Ps (W) (Hz) Factor
(Var
3-Phase 51.28 0.129 7.677 50.028 0.669 8.536
Per Phases
a 29.621 0.128 2.564 50.028 0.674 2.810
b 29.542 0.130 2.584 50.028 0.671 2.858
c 29.649 0.129 2.528 50.028 0.661 2.868
Average 29.604 0.129 2.559 50.028 0.669 2.845

The magnetizing and stator reactances are calculated using an iterative approach from the values
obtained from the no-load and locked-rotor test. To perform the iterations a MATLAB code shown in
Appendix 8.2 was used.

𝑚𝑉02 1 (17)
𝑋𝑀 = ×
𝑄0 − (𝑚𝐼02 𝑋1 ) 𝑋 2
(1 + 𝑋 1 )
𝑀

where 𝑋𝑚 is the magnetizing reactance.

𝑄𝐿 𝑋1 𝑋1 (18)
𝑋𝐿 = × (( ) + )
2 𝑋1 𝑋1 𝑋 𝑋
𝑚 ∗ 𝐼𝐿 × (1 + (𝑋 ) + 𝑋 ) 2 𝑀
2 𝑀

where 𝑋𝐿 is the stator reactance.

 39

Using the IEEE guidelines for method 4, for a motor of design B, the relationship between 𝑋1 and 𝑋2
is given by:

𝑋1 (19)
𝑋2
= 0.67.

The iteration begins by setting 𝑋1 = 𝑋𝐿 , 𝑋1 = 1 and 𝑋𝑚 = 10. The iteration was stopped when
convergence was achieved.

The obtained values of magnetizing and stator reactance were then used to find the rotor leakage
reactance and rotor resistance. This also required an iterative approach. The IEEE formulas given for
the iteration process are expressed as (IEEE, Std 112, 2004):

𝑋𝐿 (20)
𝑋2𝐿 =
𝑋
(𝑋1 )
2

Where 𝑋2𝐿 is the rotor leakage reactance.

𝑃ℎ 𝑋1 2 (21)
𝐺𝑓𝑒 = ∗ (1 + )
(𝑚 ∗ 𝑉02 ) 𝑋𝑀

1 (22)
𝑅𝑓𝑒 =
𝐺𝑓𝑒

𝜃1 = cos −1(𝑝𝑓) (23)

2 2 (24)
𝑉2 = √(𝑉1 − 𝐼1 (𝑅1 𝑐𝑜𝑠𝜃1 − 𝑋1 𝑠𝑖𝑛𝜃1 )) + (𝐼1 (𝑅1 𝑠𝑖𝑛𝜃1 + 𝑋1 𝑐𝑜𝑠𝜃1 ))

−𝐼1 (𝑅1 𝑠𝑖𝑛𝜃1 − 𝑋1 𝑐𝑜𝑠𝜃1 ) (25)

𝜃2 = arctan
𝑉1 − 𝐼1 (𝑅1 𝑐𝑜𝑠𝜃1 − 𝑋1 𝑠𝑖𝑛𝜃1 )

𝑉2 (26)
𝐼𝑒 =
𝑋𝑀
 40

𝑉2 (27)
𝐼𝑓𝑒 =
𝑅𝑓𝑒

2 (28)
𝐼2 = √(𝐼1 𝑐𝑜𝑠𝜃1 − 𝐼𝑒 𝑠𝑖𝑛𝜃2 )2 + (−𝐼1 𝑠𝑖𝑛𝜃1 + 𝐼𝑒 𝑐𝑜𝑠𝜃2 + 𝐼𝑓𝑒 𝑠𝑖𝑛𝜃2 )

𝑉2 (29)
𝑍2 =
𝐼2

(30)
𝑅2 = 𝑠 ∗ √(𝑍22 − 𝑋22 )

Where 𝑅2 is the rotor resistance.

The iteration begins by setting 𝑋2𝐿 = 𝑋2 and 𝑅1 = 13.04 (Chan & Shi, 2011). The iteration was
stopped when convergence was achieved. The results obtained after the iterative approach are shown
in Table 8 and are compared with the values obtained from the Chan & Shi method.

Table 8: Locked rotor tests result (Chan & Shi, 2011) and (IEEE, Std 112, 2004)

Methods R_1 (Ω) X_1 (Ω) X_m (Ω) R_2 (Ω) X_2 (Ω)
Chan & Shi Test 13.04 16.85 327.70 20.66 25.28
IEEE Std Test 13.04 17.57 327.74 20.96 26.23
Difference 0.00% 4.10% 0.01% 1.40% 3.62%
Average 13.04 17.21 327.72 20.81 25.75
 41

2.5 Moment of Inertia

The moment of inertia is a relationship between electrical torque, mechanical torque, rotor speed
and mass and shape of the spinning rotor. It can often be quite complex to calculate the moment of
inertia of a rotor, particularly if the shape, size and distribution of mass cannot be directly measured.
The moment can be determined if the mechanical torque, electrical torque and the rotor rate of
change of speed are known, as described by equation (31). The original objective was to calculate
the moment of inertia in such a way; however time and equipment constraints prevented this from
being achieved.

𝑑𝜔 (31)
𝐽 = 𝑇𝑒 − 𝑇𝑚
𝑑𝑡
where:

 𝐽 = 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 (𝑘𝑔𝑚2 )

 𝑇𝑒 = 𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 𝑇𝑜𝑟𝑞𝑢𝑒 (𝑁. 𝑚)
 𝑇𝑚 = 𝑀𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑇𝑜𝑟𝑞𝑢𝑒 (𝑁. 𝑚)
𝑟𝑎𝑑
 𝜔 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑆𝑝𝑒𝑒𝑑 ( 𝑠
)

The moment of inertia of a rotor will have a significant influence on the dynamic performance.
Therefore it is very important to know this parameter when simulating the starting characteristics of
a motor. Fortunately the gravitational flywheel effect for the motor of interest was given in the
specification manual.

The moment of inertia can be calculated from the gravitational flywheel effects (𝐺𝐷 2 ) by equation
(32) (Toshiba, 2009) (TECO Australia, 2014).

𝐺𝐷 2 (32)
𝐽=
4
For the Toshiba 370 Watt motor 𝐺𝐷 2 = 0.01𝑘𝑔𝑚2.

Therefore

0.01
𝐽= 4
= 0.0025𝑘𝑔𝑚2
 42

3. Torque Characteristic
Figure 13 shows the torque characteristics of a squirrel cage induction machine. The parameters
given in these characteristics are defined below.

Figure 13: Induction motor Torque Vs Speed characteristic

𝑇𝐴 = 𝐿𝑜𝑐𝑘𝑒𝑑 𝑟𝑜𝑡𝑜𝑟 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑠𝑡𝑜𝑝 𝑜𝑟 𝑏𝑟𝑒𝑎𝑘𝑎𝑤𝑎𝑦 𝑡𝑜𝑟𝑞𝑢𝑒.

