IMPROVED PARAMETER CHARACTERISTICS FOR INDUCTION MACHINE ANALYSIS AND

CONTROL
D.J. McKinnon, D. Seyoum and C. Grantham
School Of Electrical Engineering and Telecommunications
The University of NSW
Abstract
This paper presents an improvement of induction motor parameter determination for analysis and
control. The new parameters will improve the machine performance predicted using steady-state
and dynamic models. The improved parameters could also be used to increase the performance of
estimator algorithms in control applications. The standard locked rotor and synchronous speed tests
have been modified by using a varying supply voltage from zero to rated voltage in each test to
acquire a full range of results. A variable speed test is also performed to identify rotor parameter
variations with slip. The parameter characteristics identified include the variations of inductances at
low currents, the variations of iron loss and magnetizing reactance with voltage, the variations of
stator leakage reactance with stator current, and parameter variations with temperature. Results are
obtained experimentally for both single-cage and double-cage three-phase induction machines.
1.

INTRODUCTION

The 3-phase induction motor is the most common

electrical machine used in drive systems [1]. In order
to calculate the dynamic performance of a 3-phase
induction motor it is necessary to know the value of
the parameters. The most well known method for
parameter determination of 3-phase induction motors
uses no load and locked rotor tests.
Using the authors DSP based monitoring system it is
now possible to rapidly and accurately measure the
necessary data for parameter determination [2]. This
includes taking measurements as the machine is run
up to speed at rated voltage to evaluate the effects of
magnetic saturation and rotor frequency. A separate
test can be carried out at a different temperature to
find the effect of temperature on machine parameters.
The analysis of parameters is important for designing
vector control schemes used in Variable Speed Drives
(VSD) [3]. It is well known that the rotor time
constant is necessary for tuning the controller. Rotor
parameter variations are well known and neglecting
the variations can lead to poor performing control
schemes. It has also been shown that neglecting the
iron loss resistance in control schemes results in a
detuning of the drive [4]. That is, neglecting the iron
loss parameter inherently leads to error between the
reference torque and the actual torque in the torque
control scheme. More recently it has been shown that
the changes in the magnetizing parameters are critical
for establishing self-excitation in self-excited
induction generators [5]. The stator leakage reactance
is also known to vary with current.

The data from this investigation will be useful to those

involved in the design of induction motor drive
systems as well as motor manufacturers where the
data can aid in the design of more efficient machines.
The parameter variations identified here will be used
to model the performance of a three-phase induction
motor undergoing various methods of synthetic
loading. The improved model, with all parameter
variations included, will be used to evaluate each
synthetic loading technique for use in determining the
efficiency of the machine under test.
2.

EXPERIMENT

As mentioned, three tests are carried out on the

machine under test. The first two tests are the locked
rotor and synchronous speed tests carried out using a
variable voltage supply. This enables any saturation
effects to be identified. The third test is a run up to
speed test carried out at rated voltage. A suitable large
inertia is coupled to the machine under test so that any
transient effects can be damped out. The synchronous
machine is used for this purpose and provides the
driving force to run the machine at exactly
synchronous speed for the synchronous speed or noload test.
The locked rotor test is used to identify the stator and
rotor leakage reactances at the supply frequency. The
supply voltage is ramped up until the usual peak
starting current is reached. Clearly the test needs to be
carried out quickly so that the machine is not
damaged. The no-load test is simply carried out by
driving the induction motor with a synchronous
machine and varying the supply voltage for the
induction motor from zero to its rated value.

The run up to speed test is performed by driving the

induction motor with the synchronous machine still
coupled to it, but not excited, in the reverse direction.
The induction motor is then reversed and driven up
through zero speed in the forward direction.
Measurements are taken at sufficiently high sampling
rates so as to record the voltage, current, power and
speed data as the machine runs from zero speed up to
its no-load speed.

Stator Leakage Reactance (Ohm)

Once all three tests have been completed, all the data
is then used to identify the rotor parameter variations
with an algorithm that makes the rotor resistance and
rotor leakage reactance functions of slip [6].
3.

