AN ELECTRICAL TRANSMISSION SHAFT

AND lTS STABILITY FOUNDED ON A

GENERAL THEORY OF ELECTRICAL MACHINES

PROEFSCHRIFT
TER VERKRUGING VAN DE GRAAD VAN DOCTOR
IN DE TECHNISCHE WETENSCHAP AAN DE TECHNISCHE
HOGESCHOOL TE DELFT OP GEZAG VAN DE RECTOR
MAGNIFICUS DR. R. KRO NlG, HOOGLERAAR IN DE
AFDELING DER TECHNISCHE NATUURKUNDE, VOOR
EEN COMMISSIE UIT DE SENAAT TE VERDEDIGEN OP
WOENSDAG 14 JUNI 1961 DES NAMIDDAGS TE 4 UUR
DOOR

FRANCISCUS ADRIAAN WILLEM VAN DEN BURG

ELEKTROTECHNISCH INGENIEUR
GEBOREN TE ' s-GRA VENHAGE

UITGEVERIJ WALTMAN - DELFT

DIT PROEFSCHRIFT IS GOEDGEKEURD DOOR DE PROMOTOR

PROF. DR. IR. J. P. SCHOUTEN

Aan m1Jn vrouw

CONTENTS
INTRODUCTION
THEORY

CHAPTER I
1
2
3
4
5

The General Three-Phase Machine

Specialization to the Induction Motor, the Double Supp1ied Slip
Ring Motor and the Electrica1 Transmission Shaft
Particu1ar Solutions . . . . . . . . . . .
Stabi1ity of the Induction Motor. . . . . .
Stabi1ity of the Electrica1 Transmission Shaft

11

30
39
44
50

ANALOG COMPUTATION

CHAPTER 11
6
7
8

Object and B10ck Diagrams. . . . . . . . . . . .

Resu1ts Concerning the Induction Motor . . . . . .
Results Concerning the Electrica1 Transmission Shaft .

58

62
68

CHAPTER 111 SLOWL Y V AR YING STATES OF MOTION

9 The Induction Motor . . . . .

10

11

12
13

CHAPTER IV
14
15

Tbe E1ectrica1 Transmission Shaft

The Pull-Out Torque . . . . .
Limit-Cycles . . . . . . . . .
Pull-Out Torque and Limit-Cycles at Symmetrica1 Loading

70
74
80

82
84

MEASUREMENTS
The Induction Motor Constants .
The Elec trica1 Transmission Shaft

REFERENCES
SAMENVATTING

87
93

INTRODUCTION

Electrical machinery engineering proper was started by the physicist WERNER

SIEMENS at the end of 1866. Already then, WERNER SIEMENS was fully aware of
the scope of his new idea about the possibility to elude permanent magnets in
constructing a generator with self-excitation, also realizing the hu ge importance
ofthe reversal of the generator principle, hence of the use of electrical motors.
One may say that he, WERNER SIEMENS, created the new technical branch
"Starkstromtechnik" [1].
This new branch rapidly provided factories with motors of various types, and
certainly, theories on rotating electrical machinery helped the immense
growth with respect to perfection and applicability of motors and generators.
However, the early theories concern only the steady state behaviour of the
machines, whereas transient phenomena occurring when switching on power
supply voltages or appearing at phase breaks and at impact loads have been
studied for a long time by measuring techniques only.
As power consumption rose sharply, troubles arising from interconnected generator and motor systems entered the field of investigations, and, as a consequence, the well-known differential equation of the synchronous machine
[2,3] has been studied up to the present [4,5]. However, the equation mentioned describes the quasi stationary behaviour of the electrical-mechanical
motions of the machine, answering the questions as to slowly varying states of
motion only; sometimes, such quasi stationary methods even fail to do so.
Mainly in this way, but supported by a rich practical knowledge to circumvent
pitfalls proper to the method, Kovcz and Rcz studied the transient behaviour of alternating current machines [6].
A consistent use of differential equations was only offered by LAIBLE [7], just
before world war II, with striking results.
With respect to the work of KRON [8, 9, 10] , we establish the strong inftuence
of the ideas of organization as to calculations and derivations laid down in his
books with respect to nearly all post-war publications on the subject, including
the course of WHITE and WOODSON [11] for power engineering students at the
M.LT. We believe that the methods favoured by KRON and by WHITE and

WOODSON, where Lagrangean equations constitute the very start ofmachinery

theories, are not needed to clarify the electrical-dynamical properties of
machines, just as theories on the field of micro waves and electronics normally
dis miss the Lagrangean equations. Therefore, we shall take the course of
LAIBLE, starting theory at the differential equations as they make their appearance in the description. However, KRON'S work on the Park- or Gorev-transformation, leading to the introduction of non-holonomic reference frames,
removes the lack offreedom ofthe original Park-transformation as to synchronous speeds [12], thus adding important new possibilities to machinery theories.
With respect to the Russian literature on the subject we refer to [13, 14].
Using differential equations and a generalized Park-Gorev-transformation,
we shall found a general three-phase machinery theory in chapter I, where we
take the necessary primary assumptions as broad as possible. With respect to
ferromagnetics we shall assume th at they possess linear reciprocal properties,
although saturation effects and influences of hysteresis may account for
quantitative deviations of theoretical results from practical measurements.
Such effects are difficult to handle, although excellent models have already
been presented [15, 16].
Chapter 11 has the object to attain so much information on analog'Computational results, that we can establish the very parameters whose influence remains
so small th at they may be neglected in order to describe the systems under
consideration by approximated differential equations. This method will
appear to be safer than the direct application of the quasi stationary method
can guarantee. In a similar way as we intend to follow, TRESHCHEV [17]
attained some excellent results.
In chapter 111 we shall derive the approximated differential equations for
slowly varying states of motion, differential equations differing from the very
quasi stationary description by additional, important, terms. Next to the
application of those equations to the induction motor, we shall give the explanation of two phenomena occurring when operating an electrical transmission shaft, viz. the existence of a pull-out torque and the appearance of
oscillating operation of the system under consideration.
Some results obtained from measurements at an actual electrical transmission
shaft will close the investigation in chapter IV, where we show the qualitative
agreement of the developed theory with practice. We have foregone the
quantitative comparison because of tiine-consuming calculations required to
put the practical results in terms of quantities used in the theory.
10

CHAPTER I

THEORY

1. The General Three-Phase Machine

In this chapter we are considering a general rotating electrical machine,
consisting of a stator and a rotor, both of ferromagnetic materials and arbitrary
shapes. The ferromagnetics are supposed to have magnetic reciprocal properties and to bring about a linear relation between the magnetic induction
and the magnetic field strength; in other words we assume that at every point
of our machine, the local vector of magnetic induction is related to the local
magnetic field strength through a symmetrical permeability tensor [18, 19].
We neglect the influence of eddy currents as is usually done. Further, the rotor
is attached firmly onto a rotor shaft, carried by the stator. This rotor shaft,
alone may have the angular displacement fJ with respect to any fixed chosen
position, as degree of freedom. Moreover , the shapes of the stator and the rotor
must be such to offer no hindrance to a free rotation of the rotor. Finally,
stator coils Ca, (a = 1,2, .. ., s), and rotor coils Cp, (e = s+I, s+2, ... , z), are
fastened into fixed positions on the stator and the rotor respectively; both the
sequences a and e are numbered consecutively in the rotational direction of
increasing fJ.
We denote the resistance ofck' (k =1, 2, ... , z), by rk, the current carried by
Ck by ik, the total magnetic flux coupled with Ck by 'lpk and the voltage across Ck
by Uk . Then, combining the elements Uk' ik and 'lp k into the columnmatrices
U, I and IJ' respectively and denoting by R the positive diagonal resistance
matrix, the equation of voltage appears as

RI

+ dd~.

(1.1 )

We define the coefficients ofmutual inductance l ik ofthe coils Ci and Ck> (i *- k;

i, k = 1, 2, . .. , z), and the positive coefficients of selfinductance l kk of Ck ,
(k = 1,2, ... , z), in the usual way by 'lp i = l ik ik) i; = 0, (j *- k; i,j, k =
= 1, 2, ... , z). Because of the magnetic reciprocal properties of the ferromagnetics, l ik = l ki . Also, all l ik depend on fJ only; this dependence is subjected to the property lik (fJ) = l ik (fJ+2n). Combining the elements lik (fJ)
into the inductance matrix L (fJ), we have
11

p = L (0) I,

L (0) = 1(0) = L (0 + 2n),

(1.2)

where I denotes the transposition of the matrix L.

The electrical power flow into the general machine equals UI. Now, from (1.1 )

UI

IRI+ ~~ I,

(1.3)

where IRI = ]; rk i/ has to be interpreted as the ra te by which energy is

k= l

dissipated into heat in the resistances rk , (k

magnetic energy stored in the machin e [20]

= 1,2 . ... , z). Further, the

T = tIp = t PI;

(1.4)

by differentiation as to the time t we obtain

dT _
dt -

J_ d tf
2

dt

+ .1 P dl
cl(

(1.5 )

From eq. (1.5) we may write

dP I
dt

dT
dt

+ .1 d P I
2

dt

1.

P dl

(1.6)

dt'

or, using eq. (1.2), as

dP 1 = dT
dt
dt

= dT
dt

+ J_ [dtf
f

L - l P_P d(L- l P )]
dt

+ J_ [dP (L- l P ) _
2

_ dT

dt

- Tt -

2"

dt

dO
dt

P dL- l P _ (P I - I) dP]
dt

dt

aL- l P

(1. 7)

----ae .

Hence, the electrica1 power flow into the machine, from (1.3, 1.7),

UI

IRI

+ dT
dt

J_ dO
2

dt

P aL- lp.

(1.8)

ao

On the other hand, this power flow is

UI

IRI

+ ddtT + M

dO
dt'

( 1.9)

where M stands for the torque exerted by the machine on the outside 10ad.
By substraction of eq. (1.8 ) from eq. (1.9), we obtain

M
12

)
d 2 0 dO
M ( dt 2 ' dt' 0, ... ; t

aL- l

-t P----ae p .

(1.10)

Upon substitution of eq. (1.2 ) into eq. (1.1 ) and rewriting eq. (1.10), we remou1d the descriptive equations of the general machine into the simp1e forms

RL- 1 P

+ dP
dt' o =

M+~

_ OL- 1
P
P,

ae

(1.11 )

where L has period 2n in 8. The eqs. (1.11 ) are app1icab1e to every rotating
eletrical machine, such as motors, generators and electrodynamical measuring
systems. Indeed, we have deduced eqs. (1.11 ) by similar methods as used by
WHITE and WOODSON [21], or OLLENDORFF [22].
In eqs. (1.11 ), L is a symmetrical matrix. Frequently, it is profitable to
submit such a matrix to a collineatory transformation [23] and particularly
to an orthogonal transformation [24]. By means of such a transformation, a
symmetrical matrix can always be reduced to a diagonal form, while energy
relations remain invariant. But, as we are free to carry on the reduction only
partially, it is also possible to create a certain freedom in the ultimate reduced
form. Let us take the case where L is transformed by the orthogonal matrix
S = 8- 1 to the form L. = S- lLS, and where L. may attain a nondiagonal
form simpIer than the original form of L. We add that, gene rally, S will depend
on 8. Now, by means of the transformation matrix S, we transform eqs. (1.11 ) to

(S- l U) = (S- l RS) (S- l LS)- l (S- l P ) + S- l dS (~~1 P ),

0= M

+t

( PS- 1) (S- l

oSL~lS-l

S) (S- lP),

( 1.12)
( 1.13)

or, using the transformed quantities

U. = S- l U, I. = S- l I, p. = S- l P, R. = S- l RS, L. = S- l LS,
(1.14)
and performing the differentia tions as to tand 8,

R L

- 1

+ .1 P

+ S- l as d8 P + dP.
08 d t '

(S- l

2.

as L -1
08'

(1.15)

dt '

OL. - 1 + L - 1 OS- l
08

08

s) P '.

( 1.16)

Using the obvious relation

OS- l S

------ae

= 0 = S- l

as OS- l
a8
+ rra S,

(1.17)

where 0 represents a zero matrix, we rewrite eq. (1.16) as

13

o = M + J.2P. (S-100
as L + oL.
00
- 1

- 1 _

L.-l S-100
oS) P.

( 1.18)

In eq. (1.18) as weIl as in eq. (l.l5), we meet the product S-10S/0 0 = olnS/oO,
being a square matrix whose elements are, in general, functions of O. It will
make sense to define a matrix e in such a way, that
_

_.

S-

exp e,

as _ oe

- 1

- 1

In

S, S

Hence, using the new matrix

e,

the descriptive eqs. (1.15, 1.18) become

U. - R. L.

o=

- 1

p.

de

+cit

p.

- [(oe
+ t p.
a6 L.

00 -

a6'

as dO _ de
00 dt - cit

..e -

dP.

+ dl'
L. -1

-1 -

( 1.19)

(1.20)

oe)
a6

oL -1]
+ ae-

(1.21)

At first sight, the transformation only complicates the equations. However, an

orthogonal transformation leaves energy relations invariant, and for instance,
the magnetic energy function is

T = tIp = t PI = tILI =
=

t (SI.)

(SP.)

t l.p.

t P.I.

t I.SsP.
=

(1.22)

t I.L.I.;

the electrical power flow into the machine is

UI = (Su. ) SI.

U.SSI.

U.I.

(1.23)

This method will clarify the description and the physical interpretation considerably, since we have created the possibility of splitting up such energy
functions into separate significant terms.
Now we will consider a specialization under rather broad assumptions. We
take a general three-phase machine, which is constructed so that, irrespective
of the angular rotor position, both the electric and the magnetic construction
of the machine will be invariant under the rotation over 2n /3 radians around
the coinciding stator and rotor axes. N ext, let the stator and the rotor variables be
denoted by the relevant symbols with subscripts : as, bs, cs and ar, br, cr respectively, implying that we are considering three stator coils Ca., Cb., Ces and three
rotor coils Ca T> Cb r> Cer Then, the appropriate L (0) matrix,
14

L (e) = L =

las . as
lbs. as
les. as

las. bs
lbs. bs
les. bs

lar. as
lbr. as
ler . as

lar. bs
lbr . bs
ler. bs

las. cs
lbs. cs

las. ar
lbs. ar

las. cr
lbs. cr

(1.24)

ler . cs

ler. ar

ler. br

ler. cr

- ms
-m s
ls

mo
m4
m2

m2
mo
m4

m4
m2
mo

clearly may be written as

- ms
ls
-mB

ls
- ms
- ms

ce)

. _. _._-_ ... _-- ------

---_ .... _-- _..................

m4
mo
m2

mo
m2
m4

... __ . .............

m2
m4
mo

-m r
lr
- mr

lr
-m r
- mr

. ...................

(1 .25)

-m r
-m r
lr

where the properties

lt = lt

(e)

= lt

(e +- ~) >

(e + ~) >

mt

ce)

mt

mo = m

(e),

m2

= m (e+

mt

0, (t = s, r),

~),

0, (t
m4

(1 .26)

s, r),

= m (e+

4;),

apply. UsuaUy, one assumes lt and mt, (t = s, r), to be constants and m (e)
= m cos e [25, 26]. The idealization lt and mt to be constants, holds fairly
weU in practice [27, 28]. However, frequently the idealization m (e) = m cos e
hides the true perspective. To deduce a general odq-axes theory [29] of a threephase machine, we do not require any of the specializations mentioned. We
shall show, that even effe cts due to saliency, incorporated in the theory of the
generalized machine in quite aspecific way by WHITE and WOODSON [30], can
be handled without specific assumptions.
With this aim, we reduce the matrix L of eq. (l.25 ) by consecutive transformations to simpier forms, performing the procedure step by step. First, we
observe that the two main diagonal submatrices
(l.27)
occurring in eq. (1.25), can be diagonalized by simple methods, as performed
15

for a similar ma trix b y DUSCHEK und HOCHRAINER [31]. To be sure ofthe generality of our transformation, we could apply a general mathematical method
as outlined by FRAZER and DUNCAN [32] . However, with respect to our 3 X 3
L-matrix, the direct way of calculation is used because of simplicity. Thus, let
L t, (t = s, r), of eq. (1.27) be transformed by the orthogonal matrix St = S;- \
(t = s, r), to form the diagonal matrix L t. = St- 1 Lt St, then we have to
calculate the elements St, ik ' (t = s, r; i, k = 1,2,3), and t.i ' (t = s, r;
i = 1, 2, 3), of the square matrix St and the diagonal matrix A t respectively,
connected by
( 1.28)
H ence, temporarily dropping the indices t

s, r, we require the identities

(1.30)
where dots represent elements having the value zero. Eq. (1.29) is equivalent
to the system

=:k =~k

[ 1

-x

- x

=: 1[ ~:: 1

l -

Sak

['l

, (k

1, 2, 3).

(1.31 )

Hence, in order that at least one of the elements S i k out of each triple S ik'
(i = 1,2,3; k = fixed ), will be non-zero, the k> (k = 1,2,3), have to be
the roots of the characteristic lambda-equation to L ellt,
1-
det

-x

-X l =

- x 1- - x
-x
-x 1-

0, .'. l, 2. a = 1- 2x, 1 +x, 1 + x.

( 1.32)

The double root 2 a = 1 +x proves th at we are concerned with a degenerated

system, and therefore, with respect to our new reference frame, we shall receive
one degree offreedom, which can be used afterwards. Further, with respect to
the root 1' the elements Si1' (i = 1,2,3), follow from the three linear dependent
equations contained in (1.31 ), hence from
2x Su

16

X S 21 -

X Sa1

0,

+ 2x S21 - Sa1 =
S21 + 2x Sa1 =

X Su

X Su -

0,
0.

(1.33)

- - - - - --------------------------------------------------------------.