𝑇𝑛 = 𝑅𝑎𝑡𝑒𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 𝑎𝑡 𝑟𝑎𝑡𝑒𝑑 𝑝𝑜𝑤𝑒𝑟 𝑃𝑛 𝑎𝑛𝑑 𝑟𝑎𝑡𝑒𝑑 𝑠𝑝𝑒𝑒𝑑 𝑛𝑛 𝑑𝑢𝑟𝑖𝑛𝑔 𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛.

The rated torque in a standard motor is delivered under continuous operation without exceeding its
temperature limit (Rockwell Automation, 1996).

𝑇𝐾 = 𝑃𝑢𝑙𝑙 𝑜𝑢𝑡 𝑡𝑜𝑟𝑞𝑢𝑒,

This is the maximum torque that the motor can deliver. If the power is increased from the rated
rotor load, then slip will continue to increase, speed will decrease and the motor will deliver higher
torque (Rockwell Automation, 1996).

𝑇𝐿 = 𝐿𝑜𝑎𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 / 𝑐𝑜𝑢𝑛𝑡𝑒𝑟 𝑡𝑜𝑟𝑞𝑢𝑒 𝑜𝑟 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑡𝑜𝑟𝑞𝑢𝑒 This shows the load during the
acceleration.

𝑇𝑀 = 𝑚𝑜𝑡𝑜𝑟 𝑡𝑜𝑟𝑞𝑢𝑒 𝑜𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑡𝑜𝑟𝑞𝑢𝑒

 43

𝑇𝐷 = 𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑡𝑜𝑟𝑞𝑢𝑒. This shows the difference between the motor torque and load torque

The rated torque is delivered from continuous duty that operates in S1 mode and rated load with a
properly sized motor rotates at rated speed.

𝑃
𝑅𝑎𝑡𝑒𝑑 𝑡𝑜𝑟𝑞𝑢𝑒 (𝑇𝑛 ) = 9555 × 𝜔𝑛
𝑚

However it can be determined by electrical parameters of the motor:

√3 𝑉×𝐼×𝑐𝑜𝑠𝜑×𝜂×9.55
𝑅𝑎𝑡𝑒𝑑 𝑇𝑜𝑟𝑞𝑢𝑒 (𝑇𝑛 ) = 𝑛

Where:

𝑉 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑣𝑜𝑙𝑡𝑎𝑔𝑒

𝐼 = 𝑃𝑒𝑟 𝑃ℎ𝑎𝑠𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡

𝐶𝑜𝑠𝜑 = 𝑃𝑜𝑤𝑒𝑟 𝑓𝑎𝑐𝑡𝑜𝑟

𝜂 = 𝐸𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑐𝑦

𝑛 = 𝑀𝑜𝑡𝑜𝑟 𝑠𝑝𝑒𝑒𝑑

The locked rotor torque or starting torque is always greater than the rated torque and also during
acceleration; the motor torque must always remain higher than the mechanical/load torque as seen
from Figure 13. The motor operates at constant speed at the intersection point of both torques, at
point A in Figure 13. The working point A may increase above the nominal working point An if it is
overloading and it is allowable just for a short period without over heating the motor (Rockwell
Automation, 1996).
 44

3.1 Torque-Slip/Speed Characteristics

The equation of torque is given in equation (33) (Shahl, 2010)

3𝐼22 𝑅2 (33)
𝜏=
𝑠𝜔𝑠

Where:

𝐼2 = 𝑅𝑜𝑡𝑜𝑟 𝑐𝑢𝑟𝑟𝑒𝑛𝑡

𝑅2 = 𝑅𝑜𝑡𝑜𝑟 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒

𝜔𝑆 = 𝑆𝑦𝑛𝑐ℎ𝑟𝑜𝑛𝑜𝑢𝑠 𝑠𝑝𝑒𝑒𝑑

𝑠 = 𝑠𝑙𝑖𝑝

The above torque equation at different slips can be calculated by simplifying the equivalent circuit
model. The stator part of induction motor is replaced by Thevenin equivalent circuit (Shahl, 2010) as
shown in Figure 14.

jXth jX2

Rth

R2/s
Vth

Figure 14: Thevenin Equivalent circuit of an Induction motor model

The stator impedance and magnetizing reactance of equivalent circuit were replaced by a Thevenin
equivalent circuit with the stator phase voltage by its Thevenin equivalent.

The equations from (34) to (41) were obtained from (Shahl, 2010)

𝑗𝑋𝑚 (34)
𝑉𝑇𝐻 = × 𝑉1
𝑅1 + 𝑗(𝑋1 + 𝑋𝑚 )

𝑉𝑇𝐻 = |𝑉𝑇𝐻 |
 45

When the impedances are replaced then the Thevenin equivalent impedances

𝑍𝑇𝐻 = (𝑅1 + 𝑗𝑋1 )||𝑗𝑋𝑚

𝑗𝑋𝑚 (𝑅1 + 𝑗𝑋1 ) (35)

𝑍𝑇𝐻 = 𝑅𝑇𝐻 + 𝑗𝑋𝑇𝐻 =
𝑅1 + 𝑗𝑋1 + 𝑗𝑋𝑚

From above circuit in Figure 14, the rotor current calculation was simplified

𝑉𝑇𝐻
𝐼2 = 𝑍
𝑇𝐻 +𝑍2

𝑉𝑇𝐻 (36)
𝐼2 =
𝑅
(𝑅𝑇𝐻 + 𝑠2 ) + 𝑗(𝑋𝑇𝐻 + 𝑋2 )

Squaring the rotor current from above expression, then insert in torque equation (33)

𝑉22
𝐼22 =
𝑅 2
(𝑅𝑇𝐻 + 𝑠2 ) + (𝑋𝑇𝐻 + 𝑋2 )2

Simplifying the torque equation (33)

2
3𝑉𝑇𝐻 𝑅2 1 (37)
𝜏= × ×
𝑅 2 𝑠 𝜔𝑠𝑦𝑛
(𝑅𝑇𝐻 + 𝑠2 ) + (𝑋𝑇𝐻 + 𝑋2 )2

2𝜋
Where 𝜔𝑆𝑦𝑛 = 1500 × 60 in rad/s

As maximum torque occurs when the synchronous speed is constant and slip is same at maximum
air-gap power so from the Thevenin circuit, the maximum torque occur when

𝑅2 2
(38)
= √𝑅𝑇𝐻 + (𝑋𝑇𝐻 + 𝑋2 )2
𝑠

Re-arranging equation (38) then it obtained the slip so that pull-out torque or maximum torque can
be calculated.
 46

𝑅2 (39)
𝑆𝑚𝑎𝑥 =
2
√𝑅𝑇𝐻 + (𝑋𝑇𝐻 + 𝑋2 )2

So the Thevenin torque equation (33) becomes, after substituting the pull-out slip,

2
3𝑉𝑇𝐻 (40)
𝑇𝑚𝑎𝑥 =
2
2𝜔𝑠𝑦𝑛 [𝑅𝑇𝐻 + √𝑅𝑇𝐻 + (𝑋𝑇𝐻 + 𝑋22 )]

2
As the starting torque is proportional to 𝑉𝑇𝐻 so that starting torque becomes

2
3𝑉𝑇𝐻 𝑅2 (41)
𝑇𝑠𝑡𝑎𝑟𝑡 =
𝜔𝑠𝑦𝑛 [(𝑅𝑇𝐻 + 𝑅2 )2 + (𝑋𝑇𝐻 + 𝑋2 )2 ]

 When the stator and rotor leakage inductances are increased then the starting torque
reduces
 When the stator frequency is increased then the starting torque reduces
 When the rotor resistance is increased then at first the starting torque also increases but will
decrease after some time (Shahl, 2010).