EXPERIMENTAL RESULTS

3.1

Locked Rotor Test

6
25oC
40oC
55oC

Stator Leakage Reactance (Ohm)

75oC
95oC

105oC

20

40

60
Line Current (A)

80

25oC

40oC
55oC
75oC

95oC
115oC
0

10

20

30

40
50
Line Current (A)

60

70

80

The effect of temperature, shown in Fig. 2, on the

stator leakage reactance of the double-cage machine is
not the change in the stator leakage reactance; rather it
is the reflection of the rotor leakage reactance
changing with temperature as a result of the rotor
resistance changing with temperature. This reflected
result is due to the usual assumption that the stator and
rotor leakage reactances are equal at standstill.
However, on comparison with the stator leakage
reactance for the single-cage machine in Fig. 1 which,
as expected does not vary with temperature, the only
real value of stator leakage reactance for the doublecage machine must be the one at cold temperature.
Therefore, for proper analysis and inclusion in
modelling, the cold temperature characteristic for X1
should be used. The other results at higher
temperatures will lead to an error when using X1 to
determine other parameters. This also means that for
the locked rotor test, only the cold temperature
measurement is required to be carried out to identify
the stator leakage reactance. The current needs to be
varied quickly so that the motor temperature does not
change significantly during the test (typically less than
10 seconds). The rate at which the current is increased
can be varied; slowly below its rated value and rising
more quickly above it.
3.2

Fig. 2. Stator leakage reactance versus line current

from locked rotor test for machine with double-cage
rotor.

The variation of the stator leakage reactance is as

expected above 10A for both machines, namely it
becomes saturated (Fig. 1 and 2). The more interesting
result is the variation from 0 10A. This rise in
leakage reactance is rarely publicised and is often
hidden under the assumption that it is constant in that
region. However, this characteristic is attributed to the
relationship L = d/dI, where L is the leakage
inductance, is the leakage flux, and I is the current
that produces . That is, as the flux increases with
current, producing the usual B-H magnetization curve,
the inductance changes and the leakage reactance
follows in the manner shown. In this low current
region, the rate of change of flux is greater than the
rate of change of current, causing the leakage
reactance to grow quickly, until the leakage reactance
reaches a peak value corresponding to the steepest part
of the magnetization curve. The leakage flux then
becomes saturated such that the current is growing at a
greater rate than the flux, reducing the leakage
inductance.

100

120

Fig. 1. Stator leakage reactance versus line current

from locked rotor test for machine with single-cage
rotor.

Synchronous Speed Test

In Figs. 3, 4, 7 and 8, both the iron loss resistance and

the magnetizing reactance of both test machines vary
with air-gap voltage. During the synchronous speed
test when rated voltage is applied to the machine, the
measured line current and hence the resultant phase
current will also be the maximum current that flows in
the magnetizing branch (that is, the parallel
combination of Rm and Xm) during the normal
operation of the machine. Therefore, it can be seen
that only a relatively small current will cause the

magnetizing reactance to go into saturation (Fig. 6 and

10).
3500

2500
2000

200

1500
40oC

1000

65oC
o

75 C
95oC
0

50

100

150
200
250
Air-Gap Voltage (V)

300

350

55oC
65oC

160

55oC

500
0

40oC

180

400

Fig. 3. Iron loss equivalent resistance (Rm) versus airgap voltage single-cage machine.

Magnetizing Reactance (Ohm)

Iron Loss Resistance (Ohm)

3000

when the air-gap voltage is about 200V. Therefore, the

magnetizing branch impedance will, in general,
increase under high current conditions. Hence under
starting conditions it is a correct assumption that
almost no current flows in the magnetizing branch of
the induction machine per-phase equivalent circuit,
and can be neglected in the analysis of results from the
short-circuit test.

75oC
95oC

140
120
100
80
60
40

200

20

180

120
100
80

4
5
Line Current (A)

4500

40 C
55oC

40

4000

65oC
75oC

20

95oC
0

50

100

150
200
250
Air-Gap Voltage (V)

300

350

400

Fig. 4. Magnetizing reactance (Xm) versus air-gap

voltage single-cage machine.

3500
3000
2500
2000
1500

25oC
40oC

1000
3500

Iron Loss Resistance (Ohm)

75oC
95oC

500
0

3000
2500

115oC
0

50

100

150
200
250
Air-Gap Voltage (V)

300

350

400

Fig. 7. Iron loss equivalent resistance (Rm) versus airgap voltage double-cage machine.

2000
1500
40oC

1000

55 C
65oC

500

75oC
95oC

5000

60

Fig. 6. Magnetizing reactance (Xm) versus stator

current during synchronous speed test single-cage
machine.