Obviously, we must take Sn

we require in addition

S2l

S3l' Now, applying the conditions (1.30),

(1.34)

With respect to the root 1. 2 = 1 +x, the elements S;2' (i

(1+x)s12+(1+x)s22+(1+x)s32
S122+S222+S322 = 1,

1,2,3), must obey

= 0, (three times),
(1.35 )

SnS12+S2lS22+S3lS32 = O.
In view of the result (1.34), the set (1.35) contains only two independent
equations; therefore, we can express S22 and S32 in terms of S12' yielding
(1.36)
where the upper and the 10wer signs belong together. Next, with respect to the
root 1. 3 = 1 +x, we arrive at
2S 23 = - S1 3-()" V2-3s 13 2, 2S33 = - S13+()" V2-3s l3 2, (1.37 )
where, too, the upper and the Iower signs have to be taken simultaneously
with but independently of the preceding pairs. To derive eq. (1.37), we did
not use the orthogonality condition
(1.38)
Substitution of eqs. (1.36, 1.37) into (1.38) and squaring the result will give
S12 2+ Sl3 2 = i(1.39)
It follows from (1.36, 1.37, 1.39), we may assign to one element out of th~
sextupie Sik' (i = 1,2,3; k = 1,2), any arbitrary vaIue; then the remaining
five elements are fixed. But, in order to emphasize the possibility of a clear
physical interpretation of the transformation, our elements S ik, (i, k = 1, 2, 3),
have to be real. To keep the arbitrariness in the choice of the values of the
sextupie as broad as possibIe, we are forced to put

- V2'3 cos

Su -

8 ,S13 -

( )'"

with a realO; the possibility of Su =

trary meaning of 8. Now, it follows,
s 22

'
V2'3 SIn
8,
-VI cos

= VI [- t cos 8 + ()' W3 sin 8] =

. /2
S32=vi[-tcosO( )'W3sinO]

S23 =

VI[ -()'" sin 8 -

S33

Vl[-()'" sin 8

() "

W3 cos

+ ( )" W3 cos

( 1.40)
0, is incorporated in the arbi-

Vi cos [0 -

()'

~n] '

4nJ '
Vi- cos [ O-( )'3

(1.41 )

8] = Vfcos

[()"'8-~- () " ~],

0]

[()"'O -~ -(),,4;l,'

Vlcos

1,7'

Consequently, our matrices St of eq. (1 .28) appear to be

W2
St

Vl

cos et

cos [( =f ) " 'et +~]

W2 cos [et- ()I ~n] cos

W2

[(=f)/"et+~-(=f)" ~]

, (1.42)

cos [e t - ( ) I 4;] cos [( =f]''' et + ~ - (=f ) " 4;]

where the unprimed signs belong together and in their turn the one, two,
three primed terms belong together. Although the choice of the signs is free,
we choose the signs in such a way that

_ [ W2
W2
W2

Vi

( 1.43)

which agrees with the well-known PARK [12] or GOREV [13, 14] transformation
as specialized by LAIBLE [7] and broken up into two factors, as shown in eq.
(1.43), by AKHUNDAR [33]. For convenience of reference, let us define
At

Vl [

W2
W2
W2

+1

-t
-t

0 ]
, ... [ I
+W3. ,Ct ==
.
-W3
.

co~ et -si~ et
sin et

], (t = s,r),

(1.44)

cos et

so the relation St = AtCt holds. Further, as we have to transform the whole

L matrix given by eq. (1.25), we introduce and define the supermatrices
S, A and C by

S = [Ss 0 ] = [A s 0 ] [Cs 0 ] = AC
o Sr
0 Ar
0 Cr

(1.45 )

Since SS = tAC = c = E (the unit-matrix), S is an orthogonal matrix.

Now, according to eq. (1.14), we need the matrix S- l to transform U, I, lJf
tnto U*,I*, P* respectively. CI~arly, the submatrices Ut, ft, P t , (t = s, r),
containing only the at, bt, ct elements of U, I, P respectively, can be transformed by St- 1 to form the ot, dt, qt elements of Ut., It., Pt. respectively,
where fore instanee

1,8

We caU the ot elements the zero elements, the dt elements the direct elements,
and the qt elements the quadrature elements. Further, to clarify the mathematical meaning of the odqA
axes transformation performed by St- I, its geometrical representation is shown
in fig. 1. There, the transformation At-I, being the
first transformation to be
performed in the sequence
of St- 1 = Ct- 1 At- I, is represented by the transition
from the original reference
frame a, b , e to the new
reference frame o, a', /.
The representation follows
from the requirement that
the vector {x a , X b, xc} spanned
on the orthogona1 reference
Fig. I. Geometrical rep resentation of the transforma tion
frame (a, b , e) has to be
St- l; AP = BP = CP = 3/2; lkl = I,
identica1 with the vector
k = a, b, c, 0, d, q, d', q'.
{x o, xa', xa'} spanned on the
reference frame (o, a' , Q'); then from the transformation law
Xo
[

:::

1
=

[ W2
Vl + ~

W2 W2
-i
-t
+W3 -W3

( 1.47)

there foUow the vector equations

I,

"

o = VI (iaV2+lbV2+ teV2) ,
(1 ) - )
e-d , = ,v/2
3" ea - 2 eb - 'tee ,
Q'~ VI (ibV3 - eV3) .

p.48)

Note that the reference frame (o, a', a' ) is orthogonal and that lol Jl d'l =
= lQ' 1= 1. Further, the transformation by Ct - 1 can be represented by aj finite
rbtation of, the frame of reference (o, a', Q') over the angle + ;e ~ [34, 35] :
yi~1dmg the firiab frame of l'eference (o a,
where the zero-axis acts as ,the
rotation axis.
Q ),

19

Let us return to the calculation of L. = S-lLS = C- IA - ILAC, where Land

S = AC are given by eqs. (1.25) and (1.45) respectively.
We determine in advance
ls- 2m s
, ls+ms

L'=A- ILA=

, (1.49)

m2 +m4 !

where empty spaces rep re sent elements having the value zero, and where the
quantities ls> ln m., mn mo, m 2, m4 are functions of e with the properties (1.26).
Next, inspecting the matrix of eq. (1.49), we observe that the nondiagonal
(3 X 3) submatrices occurring in eq. (1.49), constitute, up to a scalar factor,
matrices representing a fini te rotation ofa frame ofreference [34,35]. Indeed;
let us define the scalar quantities D and X by

1
D'/.

2
m2 +2
m4' - m -2 m4V 3]

mo

+m 2-m

--2--4V3 ,mo-

m2 + m4

cos X sin
.

X] ,

(1.51 )

-sm X cos X

then, obviously, eq. (1.49) is equivalent to

1.-2ms
, ls+ ms

L'=

( 1.52)

Then, in order to perform the original orthogonal transformation with S on L

to give L. = S- lLS = C- IA - ILAC = C- IL'C, we conclude that the transformation

20

Is- 2m s

mO+m2+m4'
,Dil,

,
, Dil,
, (1.5~)

L.=C-1L'C=
Dil.

, Dil,
is effected if, and only if, the additional condition

0s- Or = X,

(1.54)

holds; for the rest, either Os or Or may be an arbitrary function. We can note
th at the quantity X = X (0, mod 2n) = X (0) (mod 2n), constitutes a nonlinear single valued measure ofthe true angle ofrevolution 0. We shaIl ex amine
this subject in more detail further on. Moreover, we see that if we take the
ideal case m (0) = m cos 0, then eq. (1.51) with eqs. (1.50, 1.26) yields X = 0,
and by using eq. (1.54) consequently yields 0s- Or = 0.
Now, having determined the transformation matrix Sin fuIl, viz. S according to
eqs. (1.44, 1.45) under the additional condition (1.54), we next carry out the
transformation

R = S- 1RS = [Ss
0

S r-

] [ rsE 0 ] [ Ss 0 ] = R.
0 rrE
0 S ,.

(1.55 )

Then we perform the calculation of the quantity

(1.56)

+ Or
The quantities R. and oe /00 both occur in the transformed eqs. (1.20, 1.21 ) ;
and for the original definitions of R. and oe/oo we refer to eqs. (1.14) and
(1.19) respectively. Hence, we can now start the evaluation of the factor
1

[oe L

~ 00'

- 1 _

- 1

oe]
00

'

(1.57)

which occurs in the second term of the torque formula (1.21). Noting the
properties oe/oo = -oG/oO, L. = I., thefactor (1.57) becomes

Oe L.-1
t [a-o

- la-o
oG]
+ L.-

'

(1.58}
21

which is the symmetrica1 part of [oe joO]L. -1. Further, by mere inspection of
eq. (1.53), we write down immediately
lr-2m r
(Ls- 2ms) (lr-2mr)-(mO + m2 + m4)2'
Lr+mr

-(mO+m2+m4)
(ls- 2m s) (lr- 2m r) - (mO+m2+m4)2' 0,
-D'j,

0,

0,

0,

0,

0,

-D' j,

0,

L.-l=
- (mO + m2+m4)
(Ls- 2ms) (l,.-2mr)-(mO+m2+m4)2' 0,
- D' j,

(Ls- 2ms) (lr- 2mr) - (mO + m2 + m4)2' 0,

ls+ms

0,

0,

0,

0,

0,

Then, by eqs. (1.57, 1.58, 1.59) it follows that

1

2"

(Oe

ar; L.

- 1

- 1

- L.

Oe) _

ar; -

ifwe use eq. (1.54), i.e. 0s- Or

2"

D'j,
(ls+ ms) (lr+mr) -D

ox
oOJ,

(1.60)

x, and the new constant matrix

J=

(1.61)

Consequently, by substitution of the results (1.55, 1.60) into our transformed

eqs. (1.20, 1.21 ), we obtain

u . RL - up + de lP

dt'

+ dIP.
dt '

We add that, if we take the idea1 case, vi;::.. if we assume

constants and m (0) = m cos 0, the three factors
- 1

L. ,

22

2"

D'j
ox oL.- 1
(ls+ ms) (lr+ mr) -D 00 ' -7ie'

(1.62)

t.,

m., Lr. mr to be

(1.64)

. (1.59)

are reduced to constants, the second factor of (1.64) to the value 3m / [(ls+
+ ms) (lr+mr) - (3m /2) 2]'/', the third factor to the value zero.
The first step in our sequence of transformations being performed, we stipulate
that our generalized transformation with S according to eqs. (1.44, 1.45, l.54)
includes effects due to saliency, and th at it stillieaves a certain freedom in the
choice of the condition of constraint to be put on the pair es, er. It will be
shown further on that this freedom offers the opportunity to transform the
nonautonomous differential equations regarding an induction motor and
regarding an electrical transmission shaft as weIl, into a set of autonomous
differential equations. In studying the stability of motion of such systems, the
benefits of the transposition of a nonautonomous into an autonomous set of
differential equations, are very great and important [36].
Before we bring about our second step in the sequence of transformations, we
shall derive, in addition to the properties (l.26), another set of restrictions to
be required of the quantities Is> m,,, Ir> mT) mo, m2, m4. With this aim we calculate
the magnetic energy function T = V.L.I. (compare eq. 1.22), where L. is
given by eq. (l.53 ). The result

T = HCls- 2ms) ios2+ (lr- 2mr) ior2+ 2(mo+ m2+ m4)iosior+

+ (Is+ ms) (idS2+ iq s 2) + (lr+ mr) (idr2 + iqr2) + 2D'/'(iasiar+ iqsiqr)] , (l.65)
has to be a positive definite function in the currents i ut , (u=o, d, q; t=s, r).
Hence, we must require, in addition to the properties (l.26), the conditions

It- 2mt > 0, It + mt > 0, (t = s, r), (ls- 2m s) (lr- 2m r)- (mO+m2 + m4F > 0, (ls+ ms) (lr+ mr) - D > 0,
to hold, irrespective of the value of
tities

e.

(l.66)

Then, we can define the positive quan-

where all those scalar quantities have period 217, /3 in e. We call no, "0 and Go,
the transformation ratio from the stator to the rotor side, the coupling coefficient
and the (BLONDEL) stray coefficient respectively and with respect to the zero
components only; n, " and G have equivalent names and meanings, but refer
to both the direct and the quadrature components only. Taking a technical
point of view, the positive quantities just defined are important machine
23

quantities and are reduced to the well-known machine constants, ifwe take the
ideal case i., m., ir, mr to be constants and m (0 ) = m cos o. Therefore, we
factorize L. ofeq. (l.53) in terms ofno, ''0' n and" according to

L.

N - IKrN-\

(l.68)

where we used the new matrices

1
N= ................................ ,K=
: no n
n

, L=

"

"

is- 2m s
is+ ms
is+ms

. (l.69)

i. - 2m.
is+ ms
is+ ms

We call N the transformation ratio matrix, K the coupling matrix. Clearly,

L.- l

= N (r )-l K - l N,

(l.70)

an expression needed in the development of eqs. (l.62, l.63 ). Now, eqs. (l.69,
l. 70) at hand, we are in a position to discuss the terms (l.64) occurring in
eqs. (l.62, l.63 ) from a practical point of view. In this respect we remember,
that we started our theory by assuming the ferromagnetics to possess certain
acceptable idealized properties, able to explain nearly all phenomena occurring in actual rotating machines. H ence, it will have little sense at this
point of our theory to develop the mathematical treatment into details, whose
corresponding phenomena in nonideal machines will be masked by other
peculiarities evoked by properties not covered by our idealizations, notwithstanding such details may correspond to actual detail phenomena. In this
respect we raise the point that the quantities i., m., ir and mr are fairly constant in
practice [25, 26], and so do the coupling coefficients ''0' " as well. With respect
to ''0' ", we note that even the total range of values of coupling coefficients of
totally different but normal machines will fall on the interval (0.90; 0.98)
roughly. We shall translate our argumentation by treating N, rand K as
weIl as constant matrix quantities. However, the quantities a o = 1- "0 2 ,
a = 1- ,,2 may deviate appreciably from their average values. Therefore, we
shall retain the 0 dependency of a o, a. In this way, we know, we neglect in
advance terms arising from aK-l fao, apparently related to the differentiation
of simple functions of a o and a as to O. But, in view of the meaning of the
torque expressions (1.11, 1.63), the appearance of such terms are caused by
the dependency on 0 of the magnetic energy content of the stray fields and, as
the stray fields are tightly connected with the main fields and, moreover, the
energy content of the stray fields are certainly small as to the energy content

24

of the main fields, the influence of the terms arising from oK- I /oO must be
negligibly small. Thus, our argumentation states that the set
U.

RL - up

+ de P + dP.
dt'

(1.71)

dt '

(1.72)
will describe, up to an acceptably high degree of accuracy, the electrodynamical behaviour of the three-phase machine. At this point of our theory, it is
convenient to introduce the second step in our sequence of transformations,
a transformation suggested by eq. (1.70), i.e. "the reduction of all quantities
involved to the stator side". But, as N =t=- Ji-l, the relevant transformation will
not be orthogonal. As a matter of course, it is possible to take as a second step
in the sequence of transformations, the orthogonal transformation reducing
L. of eq. (1.53) to the diagonal form. However, in that case, the technically
important machine quantities (1.67) are mixed up in our equations in an unnatural way, and as the final gain - even from a mathematical point of view is doubtful, we should miss the mark.
To perform the transformation, let us define, in accordance with the notation
used in eq. (1.70), the reduced quantities
U' = NU" r = N - IJ., p' = NP" R' = NRN,

(1. 73 )

and observe that:

1: using eqs. (1.60, 1.73),
RL. - lp, = N - IR'N- IN (L*) - l K - INN- IP'
= N - IR' (L*) - I K- IP',

2:

using

(1.74)

eqs. (1.56, 1.69),

3:

using

de

de

dt = dt

(1.75)

N,

eq. (1.61) and the notation in conformity with eq. (1.46),

(1. 76)

4:

using the set (1.67),

1

DIl,

2n (ls+ ms) (lr+ mr) -D

i_
l_~
ls+ ms a'

(1.77)
25

Then follows easi1y the performance of the reduction to the stator side of
eqs. (l.71, l.72 ), yie1ding
U*= R* (L*)-lK - llp*

+ de P* +
dt

dP*
dt '

(l. 78)

M +! _ 1_ ~ OX P*JP*.
ls+ ms a oe

(l. 79)

Now we consider the product R* (L*)-l occurring in the 1eading term of the
right-hand side of the voltage equation (1 .78); we note

Is- 2m s

R* (L* )-l = R (L*X- 2)-1 = T - l =

, (l.80)

where the matrix T = L * (R* )-l, vzz.

