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MODELLING AND SIMULATION OF A

SQUIRREL CAGE INDUCTION MACHINE USING THE
SOFTWARE...

Article· January 2002

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Mamadou Doumbia
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MODELING AND SIMULATION OF AN ASYNCHRONOUS MACHINE
AT CAGE WITH THE SOFTWARE MATLAB/SIMULINK

Mamadou Lamine Doumbia Abdoulaye Traoré

Research Engineer Deputy Director
6579 Rue BRIAND National School of Engineers
Montreal (Quebec) P.O. Box 242 Bamako
CANADA, H4E 3L4 MALI

Mots clés : Machine électrique, Moteur électrique, Modélisation, Simulation, Matlab,

Simulink.

Scientific theme: Engineering Sciences (Electrical Engineering)

RESUME
In engineering, simulation is an effective and economical means, commonly used.
pour faire des études préliminaires et/ou comparatives, tant au stade du développement
(conception), than during the normal operation of the systems. Currently, several
simulation tools, including MATLAB/SIMULINKTM, are used in the industry and
in academic circles. In this work, we will present the principle of modeling
and simulation of an electric machine: the squirrel-cage induction motor.
lastly, thanks to the many advantages it provides compared to other types of engines
electric motors have become the first choice in industrial mechanisms.
The work will include the following sections:
the introduction, where we will present the importance of electric machines in
the modern economy as well as the simulation tools commonly used in the field of
electrical engineering
the development of the squirrel-cage asynchronous motor model that will allow establishing the
mathematical model of the studied engine,
the brief presentation of MATLAB/SIMULINKTMas software of
modeling and simulation in engineering,
the realization of the simulation model of the cage induction motor in
the MATLAB/SIMULINK environmentTM,
the presentation of the results obtained from the simulation of the cage induction motor,
the conclusion, where the work done will be summarized.
the bibliographic reference.

38
1. Introduction
The asynchronous motor or induction motor is currently the electric motor that
its use is most widespread in the industry. Its main advantage lies in the absence of
sliding electrical contacts, which leads to a simple and robust structure that is easy to
to build. The power range goes from a few watts to several megawatts. Connected
directly to the industrial network at constant voltage and frequency, it runs at variable speed
slightly different from synchronous speed; it is used for the realization of the quasi-
totality of constant speed training. The asynchronous motor also allows for the realization
variable speed training and the place it occupies in this field continues to grow.
In industrialized countries, more than 60% of the consumed electrical energy is transformed.
in mechanical energy through drives using electric motors.
Simulation is an effective and economical means used for conducting studies.
preliminary and/or comparative, both at the development stage (design) and during
normal functioning of systems. Several tools (specialized or not) for simulation are
used in the field of power electronics or machine control
electric: ATOSEC5, EMTP, SPICE, SIMNON, MATLAB, SIMULINK, etc. The difficulty
The simulation of the asynchronous motor comes from its strongly nonlinear structure. The
the model contains several nonlinear blocks.

2. Modeling of the squirrel-cage induction motor

The general equations (1) describing the operation of alternating current motors
in a QSE reference framework found in the technical literature dedicated to machines
electrical.

d ds
udsRs Ids a qs
dt
dqs
uqsARs iqs
dt a ds
(1)
d dr
udrARr idr a qr
dt r

d qr
uqrARr iqr a dr
dt r

By rewriting the previous equations in a stationary reference frame d-q ( a 0), on

obtain the model of the electrical part of the asynchronous motor:

39
 d ds
udsARs ids
dt
d qs
uqsRs iqs (2)
dt
d dr
0 Rr iDr.
dt r qr

d qr
0 Rr iqr
dt r dr

The rotor of the squirrel-cage asynchronous motor being closed on itself (short-circuited), we takedrand
uqrequal to zero.
The coupled stator and rotor fluxes are obtained from the self-inductances and
mutuals:
LI
ds s ds Lsr idr

qs Ls iqsLsr iqr
(3)
drLr idr Lsr ids

qr Lr iqr Lsr iqs

The equation of the electromagnetic torque of the motor is:

3 3
Cem p i ! ids qspL qsi ds 1i i i (4)
2 # 3 2 sr qs
ds dr
qr

The equation of motion, relating the electrical and mechanical parts, is written as follows:

d m
J Cin Cr (5)
dt

The biphasic tensions in equation (2) are obtained as follows:

2 1 1 .
uds uasubsucs /
3 2 2 0
(6)
2 3 3 .
uqs ubs ucs /
3 2 2 /
0

The inverse transformation equations of stator currents are:

40
 2
ias ids
3
2 i 1 3 .
ibs iqs / (7)
3 2
ds
2 /
0
2 i 1 3 .
ics iqs /
3 2
ds
2 /
0