140

Iron Loss Resistance (Ohm)

Magnetizing Reactance (Ohm)

160

4
5
Line Current (A)

Fig. 5. Iron loss resistance (Rm) versus stator current

during synchronous speed test single-cage machine.
Also, it is known that during starting, the air-gap
voltage drops to approximately 50-60% of its rated
value [1]. This means that the magnetizing reactance,
under high currents or slips, will increase. The iron
loss resistance will vary from its rated value only as an
increase and then decreasing again to its rated value

The magnetization reactance in either machine

appears to increase with temperature (Figs. 4 and 8)
whereas the iron loss resistance has a random
relationship with temperature (Figs. 3 and 7). The
magnetizing reactance behaves in the same way as
described for the stator leakage reactance. That is, the
magnetizing reactance increases rapidly with current
to a peak and then decreases as the flux paths become
saturated. The iron loss resistance increases linearly as
expected up until about 80% of the maximum air-gap
voltage, upon which it begins to decrease. This is due
to the saturated condition of the iron, leading to a
change in the proportionality constants normally used
to determine the hysteresis and eddy current
components of the iron loss.

plugging it into the forward direction. Measurements

are made as the motor runs up through zero speed on
to the no-load speed. The synchronous machine
remains coupled to the induction motor to provide
damping. The results are shown below.

250

Magnetizing Reactance (Ohm)

200

150

100
25oC
40oC

50

75oC
95oC
115oC

50

100

150
200
250
Air-Gap Voltage (V)

300

350

400

Fig. 8. Magnetizing reactance (Xm) versus air-gap

voltage double-cage machine.

The results show that near synchronous speed, where

there is little induced voltage and thereby current in
the rotor, the leakage reactance reduces as shown in
Figs. 12, 13, 17 and 18. This result is further
illustrated when plotted against the stator current as
shown in Figs. 14, 15, 19 and 20. These characteristics
are what have been expected as presented in [1],
however, this is understood to be the first time that it
has been determined from measured results. Both
types of machine exhibited this characteristic.
3.3.1

5000

Single-cage Machine Rotor Parameters

4500
20
25oC

3000
2500
2000
1500

25oC
o

40 C

1000

75oC
95oC

500

115 C
0

0.5

1.5

2
2.5
3
Line Current (A)

3.5

4.5

Fig. 9. Iron loss resistance (Rm) versus stator current

during synchronous speed test double-cage machine.
250

Magnetizing Reactance (Ohm)

200

18

40oC
55oC

16

65oC
75oC

14

95oC

12
10
8
6
4
2
0

0.1

0.2

0.3

0.4

0.5
Slip

0.6

0.7

0.8

0.9

Fig. 11. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
temperature and slip from run up to speed test at 250V
line voltage single-cage machine.
20

150

100
25oC
40oC

50

75oC
95oC
115oC

0.5

1.5

2
2.5
3
Line Current (A)

3.5

4.5

Fig. 10. Magnetizing reactance (Xm) versus stator

current during synchronous speed test double-cage
machine.
3.3

Rotor Resistance and leakage Reactance (Ohm)

3500

Variable Speed Test

The data from the variable speed tests are analysed

using the results from the locked rotor and
synchronous speed tests with variable supply voltage.
The variable speed test is carried out by running the
induction motor in the reverse direction and then

Rotor Resistance and leakage Reactance (Ohm)

Iron Loss Resistance (Ohm)

4000

25oC

18

40oC
55oC

16

65oC
75oC

14

95oC

12
10
8
6
4
2
0

0.01

0.02

0.03

0.04

0.05
Slip

0.06

0.07

0.08

0.09

0.1

Fig. 12. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
temperature and low slips at 250V line voltage
single-cage machine.
Determining the value of rotor parameters is very
difficult at synchronous speed due to having to divide

25

20

15

10

0.01

0.02

0.03

0.04

0.05
Slip

0.06

0.07

0.08

0.09

0.1

Fig. 13. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
supply voltage and low slips at a motor temperature of
40oC single-cage machine.
200V
250V
300V
350V

Rotor Leakage Reactance (Ohm)

25

20

15

10

20

30
40
50
Stator Line Current (A)

60

70

80

Fig. 14. Rotor leakage reactance variations with

supply voltage and stator line current at a motor
temperature of 40oC single-cage machine.
20
25oC

18

40oC
55oC

Rotor Leakage Reactance (Ohm)

16

65 C
75oC

14

95oC

12
10
8

75oC
95oC

14

115oC

12
10
8
6
4
2
0

0.1

0.2

0.3

0.4

0.5
Slip

0.6

0.7

0.8

0.9

25oC

18

40oC
55oC

16

75oC
95oC

14

115oC

12
10
8
6
4
2
0

55oC

16

20

10

40oC

Fig. 16. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
temperature and slip from run up to speed test at 400V
line voltage double-cage machine.

Rotor Resistance and leakage Reactance (Ohm)

25oC

18

Double-cage Machine Rotor Parameters

20

Rotor Resistance and leakage Reactance (Ohm)

200V
250V
300V
350V

3.3.2

0.01

0.02

0.03

0.04

0.05
Slip

0.06

0.07

0.08

0.09

0.1

Fig. 17. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
temperature and low slips at 400V line voltage
double-cage machine.