(l.81 )

contains the technically important machine time constants. Further, if we

carry out the contraction of the matrices occuring in the 1eading term of
eq. (l.78) into one matrix by one step, hence by calcu1ation of

-"e'

e'
R* (L* )_lK_l =
= T - IK- l=

a(ls+ ms) ,

- "e"

elf

- "e"

elf

( l.82)

we meet another set of technically useful quantities, introduced by RDEN[37]. With respect to the constants e' and e", - constants in the ideal case
only - , we point at the natural way in which the related dimensionless quantities e' jwo and e" jw o enter the calculations of RDENBERG. We, too, prefer to
define the equivalent dimensionless quantities Y by

BERG

Yos
-XYs

Ys

Yot= aow o(l t- 2mt )'

Ys

( 1.83)

Tt

-XoYo,'

Yt

Yor
-

Yr

XY r
-

aWo(lt + mt)'
(t = S,T),

Yr

XY r

where Wo represents some reference angular frequency, normally the angular

frequency of the power supply voltage system. Let us, in addition to the
reference angular frequency, define a reference voltage u o, and let us define
the dimensionless quantities

r = u juo, X =

woP' juo,

= wot,

ft =

~ ~8

(ls+ ms) Wo: M;

uo

x UX

(1.84)

we remark th at, if the loading torque M depends on speed and acceleration

only, hence, if M = M (d 2 0jdt 2 , d8 jdt ), gene rally the corresponding reduced
dimensionless torque f.l = f.l (d 2 8jd .. 2 , de jdi, e) due to the departure of mo
from the ideal dependence mo = m cos e. Finally, substitution of eqs. (1.83,
1.84) into the set (1.78, 1.79) leads to
r= rx

dX
+ de
d .. X + di'

(1.85)

0 = f.l+!X]X,

where we effected the third and final step in the sequence of transformations.
The introduction of dimensionless quantities will be convenient for analog
computation [38] and offers valuable means for comparison of different
machines. For future purposes we derived the rather obvious relations
r = S- l NU, X = S- l NwoP, rx
Uo

Uo

S- l NRI.
Uo

( 1.86)

Before dosing the development of our general th,eory, something has to be

said about the nonlinear relation between X and e. Then, with respect to X
defined by eq. (1.51 ), we note
tg X =

-.l(m 2 - m )V3
2 1
4
.
mO- 2 (m 2 + m4 )

( 1.87)

27

Now, in order to gain an insight into the nonlinear dependence of X on 0, we

take the case m( 0) of eq. (1.26) to be given by the FOURIER expansion
00

(1.88)

m (0) = mEflnCosnO.
n=O

Then, denoting the number n (mod 3) by

-!(m2-m 4 )V3
3

-)
.*0
00

= 2 m :=~

(1.89)

fln sm nO,

mO-!(m2+m4)
=

(4n)
(2n)] . n
3 -cos n 0+ 3 sm 3"

00
[ cos n 0+
m ~!o'n

. + 1

P,

= m ~n [cos nO - t cos n (0+ ~n) -t cos n (0+

4;)]

3
00
-2 mE fln cos nO,

( 1.90)

n= O

.*0

D =

(~mr

00

n= O

00

E flnfln' cos [( -). n - (-).' n']

n'=O

o.

(1.91 )

.*0 .'*0

If fll =I=- 0, fln*l = 0, we immediately verify X = O. Calculating

COS X, sin X]
x [ -sin X, cos X

00

(3 / 2) m
,\l
[COS 0, sin 0]
[(ls+ms) (lr+mr)]' /. i...J fln -sin 0, cos 0

n
1 92
,( . )

(_) v + l

n=O
.*0

we recognize the harmonics of the "positive and negative systems" appearing

in the harmonical analysis using the method of the "symmetrical components"
[39]. We intentionally avoided the method of the symmetrical components, as
by our method, we make allowance for a nonideal m(O ) function in a direct
way. To illustrate this direct way, suppose m( 0) =I=- m cos 0, but m( 0) is known
either as a FOURIER expansion or by a graph. Then, by numerical or graphical
methods we determine consecutively from mo = m( 0),

m2 = m (0 + ~), m4 = m( 0+

4;), mO-!(m2+m4 )' -!(m -m4) V3,

2

2
4
- 1[(mO-m2)2
X -_ tg -1 -!(m
_I( -m )V3 D -"2

mo

oX
00

"2

m2 + m4)'

+ (m2-

m4 )2 + (m4- mO)2] ,

( 1.93)
(1.94 )

(V3) [
0(mO - m2 )
0(m 2- m4 )
0(m -m )]
2D (mO+m2)
00
+(m2+m 4 )
00
+ (m4+ mO) 400 o ' (1.95)

D'/" x, a, (a /x) (oO / OX), fl

= (a /x) (oO / oX) (ls+m s) (W0 2 / U 02 ) M,

( 1.96)

Yt = rt/awo(lt + mt) , (t=s, r),

(1.97)
all those functions having period
in
We excluded all zero componential
quantities as, shown for instance by eq. (1.76), the zero components give zero

2n/3 O.

28

contribution to the torque. Hence, by our direct way, we elude the prob1em of
the harmonical ana1ysis, at the expense of ang1e dependency of ft, Y s and Y r
The method developed for a three-phase machine may be app1ied, mutatis
mutandum, equaUy weU to synchronous generators having the stator construction invariant under revolution over 2n /3 radians around some stator axis and
having two mutua1 perpendicular planes of image symmetry with respect to
the rotor. Then, in applying the method, one is directed to define instead of
the positive quantities (l.67), the positive quantities no, nd , nq , ''0' "d, "q and
ao, ad' a q , complicating the derivation only slightly.
Ahead of applications to the theory, we list the principal equations, spread
over the three subjects:
1. onginal equations

U = RL- uP

+ ~~, o =

_ L- l
M +!P
P, P

ae

LI,

( 1)

where U, I, Pare columnmatrices whose elements are consecutively distinguished by the subscripts as, hs, cs, ar, hr, cr, attached to the symbols u, i, 'Ijl,
respectively; L is a symmetrical square e dependent matrix whose elements
lo t,g't', (g = a, h, c; t = 5, r) are generally nonzero and have periode 2n in e;
R has the diagonal form.
2

final equations
dX
rx + de
dr X + dr' 0 = ft + !X]X
Z = rx, x are columnmatrices whose

T =

-7

ft

XdrXq s - XdsXqn

(2 )

where T,
elements are consecutively
distinguished by the subscripts os, ds, qs, or, dr, qr, attached to the symbols y,
.c, x, respectively; more over,
Y os
Ys
- "Y s

- "Yr

Yr
Yr

(3)

+1
-1 .

,]=

29

Yot

rt/aowo(lt - 2m t) , Yt = rt/awo(lt+ mt ), (t=s, r), es- er =

= tg- 1 (m4 - m 2) V3 .
2m O - m4 - m2

x=
(4)

3. transformation equations

r=
ft
=

S- lNU/uo, X = S- lNwo'P/uo,

Z = rx =

S- lNRI/uo, i = wot,

ft(d 2 e /di 2 , de /di, e; ... , i ) =

(a /'>!) (ae /ax ) (ls+ ms) (W 0 2 / U0 2 ) M (d 2 e /dt 2, de /dt; ... , t),

(5)

(6)

- 1

V2

S = [S

~J, St =

A tCt, (t=s, r), A s = Ar =

Vi"

:2

- t

j2 -t

(7)

COS et
sin et

N is a diagonal matrix whose elements equal consecutively

1, 1, 1; no, n, n;

(8)

Z has the

meaning of the (dimensionless, reduced and transformed)

(9)
ohmic phase voltage drop matrix.

2. Specialization to the Induction Motor, the Double Supplied

Slip Ring Motor and the Electrical TransJnission Shaft

In the preceding section, we neither specified the type of our three-phase

machine, nor the interconnections of the stator and the rotor coils. We only
introduced the six coil voltages U gt , (g = a, h, c; t = s, r), the corresponding coil
currents i gt and the coil fluxes '/fJgt. In this section, as a further specification,
we shall treat three cases of the three-phase slip ring motor, having - both
stator and rotor - operating in star connections, viz. the case of a norm al ind~ction motor with vanishing rotor supply voltages, the case of the double
supplied slip ring motor [40, 41], and the case of a system of two equivalent
slip ring motors, having the rotors - via the slip rings - electrically interconnected by a common star resistance network to form a simple electrical
transmission shaft [42, 43]. Although e.g. HANNAKAM [38] and - independently
- the au thor [44] investigated the descriptive equations of slip ring motors,
and, further, the author [45] prepared the equations for analog computation
of the behaviour of the electrical transmission shaft in question, we can hardly

30

miss a derivation of some salient points to found a sound base for the investigati on on the stability of motion in the three cases to be considered.
Let the stator and the rotor supply voltage systems,phases at, bt, ct, (t =
respectively), have negligible internal impedances, then the coil voltages
(g = a, b, c; t = s, r), are submitted to the constraints

+ 1 . -1] [
[ -1 +1.
.

-1

+1

uat ] _ [uct, at ]
Ubt Uat ,bt
Uct
ubt , ct

, (t = s, r),

S, T
Ug t>

(2.1 )

where the voltages U g t , g' t> (g :j::. g' = a, b, c; t = s, r), clearly represent the
coupled phase voltages, normally acting as the driving voltages. We note the
condition

Uct.at+Uat ,bt + Ubt ,ct

uct' at ]

[1,1, IJ [Uat,bt

= 0, (t = s, r).

(2.2 )

Ubt , ct

The coil currents i gt , as there is no earth conductor, are constrained by

iat+ ibt+ ict

0, (t

s, r).

(2.3 )

To draw conclusions from the current constraints, we use eq. (5), viz.

z = rX= S- lNRljuo,

Zos = [Ss-lrJsjuoJo = VI W2(ia s+ ibs+ ics) juo = O,

{Zo,. = [S,.-lnorJ,.juoJo = VfW2nor,.(ia,.+ ib,.+icr) juo = O,

as was to be expected from symmetry considerations; the subscripts 0 and ot,

(t = s, r), indicate that of the relevant matrix we retain the 0 and ot elements
respectively only. Now, Xos and Xor being zero, then from the voltage equation
ofthe set (2) it appears thatYot, (t = s, r), also vanishes.
V
Consequently, we have too
,

(2 .5}
Bymeans of eq. (2.5) we express the voltage constraints (2.1 ) in terms of a
nonsingular matrix according to

~ 2 + 1 +1
+2 . ]
+1
+2

[ Uuat ]
bt
U ct

uct' at ]
[Uat ,bt , (t
Ubt , ct

s, 'r).

(2.6)

31:

Inverting the relation (2.6),

~:: ] = ~ [!~

+! +~] [~::',:: ] ,

- 2 + 1 +4

Uct

(2.7)

(t = s, r).

Ubt , ct

In view of eq. (2. 2), we may write (2.7) equaIly weIl as

Ut =

1 [ + 1 -1
.]
. +1 - 1
- 1 . +1

u at ]
Ub t

=3

Uct

[uct,at ]
Uat,bt

(2.8)

,(t=s,r),

Ub t, ct

where we expressed the driving phase voltage matrix Ut, (t = s, r), in terms of
the coupled phase voltage matrix. The inversion (2.8) of (2.1 ) was possible by
a set of symmetry properties and is independent of the functional character of
the voltages U. t, gt, (g =I=- g' = a, b, c; t = s, r). Next, using the transformation
eqs. (5.8), we determine

Hence, in order to calculate r, we must specify U s and U r . With respect to Us>

we assume in the three cases to be considered that the stators of the machines
involved will be connected to a normal symmetrical three-phase power supply
system at angular frequ ency Wo, i.e. to the system
U CS'

as ]

u. o...
[

Ubs , cs

!) ,

[COS (T+<p)

~Um CO,( T+Ocos( T+<P-3)

(2.10)

where <p represents an arbitrary phase angle. Then, it foIlows from (2.8, 2.9),

rs

=~S =~[~
U

-lUs

- 1

COS

OS

- SIn

Os

+1

(2.11 )

32

It will be convenient to fix here the reference voltage U o at

U

o = u m /V2,

(2 .12)

reducing Ys to the simple form,

s=

[cos (

.+91~~- es)]

sin (.+91+~-

(2.13)

es)

Before we enter into more detailed investigations on the three cases, we lay
down the rule, that we put
hence forward" the ideal case", implying X =

e and both a and x constant.

In the first case, the case of the normal induction motor, the final eqs. (2) yield
upon substitution of Y s according to (2. 13) and of Y r = Sr- 1N rUr/uo = 0
according to (2.9) taken at U,.

d
Ys + d.'

de s
-XYs
d. '
d
+ de s
d. ' Ys+ d.'

- cos( . + 91 +~ - es)

0 (the vanishing rotor supply voltage),

n)

sin (.+91+6- es

- XY r

X ds

, - XY s

X qs

(2.14 )
Xa,.

, -XYr,

Xqr

(2.15 )
Together with the condition e s- er = e, the specification of the function fl
and the initial conditions of the dependent variables, the set (2.14, 2.15)
describes the electrical-mechanical behaviour of the induction motor. If we
constrain the angle
by

es

(2.16)
and we denote the derivation with respect to by a dot over the relevant
symbol, then consequently
(2 .17)
where s represents the slip of the induction motor. Further, with respect to the
specialization of fl, we assume here, as weIl as in the cases below, the mechanical
33

torque to depend on acceleration and speed only. Then, finally, by substitution

ofeqs. (2.16,2. 17) into (2.14, 2.15), we obtain the descriptive equations ofthe
electrical-mechanical behaviour of the induction motor as an autonomous set of
differential equations, viz.,

(2.18)

.----~--------~r--

.----r-~------~r-~
IS

Fig. 2. Connection Diagram

Double Supplied Slip
Ring Motor.

In our second case, the case of the double

supplied slip ring motor, the stator and the
rotor are connected to the power supply system
as shown by fig. 2. We established already Us
in conformity with (2.8, 2.10), yielding Y s of
(2.13 ) at U o = um /V2 according (2.12 ). As to
U r we assume,

+ 1 - 1
U r- - l.3

[ - 1

'] [ucr, ar ]
[ + 1
uar ,br = -l
.

+1 - 1
+ 1

ubr,cr

_ 1
+
1

- 1

as the rotor is supplied by a three-phase voltage system of opposite sequence

with respect to the stator, and, further, as the maximum value of the rotor
supply voltages has to be chosen in accordante with the transformation ratio n.
Now, using from eq. (2.9) Y r = Sr-1NrU,./uo, fixing again U o = um/V2, it
follows easily,

(2.20)

Then, substitution ofeqs. (2 .1 3,2.20) into the fin al eqs. (2) yields
34

cos (.+<p+~- es)

sin

(.+ <p +~ - es)

Ys+ d.'

des

-crr '

+ des

Xlis

-XYs

Xqs

d. ' Ys+ d.'

, (2 .2 1)

- cos (.+<p-~+ er)

Xdr

(.+<p-~+ er)

Xqr

_ + sin

(2.22)
Compatible with es- er = e, we take the constraints
n
n

+ <P+6- es= +<p-t e=ta, +<P-6 + er= +<p-t e=!a,

(2.23)

giving rise to the relations

(2.24)
Then, up on substitution of eqs. (2.23, 2.24) into (2.21, 2.22 ), here too we
arrive at a set of autonomous differential equations, i.e. at the set

-XYs
,,
.
Yr 1. '

.
- XYs

+ (1-

- ( 1 - 'ia),

Yr

t)

lis
XqS ]
X
Xdr +

X qr

(2.25)

as before, we dropped the zero componential equations. Let us transform the

set (2.25) by introducing the new variables X uv , (u = d,q; v = e,o), and the
new constants Yv, (v = e,o),

Xue = HXu s+ xur)'xuo = Hxu s- xur ), (u=d, q),Ye=t(Ys+Yr),Yo=t(Ys-Yr) ; (2 .26)

then, by (2.25, 2.26 ) it follows easily,

(2.27)

35-

In the foUowing section, we shall use the set (2.27) as the descriptive equations
appropriate to the double supplied slip ring motor.
To prepare the third case,
the case of an electrical
transmission shaft, let us
consider the appropriate
circuit diagram shown
by fig. 3. In case of both
machines we have to determine the fuU 1" of eq.
(2.9) and we already calculated the Ys matrix by
means of (2.13 ), fixing
uo=u m /V2 . But, aswe deal
with two (equivalent)
machines, having generFig. 3. Circuit Diagram ofthe Electrical Transmission Shaft.
aUy different circumstances regarding the rotor systems, we certainly must distinguish the Y r matrices
of the rotors involved. Moreover, as we have in Y s according to (2.13) the
transformation angle esstill at our disposal, we must distinguish also the relevant
Y s matrices. Let us use the obvious notation Yt! and Y t 2 , (t = s, r). Now,
inspection of the circuit diagram shows, that the original driving phase voltage
matrix at the rotors 1 and 2, both equa1 U r = -ro(1rl + l r2)' Upon substitution
of this expression into a pair of equations, each similar to (2.9), the first equation
with the index 1 and the second equation with the index 2 attached to the symbols
ofthe variables, we can determine the Y ri matrices, (i= 1,2). Then, by straightforward calculation we shaU arrive at a result, equivalent to the result th at
we want to derive by another argumentation. We take the other way, only to
avoid the introduction of a new constant Yr' Thus: we can look at the interconnected rotor system, as ifthe rotor phase resistances we re not equal to r" but
equal to ro +r" and, in addition, as if the voltage drop on a resistance ro due to
the phase current i gr2 should act as a fictitious driving phase voltage on the
rotor phase gr!, and vice versa, (g = a, b, c). Hence, changing everywhere rr
into ro+rr and taking

Uri = - rolri' (i = 1,) = 2; i = 2,) = 1),

we may use eq. (2 .9) to determine the relevant Y ri , (i
transformation eqs. (5) in view,

(2 .28)
=

1,2) . Now, first, the

(2.29)

36

where we used the equiva1ence of the machines, reason why we did not
distinguish R i and R;, nor N i and N;; but ,as generaHy e ti #- e t; and X i #- X ;,
the difference in notation as to S and Z app1ies. Here, comparing eq. (2.4),
Zo ri = ZOSi = 0 and tims, instead of eq. (2.29),
(2.30)
Consequently, the fictitious rotor phase driving voltage matrix (2.28) becomes
U ri = -

(2.31 )

( uoro ) S"j (rX )ri>

n ro + rs

where we restored the notation Z "j into (rX)rj. H ence, from eq. (2.9),
T ri = -

Uo n

-~ S ri-1S,.;(rX)r;, (2.32 )

( uoro ) S ri-1nSrj(rX ),.j =

ro + rs

ro + rs

where, again, we transposed N by nE, as the zero components of Z vanish.