As 𝑇𝑠𝑡𝑎𝑟𝑡 𝑚𝑎𝑥 = 𝑇𝑚𝑎𝑥 when 𝑅2 = 𝑋1 + 𝑋2

 47

4. Mechanical Load
When the motor operates with the average rated speed and rated torque the motor is sized
correctly. The motor can provide the rated mechanical power and the rated current will be drawn
from the supply.

Driven machine or loads are mechanical devices that are used to machine or shape materials, such
as centrifuge, conveyor system, pumps, fans and machine tools etc. The structured details of motor
driven machines are not generally considered for the motor design. But Rockwell Automation (1996)
explains that it is usually described exactly by the

 Torque characteristics 𝑇𝐿 = 𝑓(𝑛) 𝑂𝑅 𝑇𝐿 = (𝑓(𝑡)

 Speed as a function of time 𝑛 = 𝑓(𝑡)
 By the maximum allowable acceleration/deceleration
 Entire moment of inertia, relative to the drive shaft.

The load torque will usually vary from no-load to full-load. The moment of inertia will not differ but
depending on the torque curve, the load torque may increase as a function of rotor speed.

4.1 PowerFactory Mechanical Loads

There are three different mechanical loads applied to the induction motor which are selected from
the global library in PowerFactory. The sample load models are described as Motor Drive Machines
(Mdms), in three forms: Mdm_1, Mdm_3 and Mdm_5. PowerFactory provides three different sizes
of simple loads such as fan, pump and compressor. The induction motor output speed (𝜔𝑙𝑜𝑎𝑑 ) which
is used as input speed to measure the applied torque.

4.1.1 Mdm_1
The first model is Mdm_1, which is one of the built-in models; equation (42) in PowerFactory
describes this model (DigSilent, 2013).

2
𝑇𝐿 = 𝑇𝐶𝑜𝑛𝑡 + 𝐾𝜔𝑙𝑜𝑎𝑑 (42)

This shows the square of motor speed (output speed) and initial constant torque and also the K is
the coefficient of the mechanical load in order to reach the rated torque. Figure 15 below shows the
speed-torque curve that is associated with the above equation (42).

From PowerFactory

𝑥𝑚𝑑𝑚 = 𝑚𝑑𝑚𝑙𝑝 ∗ 𝑠𝑝𝑒𝑒𝑑𝑚𝑑𝑚𝑒𝑥−1

 48

Where:

The input power of the motor driven machine is the speed of the motor in p.u

𝑥𝑚𝑑𝑚 = 𝑜𝑢𝑡𝑝𝑢𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑑𝑟𝑖𝑣𝑒𝑛 𝑚𝑎𝑐ℎ𝑖𝑛𝑒 𝑖𝑠 𝑡𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑝. 𝑢

𝑚𝑑𝑚𝑙𝑝 = 𝑃𝑟𝑜𝑝𝑜𝑟𝑡𝑖𝑜𝑛𝑎𝑙 𝑓𝑎𝑐𝑡𝑜𝑟 𝑖𝑛 𝑝. 𝑢

𝑚𝑑𝑚𝑒𝑥 = 𝐸𝑥𝑝𝑜𝑛𝑒𝑛𝑡𝑖𝑎𝑙 𝑓𝑎𝑐𝑡𝑜𝑟

𝑛𝑚
𝑠𝑝𝑒𝑒𝑑 (𝑝. 𝑢) = 𝑛𝑠

1410
𝑠𝑝𝑒𝑒𝑑 (𝑝. 𝑢) = 1500 = 0.94 𝑝. 𝑢

The load is taken from DigSilent (2013) provided by one of the built-in load which is given the values
of exponential factor 3 and proportional factor 0.5pu.

Figure 15: Torque-Speed characteristic Curve for Mdm_1

4.1.2 Mdm_3
Mdm_3 is the second mechanical load,. centrifugal pump is applied to the induction motor from the
global library of PowerFactory. Figure 16 shows the speed-toque curve with the associated load
equation (43) (DigSilent, 2013)

2
𝑇𝑙𝑜𝑎𝑑 = 𝑇0 (1 − 𝜔𝑙𝑜𝑎𝑑 )5 + 𝑇𝑟𝑎𝑡𝑒𝑑 𝜔𝑙𝑜𝑎𝑑 (43)

where 𝑇0 = initial torque of mechanical load

 49

𝑇𝑟𝑎𝑡𝑒𝑑 = rated torque of mechanical torque

Equation (43) is a realistic equation for most mechanical loads and is used in the simulation as a
mechanical load. The induction motor and the dip characteristics shown in equation (43) is a 5th order
term that leads at low speed. This type of load is also called quadratic torque load and is one the most
common torque load types used in industry, and the torque is square of speed (Rakesh, 2003).

Figure 16: Speed Torque Curve for Mdm_3

There have been conflicting opinions and claims regarding the effect of replacing a standard
efficiency motor with an energy efficient motor on a centrifugal type load.

For centrifugal pumps and fans, the torque varies as the square of the speed, because power varies
with torque and with speed (Thornton & Armintor, 2003). Centrifugal pumps are the most common
drive type used for pumping applications because of its low cost, reliable and ease to maintain. They
also generally have long operational life (Energy Efficiency and Renewable Energy , 2008).
 50

4.1.3 Mdm_5
This is the so-called constant torque load type. In this type the motor driven machine torque results
from mechanical friction that remains constant over wide range of speeds (Rockwell Automation,
1996). The torque requirement is independent of speed in this type of load (Cowern, 2014).

Mdm_5 is the third mechanical load. A screw compressor is applied to the induction motor from the
global library of PowerFactory. Figure 17 shows the speed-torque curve. The values of speed and
torque are automatically calculated by PowerFactory algorithm which is given in the torque-speed
characteristics of the screw compressor load.

The torque speed characteristic is defined by the following formula by (DigSilent, 2013)

𝑃𝑀 = |𝜔| ∗ 𝑡𝑜𝑟𝑞𝑢𝑒(𝑠𝑝𝑒𝑒𝑑) − 𝜔 ∗ (1 − 𝑙𝑜𝑎𝑑))

Figure 17: Speed-Torque Curve for Mdm_5

 51

5. Simulation Results
Simulations were carried out in DigSilent’s PowerFactory using the values obtained from the motor
equivalent circuit. MATLAB code was also produced to help verify the PowerFactory result. The main
purpose of the simulation was to analyze and compare the dynamic performance of the Toshiba
motor connected to loads of different types and how to determine whether the dynamics could be
improved by utilizing a simple star-delta starter. A comparison of the dynamics between Chan & Shi
method and IEEE method was also carried out.