Rotor Resistance and leakage Reactance (Ohm)

Rotor Resistance and leakage Reactance (Ohm)

by a slip of zero. However, it would be reasonable to

extrapolate the values from the curves. It may also be
surmised that if no current flows in the rotor circuit at
synchronous speed, then there would be no resultant
leakage reactance.

150V
200V
250V
300V
350V
400V

12

10

6
0
4
2
0

10

15
20
25
Stator Line Current (A)

30

35

40

Fig. 15. Rotor leakage reactance variations with

temperature and stator line current at 250V line
voltage single-cage machine.

0.1

0.2

0.3

0.4

0.5
Slip

0.6

0.7

0.8

0.9

Fig. 18. Rotor leakage reactance, (top curves), and

rotor resistance, (bottom curves), variations with
supply voltage and slip at a motor temperature of
115oC double-cage machine.

The results show that the magnetizing branch

elements, iron loss resistance and magnetizing
reactance, vary with air-gap voltage.

14
150V
200V
250V
300V
350V
400V

Rotor Leakage Reactance (Ohm)

12

10

The rotor parameters are shown to vary with slip. It

has been identified that the rotor leakage reactance
exhibits the expected saturation curve for high
currents. The interesting result is that the rotor leakage
reactance first rises to a peak with low current before
going into saturation. Both the stator leakage
reactance and the magnetization reactance also show
this effect.

10

20

30
40
Stator Line Current (A)

50

60

Fig. 19. Rotor leakage reactance variations with

supply voltage and stator line current at a motor
temperature of 115oC double-cage machine.
20
25oC

18

40oC
55oC

16
Rotor Leakage Reactance (Ohm)

The tests performed to achieve these results are the

usual ones, locked rotor and synchronous speed tests,
with the addition of a variable voltage source. A rapid
data acquisition system consisting of a PC, DSP card
and signal sensor circuit is used throughout and is
desirable during the run up to speed test.

75oC
95oC

14

115oC

12

5.

REFERENCES

[1]

Boldea, I. and Nasar, S.A., The Induction

Machine Handbook, CRC Press, Boca
Raton, 2002, pp. 14, 429-430, 770-775.

[2]

McKinnon, D., Seyoum, D. and Grantham,

C., "Investigation of the effects of supply
voltage and temperature on parameters in a 3phase induction motor including iron loss",
Proc. AUPEC 2002, Melbourne, Australia, 29
Sept. - 2 Oct. 2002.

[3]

Bose, B.K., Modern Power Electronics and

AC Drives, Prentice-Hall Inc., Upper Saddle
River, 2002

[4]

Levi, E., Sokola, M., Boglietti, A. and

Pastorelli, M., Iron Loss in Rotor-FluxOriented Induction Machines: Identification,
Assessment
of
Detuning,
and
Compensation, IEEE Trans. On Power
Electronics, Vol. 11, No. 5, September 1996,
pp. 698 709.

[5]

Seyoum, D. and Grantham, C., Rahman, F.

and Nagrial, M., An insight into the
dynamics of loaded and free running isolated
self-excited induction generators, IEE
International
Conference
on
Power
Electronics, Machines and Drives, 16-18
April 2002, Conf. Pub. No. 487, pp. 580-585.

[6]

Grantham, C. and McKinnon, D., Rapid

parameter determination for induction motor
analysis and control, Conference Record
of the 37th IAS Annual Meeting, Industry
Applications Conference, Vol. 2, 13-18 Oct.
2002, pp. 1141-1146.

10
8
6
4
2
0

10

20

30
40
Stator Line Current (A)

50

60

70

Fig. 20. Rotor leakage reactance variations with

temperature and stator line current at 400V line
voltage double-cage machine.
The variations of rotor parameters with slip has been
analysed in [2], however, the variations close to
synchronous speed was not discovered at that time.
The main feature that is presented with respect to the
rotor leakage reactance is that when plotted versus the
stator current, it exhibits the same shape as the stator
leakage reactance, namely rising from a given value at
low current to a peak value and then proceeding into
saturation at high currents.
4.

CONCLUSIONS

The results shown here clearly illustrate that parameter

variations of three-phase induction motors cannot be
ignored. The characteristics identified will be used to
improve the dynamic model of the induction motor.
This is especially beneficial for the design of any
control algorithms for induction motor drives.
Specifically, the model will be used to analyse the
authors synthetic loading techniques as a means for
the rapid efficiency evaluation of induction motors.