Now, the S ri - lS r; transformation written out in fuH and omitting the zero
componentia1 parts, it appears,

FinaHy, T si given by eq. (2.13 ) under transposition ofe s into e Si ' T ri given by
eq. (2.33 ), w~ know the fuH Ti' (i = l , 2). Then, substitution ofthis Ti into the
final eqs. (2) yields,
cos( . +q;+~ - eSi)

Ys+ di'

sin (i +q;+~- eSi)

+ d.Si ' Ys+ di'

d
de

de Si
di' - xYs
d

- xy ,.,

, - xYs

de"i

, Yr + d.' - di

, - ;cYr ,

de r i

+ di' Yr+ di

Xqsi

+
Xdr i

X q ri

(2.34)

(2.35)
where, as before, we omitted the zero components. We add th at here

37

Yr

(2.36)

due to the presence of the "slip resistances" ro' Now, to form a convenient set
of autonomous differential equations, we choose as a first condition of constraint,
(2.37)
a condition compatible with (2.35). Further, we introduce the new variables
(2.38)
and we suhmit the time dependence of ()r to the second condition of constraint
(2.39)

In this way we attain the simplifications,

n

ti

?: +CP+6-()Si = - ( - )i-!a, () Si = 1 + (-) il, () ri = 1- 0 = s, () ri- ()r; = O. (2.40)

The quantity s refers to the average slip of the two slip ring motors, whereas a
represents the difference in rotor position of two corresponding rotor phase
coils of the rotors. Substitution of eqs. (2.40) into (2 .34) leads to
cos la
-

'sln 21 a

)"'

d
Ys+ d?:

,-1 - (- )i-!, -xy.,

+ 1+( -) il,

d
ys+ d?:

,
d
, Yr + d?:'

-xYr
- xYr

X dsi

- xYs

xqsi

- s

X dri

d
+ s , Yr + d?:

xqri

(2 .41 )

(i = 1,j = 2; i = 2, j = 1). Let us define the new variables

constants Y v and the new torqu es fl v , (v = e, 0), by
Xute =

38

!(xutt +xut 2), X uto =

t(xutt-Xut2),

(u = d, q; t

Xutv ,

s, r),

the new

(2 .42 )

(2.43)

Y.

(2.44)

In terms ofthe quantitiesjust defined, the descriptive equations ofthe electrica1

transmission shaft can be put in terms
cos ta

Ys

-1 -XYs

+ 1

Ys

+i
- xYs -21a
- xYe
Ye - s
-xY. + s Ye
+i
Ys + 1 - XY s
1 .
-XYs
- 2a
+ 1 Ys
- s
- XYo
Yo
-XYo +s Yo

sin ia

Xds.
Xqs
Xdre
xqre
Xdso +
XqSO
Xdro
xqro

ft. = XdreXq se - XdseXqre + XdroXq so- XdsoXqro,

ft o = XdroXq se - Xd seXaro + Xd reXa so - Xd soXqr.,
S = 1-t( 2 + 1 ) , a =

(2.46)

e- e

(2.47)

1,

ids,
i qs
i dre
i qre
, (2.45)
i dso
iaso
i dro
i qro

whereas the dependence of ftv, (v = e, 0), on i and i follows by (2.44) once

ft;( i , i ) , (i = 1,2) , is known.

3. Particular Solutions

In the preceding section, we derived the descriptive differentia1 equations as

specia1ized to three examples of rotating electrica1 machinery systems, vi:::.. the
induction motor, the double supp1ied slip ring motor and the electrica1 transmission shaft, in case those systems are supp1ied by a symmetrical three-phase
voltage system. Let us now deterrnine the solutions of those differential equations under constant speed of revolution, consequently also under constant
mechanical loading conditions, as we assumed the torques to depend on
acceleration and speed only.
Concerning the induction motor, eqs. (2.18) admit a particu1ar solution at
s

-II
l

= sc, ft

ft c, Xut

= Xut C, (u

= d, q; t = s, r),

l-l[l

(3.1)

where the superscripts c denote the appropriate symbols to refer to a constant

va1ue of the relevant quantity. Clearly,

XdSc
xas" =
x dr c
x qrC

Ys

+1

- 1 - XY s

Ys
. - XY s
- XY r .
Yr - sc
. -XYr + sc Yr

1
.

c- aYSYr) -SC(SCYs+Yr) J
_! [Yr(s
sC(sC- aYsYr) + Yr(scYs+Yr)

Ll

xYr(sc-aYsYr)
xY r(s Cy s+ Yr)

(3.2)
,

39

where we used the abbreviations

(3.3)
Consequently, by substitution of eq. (3.2) into the torque expression of the
set (2.18),
(3.4)

the well-known formula ofKLOsz [46]; the quantities e and Sk, representing the
machine constant of the KLosz-formula and the slip at breakdown torque
respectively, and, further, the quantity ft\ are given by
e=

~2ys

V(I+Ys2) (I + a2Ys2) ,

Sk =
Yr

VI I+Y
+a2ys2
s2,ft

V(l + Ys2) ( I+a2ys2) '

(35)
.

For completeness we visualized the well-known KLOsz-formula in fig. 4 by

means of graphs of ft cjftk versus sCjsk, although graphs of ft cjft cmax = ft cj2ftk

_~c

I.t

Fig. 4. The Klosz-formula.

(1 +e) are found in most text books on asynchronous machines [47]. In this
respect we add the remark that only few authors, although for instance LIWSCHITZ [48] does, establish exact expressions for the constants (3 .5 ). As in the
text books on induction motors, we, too, point to the slight influence of the
normal values of e as to the quantitative value of the stationary torque. But,
as we shall show further on, the stability of the stationary solution does depend
essentially on the parameter Ys'

40

With respect to the double supplied slip ring motor, we construct a particular
solution ofthe set (2.27) by the assumption
a

a C, fl = fl c, x"v

x C" v, (u

d, q; v

e, 0),

(3.6)

where the superscripts refer to the constancy of the relevant variables. Taking
a = a C, it follows by (2.24) th at () = 2, and consequently a = a C implies that
the actual angular speed of the rotor equals 2w o radians per second, where Wo
stands for the power supply angular frequency . Now, from (2 .27, 3.6),

where we used the abbreviations,

Ll = [1 + a(Ye2- Yo2)F + 2Yo2 = (1 + aysy,.) 2+ (Ys-Yr) 2, a= 1- %2.

(3.8)

Substitution of eq . (3.7 ) into the torque equation of the set (2.27 ) yields, after
some elementary calculations,
fl c

(l-aYsy,.) sin aC + (Ys+Yr) (cos aC - %)

2
2
(1 + ay"y,.)
(Y s-Yr)

(3.9 )

Eq. (3.9) gives the (reduced and normalized) torqu e of the double supplied
slip ring motor running in synchronism. Such a motor appears to have particularities considerably resembling those of the norm al synchronous motor [41].
We believe the exact result (3.9) - exact with respect to the theoretical assumptions - to be new. We add the remark that, at first sight, one could imagine
the stability of motion of the particular solution to depend on a differential
equation obtained from (3.9) by giving a C a slowly varying time dependence
and - in accordance with eqs. (2 .23) - by substituting a second order differential equation in a C for fl c. Calling such a method a "quasi stationary
method", we shall show further on th at this quasi stationary investigations are
not very reliable. In particular the method will fail to predict the stability
problem with respect to the induction motor and will approximate the true
perspectives with respect to very slowly varying states of motion.
To calculate the particular solution of eqs. (2.45) up to (2.47 ) inclusive, compatible with the assumptions
41

= sC, a = aC, fl v = flv c, xutv = XCutv, (u =

d, q; t

= s, r; v = e, 0),

(3.10)

where the superscripts c have obvious meanings, we split up the matrix occurring in the substitution ofeqs. (3.10) into (2.45) according to

-1 ]-1[COS
[ +YS -1 .]-1
[.]

XCdse ] [Y S
- xys .
X:as. = _+ 1 Ys
. - x~s
dre
XY.
Y.
s
X
[
XC ar
-XY. + sc Y.

x:XCdSOaso ] =
[ X dro
Xcaro

-XYs
1 Ys
. - x~s
- XYo
Yo - S
-XYo +SC Yo

tac]

= _

cos tac
.1.

sin tac = _ sin tac

.1 0

[ Ye(sc- aYsYe) -SC(SCys+ Ye )

s C(sC~ aysY:) + Ye(scys + Y.)
xy.(s - aysY.)
xy.(scYs+ Y.)

(3.13)
Substitution of eqs. (3 .11, 3.12) into the torque expressions (2.46) yields finally
sCxy
sCxy
.lac + __0 sin 2 .lac

.1 .
2
.1 0
2'
1
+
ay
2 (y
Y
)
SC
xy
SCxy
fl o" =
s ~ - ~ __e __0 sin tac cos ta c.
Yo
Y. L1 e .1 0
x
C

= - -' cos 2

(3. 14)

H ere, too, we want to use the constants e and fl k of (3 .5) ; in addition, we

introduce the new constants sv k, (v = e, 0), Sk (differing from s" according to
(3 .5 )) , and e; the constants e, sv", s", fl" and e are

(3.16)
The constant erepresents a relative measure of the slip resistance ro such, th at
o <; e <; + l. Comparing eqs. (3 .14, 3.15, 3.16) with (3.4, 3.5 ), the torque
equations (3.14) are, rewritten in terms of the new constants,

42

(3.11

[ - sc(sc- aysyo)-yo(scys+ yo) ]

Yo(s C- aysYo~ -sc(scys+ Yo) ,
(3.12
-xyo(S Ys+Yo)
xYo (sC- aysYo)

where we used the abbreviations

fl

(3.18)

To visualize by graphs the torque expressions (3.17, 3.18), representing in a

manner of speaking the extended
ilochone s~ con st.
KLosz-formulae, we shall use
,\
.::
\
the relative slip value C = SC Isk
\
~~~(..!._rl)
according to the more general
f'

.A~
definition
- :~
.,..Ao( "
~---:--""'
T

0(

~---tf-+'-";";"--';:"!---+-+-"';; ~ (e.r)~2H(rle.<)'

~~~.. <.)............L

ft"

(r<;y,).2fMC~

c ............ ..

(3.19)

.-N-"

t (f ~'/t)~2H(I/ft:.')

-f

A*
(t:.'1f)"H(fIt:.<)
.-..............
..................... -1

Fig. 5. Graphical Construction ofTorqueTorque Diagram .

Then, the dependence of fte c and

fto C on C, aC and the parameter e
can be illustrated easily by a set
of fto c versus ft ." diagrams, a set
where each specimen applies to a
separate, fixed chosen, value of e.
In such a torque-torque diagram,

~o

r
0.2

0.1

......

~ .,J"'/

.....!

0.0

0.1

......

.~

O.l

Fig. 6. The extended Klosz-formulae.

43

when we follow HANNAKAM [49], lines of constant values of C will be called

"isochones"; the isochones are ellipses in virtue of eqs. (3.17, 3.18). The
graphical construction of the ellipses and of the points of the parametric values
a C lying on the ellipses, is very simple and is shown in fig. 5. The lines of
constant values of a C will be called "isotaches". An isotache represents the
point assemblage of equivalent angular differences between the similar phase
coil axes ofthe two rotors. Independently of (l, the torque /-l oc attains an extreme
value at C = 1, a C = n/2. Moreover, if C = 1, ft." does not depend on a C;
then, the relevant isochone is degenerated into a straight line segment. Finally,
at different values of (l, fig. 6 shows some specimens of the torque-torque
diagrams based on the extended KLosz-formulae.

4. Stability of the Induction Motor

In order to study the stability of motion of the induction motor according
to the particular solution (3.1 up to 3.5 inclusive) obtained in the preceding
section, we have to state more precisely the mechanical torque expression,
already assumed to d epend on acceleration and speed only. We assume
(4.1 )
where P stands for the polar moment of inertia in Wsec3 of the rotor and load
reduced to the rotor shaft, and where the function D ( woO ) of woO represents the
mechanical steady state torque expression. In virtue of eq. (6), we reduce (4.1 )
to the dimensionless form
(4.2 )
where,
(4.3 )

and where, in eq. (4.2 ), the relevant dimensionless steady state mechanical
torque is represented by the functional form t5 (Q). Using the notations adapted,
we now express the original differential eqs. (2.1 8) conforming to

xXasdS

~dr
X ar

1[1

IIQ

[ +
YS1

- xy ,.
.
X ar

- 1 - XY s
Ys

- XY s
Yr

- 1+Q

- XY r l - Q
- Xdr

Yr

J-

X ds
X as
X dr

(4.4)

X a ,

t5 acting on Q as an operator to form t5 (Q ). In this respect, we no te

(4.5 )

44

the steady state torque regarding the particular solution. Introducing the
new perturbation variablesYut and w by
Xut

xut"+Yul> (u

d, q; t = s, r), Q = Qc+ w,

(4.6)

expanding o(Q) into a power series according to

we derive the differential equations of the perturbed motion [50],

[j"1 [
j qS
jdr
jQr
_ Ilw

Ys

- 1

+ 1

Ys

- XY s

. ][y", 1

- XY s
.
-sc+ w + xqr:
- XY r
Yr
sC- w
.
- XY r
Yr
Xd"
oe
xQ /+Y Qn -Xclr" -Ydn - XQS c, x d."

Yas
Ydr
Yq r

'

(4.8)

Here, too, oe acts on w as an operator to form oe( w) defined by (4.7 ) . As the

differential matrix eq . (4.8 ) does not contain the time variabie 'l' explicitly, the
stability of motion of the particular solution depends only on the character of
the roots of the characteristic equation to the matrix, describing only the
linearized part of (4.8 ) [51]. Consequently, we have to investigate the roots
i' (i = 1, .. . , 5) , of

D () -

Ys+

- 1

+1

Ys+

- XYr
XQre

- XY .

- XY s
- se

XQre
Yr+
+
se
- XY'r
Yr+ - Xclre
e
c
-Xci" - XQ Xds e oe+ Il

= O.

(4.9)

Here, in eq. (4.9), oe is a constant, equalling (ao jaQ )nc. Using eqs. (3.2,3.3) ,
we easily show the equivalence of (4.9 ) with
- 1 - XY s
- ;.cY r
Ys+
- XY r
Yr+ }' - se
-XY r + se Yr+ xY rjtJ
+ xYr + se -Yr oC+ Il

YS+

+ 1

D ()

0,

(4.10)

where, for convenience of reference,

(4.11 )
The eq. (4. 10) is of the fifth degree in . Hence, when we follow KLEIN [52],
the roots i' (i = 1, ... , 5), can be calculated numerically and the character
of the roots can be studied in dependence on the parameters Ys, Yn oe, Il. But,
as we want to investigate the stability problem only, hence to trace the boun45

daries of the stable regions, we can use the HURWITZ criteria of stability, and
we put
D (2)

= a02s+ aIA4 + a223 + a322 + a42 + as,

(4.12 )

where, by algebraic calculation of D (2) of (4.10), follow

a o = Il,

al = 2Il(Ys+Yr) + bc,
a2 = Il[(Ys+Yr) 2+ sc2+ 1 + 2aYsYr] + 2b c(Ys+Yr) + (xYrjLJ )y"
a3 = 2Il[sc2Ys+Yr+aYsYr(Ys+Yr) ] + bc[(Ys+Yr) 2+ SC2+ 1 + 2ay,ys] +
+ (XYr jLJ ) [Y r2- sC2+ (1+ a)YsYr],

(4.1 3)

a4 = IlLJ + 2bc[Sc7 s+Yr + aYsYr(Ys+Yr) ] (xYrjLJ ) [Y r- 2sc7 s+aYsY.r(Ys+2Yr)],

as = bcLJ + (xy,. jLJ)[Yr2 (1 + a 2Ys2) - sc2( 1+Ys2)J.
Then, in order that our particu1ar solution will be stable, hence, in order that
no root of (4.10) will have a positive rea1 part, the HURWITZ criteria, as specialized for a polynomia1 of the fifth degree for instance by TELLEGEN [53], require
ai> 0, (i

0, 1,2,5),

al a o
a3 a2 al ao
as a4 a3 a2
as a4

> 0.

(4.14)

Here, the condition ao > 0, equiva1ently Il > 0, is self-evident and a1ways

can be transposed by eqs. (3.3, 3.4, 4.3,
holds. Further, the condition as >
4.13 ) into

and constitutes the generaUy known steady state condition of stability. Still,
there are four conditions left and it is highly surprising that the steady state
expression is generally accepted as the only non-trivial one existing. For here,
without any excessive effort, we see that the condition al > 0, equivalently - bc
> 2Il (Ys+Yr) , offers a boundary independent of SCfor the admissible negative
value ofthe local mechanical damping coefficient. We stipulate that it is quite
weU possible to have al <
without violating the steady state condition
bc > 0/-lcjoQc. Ana1ogous considerations apply to the condition a2 > 0, but
then in dependence on Sc. However, if bc > 0, and this wiU be considered as a
norm al case, al and a2 will be positive. Further, directing attention at the condition al a4 - aoas > 0, equivalently

46

C
UI(Ys
+ Yr) + <5 ,ll
c
1 (<5 - oflcjoQc), lllJ + 2<5 cYr [1 +aYs(Ys+Yr) J+ (xy/ /IJ) [1 +aYs(Ys+2Yr) J+ 2sc7 s5" - xYrjIJ )

1>0, (416)
.

we can show by elementary calculations the condition to devolve on

12llJ~t:~:,)o~c~coQc + ~{y,.(2<5c +xy,.jIJ) [1 +aYs(Ys+ y,.)J + (xy,.2JIJ) + 2SC2ys(<5 c-xy,.jIJ)} > 0,

(4.17)

provided al = 2ll(Ys+Yr ) + <5 c >

,as we assume to hold. Now, without violating the conditions a 2 > 0, as > 0, we may assign the leading term of (4.17)
any (large) negative value by making al = 2ll(ys+ y,.) + <5 c sufficiently sm all
(positive) and in addition, by a suitable choice of SClying on (0, Sk) , by making
2ll(Ys + y,. )+ oflcj oQc a negative quantity. Then, the stability boundary depends on ll. However, in the normal case <5 c > and even if oflcjoQc < 0, we
can show the condition (4.17) to hold. Finally we have to examine the last
HURWITZ condition (4.14). As the complexity of the elements of the relevant
determinant prevents a clear picture of the results, we only consider the case
c
<5 = 0, SC= O. In addition, we approximate the constants ai of (4.14) by the
assumptions a, ay., ay,. 1. Under those conditions and assumptions we can
approximate (4.14) by

ao = ll, al = 2ll(ys+Y,.) , a2 = ll[ (Ys+ y,.) 2+ lJ + x, a3 = 2lly, + y,.,

(4.18)
Moreover, we shall use the notations ad x = bi, II Ix = p; then, the last
HURWITZ condition of the set (4.14) turns into

'I bo

b2 bI bo
's b4 ba b2
bs b4

'3

2P(Ys+Yr) ,
P
2PYr+Ys+Yn p[l + (Ys+Yr) 2J + 1, 2P (Ys+Yr) ,
p
py/+ l
, 2PYr+ Ys+Yn p[l +(Ys+Yr) 2J + l > ,
Yr
py/+ l

yielding finally the condition

F(p) - 4r,.3[1 + (Ys+Yr) 2Jp3 + 2Yr[1 - 2YsYr-2Yr 2- (Ys+Yr) 4JPZ + [2Ys+ 3Yr- (2Ys+Yr) (Ys+Yr) 2JP + Ys+Yr > O.