5.1 Equivalent Circuit Parameters Calculation

The electrical parameters of the three-phase induction machine are verified in sections 2.3 and 2.4
above. Two different methods were performed to determine the electrical parameters of the
Premium Toshiba Motor. The first experiment was based on the method outline in (Chan & Shi,
2011), the second method was based on the IEEE standards (IEEE, Std 112, 2004). These measured
values obtained from each method were implemented in MATLAB and PowerFactory for further
verification. The results from MATLAB and PowerFactory were very similar. The coding used for the
MATLAB coding is shown in Appendix 8.2.

Version 14.0 of the PowerFactory software only provides two default starting options for a squirrel
cage induction motor. They are the direct-on-line or star-delta starting methods.

5.2 Direct-on-Line Starting Method

The simulation for the direct-on-line starting method was carried out for the equivalent motor circuit
measurements obtained from both the Chan & Shi and IEEE methods. Given that the values obtained
from the Chan & Shi and IEEE showed very little variation, the simulation was carried out using the
average equivalent circuit. The PowerFactory software was used to carry out the simulation using
the equivalent circuit values shown in Table 8.

In this section, the direct-on-line starting method was analyzed using the PowerFactory results from
the equivalent circuit parameters obtained from the average values found from the Chan & Shi and
IEEE methods. All simulations were carried out at rated voltage (415V) and frequency (50Hz). Three
load types were connected to identical induction motors to assess the impact the loads have on the
dynamic behavior of motor startup. The three loads included loads with torque curves typical of an
exhaust fan (PowerFactory Mdm_1), centrifugal pump (Mdm_3) and a screw compressor (Mdm_5).
Figure 18 shows the transient behavior of the motor current, active power, reactive power, rotor
speed, electrical torque and power factor. The DOL starter was switched on at 𝑡 = 0.1𝑠𝑒𝑐𝑜𝑛𝑑𝑠.
 52

Figure 18: Current, Active Power, Reactive Power, Speed, Torque and Power Factor Curves at 0.37kW Output Power

The current plot shown in Figure 18 a) demonstrates the very large inrush current that occurs with
DOL motor starting. The peak current observed is close to 5.5A or almost five times the rated motor
current. The starting current profile is very similar for each of the load types.

Plot Figure 18 b) shows per unit speed. The steady state operating speed is reached very quickly (less
than 0.2 seconds) for each of the load types. This is a result of the very low rotor and loads moment
of inertia. All motors operate above the nominal operating speed of 0.95pu at around 0.97pu,
suggesting they are fairly lightly loaded.

Figure 18 c) shows a comparison of the mechanical torque generated by the motor. It is one of the
few plots that clearly distinguish the three load types. The highest torque is developed with the
centrifugal pump and the smallest by the exhaust fan.

The active power is shown in Figure 18 d). During the transient event there is very little to distinguish
between the three load types. At steady state each of the motors operatives at a different active
power ranging from 178W-248W. This is well below the motors 370W rating, which again suggests
the motors are lightly loaded.
 53

Figure 18 e) shows the reactive power and Figure 18 f) shows the corresponding power factor. The
plots indicate a high reactive power component during motor startup and a very high reactive power
component at steady state. Therefore, each motor has very poor power factor regulation. There is
however a clear trend that shows the power factor improves with increased load. However, the
highest steady state power factor observed was still below 50%.

The comparison is made from the calculated values of current, active power, reactive power and
speed which are given in Table 9, Table 10, Table 11 and Table 12. The values were obtained from
PowerFactory using a DOL starter and the average equivalent motor circuit from the Chan & Shi and
IEEE measurements.

Table 9: Current Measured values for average test with different Loads

(Current ) on Mdm_1 (Exhaust Fan Load)

Average Test
Max Current (kA) Steady Current (kA)
Times (s) 0.00550000 0.09259677
Current Magnitude (kA) 0.00408447 0.00072985
(Current ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Max Current (kA) Steady Current (kA)
Times (s) 0.00550000 0.09259677
Current Magnitude (kA) 0.00408447 0.00072985
(Current ) on Mdm_5 (Screw Compressor Load)
Average Test
Max Current (kA) Steady Current (kA)
Times (s) 0.00550000 0.09259677
Current Magnitude (kA) 0.00408014 0.00085357
 54

Table 10: Active Power Measured values for average test with different Loads

(Active Power ) on Mdm_1 (Exhaust Fan Load)

Average Test
Max Power (MW) Steady Power (MW)
Times (s) 0.02259677 0.11259680
Active Power (MW) 0.00192153 0.00024863
(Active Power ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Max Power (MW) Steady Power (MW)
Times (s) 0.02259677 0.11259680
Active Power (MW) 0.00192153 0.00024863
(Active Power ) on Mdm_5 (Screw Compressor Load)
Average Test
Max Power (MW) Steady Power (MW)
Times (s) 0.02259677 0.11259680
Active Power (MW) 0.00191790 0.00038610

Table 11: Reactive Power Measured values for average test with different Loads

(Reactive Power ) on Mdm_1 (Exhaust Fan Load)

Average Test
Max Reactive Steady Reactive Power
Power (MW) (MW)
Times (s) 0.00550000 0.12259680
Reactive Power (MW) 0.00260242 0.00047585
(Reactive Power ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Max Reactive Steady Reactive Power
Power (MW) (MW)
Times (s) 0.00550000 0.11259680
Reactive Power (MW) 0.00260242 0.00047585
(Reactive Power ) on Mdm_5 (Screw Compressor Load)
Average Test
Max Reactive Steady Reactive Power
Power (MW) (MW)
Times (s) 0.00550000 0.11259680
Reactive Power (MW) 0.00259981 0.00048754
 55

Table 12: Speed Measured values for average test with different Loads

(Speed ) on Mdm_1
Average Test
Steady Speed
Times (s) 0.1025968
Speed 0.9666768
(Speed) on Mdm_3
Average Test
Steady Speed
Times (s) 0.1025968
Speed 0.9666768
(Speed ) on Mdm_5
Average Test
Steady Speed
Times (s) 0.1025968
Speed 0.9462909
 56

5.3 Star-Delta Starting Method

The simulation for the direct-on-line starting method was carried out for the equivalent motor circuit
measurements obtained from both the Chan & Shi and IEEE methods. Given that the values obtained
from the Chan & Shi and IEEE showed very little variation, the simulation was carried out using the
average equivalent circuit. The PowerFactory software was used to carry out the simulation using
the equivalent circuit values shown in Table 8.