3. MATLAB/SIMULINK simulation tools

3.1. Matlab
An interactive and user-friendly system for numerical calculation and graphical visualization,
intended for engineers and scientists. It has a programming language that is both
powerful and easy to use. It allows expressing problems and solutions in a way
easy, unlike other programming languages. It integrates analysis functions
digital, matrix computation, signal processing, 2D and 3D graphical visualization
etc. It can be used interactively or in programming mode. In interactive mode,
the user has the ability to quickly perform sophisticated calculations and present them
results in numerical or graphical form. In programming mode, it is possible to write
scripts (programs) like with other languages. The user can also create their own.
own functions that can be called interactively or by scripts. These functions
provides MATLAB with an unmatched asset: its extensibility. Thus, the environment
MATLAB peut facilement étendu. Dans MATLAB, l ’élément de base est la matrice.
The user does not have to worry about memory allocation or resizing like
in classical languages. Numerical problems can be solved in a time
record, which represents only a tiny fraction of the time spent with other languages like the
Basic, C, C++ or Fortran. MATLAB has established itself in academic circles and
industrial as a powerful tool for modeling, simulation, and visualization
numerical problems. In the academic world, MATLAB is used for
the teaching of linear algebra, signal processing, automation, etc., as well as in
scientific research. In the industrial field, it is used for problem solving and the
simulation of engineering problems and prototyping. MATLAB is an abbreviation for
MATrix LABoratory. Originally written in Fortran by Cleve Moler, MATLAB was intended to
facilitate access to the matrix software developed in the LINPACK and EISPACK projects. The
The current version is written in C. Its availability is ensured on several platforms: Sun,
Bull, HP, IBM, Compatible PCs, Macintosh, and several parallel machines. MATLAB is
comforted by a multitude of toolboxes specific to various fields. A
another advantage of MATLAB is its portability; the same portion of code can be used on
different platforms without the slightest modification.

3.2. Simulink
TM
SIMULINK is a program for the simulation of linear dynamic systems

41
 TM
and non-linear; an extension of MATLAB , in which the definition of the models is made
by block diagrams (structural diagram). The structural diagram allows representation
graph of a system of linear and non-linear equations. It highlights the structure
of the system and allows visualizing the interactions between the different internal quantities and
externally. One can then particularly distinguish the counter-reactions, the couplings
reciprocal, non-linearities, etc. The elements that make up the structural diagram
represent mathematical operations, namely addition, subtraction, multiplication with
a coefficient, integration and differentiation, as well as the multiplication and division of two
variables and the nonlinear function of a variable. SIMULINK has an interface
chart to visualize the results in the form of graphs or numerical values in
simulation course. The parameters governing the operation of systems can be
modified online, that is to say during the simulation, and one can observe their effect
immediately. SIMULINK is built around a library of blocks (libraries) categorized by
categories. The main libraries are shown in table 1.

Table 1
Bookstore Content
Sources Different types of input signals
Sinks Virtual visualization devices
Continuous Continuous systems and operators
Discrete Blocks representing discrete systems
Math Mathematical operators
Functions & Tables Functions and tables of values
Nonlinear Non-linear systems and operators
Signals & Systems Connection blocks and subsystems

Figure 1 SIMULINK Library

4. Development of the SIMULINK model of the asynchronous motor

Figure 2 shows the SIMULINK model of the asynchronous motor described by the
equations (2) to (7). Each block of the figure comes from an equation. Thus, the block

42
Transformation abc---- dq » is derived from equation (6). The content of the block is
represented in figure 3.

Figure 2 SIMULINK model of a squirrel-cage induction motor

Figure 3 Three-phase to two-phase transformation block

43
5. Simulation Results
Figure 4 shows the results of the simulation of the no-load start-up process.
asynchronous motor following the application of a load of 30 Nm at 0.3 s. The figures
4.a, 4b, 4c, 4d represent respectively the curves of speed, torque
electromagnetic, of stator current and stator voltage.

a) Speed b) Electromagnetic couple

c) Stator current d) Stator tension

Figure 4 Results of the simulation of the asynchronous motor startup process

6. Conclusion
This work presents the modeling and simulation of a cage induction motor by the
MATLAB/SIMULINK software. This type of engine has established itself in the industry thanks to its
robustness and its simplicity of construction; on the other hand, its simulation is difficult, as the model
is strongly non-linear. Currently, the availability of powerful computing tools of
calcul helps to overcome this difficulty. The process of starting the engine, followed by
The application of an induced load has been modeled and simulated. The results obtained demonstrate
the accuracy of the developed model. Other operating regimes of the engine may be
easily studied.

44
 7. Bibliography
1 V. RajagopalanComputer-Aided Analysis of Power Electronic Systems, Marcel Dekker,
Inc, 1987.
2 H. Bulher, Tuning and Control Electronics, Polytechnical Presses
Romande universities, vol. XVI Treatise on electricity, 1990.
3 M. Gheorghe, Simulink Application for the Simulation Study of Systems
Training of electric machines, Master's thesis, École Polytechnique of
Montreal, 1995.
4 M. L. Doumbia, G. Roy, V. Rajagopalan, “An Integrated Solution for Simulating
Electrical Drive Systems with Matlab/Simulink, International Symposium on Industrial
Electronics, 1997.
5 M. L. Doumbia, G. Roy, V. Rajagopalan, V. Missurenko, "Comparative Study of Multi-
Mass Models of Electrical Drives With Asynchronous Motors, Canadian Review of
Electrical Engineering and Computer Engineering, 1998.
6 M. L. Doumbia,Tool for designing machine training systems
Electric: Application Example, International Symposium on Industrial Electronics,
Doctoral Thesis, École Polytechnique de Montreal, 2000.
7 SIMULINK User's Guide, The MathWorks, Inc., 1996.

Appendix
Engine data
Rated power: Pn 2.2kW
Nominal frequency: f n60Hz
Line-line tension: Vll 208V
Number of poles: P 4
Stator resistance: rs 0.6
Rotor resistance: rr' 0.4
Stator inductance: Ls 61 meters high
'
Rotary inductance: Lr 61mH
Mutual inductance: Lsr 59mH
Moment of inertia of the rotor: J 0.0175 kgm2
Friction coefficient: B0.00187Nm/rad/s

45

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