(4.20)

The inequality (4.20) does not always hold. Hence, even in quite a normal case
c
= 0, SC = 0, representing the particular solution to the unloaded motor, the
stability of the solution depends essentially on II too. Now, by means of graphs
of F (p ) versus p at different sets of val ues of the pair (y., Yr) , we determined the
appearance and the values of the real roots of F(p) = 0, and, in the appropriate
cases, the sign ofF(p) ne ar the roots. In this way we could tra ce the regions of
values of the triples (y., Y,., p) giving rise to an unstable final state of operation.
We visualized this interdependence in fig. 7. In this figure, the parametrie
<5

47

(4.1 9)

triple (y., y" p) belongs to an unstable

operation ifthe point, representing the
pair (y.,p), lies within the loop consisting ofthe relevantYr-curve and theline
segment of the p-axis, dosing the
Yr-curve to a loop.
To gain more information about the
remarkable properties ofthe induction
. motor at small II values, we evaluated
on the digital computer Zebra of the
Technische Hogeschool te Delft [54] the tripIes (II, Y., Yr) giving rise to a vanishing
fifth order HURWITZ determinant
(4.14) in the cases 15 c = 0, sC jsk = C
= 0.0 (0.2 ) 0.8, using the ai formulae
(4.13 ) and fixing ~ = 0.95. Moreover,
in each case, we determined the appropriate value of the pair of conjugated pure imaginairy roots A of
0.2
0 .
0.'
D (A) = 0, where D (A) is in conformity
with (4.12 ). The results are shown in
Fig. 7. Approximated stability boundaries of fig. 8, confirming our approximated
the inductionmotor ;oc = O,sc = O.
results according to fig. 7 rather weU.
As to the final motion of the induction motor at parametric values belonging
to unstable particular solutions, the figs. 7 and 8 do not give a definite answer.
We only know the angular freq uency w at the starting point of the perturbed
motion. Therefore , we investiga ted the problem once more, but now on the
Ease analog computer ofthe Technische Hogeschool te Delft [55] using the problem
set-up to be brought in the subsequent chapter. Fig. 9 gives aspecific result;
the graph represents a phase diagram of ft = II versus () proper to the induction motor when started from the initial rest conditions X ut = () = 0,
(u = d, q; t = s, r). The final state is described by a limit-cyde. Further
information on the subj ect will be given in section 7.
We condude that, as long as the motor constants are left unspecified, the operation
of the induction motor never can be described adequately to the - even
qualitive - behaviour of the machine by a theory of the constant flux motor,
nor by a theory based on the assumption of vanishing stator resistances, i.e.
by the assumption Ys = 0. Fortunately, normal values of Yll (t = s, r), and

48

SC

Si = 0.4
3

0.2

~0.2

0.4

0.6

0.4

0.6

0.'

SC

pa: 0.6

o.B

0.2

o.~

0.4

0.6

0.1
-b=0.8

0
0

0.2

0.4

0.6

0.8

0.2

Fig. 8. Stability boundaries of the induction motor;

(je =

0.4

0.6

0.'

o.

of IJ lie somewhere on the intervals (0.1; 0.50) and (10; 50) respectively. Further, generally, Ys and y" do not differ very much. Rence, with a view to figs.
7 and 8, norm al induction motors under norm al operating conditions have
stabie steady states if oe = 0, 0 < se < sk, i.e. operating as locally unloaded
motors. As to locally loaded motors, i.e. with respect to the cases 0 < oe, eqs.
(4.1 3,4.14) offer the mathematical back-groundfor numerical calculationof other
stability diagrams. We expect those diagrams to be analogous to the diagrams
given by fig. 8, but to be of a more or less shrunk type as by 0 < oe additional

49

" ,z,;:",,,.,,.,r...

energy dissipation comes in. Then we may

hope th at the domain of the parameters (lI,
bc, x, Y., Yr) proper to norm al machines lies
considerably outside the stability boundaries.
Should this case arise, then we can handle the
method of expansion of the solution of the
system (2.18) as to some small parameter
(e.g. as to Ys), as long as we consider normal
cases only. To justify the method, we shall
study the results obtained by analog computation
techniques with respect to the behaFig. 9. Phase diagram p, = lIli
viour of normal induction motors as an exact
versus with limit.cycle
proper to induction motor ;
mathematical justification of the approximainital conditions Xut = 0 =
tions to be introduced, involves al most insur0, (u = d, q; t = s, r).
mountable difficulties. A si mil ar procedure has
been used by WENIKOW [56]. Prior to the investigation on those computer
results, we shall put the exact formulation of the stability of motion of the
electrical transmission shaft.
I"'0,+
0,

..

5. StabiIity of the Electrical Transtnission Shaft

The procedure to derive a characteristic equation whose roots definitely answer the question of the stability of motion of the electrical transmission shaft, is
- in fact - a simple and straightforward one. However, some caution with
respect to the meaning of "stability" will be required. For, it may be true that
the stability conditions derived from the linearized part of a system of au tonomous nonlinear differential equations - the HURWITZ criteria being used constitute the stability conditions in the sense of LIAPUNOV [51], the conditions
reveal the stability properties "in the smaIl" only, but they leave the question
of the stability range unanswered. Therefore, with respect to the stability
properties "in the large" of our system, we shall deduce quite a different
method. Here, in order to study the stability "in the smaIl", let us in accordance with the sequence of derivations of the preceding section introduce some
perturbation variables, i.e. the variables We, Wo, Wl' W2 and {3, by
O=.Qc+ we, la=lac-{3, (J=w o, we+wo=w l , We-W o=W2;
(5.1 )
the definitions (5.1 ) are consistent with eqs. (2.38). Consequently,
(5.2 )
Hence, the quantities We, Wo, Wl and W 2 are the deviation variables of the angular velocities HOl+(2), HOl-(2), Ol and O2 respectively and measured with
respect to the constant angular speed .Q"= I - sc, proper to the particular
solution whose stability properties are to be investigated. Further, let us assume
50

(5.3)
to constitute the perturbation torque of the machine i, (i = 1,2). We assign
to the constants IIi and to the symbo1s {J/ analogous meanings as pointed out
in the preceding section as to the quantities II and (Jc respectively. Moreover,
as we need the linear parts of the differential equations only, we shall indicate
the presence of one or more terms of the second or higher degree in the perturbation variables by . .. only. Then, on the one side we have,

/-l i - /-l /

(5.4)

IIiW i+ {J / W i+ . ,

and, defining parallel to eq. (4.6) the variables Yu ti by,

Xuti

(5.5)

/-li - /-l / = x dr 'asi+Yari Xqs / - Xdsi'Ya8i-Yasi Xar/+ . , (i=l, 2) .

(5.6)

= Xut /+Yuti' (u = d, q; t = s, r; i = 1,2),

we derive by means ofthe torque eqs. (2.35) on the other side,
It follows from eqs. (5.4, 5.6),

+ ... , (i =

1,2). (5.7)
Further, in order to use eqs. (2.41, 5.7) for the construction of the differential
equations in terms of the p erturbation variables Yu ti , W i and fJ, we determine in
advance,
s = l -() = l - Q"- we = sC- i(w l + w2 ),
cos ia = cos (ia" - fJ) = cosia"+ fJ sin ia c + ... ,
(5.8)
sin ia = sin(ta"- fJ) = sinlac- fJ coslac+... ,
(J = Wo = l(W1 -W 2) = - i.
IIiW i

-(XarD'dsi-XdrD'asi-XqsD'dri+XdsD'qri+{J/W i )

Now we are prepared to put eqs. (2.41 ) in terms

jasl

Y.,

- 1-H wl-w2),

jasl

+ 1+l(W1-

jarl

-XYr

W2), y .,
Yr
Yr

jarl
jas2
jas2
jdr2
jar2
xqS 1"+Ya sl

.
sIn

1
"2

a" -

fJ cos "21 a"

Xdrl"+Ydrl
Xqr 1c+Yqrl
c
Xds2 + Y as2
c
XqS2 +YqS2
c
Xr 2 + Ydrl
c
Xqr2 +Yqr2

cos i a C
- sin ! a C

+ fJ sin ! a

+ fJ cos i

+ ....

(5.9)

aC

51

The particular solution ofthe set (5 .7, 5.9) reads ofcourseYuti = Wi = f3 = 0,

(u = d, q; t = s, r; i = 1,2), and this observation enables us directly to form
the set of differential equations describing the perturbed motion of the electrical transmission shaft, viz.,
jasl
jasl

Ys-1

+1

Ys

-se
Yr

jas2

Yr

J
i

jas2

Yr

-1
+y, 1

jar2

Yr

+XaSl"
- XSl

"

+ sina"
-coSa"

+Xarl"
-X dr l

-XYr

Yr
+S"

-XYs
-Se
Yr

Ya Sl
Ya Sl
Y dr l

"

Yarl

" + sinac

Yd S2

+cosa"

Ya S2

- XaS2

+XS 2"

-XYs

YB

: -XY r

jr2

+ ....

(5.10)

yd r2

+Xar 2"
-X ar2 c

Ya r2

215 2c

W l
W 2

-1
f3
The set (5.l 0) constitutes an autonomous set of differentia1 equations, and,
consequently, the stabi1ity of motion of the particular solution under investigation depends on1y on the character of the roots of the characteristic equation
to the (11 x lI) matrix to be formed in an obvious way from the square matrix
occuring in (5 .10). Now, our parametric domain being nine-dimensiona1,
(y., Yn x, ro /ro + rn IIl' II2' bI"' 15 2" , a" acting as the nine parameters), a gener al investigation on the boundaries of the stability regions will be too 1engthy a task,
even if carried out by computer techniques, and - if done - will not re sult in any
surveyable information. Nevertheless, we push our investigation slightly
further. At first, we remember that, although we assumed the motors of the
system to be equivalent, generally III -:;t. II2' as Pi has the meaning of the po1ar
moment of inertia of the rotor i and the 10ad i reduced to the rotor shaft. The
10ads may differ markedly. However, in many app1ications, especially where
52

loads are driven by gearings, the difference between the loadings affects the
difference between the effective polar moments of inertia only slightly. By the
effective pol ar moment of inertia of a loaded motor, we mean the quantity of
rotor and relevant load reduced to the rotor shaft. On the contrary, the
difference between the loadings essentially affects the difference between the
functions <5 l c (tJ l ) and <5 2"(tJ 2 ). In fact, the electrical transmission shaft just has
the task to receive markedly different steady state torques <5 l "(tJ l ), <5 2 " (tJ 2 ) ,
handling those torques under the isochronous speed tJ l = tJ 2 = tJ". Thus,
we may accept III = II2 = II as a good approximation. Then it is to advantage
to proceed to the perturbation variables W e and W o defined by (5.1 ), and to
the variables Yutv, (v = e, 0), given by
Yute = t(YUt1 + Yut2 ) ,Yuto = t(Yun-Yut2)' (u = d, q; t = s, r);
(5.11 )
the definitions (5.11 ) are in accordance with eqs. (2.42). In addition, we shall
use the quantities
<5.0 = t(<5 1"+ <5 2") , <5 0" = t(<5 l "- <5 2").
(5.12)
In terms of the v-quantities, (v = e, 0, where e refers to even and 0 refers to
odd), the system equivalent to the system (5.10) appears as
jdse
Ys
- 1 -"Ys
jase

+1

Ys

-"Ye

jdso
jaso

- "Ys
- Se

Ys

ja,o
jaro

Yo
+S"

- "Yo

"

+ sintac

"

- XdI'o -Xaso +XdS.o

-Xdre c - Xase C +Xdse"

C
C
+ Xa ro" -X dro - XqSO

-Xaso C
c
+ XdsO

Yo

Yd se
Yq se

+Xqre"

Ydre

-Xare C

Y ore
C

- Xos e

+ Xa se"
C

+Xqro
-X dro C

Yd so
+ cos -~aC

Yo so

+ ....

(5.13)

Yaro
yqro
We

<5 0 C

<5 eC

Wo

-1

f3
53

As to the quantities Y v , x utvC, reference is made to eqs. (2.42, 2.43, 3.11, 3.12).
The characteristic equation to be studied, follows in an obvious way from
(5.13). We note that the determinant ofthe square matrix of (5.13) equa1s the
constant term of the characteristic po1ynomia1 of the eleventh degree in , and
does not contain the parameter Il. Hence, the necessary condition of this
term being positive in order that the characteristic equation will be a HURWITZ po1ynomia1, constitutes the normal steady state condition for stabie
operation of our system. To derive this condition directly from eq. (5.13)
wou1d be a tedious task. Now we know the steady state va1ues of induction
motors to dep end on1y slightly on y ., provided the stator constant accepts
norm al va1ues on1y. Hence, let us calcu1ate the determinant in question at
Ys = o. Approximating the ana1ysis by means of the assumption TB = 0
(henceYB= 0) is a usua1 procedure [57,58]. In this way, using eqs. (3.11,3 .12,
5.13 ), we determine the va1ue of the determinant equa1 to
2
Xy e
XY02) [ C (
SC2_ y /
(je - XYe LI/ cos
( Llo -

T.

_ (SCXYe
Llo

+ SCLleXYo) [(j 0

Y02. 2.1 ) ]
aC + x yo SC2_
Ll02 sm 2ac +
2
2
(SCXYe _ SCxy 0 ) sin ac] sin aC
Ll e2
Ll02
.
21

(5.14)

In addition, eqs. (3 .1 4) in view and taken a t YB = 0, we may write the form

(5.14) as
2
XYe _ XY02) ((j C
( Llo
Ll e
e

Ofle") _
oQc

Further, introduction of the quantity

scx(~ + Yo) ((j

Llo

Lle

C _

C
Oflo ) sin aC (5 15)
oQc
.

according to (3 .19) enab1es us to write

instead of (5.15). Hence, under the norm al condition C> 0, we attain the steady
state stabi1ity condition,
0flo"
0flo c
(joc- oQc .
(jo"
osc .
1
) 1
(5.17)
C >
a C SIn aC =
a C SIn aC
(- - e 1

_C +2-1

(jc _~

oQc

(j c+ ~

osc

As long as (j1 c and (j2 c assume nonnegative va1ues on1y, we may state for the right
hand side of eq. (5.17),

(5.18)

54

the last expression being the absolute value of the slope of the isotache at the
point (s", a") in the torque-torque diagrams of fig. 6, whereas the slope in
question has the sign of the angle a", (la"1 < n /2). Therefore, incorporating all
normal loads by the conditions bi" ' 0, (i = 1,2), the steady state stability
condition becomes
(5.19)

With respect to eq. (5.19), it is natural to determine the slope ofthe isochones.
Direct computation yields,

(~::)s" =

G+e) ~

"

cotg

a".

(5.20)

Hence, by means of eqs. (5.19, 5.20), we can write the stability condition
(5.19) into the more involved form
I

eT-- -e c -e + e

-"1

")'
" (' OftO
"

aft." s"

> (Ofto") cos a".

ft: a"

(5.21)

The result (5.21 ) differs principally from the stability condition obtained by
HANNAKAM

[49], vi;;;.
(5.22)

the condition (5.22) will be found by the assumption that the set

describes in a quasi stationary way the dynamical properties of our system.

In that case (5.22 ) stipulates the steady state stability boundary at bi" :;;;. 0,
(i = l, 2). For comparison, the conditions (5.21) and (5.22) both, are visualized
in fig. 10. We conclude that the difference between (5.21) and (5.22) is smal!.
As we mentioned before, a complete dynamical stability investigation will be
an elaborate task, even with the help of computer techniques. However, some
detail results can be obtained. Thus, if the two machines are equally loaded,
boe = 0, a" = 0, hence - comparing (3.12) - X uto" = 0, (u = d, q; t = s, r).
By inspection of (5.13 ) we see the complete characteristic equation to be split
55

",u 0

t
0.2

o.t

."

0.0

o.t

.6

oS"

0.2

-+-+-.;:"

..,.e.9 to

0.3

Fig. 10. Comparison of eqs. (5.2 1, 5.22) .

up into two separate factors. One factor resembles eq. (4.9) and offers the
characteristic equation of the "even" part, representing the characteristic
equation of a single asynchronous motor having Ye as rotor constant, IJ as
normalized dimensionless polar moment ofinertia and CJe" as the local mechanical
damping coefficient. In the preceding section, this characteristic equation was
thoroughly studied. The second factor reads
-XQse C
y.+ - 1 - "Y.
+ 1 Ys+
- "Ys +xdse c
-SC
Yo+
-"Yo
- "Yo +sc Yo+
+xQre" -Xdre C -XQeC +xdse" CJe"+IJ?
- 1

+1
= 0.