In this section, the star-delta starting method was analyzed using the PowerFactory results from the
equivalent circuit parameters obtained from the average values found from the Chan & Shi and IEEE
methods. All simulations were carried out at rated voltage (415V) and frequency (50Hz). Three load
types were connected to identical induction motors to assess the impact the loads have on the
dynamic behavior of motor startup. The three loads included loads with torque curves typical of an
exhaust fan (PowerFactory Mdm_1), centrifugal pump (Mdm_3) and a screw compressor (Mdm_5).
Figure 19 shows the transient behavior of the motor current, active power, reactive power, rotor
speed, electrical torque and power factor. The start-delta starter was switched on at 𝑡 =
0.1𝑠𝑒𝑐𝑜𝑛𝑑𝑠 and transitioned from start connected to delta connected at 𝑡 = 0.24 𝑠𝑒𝑐𝑜𝑛𝑑𝑠.
 57

Figure 19: Current, Active Power, Reactive Power, Speed, Torque and Power Factor curves at 0.37kW output power

The plot in Figure 19 a) current, at startup there is a significant decrease in current in comparison
with the DOL starting method. The in rush current is only 1.9A compared with 5.5A of the DOL
starter. The peak current occurs during the transition to delta operation at 𝑡 = 0.24 𝑠𝑒𝑐𝑒𝑜𝑛𝑑𝑠. The
maximum current observed was 3.8A, which is still significantly lower than the DOL method. The
star-delta starting method does not affect the steady state operating points.

Plot Figure 19 b) shows per unit speed. Generally a start-delta starter would transition into run mode
(delta connected) at between 75-80% of the motors rated speed (Randermann, 2010). It can be seen
from Figure 19 b) that the compressor does not reach 75% of the rated speed before switching to
delta mode. However, so that an accurate comparison could be made all motors were switched at
the same instant. Using the start-delta did extend the time taken to reach steady state operating
speed, adding an average of around 0.1 seconds when compared with the DOL method. The steady
state operating speed is still reached very quickly (less than 0.3 seconds) for each of the load types.
This again is a result of the very low rotor and loads moment of inertia.
 58

Figure 19 c) shows a comparison of the mechanical torque generated by the motor. When looking at
the start-delta plot alone it is very difficult to see any effect to the torque curves. However, when
compared with the DOL the plot appears to be stretched, but little to no difference between
maximum and minimum points.

The active power is shown in Figure 19 d). During the transient event there is very little to distinguish
between the three load types and as all other plots the steady state operating point is identical to
the DOL method. The plot of Figure 19 d) is comparable to the current plot, showing a significantly
lower staring and peak power compared with the DOL starting method.

Figure 19 e) shows the reactive power and Figure 19 f) shows the corresponding power factor.
Compared with the DOL starter the reactive power during startup is significantly reduce, although,
the peak reactive current at the star to delta transition is still quite high at 2500Var. As with all other
plots the steady state values are unaffected and each motor operates with a poor power factor.

Table 13, Table 14, Table 15 and Table 16 are used to compare the calculated values of current,
active power, reactive power and speed. The values were obtained from the PowerFactory
simulations using a star-delta starter and the average motor equivalent circuit from the (Chan & Shi,
2011) and (IEEE, Std 112, 2004) measurements.
 59

Table 13: Current Measured values for average test with different Loads

(Current ) on Mdm_1 (Exhaust Fan Load)

Average Test
Times (s) Current Magnitude (kA)
Startup Current (kA) 0.0055000 0.0013732
Pull-up Curretn (kA) 0.1425968 0.0006936
Max Current (kA) 0.1525968 0.0022794
Steady Current (kA) 0.2025968 0.0007136
(Current ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Times (s) Current Magnitude (kA)
Startup Current (kA) 0.0055000 0.0013752
Pull-up Curretn (kA) 0.1425968 0.0007699
Max Current (kA) 0.1525968 0.0024056
Steady Current (kA) 0.2225968 0.0007427
(Current ) on Mdm_5 (Screw Compressor Load)
Average Test
Times (s) Current Magnitude (kA)
Startup Current (kA) 0.00550000 0.00137320
Pull-up Curretn (kA) 0.14259680 0.00082332
Max Current (kA) 0.15259680 0.00253927
Steady Current (kA) 0.22259680 0.00086470

Table 14: Active Power Measured values for average test with different Loads

(Active Power ) on Mdm_1 (Exhaust Fan Load)

Average Test
Times (s) Power (MW)
Startup Power (MW) 0.02259677 0.00065998
Pull-up Power (MW) 0.14259680 0.00039869
Max Power (MW) 0.15259680 0.00084076
Steady Power (MW) 0.27259680 0.00020736
(Active Power ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Times (s) Power (MW)
Startup Power (MW) 0.02259677 0.00065964
Pull-up Power (MW) 0.14259680 0.00044003
Max Power (MW) 0.15259680 0.00093163
Steady Power (MW) 0.26259680 0.00024169
(Active Power ) on Mdm_5 (Screw Compressor Load)
Average Test
Times (s) Power (MW)
Startup Power (MW) 0.02259677 0.00066000
Pull-up Power (MW) 0.14259680 0.00047050
Max Power (MW) 0.15259680 0.00102998
Steady Power (MW) 0.24259680 0.00038399
 60

Table 15: Reactive Power Measured values for average test with different Loads

(Reactive Power ) on Mdm_1 (Exhaust Fan Load)

Average Test
Times (s) Reative Power (MW)
Startup Reactive Power (MW) 0.0055000 0.0008746
Pull-up Reactive Power (MW) 0.1425968 0.0002993
Max Reactive Power (MW) 0.1525968 0.0014063
Steady Reactive Power (MW) 0.2325968 0.0004741
(Reactive Power ) on Mdm_3 (Centrifugal Pump Load)
Average Test
Times (s) Reative Power (MW)
Startup Reactive Power (MW) 0.0055000 0.0008758
Pull-up Reactive Power (MW) 0.1425968 0.0003356
Max Reactive Power (MW) 0.1525968 0.0014568
Steady Reactive Power (MW) 0.2325968 0.0004756
(Reactive Power ) on Mdm_5 (Screw Compressor Load)
Average Test
Times (s) Reative Power (MW)
Startup Reactive Power (MW) 0.0055000 0.0008746
Pull-up Reactive Power (MW) 0.1425968 0.0003590
Max Reactive Power (MW) 0.1525968 0.0015069
Steady Reactive Power (MW) 0.2325968 0.0004888

Table 16: Speed Measured values for average test with different Loads

(Speed) on Mdm_1
Average Test
Times (s) Speed
Pull-Up Speed 0.1425968 0.8017664
Steady Speed 0.2025968 0.9740518
(Speed) on Mdm_3
Average Test
Times (s) Speed
Pull-Up Speed 0.1425968 0.7659755
Steady Speed 0.2125968 0.9672747
(Speed) on Mdm_5
Average Test
Times (s) Speed
Pull-Up Speed 0.1425968 0.7349715
Steady Speed 0.2025968 0.9485318
 61

5.4 Electrical Torque Curves

The average equivalent circuit model obtained from the (Chan & Shi, 2011) & (IEEE, Std 112, 2004)
methods were used to generate a torque speed plots in both MATLAB and PowerFactory. This was
carried out in order to verify the calculated parameters were accurate, as PowerFactory does not
disclose the formulas used to generate the torque curves.

5.4.1 Torque Curves

Figure 20 shows the electrical torque curve generated by the MATLAB code. The code used to
generate the plot is shown in the Appendix section 8.2. Figure 21 shows the electrical torque curve
automatically generated in PowerFactory. These two curves indicate the high starting torque initially
increased at the startup of motor and reached to the maximum torque. After the maximum torque
the declines slowly where it shows the stability point of motor.