(5.24)

We study this equation under an extreme condition. Thus, if To Tn then

Yo Yn an extreme case corresponding to an almost direct interconnection
of the corresponding rotor phases of the machines 1 and 2. At Yo = 0, dearly
eq. (5.24) contains = jsc as a pair of conjugated roots, but, speaking roughly, if Yo =F- 0 but Yo sufficiently small, the corresponding roots will be determined more exactly by (Yo+)2+SC2 = O. Then, those roots will have negative
real parts. The remaining roots follow from

56

-1 -Xqs "
y.+.
+1 ys+. +xas." +1
+Xqr." - Xar" o."+I!
-1
.

= IIJ..4+ (0." + 2lIYs) .3 + [lI(l +Ys2) +20."ys+"y.2 JLl.].2+

+ [0."( 1+ Ys2) +( 1+ a)Ys"y.2 JLl.P+(1 + aYs2) "y.2 JLl. =
= ao.4+al3+a2.2 + a3 + a4 = O.
(5.25)

The constants ai' (i = 1, 2, 3, 4), are evidently positive, provided we assume

0." :> O. The remaining HURWITZ condition reads at the approximating assumtions Ys2 1, aYs2 1,

2lIys +0."
II
0." + (1 + a)Ys"y.2 JLl., lI+ 2y so." + "y.2 JLl., 2lIys+ o.o
, "y.2 JLl.
, 0.0+ (1 + a)Ys"Ye2JLl.

> O.

(5 .26)

To grasp the character of (5.26) under normal conditions we use lI "y.2 JLl.,
bringing

o."{ (2lIys + oe") [0."+ 1( + a)y s"Ye 2JLl.] +[[2} > [[2,,2Ys"Ye2JLl .,

(5.27)

and upon further approximation of the left-hand side of eq. (5 .27 ),

0."

> x7s"Ye2JLl .

(5.28)

The results (5.27, 5.18) point to the dangerous situations encountered at

smalllocal damping coefficient 0.". Let us substitute the dependence

(5 .29)
into (5.28), then we have the condition
SC

>

,,2YsYe

+ ,,2YsYe

(5.30)

Hence, if Yo is sufficiently small (ro large), then even at quite a reasonable

assumption (5.29) as to 0." (sc) , stable operation can be expected for not too
small slip values only. Further we obtained the indication that it is desirable
to assume in all cases a certain positive local damping coefficient in order to
gain a reasonable region for stable operation.
Finally, anticipating the results of chapter lIl, we state the stability "in the
large" to be of more practical value then the stability "in the small" considered
in this section, which is the reason why the effort to attain more information
about the roots of the characteristic equation to (5.10), wiU not be worthwhile.

57

CHAPTER 11

ANALOG COMPUTATION

6. Object and BIock DiagralUs

In this chapter we pursue the object to gain an insight in the influence of the
various parameters appearing in the descriptive equations of the electricalmechanical behaviour of asynchronous machines of norm al construction in
order to be able to designate in certain fields of the variables the very parameters who se influence remains so small, that we may neglect the influence in
a mathematical description in more approximated terms. Then, first, we must
state more precisely the purport of what we understand by "machines of
normal construction" and we do so by stating, that such machines will have
the constants Yt, " and IJ lying on the intervals (0.1; 0.5), (0.90 ; 0.98) and
(10; 50) respectively. Further, we must state our domain of variables in
question, and we do so by the rather vague indication that we are interested
primarily in the domain of slowly varying states of motion. Speaking in antithesis, we are not interested in transients. Although we shall reproduce results
of analog computation with respect to the electrical transmission shaft, we
shall restrict the very investigation to the induction motor only, as the induction
motor constitutes the main building block of the electrical transmission shaft,
whose stability porperties form our final target. Besides we shall come across
results concerning the instabilities of the induction motor at polar moments of
inertia smaller than norm al ; one illustration al ready was given in section 4, fig. 9.
As we have made over three hundred computation runs at our analog computer to cover the parametric domain of our investigation, we severely had to
restrict the reproduction of the graphical results to representative specimens.
There are various reasons why we do not investigate the stability problem of
the electrical transmission shaft in a direct way be analog computation techniques. First of all, the parametric domain is increased by two dimensions over
the domain proper to the simple induction motor due to the parameter e and
due to the necessity to assume two generally different nonzero local damping
coefficients bIc, b2c Equal tendency offers the doubling of problems due to the
appearance of two types of instabilities, i.e. the instability "in the small" and
the instability "in the large". Nevertheless we made a thirty computation runs
at the PACE-analog computer at the European Computation Centre at Brussels
58

[59J, using a complete non-approximated set of differential equations. On this

subject, additional information yielded the computation of an approximated
set of equations on the EASE-analog computer of the Technische Hogeschool at
Delft [54J. However, in this way we only increased the bulk of information,
finally asking to be orde red into a surveyable form by analytical studies, and
- in fact - this can be effected by the study of the main building brick of the
system, i.e. by the study of the simple induction motor.
For convenience to the reader who wants to simulate the eletrical-mechanical
behaviour of the induction motor and of the electrical transmission shaft,
there will follow a brief description of the block diagrams we used. The block
diagram used to simulate the electrical-mechanical behaviour of an induction
motor according to eqs. (2.18), when started at the inital rest condition of the
motor and having a mechanicalloading
(6.1 )

is shown in fig. 11. Here, we summarize the equations:

- i ds
- i qs
- i dr
- iq ,.

-s

=
=
=

-XQS - XY sXdr
- H (r: ),
Xd s+Y sXQS
- XY sXqr
- XY rXds
+ Y rXdr- SXqr
- xy ,.xqs+ sx dr + y"xqr

y sx ds

(6.2)

1
II (Xd rXqS-XdSXq,.)-( bCjll ) ( l - s)

Xu t(O) = $(0)

0, (u

d, q; t = s, r).

Fig. 11. Block Diagram at Induction Motor.

59

We add that because of the application of the (generalized) Parktransformation,

the block diagram in fig. 11 is somewhat simpier than the diagram given by
Y AMAMURA and YASUI [60]. On the XY-recorder, we plotted graphs of the
shaft torque ft = XdrXas-XdsXq,' versus the normalized angular speed of revolution fJ. By means of the function switch F.S. we made provision to calibrate the
recorder scales, whereas by means of the free scaling factor it, we could maintain
every run within the limits of overloading the amplifiers and integrators.
With respect to the analog computation of the behaviour of an electrical trans-

.~

.,

.~
.2

:~

I_n

2-J-2:~

'--25

5-6-2~

,...-----l.

3~t
'l

fa

.,

8"9~1()-11

r-_~.c::::==~-3.

:1

'

Il-13

.~

1't-iS-IS

7::::::D.---t.
., -"
,s~
11

~
.

rr"

6,;JI"

=-ftIoo 8
1

+IOoV
2111

18--""'" r - - - - - - - - - - \ i

Uil i! !.!

iX

. ....~ ... ~...~...1J

-100\1

16

+.ooV 21 H 292.6j

l.

XiX

. ... Y)-.. ~ . . "1).-"V

2"

'---;D--~'

25"

Fig. 12. B10ck Diagram at

E1ectrica1 Transmission
Shaft.

misslOn shaft, we used eqs. (2.41) and the torque expressions (2.35) supplemented by normal mechanical torque dependences according to (6.1 ). The
complete system reads:
60

- iaSI
- iqSI
- iarl
- i qrl

=
=
=
=

Y s(Xas l - ~Xa rl) -( I-i)XqSI-H( .) COS

ta,
H
YS(XqSI -~Xqrl) +(l-t)xasl- (.) sin ia,
Yr(Xdrl- ~Xa.l) + Y o(Xar2- ~Xas2) - (l-)xqn,
Yr(xqrl - ~XqS I) + Yo(xqr2- ~XqS 2) - (l - )xarl ,
Ys (Xas2 - ~Xdr2)

- (1 +t)xqS2- H(.) cos ta,

- iaS2 =
- i qS2 =
- idr2 =
- iqr2 =

Y r(Xdr2-~Xas2 ) + Yo(Xar l-~Xas l ) - (l - )xqr2,

Yr(Xqr2 - ~Xq S 2 ) +Yo(Xqrl-~XqSI )+( I - )xar 2'

..

..

Ys(xqS2- ~Xqr 2 )

+ (1 +i)XdS 2+ H (. ) sin ta,

(6.3)

81 = 8- 2 = (I /IIl) (Xar IXqS I-XaSIXqrl )-(bl"/III)OI,

2 = +i

(I /II2 ) (Xar 2XqS2-XaS2Xqr2)-(b2"/II2 )2'

= H 2 + l ), t = H 2 - l ),
Ys = rs/awo(ls+ m.,) , Yr = (ro+rr) /awo(lr + mr), Ya =

ro/awo(lr+ mr) .

The appropriate block diagram is found in fig. 12.

Anticipating the results of chapter III with respect to the approximations as
to slowly varying states of motion, we further used the block diagram of fig. 13,

~:D--I(,Jr~
IC

Fig. 13. Block Diagram Approximated Equations ; a

-T-"

= ro/r,. = t [ (I /e

o(Je

1].

61

simulating the approximated equations proper to slowly varying motions of

the electrical transmission shaft, viz. the set
- idsi = Ys(Xd si- UXdri) - (1 =F t)xqSi- H(. ) cos ta,
- iqSi = Ys(Xqsi- UXqri)+( l =F i)xdsi H(.) sin ia,
- i ari , Yr(Xar i- UXdsi) -SXqri+Yo(Xar;- uxas;) ,
- i qri = Yr(Xqri- uXqSi ) + SX ari + Yo(xqr;- uxqs;),
fJ i
S

= (1 IIli ) (XariXqSi-XdSiXqri) -(tJ / /Ili )();,

= l - () = l - H()2+()1),

t =

(6.4)

H()2-()1),

(i = 1, j = 2, upper signs; i = 2, j = 1, lower signs).

7. Results Concerning the Induction Motor

Comparing the influence of parameters on the behaviour of the induction
motor, it will be wise to treat Y., Yn u, Il, tJCas the significant constants rather
than the original quantities T., Tn (ls+m s), (lr+mr), u, P, D. Not only the
number of parameters will be less, but, which is more striking, the theory
proved the five dimensionless parameters y., Yn u, Il, tJc to be far more fundamental. Especially we avoid to look at yB) Yn Il as if those constants should
depend on a as will be suggested by the definition equations (4, 4.3). Now,
sometimes we used (and we shall use ) the approximation a l, meaning
only that we take u = 1, leaving yB) Yn Il unaltered. Therefore, we have investigated the influence of u in the just established sense and we have ex aggerated the domain of occurrence of practical uvalues considerably. Fig. 14
gives typical results at abnormal small values of Il, appearing in section 4
with respect to domains of unstable operation. Apparently, at small Il, the
influence of u is of some importance and this accounts for the difference between fig. 7 and fig. 8a. The graphs of fig. 14 show limit-cycles of small and of
large amplitudes.
The question how mechanical damping affects the appearance and the amplitudes of the limit-cycles occurring at small Il, is answered by the graphs of
fig. 15, confirming our expectation of section 4 that the stability regions of
fig. 8 will shrink as soon a$ additional mechanical damping comes in.
The influence of u at normal values of Il is illustrated by fig. 16. As long as
u lies on the normal interval (0.90; 0.98), the influence is small; hence a 1
translated by u = 1 gives a fairly good approximation.
With respect to Il, essentially representing a tank of (weighted) potential
mechanical energy, we expect a predominate influence of its parametric
value; as a striking illustration we refer to fig. 17. Although we treat Il as a

62

I"
O,l

/'"

0,2

Fig. 14. Influence x on 1imitcyc1es; YB = 0.3; Yr =

O.l;II = l.5; bC = O.

63

0,3

0,3

0,5

1,0

cf~o,015
0,1

o,s

~
0,3

0,3

0,5

Fig. 15. Influence mechanical damfling on appearence and amplitude of limit-cycles;

u = O.9;ys = O.2; Yr = O.I ; II = 1.5.

fundamental parameter, we stipulate that the value of IJ is not determined

(up to a constant factor) by the very polar moment ofinertia P only. According
to eq . (4.3), IJ = (a/x) (ls+ ms) (wo4 / U 0 2 ) P, and thus IJ absorbes by its definition equation the influence of the electrical construction of the stator coils
and the influence of the power supply voltage amplitude; we observe those
properties to avoid misinterpretation of the graphs shown.
Concerning the influence of be, we merely accept th at the local mechanical
damping coefficient may assume all non-negative values, where be = 0 is the
most dangerous with respect to instabilities; as an illustration we refer to
figs. 9 and 15.

64

X.O,6

0.5

05

Fig. 16. Influenceofx;Ys = Yr = O.2;IJ = IS ;r5 c = O.

Finally we have to ex amine the influence of the constants Yso Yr' Herewith we
arrive at our main object with respect to slowly varying states ofmotion. Therefore, we reproduce the final states of motion only although the results have
been obtained by simulating the behaviour of the induction motor when
started from the initial condition of rest. Fig. 18 shows some results. We note
that in cases of small electrical damping the "mainly electrical transients"
have not died out when the final states are approached. We know that it is not
allowed to separate transients from other states of motion in our nonlinear
problem. But the graphs belonging to normal IJ values reproduced so far,
affirm the statement that the "mainly electrical transients" cause the violent
torque pulsations at low speeds (j. Therefore, interpreting the graphs of fig. 18
with respect to the influence of Ys> Yr as to slowly varying states of motion, we
disregard the ringing transients discussed. Now, inspecting fig. 18 and realizing
th at each specimen of the curves approaches the slowly varying states from
a different "initiai" condition, we see th at Ys affects the slowly varying states only
slightly. On the contrary the influence of Yr is essential.

65

Tr. Z

i"
0,'
0,1

"
DJ

','

0,'
O,S

_0,1

- 0,.1:

-O,~

-,.

i"
0,+

-0,1

'.1

.5

_,5

',5

',1

Fig, 17. Influence of IJ; "

66

= 0.9; Ys = Yr = 0,2; 15e

O.

~=O,2

~=D,l

r,. :D,~

IC:z/o

1'C=IO

IC=IO

f'

t,.=o,S
X~/O

1,1

-0,1

-0,1

r,.:rO,2
IC =20

1,1

IJ

1.1

1,1

1,1

IJ

-0,'

-0,1

~:O,2

!'

IC=30

;;.

-0,1

_0, 1

~:D,.
J'C=JO

Fig. 18. Influence of YB;

x = 0.9 ; (je = O.

0,2-

0,1

0.8

-0,1

0,9

~I

1,/

iJ

9
-O~I

67

 8. Results Concerning the Electrical TransnUssion Shaft

Results obtained by the analog computation technique from eqs. (6.3) using
the block diagram of fig. 12, are shown in figs. 19, 20. The graphs in fig. 19
refer to the case e = I N 5, Ys = 0.1, Yr = 0.5, IJl = IJ 2 = 16, bIc = 0.32; we
changed b2c by equal steps for each new run. The sequence of graphs illustrates
how the system by loading more and more the motor 2, finally fails to produce
the torques PI and P 2 in proportion to bIc and b2c In that case, the isochronous
speed = ( 2 + I ) = I = 2 is not reached; here, motor 1 exerts the torque
PI at a norm al slip value, whereas motor 2 runs at a slip value higher than the
slip Sk at break down torque. Hence, the system no longer works as a true
electrical transmission shaft. We have found the system to be stabie up to

t,. "" J ~; t;.,. , ,,

Fig. 19. Dynamical TorqueTorque Diagrams;

e = 1 v' 5, Ys =
O.I ,Yr = O. 5, IJ 1 =
IJ2 = 16.

68

= 1.44; but, as we did not investigate the stability as to impact loads, we

do not know the stability "in the large" in the cases considered.
Fig. 20 is obtained at the parametric values e = 1/3, Ys = 0.15, Yr = 0.1667,
IJl = IJ 2 = 16, 15 1c = 15 2c and shows limit-cycles at 15 1c = 15 2c = 0.16 and 0.32.
The limit-cycles represent the dangerous pendulating motions observed in
practice [61, 62, 63].

()2 C

'.1

'.1

Fig. 20. Limit-Cycles in

Dynamical TorqueTorque Diagram;
e = I j 3,ys = 0.15,
Yr = 0.1667,
IJ, = IJ. = 16.

We examined the oscillating motions illustrated in fig. 20 also from eqs. (6.4),
using the corresponding block diagram of fig. 13. Comparison of the limitcycles being found from the approximated eqs. (6.4) and those from the exact
set (6.3) again yields a justification of the statement that with respect to slowly
varying states of motion, the value of Ys is of small influence as long as all
parameters involved lie on "norm al" intervals. Hence, we may conclude that
the parameter Ys will be the very quantity to construct approximating theories.
In the following chapter we shall develop the methods.

69

CHAPTER III

SLOWLY VAR YING STATES OF MOTION

9. The Induction Motor

The results obtained by analog computer techniques have shown that the
stator constant Y s exercises little infiuence on relatively slowly varying states
of motion . Such states occur on the operation of normal machines once the
mainly electrical transients have died out. As norm al machines we consider
machines having the constants Y., Yn u, IJ lying such that 0.10 < Y., Yr < 0.50
and 0.85 < u < 1 and 10 < IJ < 50 roughly. Principally one never can split
up the phenomena during a transition from some initial state of operation
into a subsequent state of operation taking place in a nonlinear system into
phenomena due to electrical transients and phenomena due to mechanical
effects. N evertheless, our computer results show that our nonlinear problem
allows the approximating statement of "mainly electrical transients" as long
as we consider normal machines only. Hence, in cases of slowly varying states
of motion it 1S plausible to apply the method of expansion of the solution to
some small parameter [64]. Here, applying the method to the system (2.18)
and (4.2), we assume the solution to be analytic in Y s and we suppose
X ut

S =

Xuto+Y sXutl +Ys2Xu I2 +

SO + YsSl + Y s2S2 +

(u = d, q; t = s, r),
(9.1 )

to constitute the general solution. We substitute eqs. (9.1 ) into the system
(2.18,4.2 ), hence into

where we accept ft = IJ + tJcrj as the standard explicit mechanical torque

expression. Then, equating similar powers of Y., we obtain

IJso - tJC( I - so) +

+ XdrOXas o +
-Xds oXaro =

70

0,

(9.3 )

(9.4)

etc. From the matrix eq. (9.3) follows

dBO] + [~dSO ], .'. [XdSO] = [~ ] +
[1. ]= [ +. 1.-1] [XXqsO
XqBO
XqsO
1
+ [ C.OS i sin i] [kaBo],
-SIn
COS
kqso
i

(9.5 )

a solution containing the constants kdBO = Xaso(O), kaBo = 1 + xaso(O). As we

emphasize the equations for slowly varying states of motion, we approximate
the solution (9.5) by observing th at the terms ofperiod 1 (one) in i are caused
by the mainly electrical transients (for instance due to switching), dying out
relatively soon and being negligibly small for an adequate, approximate,
description of slowly varying states. Hence, we put kaBo = kaso = O. Then,
Xaso = 0 and Xaso = - 1. Substitution of those results into the remaining parts
of (9.3 ) yields
[ _ .

] =

XY r

[Y r -So] [x'l1'o]
+ so Yr
Xq,o

+ [~(I1'o]
Xqro

, IIso - bc( l - so )-xaro = O.

(9.6)

With respect to the first order eqs. (9.4), the same substitution leads to

'l ~ .

1
.
-XYr

-1
+ 1
- XY r
Yr
. -XYr + so

(9.7)

From the matrix eq. (9.7 ) follows

(9.8)
where, for the description of the final states of motion, again we retain the

71

constant part of the solution (9.8) only. Then the remaining parts of the
set (9.7) can be simplified to

For convenience of writing we introduce

Xuri (
Xui = , u=

d, q; t;=0, 1) ,

"
2

p = IIY r , d =

"

<5

Si ( '
0 1) , -j
i= - , t = ,

c
Yr.

Yr

Yr

dy = d----;
dy
Yr"
"

= -d

)I,

(9.10)

"

In terms ofthe new quantities (9.10), eqs. (9.6,9.9) read

(9.11 )

(9 .13)
Elimination of X ao from the set (9.13) gives

Now, provided

I I I1 +o2- ~:'I
;o",'

(9.15)

app1ies, eq. (9.l4) offers the means to construct an approximate phase diagram
by the method of isoclines [65], originating from LINARD'S studies [66].
Certainly the condition (9.15) does not ho1d if
(9.16)
Hence, constructing a phase diagram with the help of eq. (9.14) using the
condition (9.15), we know that some region near the 1ine o' = o(l +02)
fai1s to give reliab1e information.

72

We have illustrated the approximated graphica1 solution of eq. (9.14) in

conformity with the rest~ictions (9. 15,9.16) using the parametric set p = 1/4,
d 0, arbitrary Yr' In this case, eq. (9.14) under the restriction (9 .15) yields
1- o2-4o,
_ _ _--;-~o _ 1
2 _ o'

(9.17)

Further, in the field of isoclines of fig. 21, we have drawn the 1ine o' = o
(1 + 02 ) . We see the isoclines to change the slop es rather abruptly in the
neighbourhood of this 1ine. Hence, if we exclude such a region, the isoclines
give rise to phase curves spiralling smooth1y to the stabie point. We have met
this type of motion in the results obtained by ana10g computation in chapter 11;
in this respect the work of BLOM [67] must be mentioned particu1arly.

\
\
\

I~:: ~c+ ...1.. /

I
I

+1

1-~

I I I ~e I
I +.8I I +.6I I +.4I

1-.81',. \ 1-. 6 1,. \

I

\ \ \

\
\

\ \
\ \
\ \

1-.~Y,.

\
\
\

I I \
-~o

-.8

-.6

l-.',.
\

/ I I
/ I
,--// /

Fig. 21. Phase diagram to Indllction Motor; d = O.

Let us once more use eq. (9.14) in the case d = 0, and, instead of approximating the equation by the condition (9. 15), let us consider the region where
02 1, hence -0.1 .;;; o .;;; +0.1. Then eq. (9.14) can be approximated by

73

O:'(2 _ o') + (1- o' + o:")

o

+~

o, =

p o

0,

(9.18)

having a solution
o

= a exp aT', a = - Hl Vl - 4 Jp].

(9.19)

Thus, near the origin, the phase curves have the character of a normal damped
motion and the motion is criticaly damped if p = 4, hence IlYr 2 = 4%. Here,
we refer to fig. 18; apparently the case Il = 15, Yr = 0.5, % = 0.9 having
IlYr 2 J4% R::::i 1.04 is criticaly damped, perfectly checking our conclusion.
The graphs constructed by the approximated method of isoclines compare
rather weIl with the results obtained by analog computation techniques.
Now, sometimes use is made of quasi stationary methods, wh ere - in the case
of the induction motor treated here - the expression of the electrical torque
arises from the steady state expression, thus from the Klosz-formula (3.4),
there by taking s for SC and fl for flc. Thus the relevant quasi stationary investigation starts by studying
fl

= -Ils+<5(I - s)

Sk

Sk

(9.20)

- + 28 +-

Obviously, the differential eq. (9.20) must fail to describe the damped harmonic
oscillation near the stabIe, particular solution. In relation to this quasi stationary investigation, our graphical method gained information by the fact that
our treatment brought in not only the slip variabIe sitself, but - and of course
in addition to the term Ils containing the derivative of s - terms where s, S" and,
unfortunately, the third derivative of s also occur.
As we used the zero order eq. (9.11) only, the influence of Ys has disappeared
totally. An investigation ofthe graphical solution ofthe second order eq. (9.1 2)
is possible, but hardly worth the effort. As our main object emerges in the
stability problems of the electrical transmission shaft, we dis miss the solution
of the second order eq. (9.12).

10. The Electrical TransDlission Shaft

With the benifits in view of the zero order approximations used in conjunction
with the induction motor, let us study the case Ys = 0 with respect to the set
(2.45,2.46,2.47), the set appropriate to the description ofthe electrical transmission shaft. We recall that by studying the case Ys = 0 we have to reject
terms having period one (or nearly one) in T. Now, ifys = 0, we can separate
from eq. (2.45 )
74

~dSe
~qse J
=

l -

+ t
+ 1 .1.1 _ 1_
]!a.

+]a . - 1
+ 1
- t .

Xdso
i qso

l l

dse

X qse ]
X

.ta .

sin ta

COS

X dso
X qSO

(10.1 )

For all Tand all a(T), eq. (10.1 ) ad mits only

Xd se

(cos T - 1) cos ta,

(1 - cos T) sin ta,
sin T sin ia,

X dso =
X qSO

ta,

= sin T cos

X qse =

(10.2)

as first integrals. Hence, rejecting the terms having period neariy one in T,
we accept
X dse

= 0,

X qse

= - cos

ta,

Xdso

= + sin

ta,

X qSO

= 0,

(10.3)

to offer the approximated expressions for slowly varying states of motion even
if Ys
0, but Y s is normal. Substitution of (10.3) into the remaining parts of
(2.45, 2.46, 2.47) yields

i dre ]

~qre

- s

Ye
+s

Ye

Yo

- s

+s

Yo

X qro

sin ta,

Xdro

i qro

fte =

-Xd re

cos

ta -

(10.4)

ft o =

- X dro

cos

ta -

X qre

sin

ta.

For convenience of notation we introduce a new time variabie i; further, we

shall use the relative slip qu antity from (3.19) and we define some other
quantities; thus, let
i =

TVY eYo,

s
-v-'

= -ft v ,

ft v

Y eY o

X uv

"

= -X

urv

, (u = d,q; v = e, 0 )

(10.5 )

Moreover, we shall denote the derivation with respect to i by a dash attached

as a superscript to the relevant symbol. Using a1so the quantity e = (Yo / Ye)'!'
occurring in (3 .1 6), the set (10.4), in terms ofthe quantities (10.5), becomes

~d< J
_

X qe
-

Xdo
-

X qO

ile

II

= -

i de cos

-
1

ta -

i qo sin

ta, il o =

(10.6)

i do cos

ta -

i qe sin

ta.
75

Here, our notation of the standard mechanical torque expressions (5.3, 5.4),
(10.7)
has to be brought in accordance with the new quantities (10.5). Using Ys
and

(2.47 ): a
(2.44) : ft.
(3 .15 ) : Sk

= ()2 - ()l, () = H()2+ ()l) and s = 1- e, Wi = ei>

= Hftl+ft2), fto = i(ftl-ft2) and,v = ftv /x, (v = e, 0),
= (y.Yo)' /, (3.19): = S / Sk and (10.5): i = . (Y,Yo)'/,

= 0

(10.8)

it foIlows

- "ft-. -- ft.
I -rO

/.
rO

!1. ' - !1o21a" -u.

~ ( - ") -u~ o2
1 a,
'
"-!10 ' - fjela"
-<5
(-<5")
-<5
I-a'
2
0
ez ,

(10.9)

where the definitions

apply; moreover, we h ave dropped the higher order terms being represented
b y the dots in (10.7). Note that the particular solution of eqs. (10.6, 10.9)
agrees with the description laid down in eqs. (3 .10) up to (3 .18) inclusive,
but then taken at Ys = O. We need this particular solution furtheron; it reads
in fuIl
'

Xa." = -f( l / ") cos la"

Xa." = -( l /e")f(l / ") cos
Xao" = +(e/") f (") sin la c, xao c = - f( c) sin ia c,
,11," = Hf(c)+f(l /C)] - Hf(c)-f(l /c) ] cos a",
,oc = H(l /e 2 )-e 2 ]f(c)f (1/c) sin a C,
where f (x) = [(x /e)

+ (e /x) ]- l.

la",
(10.11)

(10.12)

Up to here, our a pproximations have been based on the analog computer

results showing the quantity Ys to affect slowly varying motions only slightly.
In order to reduce the complexity of our problem again by one step, we, in
advance, deduce from the matrix equation of the set (10.6) the equivalent set

Xd'
Xa.
Xao
Xao

= - f (l / ) cos la - f (l / ) [(l /) xa.'+e Xq.'],

= -( l /e)f( l /) cos la - f(l /)[( l / )xa.'-exa.'],
= +(e / )f() sin la -f()[(l / )xao' +( l /e)xao'],
= -f() sin ia - f ( )[(l /)xao'-( l /e)xao'J.

(10.13)

Here we shall approximate the time derivatives of the x-variables occuring in

(10.13) by derivation of the quasi stationary expressions of the relevant
variables. These quasi stationary expressions are obtained by taking xuv , a
76

and instead of xuv c , a C and C respectively in eqs. (10.11 ). In other words:

for the time derivatives occurring in the right-hand sides of eqs. (10.13),
we substitute the very expressions (10.13) derived as to i once more, and we
neg1ect all terms containing second order derivatives and products of first
order derivatives, as we expect those terms to exert small influence if the
motion to be studied is really slow1y varying as to time. Further, to construct
suitab1e differential forms for the right-hand sides of the torque expressions
(10.6), we determine in this way

-XdeCOS ia =f( l J) cos 2 ia - ti [(l J)P(l J) cos 2 iaJ,

() si n2 ia - :i [(l J)P() sin 2 iaJ,

-xqo sin ia = f
-

1( J )f( ) .
, of() da ,d [of( ) sma
. ]
2 e
sma+ta-di+tdi T
,

1
-Xdocos 2 a=

-xqe sin ia =

+ H1 Je)f(l J) sin a +

(10.14)

! of~l:) ~~ -! ti [of~l:) sin al

Substitution ofeqs. (10.14) into the torque expressions (10.6) yields

ile = Hf()+f(l J)J - Hf() - f(l J)J cos a_ ~ [.lP() +P( l J) _ .lP() - P(l J) cos a]
di 2

,
ilo

(10.15)

i(;2-e 2) f()f(1 J) sin a +

+ i oHf()~f(l J )J ~~ + i :i[oHf()o~f(I J ) ] sin al

Let us define

Fe
Fo

Fe()
Fo()

=
=

Hf() +f( 1J)],

Hf()-f(I J)J,

Fp = Fp()

i(;2- e2 )f()f(l J);

=
=

(10.16)

then eqs. (10.15) can be written in the convenient forms

il.

Fe-Fo cos a - :i[21e (F.2+Fo2_2F.Fo cos a)],

- _ F'
fto p sm a -

oFe da
a
di +

d [oFo . ]
di
sm a .

(10.17)

Combining (10.9) and (10.17) we readily determine

77

(10.18)

Here, we change the independent variabie ; instead of i we shall use a as

independent variabie. Further, we write w for a' and ilv 8 for ilvc-Dv(-c) ,
ilvs being the (reduced) stationary mechanical v-torque at slip , (v=e,o).
Thus,

a" =

dw

w da'

a' =

w, di = wda' ilvs =

(10.19)

ilvC-Dv( - c), (v=e, 0),

will transform the set (10.18) into

+ !Dow+Fe-Focos a =

il.',
(10.20)

In the 1ines preceding eq. (5 .11 ) we pointed out that normally no will be
small compared with n e. Assuming n o*- 0, we expect a kind of interference
phenomenon, reflected by the first two terms out of the leading terms of the
set (10.20). Such a phenomenon complicates the description severely and
adds 1ittle to the understanding of the main behaviour as to stability of the
electrieal transmission shaft. Besides, constructing an equivalent set by means
of eqs. (10.20) by evaluating the first (second) equation of the set minus
n o/n e times the second (first) equation of the set, taking n o <; 0.1 n e, estimating carefully the relevant terms of the resulting set, we can conclude that
n o= 0 offers a fairly good approximation if n o <; 0.1 n e. Hence, for practical
applications, we take n o= 0 exactly, dismissing the interference phenomenon.
To reduee the complexity of eqs. (10 .20) onee more by one step, we note that
has the sense of the average slip (divided by Sk) of the two motors involved.
Therefore, we expect th at exerts only relatively small deviations from some
mean value of as long as the departure from the isochronism of the relevant
rotors is not too large. Wetranslate this consideration mathematically by
treating d /da as zero in all terms of (10.20) but in the term n ew d /da of
the first equation of the set, as n e is a relatively large quantity. In this way
we attain the simplified results
78

- eW da
d
II

+"21

lil-

"2

dw
e W da

[~U o - 2FeFo
. ]
- - Slna

+"21

W+

Fe- Focosa

- ,
/-l:
(10.21 )

[U~ e + T
oFe + T
oFo COS a] w+ F
_p sm a /-l:.

If we treat as a constant, then the second equation of the set (10.21) may
be classified as a LINARD'S equation [66] and resembles the equation of a
synchronous motor investigated by COPPEL [5] considerab1y. Because of the
smooth behaviour of Fe, Fo, Fp as to on the interval of where instabilities can
be expected [43], we shall take the approximation to be constant in this
equation. As to the functions Fe, Fo, Fm we refer to fig. 22. Once the approximated equation has been solved, meaning that we have found a solution
w = w(a, ), we can use the first equation of (10.21 ) to determine = (a)
in approximated terms. Now, with respect to the second eq. (10.21 ), let us
define the quantities
Q =

w(lle/2Fp)'/" de = (be+ oFe/ oU2lleF p)-''', do = (oFo/ o ) (2lleFp)-'I., (10.22)

f(a) = de+ docos a, /-l = /-l:fFm
r(~), I( '/~),.t:;,~,

r"

1='/2

f(el, 1('1e,), {, ~,
+6

o~

F"
I('/t:l

__

~~

__

----

---

~
I(e)

_____

__

___

it -~

3
Fo

./= 'ILt

f(z:>,rW~),Fe,~, ~

/('1~)

(t:)

_2

Fig. 22. The functions F e, Fo, F p

79

then the equation under investigation becomes

Q~~ + f(a)Q + sin a =

(10.23)

fh

We add to eq. (10.23) that in our normal cases Idvl 1, (v=e,o), hence
If(a) I 1. In the two following sections, we shall study the nonlinear eq.
(10.23), describing the essence of the dynamical behaviour of slowly varying
states of motion of the electrical transmission shaft.

11. The Pull-Out Torque

The investigation OfCOPPEL [5] on the dynamical equation ofthe synchronous
motor demonstrates th at also our eq. (10.23 ) may give rise to a pull-out torque
fhP such, that at 0 < fh P < fh and at fh < fhP < 0 the equation admits a solution
Q( a) being ei th er incessantly nonnegative or incessantly nonpositive and having
period 2n in a. Assuming such a solution to exist, we must realize that the
solution holds approximately during some periods of a only, as, furtheron,
may not be considered - even not approximately - as a constant. However,
the assumption to be constant allows us to sketch the departure from the
isochronism in a satisfactory manner. Now eq. (10.23) is equivalent with
a

Q2 (a)

Q2 (0) - 4 sin 2 ia

+ 2![fh -f(~) Q (~) ]d~,

(11.1 )

and therefore Q (a) = Q (a+ 2n) implies

2"

2nfh

! f(~) Q (~) M.
o

(11.2)

The meaning of (11.2 ) is obvious: as a crosses the interval (0,2n) once, then
the work do ne by the driving torque fh equals the work absorbed by the
damping torque. Let

f m = sup lf (a) I, Qm

= sup IQ (a) I,

(11.3 )

then, from (11.2), we have 0 <: Ifhl <: fmQm, and consequently
a

o <:

1![fh - fW Q (~) ]d~1 <: 4nfmQ m

(11.4)

M.

We note M --+ 0 as f m --+ O. In virtue of (11.1, 11.4), Q2 (a) - if it exists - is

bounded by

Q2 (0) - 4 sin 2 la - 2M <: Q2 (a) <: Q2 (0) - 4 sin 2 ia

80

+ 2M.