Figure 20: Matlab Torque vs. Speed Curve

 62

Figure 21: PowerFactory Torque vs. Speed Curve

Table 17: Starting and Maximum torque difference from Matlab and PowerFactory

Curves Startup Torque (p.u) Maximum Torque (p.u)

Matlab 2.7255 3.3631
PowerFactory 2.7443 3.3863
Difference 0.6838% 0.6842%

Table 17 shows a comparison of some of the key points on the torque speed curves. The difference
between the achieved starting torque and maximum toque values from PowerFactory and Matlab
are very small (less than 1%).
 63

6. Conclusion
It cannot be said which of the starting method is best without more specific starting requirements.
Furthermore, there are other starting methods that have not been modelled and simulated in this
report that could be consider. The applied simulation method from this thesis investigated and
compared two starter methods, the DOL method and the star-delta method. This was carried out
using the computer simulation software PowerFactory. This software is not an alternative to
practical knowledge as the result can very easily produce an inaccurate simulation if data is not
carefully entered. However, a competent user with a feel for the expected results could use this
software to quickly compare starting methods which would help make a decision on the most
appropriate starting method.

The PowerFactory software does have other limitations. Without extensive training on the use of the
software, factors such as equipment life span and running/operational costs are not easily analysed.
These are factors that would need to be considered when implementing a motor into a new or
existing project. The models implemented in this report have also ignored factor such as flux
leakage, flux saturation. Special attention may be required to these areas for some applications.

A general conclusion can however be drawn from the starting tests performed in this report. Direct-
on-line starters have a significant impact on the power system. They can result in voltage dips in the
system during motor start up. This is due to the high starting inrush current resulting from the high
starting torque. It does however have the shortest time taken to reach steady state.

Star-delta starters can also have significant impact on the power system voltage, although generally
not to the same extent as a DOL starter, as the inrush current is reduced. The drawback of this
method is a reduction in the starting torque and the longer time required reaching steady state
operation. Starting time and starting torque are important factors in most motor applications, so
these are factors than need to be taken into consideration. It should be noted that there wasn’t any
specific object for optimizing the starting procedure in this thesis.

This thesis mainly analysed and discussed the dynamic behaviour of a specific three phase induction
motor. The key involvement of the project was to calculate the parameters of the equivalent motor
circuit so that this analysis could be carried out. DigSilent’s PowerFactory computer software proved
to be a very helpful tool in analysing the DOL and star-delta starting methods, but it should not be
the only approach used. Future work could use later versions of the PowerFactory software or
investigate other starting methods which would require building models within the more advanced
features of the software.
 64

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 68

8. Appendix

8.1 Appendix A
Toshiba manufacturer data sheet is taken from the (Toshiba, 2009), it gives the details of the three
phase induction machine that were used in this thesis which shows in Figure 22: Toshiba
Manufacturer Data Sheet for equivalent circuit..

Figure 22: Toshiba Manufacturer Data Sheet for equivalent circuit.

The Figure 23 is used to connect the PM300 Power analyzer connection to three-phase power
supply.

Figure 23: PM300 Three-Phase Power Analyser Connection

 69

8.1.1 (Chan & Shi, 2011) Electrical Parameters

DC Test: The calculated value of stator resistance from the measured values of dc test

Table 18: DC test calculated values

DC Test
Phases Voltage (V)Current (A) R1 (Ω) 26.09
a 25.85 0.99
b 26.43 1.01 Y-Connected
c 26.5 1.02 R1Y (Ω) 13.04
Average 26.26 1.01

No-Load Test Results: The calculated value of magnetizing impedance from the measure values of
no-load test.

Table 19: No-Load test calculated values

No-Load Test
R_NL /
Reactive
Voltage (V) Current (A) Power (W) phase Xn (Ω)
Power (Var)
(Ω)
3 Phase 413.300 0.689 50.550 490.000 346.381 344.618
Per Phases
a 238.200 0.662 20.170 157.050 359.873
b 238.900 0.717 21.040 169.650 333.008
c 238.800 0.688 9.336 163.950 347.345
Average 238.633 0.689 16.849 163.550 346.381

Locked-Rotor Test Results: The calculated values of stator and rotor reactance and rotor resistance
from the locked-rotor test.

Table 20: Locked-Rotor test measured values

Locked-Rotor Test
R_NL /
Reactive
Voltage (V) Current (A) Power (W) phase
Power (Var)
(Ω)
3 Phase 92.128 1.019 96.040 134.150 52.212
Per Phases
a 53.320 1.018 32.680 44.360 52.357
b 53.340 1.036 32.480 45.700 51.511
c 52.910 1.002 30.880 44.090 52.789
Average 53.190 1.019 32.013 44.717 52.212
 70

Table 21: Locked-Rotor test calculated values

The calculated values of torque characteristics are given below in Table 22. It is used to measure in
the SI units instead of per unit values. But PowerFactory calculations are in per units values. So these
values are not used in PowerFactory. Matlab simulation tool is used to carry out the torque
characteristics then convert the values in per unit in Matlab.

Table 22: Theoretical calculated values of torque characteristics

Methods V_Th (V) Z_Th (Ω) Torque (Nm) Max Torque (N.m) Starting Torque (N.m)
Chan & Shi Test 228.0997 11.78 + j16.47 2.661 12.43 7.344
IEEE Standard Test 227.626 11.73 + j17.12 2.614 12.137 6.944
Difference (%) 0.2077% 0.42 + j3.8% 1.7663% 2.3572% 5.4466%

8.1.2 PowerFactory Results

Table 23 & Table 24 show the average test results of Chan & Chi (2011) and IEEE Standard 112
(2004) electrical parameters of induction machine, which is implemented in PowerFactory at rated
mechanical power and then PowerFactory’s automatic calculated values are highlighted in gray
color.

Table 23: Basic Data of (Chan & Shi, 2011) Experimental results by PowerFactory
 71

Table 24: Load tab of the PowerFactory calculated values

8.2 Matlab Simulation

Table 25: Average electrical parameter calculated in Matlab in per unit values
Average Electrical Parameters
R_1 (pu) X_1 (pu) X_m (pu) R_2 (pu) X_2 (pu)
0.0516 0.0681 1.2977 0.0824 0.1020

8.2.1 Chan and Shi Parameter Test Matlab Calculation

clear all
clc % Clear All the Comments

R1=13.04; % Stator Resistance

X1=17.5709.*1i; % Stator Leakage Reactance
Xm=327.7353.*1i; % Magnetizing Reactance
X2=26.2253.*1i; % Rotor Leakage Reactance
R2=20.9552; % Rotor Resistance
V_ph=.415e3./sqrt(3); % Per-Phase Voltage

%---------------------------basic Calculation---------------------------
Motor_S=1410; % Motor Speed
Frequency=50; % Rated Frequency
Syn_S=2.*pi().*Frequency./2; % Synchronous speed in Rad/s
Syn_speed=Syn_S.*60./(2.*pi()); % Synchronous speed in rpm
Slip=(Syn_speed-Motor_S)./Syn_speed; % Slip of Motor

%---------------------------rated values--------------------------------
 72

s_rated=Slip; % Rated Slip

Zth_rated=((X2+R2./s_rated).*(Xm))./(X2+R2./s_rated+Xm); % Rated Thevinen Impedance
Zeq_rated=Zth_rated+R1+X1; % Rated Equivalent Impedance
Vth_rated=V_ph.*Zth_rated./(Zth_rated+R1+X1); % Rated Thevinen Voltage
I2_rated=Vth_rated./(X2+R2./s_rated); % Rated Rotor Current
Pag_rated=3.*(abs(I2_rated))^2.*R2./s_rated; % Rated Mechanical Power
tau_rated=Pag_rated/Syn_S; % Rated Torque
S_rated=3.*(V_ph)^2./Zeq_rated; % Rated Apparent Power
Srated=abs(S_rated); % Rated Absolute Apparent Power
pf_rated=real(S_rated)./abs(S_rated); % Rated Power Factor
eff=Pag_rated./real(S_rated); % Rated Efficiency
I=abs(V_ph/Zeq_rated); % Absolute Current

%-----------------------Per Unit Value Calculation--------------------

V_base=240; % Base Voltage

S_base=Srated./3; % Base Apparent Power
Z_base=V_base^2./S_base; % Base Impedance
omega_s=Syn_S; % Synchronous Speed in Rad/s
s=1; % Unity Slip
R1pu=R1./Z_base; % Stator Resistance in Per Unit
X1pu=X1./Z_base; % Stator Leakage Reactance in Per Unit
Xmpu=Xm./Z_base; % Magnetizing Leakage Reactance in Per Unit
X2pu=X2./Z_base; % Rotor Leakage Reactance in Per Unit
R2pu=R2./Z_base; % Rotor Resistance in Per Unit
V_pu=V_ph./Z_base; % Voltage in Per Unit
omega_pu=omega_s./omega_s; % Syncronous Speed in Per Unit

tau_base=tau_rated/3 % Base Torque

hold on;
tau_max=0; % Set Maximum Torque to zero for iteration
tau_start=0; % Set Starting Torque to zero for teration

for n=0:1000 % For loop number of iteration from 0 to 1000

n=n+1; %
s;
n_ns=(1-s); % Speed
omega=omega_s.*(1-s);
Zth=((X2+R2./s).*(Xm))./(X2+R2./s+Xm); % Thevinen Imepdance in rotor side
Vth=V_ph.*Zth./(Zth+R1+X1); % Thevinen voltage
I2=Vth./(X2+R2./s); % Rotor current
abs(I2); % Absolute value of rotor current
Pag=(abs(I2))^2.*R2./s; % Air-gap Power
tau_ph=Pag./omega_s; % Mechanical torque
 73

tau_pu=(tau_ph)./tau_base; % Torque in per unit

if n==1; % If condition when n is equal to 1

tau_start=tau_pu; % If n is equal to 1 then display starting torque value
end % End of if condition

if tau_pu>tau_max; % If condition when torque is greater than other values

tau_max=tau_pu; % If torque is maximum then display maximum torque
end % End of if condition
plot(n_ns,tau_pu); % Plot the graph of torqu in per unit vs speed
s=s-.001;

end

hold off;

Zthlr=((X2pu+R2pu./1).*(Xmpu))./(X2pu+R2pu./1+Xmpu); % Thevinen impedance in rotor

side of circuit
Zlr=X1pu+R1pu+Zthlr; % Thevinen impedance
Ilr=abs(1./Zlr) % Display the locked rotor current
P_mech=Pag_rated % Display mechanical power
pf_rated % Display power factor
eff % Display efficiency
tau_start % Display starting torque
tau_max % Display maximum torque
Rs=R1pu % Display stator resistance in per unit
Xs=imag(X1pu) % Display stator leakage reactance in per unit
Xr=imag(X2pu) % Display rotor leakage reactance in per unit
Rr=R2pu % Display rotor resistance in per unit
Xmpu=imag(Xmpu) % Display magnetizing reactance in per unit

8.2.2 IEEE Standard 112 Matlab Calculation:

8.2.2.1 IEEE Standard 112 Parameter Test Matlab Calculation

clc
clear all % Clear all on each simulation

%---------------------------Impedance test (Slip/reduced voltage)----------

P_h=1; % Lets assume power is equal to 1

%--------------------------Locked rotor test-------------------------------
P_L=107.025; % Measured value of power from locked-rotor test
V_L=96.7339./sqrt(3); % Measured value of voltage from locked-rotor test
I_L=1.0712; % Measured value of current from locked-rotor test

%--------------------------No-load test------------------------------------
 74

P_o=52.092; % Measured value of power from no-load test

V_o=417.7533/sqrt(3); % Measured value of voltage from no-load test
I_o=0.7026; % Measured value of current from no-load test

%------------------------- (Slip/reduced voltage)--------------------------

P_s=7.6767; % Measured value of power from reduced voltage test
V_s=51.27563/sqrt(3); % Measured value of voltage from reduced voltage test
I_s=0.1293; % Measured value of current from reduced voltage test
R_1=13.04; % Measure stator resistance from DC test (separate test)
s=(1500-1411)./(1500); % Calculated slip value
%----------------------------locket rotor test(slip-method)----------------
m=3; % Number of Phase of motor

Q_o=sqrt((m.*V_o.*I_o)^2-P_o^2); % Calculated reactive power at no-load test

Q_L=sqrt((m.*V_L.*I_L)^2-P_L^2); % Calcualted reactive power at locked-rotor test

%------------------------------Guesses-------------------------------------
X_1=1; % Stator reactance is equal to 1 for Iteration
X_M=10; % Magnetizing reactance assume to 10 for more iteration
n=1; % First number of iteration
for n=1:10 % For loop iteration
n=n+1; % Adding 1 buy each iteration

X_2=X_1./0.67; % Rotor reactance calculation

X_Mnew=m.*V_o^2./(Q_o-(m.*I_o^2.*X_1)).*1/(1+X_1./X_M)^2; % Magnetizing reactance

calculation
X_L=Q_L./(m.*I_L^2.*(1+(X_1./X_2)+X_1./X_M)).*((X_1./X_2)+X_1./X_M); % Reactance
calculation from locked rotor test
X_1=X_L; % Stator reactance is equatl to locked rotor reactance
X_M=X_Mnew;

end % End of for loop

X_1; % Number of iteration for stator reactance

X_M; % Number of iteration for magnetizing reactance
X_2; % Number of iteration for rotor reactance

B_M=1./X_M; % Magnetizing suspectance

X_2L=X_L./(X_1./X_2); % Rotor reactance from locked-rotor test
X_2=X_2L;
G_fe=P_h/(m.*V_o^2).*(1+X_1./X_M)^2; % Core loss conductance
R_fe=1./G_fe; % Core loss resistance
V_1=V_s; % Stator resistance
I_1=I_s; % Stator current
theta_1=acos(0.6687); % Power factor
V_2=sqrt((V_1-I_1.*(R_1.*cos(theta_1)-
X_1.*sin(theta_1)))^2+(I_1.*(R_1.*sin(theta_1)+X_1.*cos(theta_1)))^2);
% Reduced voltage from slip test
theta_2=atan(-I_1.*(R_1.*sin(theta_1)-X_1.*cos(theta_1))./(V_1-
I_1.*(R_1.*cos(theta_1)-X_1.*sin(theta_1))));
% Phase angle calculation
I_e=V_2./X_M; % Core current
I_fe=V_2./R_fe; % Core loss current
I_2=sqrt((I_1.*cos(theta_1)-I_e.*sin(theta_2)-I_fe.*cos(theta_2))^2+(-
I_1.*sin(theta_1)+I_e.*cos(theta_2)+I_fe.*sin(theta_2))^2);
% Rotor Current calculation
Z_2=V_2./I_2; % Rotor Impedance
R_2=s.*sqrt((Z_2^2-X_2^2)); % Rotor Resistance

R1=R_1 % Display Stator resistance

X1=abs(X_1.*1i) % Display Stator reactance
Xm=abs(X_M.*1i) % Display magnetizing reactance
X2=abs(X_2.*1i) % Display rotor reactance
R2=R_2 % Display Rotor resistance

V_ph=.415e3./sqrt(3); % Per phase voltage

%---------------------------rated values--------------------------------
 75

s_rated=0.06; % Rated slip

Zth_rated=((X2+R2./s_rated).*(Xm))./(X2+R2./s_rated+Xm); % Rated Thevenin impedance
Zeq_rated=Zth_rated+R1+X1; % Rated Equivalent impedance
Vth_rated=V_ph.*Zth_rated/(Zth_rated+R1+X1); % Rated Thevenin voltage
I2_rated=Vth_rated/(X2+R2./s_rated); % Rated rotor current
Pag_rated=3.*(abs(I2_rated))^2.*R2./s_rated; % Rated output power
S_rated=3.*(V_ph)^2./Zeq_rated; % Rated Apparent Power
Srated=abs(S_rated); % Rated absolute apparent power
pf_rated=real(S_rated)./abs(S_rated); % Rated power factor
eff=Pag_rated./real(S_rated); % Rated efficiency

8.2.2.2 Per Unit Calculation of IEEE Standard 112 Parameters

clear all
clc % Clear All the Comments

R1=13.04; % Stator Resistance

X1=17.21.*1i; % Stator Leakage Reactance
Xm=327.72.*1i; % Magnetizing Reactance
X2=25.75.*1i; % Rotor Leakage Reactance
R2=20.81; % Rotor Resistance
V_ph=.415e3./sqrt(3); % Per-Phase Voltage

%---------------------------basic Calculation---------------------------
Motor_S=1410; % Motor Speed
Frequency=50; % Rated Frequency
Syn_S=2.*pi().*Frequency./2; % Synchronous speed in Rad/s
Syn_speed=Syn_S.*60./(2.*pi()); % Synchronous speed in rpm
Slip=(Syn_speed-Motor_S)./Syn_speed; % Slip of Motor

%---------------------------rated values--------------------------------

s_rated=Slip; % Rated Slip

Zth_rated=((X2+R2./s_rated).*(Xm))./(X2+R2./s_rated+Xm); % Rated Thevinen Impedance
Zeq_rated=Zth_rated+R1+X1; % Rated Equivalent Impedance
Vth_rated=V_ph.*Zth_rated./(Zth_rated+R1+X1); % Rated Thevinen Voltage
I2_rated=Vth_rated./(X2+R2./s_rated); % Rated Rotor Current
Pag_rated=3.*(abs(I2_rated))^2.*R2./s_rated; % Rated Mechanical Power
tau_rated=Pag_rated/Syn_S; % Rated Torque
S_rated=3.*(V_ph)^2./Zeq_rated; % Rated Apparent Power
Srated=abs(S_rated); % Rated Absolute Apparent Power
pf_rated=real(S_rated)./abs(S_rated); % Rated Power Factor
eff=Pag_rated./real(S_rated); % Rated Efficiency
I=abs(V_ph/Zeq_rated); % Absolute Current

%-----------------------Per Unit Value Calculation--------------------

V_base=240; % Base Voltage

S_base=Srated./3; % Base Apparent Power
Z_base=V_base^2./S_base; % Base Impedance
omega_s=Syn_S; % Synchronous Speed in Rad/s
s=1; % Unity Slip
R1pu=R1./Z_base; % Stator Resistance in Per Unit
X1pu=X1./Z_base; % Stator Leakage Reactance in Per Unit
Xmpu=Xm./Z_base; % Magnetizing Leakage Reactance in Per Unit
X2pu=X2./Z_base; % Rotor Leakage Reactance in Per Unit
R2pu=R2./Z_base; % Rotor Resistance in Per Unit
V_pu=V_ph./Z_base; % Voltage in Per Unit
omega_pu=omega_s./omega_s; % Syncronous Speed in Per Unit

tau_base=tau_rated/3 % Base Torque

hold on;
tau_max=0; % Set Maximum Torque to zero for iteration
tau_start=0; % Set Starting Torque to zero for teration
for n=0:1000 % Number of iteration from 0 to 1000
 76

n=n+1; %
s;
n_ns=(1-s); % Speed
omega=omega_s.*(1-s);
Zth=((X2+R2./s).*(Xm))./(X2+R2./s+Xm); % Thevinen Imepdance in rotor side
Vth=V_ph.*Zth./(Zth+R1+X1); % Thevinen voltage
I2=Vth./(X2+R2./s); % Rotor current
abs(I2); % Absolute value of rotor current
Pag=(abs(I2))^2.*R2./s; % Air-gap Power
tau_ph=Pag./omega_s; % Mechanical torque
tau_pu=(tau_ph)./tau_base; % Torque in per unit

if n==1; % If condition when n is equal to 1

tau_start=tau_pu; % If n is equal to 1 then display starting torque value
end % End of if condition

if tau_pu>tau_max; % If condition when torque is greater than other values

tau_max=tau_pu; % If torque is maximum then display maximum torque
end % End of if condition
plot(n_ns,tau_pu); % Plot the graph of torqu in per unit vs speed
s=s-.001;

end

hold off;

Zthlr=((X2pu+R2pu./1).*(Xmpu))./(X2pu+R2pu./1+Xmpu); % Thevinen impedance in rotor

side of circuit
Zlr=X1pu+R1pu+Zthlr; % Thevinen impedance
Ilr=abs(1./Zlr) % Display the locked rotor current
P_mech=Pag_rated % Display mechanical power
pf_rated % Display power factor
eff % Display efficiency
tau_start % Display starting torque
tau_max % Display maximum torque
Rs=R1pu % Display stator resistance in per unit
Xs=imag(X1pu) % Display stator leakage reactance in per unit
Xr=imag(X2pu) % Display rotor leakage reactance in per unit
Rr=R2pu % Display rotor resistance in per unit
Xmpu=imag(Xmpu) % Display magnetizing reactance in per unit