(11.5 )

Hence, for dv (v=e, 0) sufficiently small, consequently for fm sufficiently small,

we can approximate (11.2) correct up to the first order in dv , by
2"

2nl-L

f f(~)VQ2 (0) -

H d~,

4 sin 2

( 11.6)

stipulating the condition Q ( a) to possess period 2n in a. Let us substitute the

definition (10.22) off (~) into (11.6) and introduce the notations
ep

H,

(11. 7)

2 jQ (0) ;

then eq. (11.6) becomes

2"

f
o
(8 jk) f (de+do- 2do sin

2nl-L = Q(O ) (de+ do cos ~)Vl- (2 jQ (0)) 2 sin 2

H d~ =

,,/2

ep)V l -k 2 sin 2 ep dep.

( 11.8)

The integral (11.8) can be expressed in terms of K (k ) and E (k), the complete
elliptic integrals of the first and of the second kind respectively. Indeed, from
(11.8) follows [68]
1- k2
2nfL = (8 jk ) [ (d.+ do) E -2do 3k2

1- 2k2]
+ 2do~
E ,

(11.9)

and, using a different notation [69]

2nfL

8 1k

2k2

[(de+ ido)

~f

(de-ido)

~;].

(11.10)

We rewrite (11.10) in accordance with (10.22), yielding

(11.11 )
In a subsequent section we shall go into a discussion of (11.10,11.11 ), at the
same time considering similar conditions with respect to the appearance of
limit-cycles.
Let us examine (11.5) on ce more: for dv sufficiently smalI, consequently for
M sufficiently small, IQ (a) I attains its maximum value IQ(O) I at a = 0 and its
minimum value IQ (n j2) I at lal = n j2. Hence, IQ(a) I > 0, lal *- n j2. Therefore, using an electrical transmission shaft under loading conditions which can
be altered smoothly, the boundary for ilos according to (11.11) may be carefully exceeded in stable operation. However, a shock initiating a sufficiently
81

high speed SJ(a) wiU throw the system out of isochronism. Here we meet the
crucial point why the stability investigation based on the HURwITz-method
with respect to the linearized part of the nonlinear differential equations, fails
to draw practical boundaries as to safe, stable operation as demonstrated in an
elegant manner by MALKIN [70] with respect to another case.

12. LiJnit-Cycles
The eq. (10.23) admits another solution than the solution being considered
in the preceding section. Here, we ask for a solution such, that a varies periodicaUy in time between the extreme values amin and amax bounded by
- n < amin <; a <; amax <
n. For, if lal surpasses n, pole slipping will
foUow and apparently the considerations of the preceding section apply fuUy.
Let us start the investigation by studying the symmetrical case where the
difference torque vanishes, hence, where !-l = O. Then, because of symmetry

(12.1)
Equivalent to (10.23) with vanishing !-l is

SJ2(a)

SJ2(0) -

4sin

la -

2/ f(~)SJ(~) d~.

(12.2)

Consequently, from (12 .1, 12.2),

am

SJ2(am) = 0 = SJ2(0) - 4 sin tam - 2/ f(~)SJ(~) d~,

2

( 12.3)

(12.4)

/ f(~)SJ(~) d~

(12 .5)

0,

where (12.4) incorporates the definition of k, a definition different from (11.8).

Let suplf(a)I =fm, supISJ(a)I = SJ m, then

SJ2(0) - 4 sin 2 !a-2jmSJmam <; SJ2(a) <; SJ2(0) - 4 sin 2 !a+2jmSJmam, (12.6)
and for dv (hence fm) sufficiently small it follows the periodicity condition
from (12.5, 12.6), correct up to the first order in dv ,

/ f(~) V.Q2(0) - 4 sin 2

o

82

HM =

O.

(12.7)

From (10.22) we know f(~)

variabie rp by

H=

sin

~;

d.+ do cos

then, the introduction of the new

sin tam sin rp = k sin rp,

(12.8)

will transform (12 .7) to

,,/2

0 = 4k 2

of

(d.+do-2dok2 sin 2 rp)

COS2

rp

Vl-kZ sin 2 rp

drp.

(12.9)

The integral (12.9) as to rp can be expressed in terms of the complete elliptic

integra1s K(k) and E(k). Indeed, from (12.9) it follows [71]

,,/2

k 2 [(d. - do) + 2do(l-k 2 sin 2 rp)]

of

rp
.
drp
k sm 2 rp

COS2

VI

,,/2

,,/2
2

(d -d ) f(l - k sin rp) - (l-k

0
VI - k2'sm 2 rp

2
)

drp + 2d k 2 fcos 2 rp Vl-k 2 sin 2 rp drp

0

=
=

(d.-d o) [E- (l-k 2)K] +i do[(l + k 2)E- ( I - k 2)K]

(d.+!d o) [E - (l-k 2)K] -ido[E-K],

(12.10)

and, using a different notation [69],

(12.11 )
As K and E are even functions in k, (12.11) possesses a double root k = 0,
re pres enting a stab1e or unstable solution a = a = a m = O. N ext, if k -'; 1,
then the right-hand side of (12.11) tends in the limit to !n(d.+ -}do), proving
that k 2 = 1 represents the roots k = 1 if, and on1y if the condition
d. +!do = 0 app1ies. Consequently, all roots representing 1imit-cycles can be
obtained from
C

(12.12)
We rewrite (12.12) in accordance with (10.22), yielding

(~

+ oF. + 1 oFo) oK _ ~ oFo oE

o

o ok

o ok'

(12.13)

We started the investigation on the occurrence oflimit-cycles by studying the

symmetrica1 case, where ft = O. As soon as ft # 0, the mathematica1 procedure,
app1ied to the determination of 1imit-cycles in case ft vanishis, breaks down
due to the fact that the total driving torque is no more odd in a. In this respect
83

we refer to [66], where the discussion of the differential equation of the

LINARD-type is given, only under the assumptions th at the total driving
torque is odd and the friction coefficient (in our casef(a)) is even in a.
The resemblance of the eqs. (11.10) and (12.12) is striking, especially in the
symmetrical case where !h vanishes. For that case we shall discuss the conclusions to be drawn from (11.10, 12.12) in the following section.

13. Pull-Out Torque and LiJnit-Cycles at Syrnrnetrical Loading

Is the electrical transmission shaft is symmetrically loaded, then in (11.10)
P:JFm Pos = 0, FT! O. Then the condition (11.10),
allowing puIling-out of isochronism, will be simplified to

"*

!h = 0 because of !h =

aK _ (d -.id ) aE - 0 . G _ 1 aE - ~_.
(d.+ .id)
3 0 ak
3 0 ak - ,.. - + aK - d _ J.3.d0 '

(13.1)

where we introduced the function G. In the identical case, the condition

(12.12), enabling limit-cycles, writes

aE -- 0 ,... G -- I + aK
aE --"23 (d.+ d0 )
(d,+3Id0 ) aK
ak -32d0 ak

( 13.2)

In eqs. (13.1 ) and (13.2), the modulus k has different meanings. Thus, for
(13.1) the definition (11.7) - i.e. k = 2jQ(0) - applies, whereas for (13.2) the
definition (12.8) - i.e. k = sin t am - applies. By means of

sin iam

2jQ(0)

(13.3)

we assign the meaning a m = 2 sin- I [2 jQ (O)] to the angle

investigating (13.1 ). Now, as to the function

G(a m)

G(2 sin-Ik)

1+

~;,

a rn

in case we are

(13.4)

we no te that G(am) is a very smooth function in am and that G (am) possesses the
attractive properties 0 .;;;; G(a",) .;;;; 1. Moreover, aG jaa", = 0 at a", = 0,
n, and a2 Gjaa m 2 = 0 at am ~ 102 degrees. The elementary function
(13.5 )
approximates G(a m) very weIl, H (am ) having the properties O.;;;; H (am) ';;;; + 1
as -n ';;;; am ';;;; +n and the properties aHjaa m = 0 at am = 0, n, and
a2 H jaa m 2 = 0 at am = nfV3 ~ 104 degrees. For comparison of G as to H we
84

HJG.

t B
6

__

~~~

____ ______ ______ ____

~

30

~~

____

90

Fig. 23. The functions Hand G.

refer to fig. 23. Let us return to eqs. (13.1, 13.2). Then, pulling-out ofisochronism is possib1e, if

O<

d -2deJ3-d < + l, '..

- 3

< dde < 0,

(13.6)

whereas 1irriit-cycles occur, if

(13.7)

In cases where neither (13.6) nor (13.7) applies, the system must be stable in
the large or totally unstable. Hence, using (13.6, 13.7), we can extend the
typical behaviour of the electrical transmission shaft with the occurrence of
stability in the large and the occurrence of instabi1ity. Then, in the symmetrical case, we can classify this behaviour for 0 < do and do < 0 as follows:

o<

do

do, then stability in the large

pulling-out possible
1imit-cycles occur
instability

ifO < de < + =,

if - ido < de < 0,
if - do < de < - ido,
if - = < de < - do,

< 0, then stability in the large if - do < de < + =,

limit-cycles occur
if - ido < de < - do,
pulling-out possible if 0 < de < - ido,
instability
if -= < de < O.

(13.8)

85

Consequently, a symmetrically loaded electrical transmission shaft can he

operated safely, if, and only if
- do

d. <
= or if 0 < - do < d. <
hen ce generally ifO < d. + do < +=.

< 0<

+=,
(13.9)

Vnder the last condition, i.e. if 0 < d. + do < +=, the system is stahle in the
large. We add that 0 < -tdo < d. < - do gives rise to limit-cycles, whereas
the stahility at 0 < d. < - td o will he violated hy sufficiently high impact
loads. By means of eqs. (10.22, 10.13), we can show that the general consequence of (13.9) is rem\.rkahly simple and instructive: the positively symmetrically loaded electrical transmission shaft can he loaded up to the point,
where each of the motors handle their own maximum torque.

86

CHAPTER

IV

MEASUREMENTS

14. MeasureDlent of Induction Motor Constants

With respect to all theory applicable to technical systems, measurements at
actual systems finally decide the validity of the theory developed. But measurements at actual systems concern nonideal machines, whereas theory can
start only from idealized models. We started our theory disregarding iron
losses and nonlinearity of the B (H ) - H relationship and therefore, in order
to compare measurements with theoretical results, we have to define electrical
and mechnical constants as introduced in the theory in terms of constants
determined .trom measurements at an actual machine or system. As we are
interested primarily in slowly varying states of motion at slip values in the
neighbourhood of the slip at break down or at smaller slip values, it makes
sense to determine the constants from steady state measurements and performed at those slip values only. In addition, it is very convenient to incorporate all inevitable losses, irrespective of their influences on the "mainly
electrical transients", into fictitious copper losses. In this manner we elude the
separation of the diverse contributions to the total losses and the calibration
of the shaft torque. The method was founded on a sound base by BREITFELD
[72J, even in case that in addition to the predominant influence of all iron
losses, saturation effects and friction losses are of some influence on the total
losses.
In order to determine constants as introduced in the theory from results of
measurements, we start with eq. (5, end ch. I), at steady state operation denoted
by
(14.1)
by means of (14.1), we shall evaluate the actualline currents i g / , (g = a, b, c;
t = s, r). As to Sc, occurring in (14.1), the scheme of evaluation reads:

87

The results (14.2) for

obtain the proper

es and er can

be substituted into eq. (7, end eh. I ) to

. (14.3)

As to rxc occurring in (14.1 ) we need the definition eq. (3, end eh. I ) for
and eq. (3.2) yielding

rx

YS(Xas"-UXdr")
Ys(xqSC-uxqr")

0
aYsYr(SC- aYsYr) -scYs(scYs+Yr)
sCy s(sc-ay sY r) + ay sy r(scy s +Y r)

SCUY r( sCy s+Y r)

sCuyr(sc - aYsYr)

LlC=

2+

(14.4 )
(sC-aY sYr)
+ (SCYs +Yr ) 2.

By inspection of eqs. (14.3, 14.4) we see that the amplitudes of the harmonie
time-variable components ntrtigtc juo, (g=a,b,c; t=s,r; ns= l, nr= n), of
N Rlcjuo appearing in the left-hand side of (14.1) are given by
(14.5)
2n ra dlans and
4n ra dlans,
. C1ags Z.at C b Y 3
CI
Zct
agsZatCb Y 3
w h ereas t h e current Zbt
(t = s, r). Hence, it will be sufficient to determine the phase-lag of ias c to
Uas as ia." constitutes the actual line current and phase current of phase as,
whereas (compare eqs. 2.8,2.10, 2.12 )
uas = t(ucs.as-Uas.bs)

VI U
o cos (T+<P+~)

( 14.6)

acts as the phase driving voltage. With respect to i ar C, we can not determine a
phase angle as to Ua. because of the different frequencies of their harmonical
time dependency. However, if we transform the actual rotor current to the
88

reference frame where the stator currents are measured and defined, a definition of such a phase angle is possib1e.
From eqs . (14.1, 14.3, 14.4) it follows

'"1 - V2

rslas

o-

"3

Ys

n) +

1/s"2+a 2Yr 2 { - aYr(S"- aYsYr) + s"(s"Ys+Yr)

(
V J"
[J "(s"2+a2y2)]'t.
cos r+IP+ 6

(+ lP +::'6:)} .

s"(sc-aYsYr) + aYr(S"Ys+Yr) .
[J "(S"2+ a2y/)]'t.
sm r

(14.7)

Defining the phase ang1e as by

tg a

s"(s"-aYsYr)
+ aYr(s"Ys+Yr)
---+---,:.~'-'---'--,:....,..,..~'--'-~
s"(S"Ys+Yr) - aYr(S"- aYsYr)'

(14.8)

we consequently obtain from (14.7, 14.8)

(14.9)
Comparing (14.6) with (14.9), the complex steady state stator phase admittance rgs" will be

" _ Ys[S"2+a 2y r2] 't,

YraYs+jsCy s
.
.
_ 1
Jc
expo ( -Jas) Yr(j+ays) + jsc(j+ys) '
-

r gS

r:

r:

(14.10)

The complex steady state stator ph ase impedance reads

(14.11)

In the complex plane the point assemblage rgs"(s") constitutes the well-known
OSSANNA-diagram; we note th at the expression (14.11 ) is simpier than (14.10)
and therefore we shall use the point assemblage Zo."(sc) to make the measuring resu1ts into an impedance diagram, strongly recommended for instance
by CANA Y [73]. Let us normalize the impedance Zg .," by the d efinition
7

zos" = '\-os" rs =

+ 1..

Yr + jsc
y.<aYr +'
JSc,

(14.12)

then we have

j
,,2
Ys
ays
c _ ,,2
S"Yr
a Real part Zo." _ . c _
Real part Zos - - C2+ 2", 2'
aSC
- 0 If s - aYn
ar r
Ys S

Zo."(O)

1+-, zo."(=)

Zo s"(aYr)

ays

,,2

1+ - , IZos"(O)-zgs"(=) 1 = - ,

(j- +-j)

1-2 -+ i
ays
Ys ays

(14.13)

,,2

2 + HZ ysC(=)+ZgSC(0)].
ays
89

pos. im. axis

.x 2

u ~ -----'"

ud's

neg . rea l axis

po s. re a l axis

Fig. 24. The impedance diagram

Zg Sc ,

The impedance circle diagram on diameter [.(;g.o (0) , .(;g.o( 00)] is shown in
fig. 24; the diagram possesses attractive features compared to the OSSANNAdiagram [73]. In addition to the notes of CANAY we remark that in the impedance diagram, the points representing measurements at normal slip values
have a large distance to the origin and cover a relatively large arc of the
locus SC. Hence, to establish the whole circle, we do not need measurements
for the determination of Zg sc(l) ; we shall avoid such measurements especially
because of the doubtful information regarding the influence of iron losses as to
the fictitious copper losses once SC < Sk . We regard such an information even
as unreliable if SC = I, hence at blocked rotor. An aid to an accurate construction of the impedance circle from measurements is offered by the property,
that every line running parallel to the straight line through .(;osc (O), .(;g.o( oo),
is a linear point assemblage of uniform scale in sc, correlated with the impedance circle by projective means through a ray-pencil in Z9 8C (0) [74].
We performed the measurements at an asynchronous slip ring motor, constructed for 220 V 6 /380 V Y, 8 hp /5.9 kW, n = 1450, 50 cycles, 22 / 12.7 A,
90

40 j

CompLex Z~5- plane

0 --0-

-.01

theory
'~

SC

o ~

- .0133

s~ meos.

.01

"'-. 0133

30j

25j
.02

20j

half-plane

Motor half - pLane

.0265

-.03

.03

15j

10j

.0 5
.0667

-20

-15

o
I

-10
10
I

-5
20

30

10

.06

15

40

20
50

Scale for Z~s in 1L

Fig. 25. Measuring results of ZgSc ,

Zgs" .

cos cp = .82; rotor 87 V Y, 43 A; we measured f s = .68 Q at operational

temperature, and f ,. = .075 Q a t operational temperature. We operated the
machine with a stator power supply voltage 220 V Y instead of 220 V 6" in
order to avoid saturation. Fig. 25 shows the results. In this figure we adapted
a theoretical sC-dependence from the actual measured sC-dependence. We note
that the deviation of the points SC = 0 (on the one side the measured point
SC = 0 and on the other side the adapted theoretical point SC = 0), is normal
[75]. Then, from fig. 25, it follows
fs

= 1.39 Q, a = .0725, fslays = wo(ls+ ms) = 50.2 Q,

Ys = .381, Yr = .365, % = .962 .

(14.14)
91

We see that rs = 1.39 / .680 = 2.04 times the actual stator phase resistance.
Now, as rs concerns a series loss-resistance as to the constant power supply
voltage, this fact confirms the statement that normally the iron losses equal
the copper losses. The rotor resistance rr can be determined from fig. 25 if
either igr"(sc) or Mc(sc) is measured in absolute values. Here, we shall determine the fictitious rotor phase resistance rr from the additional information
obtained from the measurements regarding the electrical transmission shaft.
Those measurements follow in the next section.

ro =. '511
2.5

~
I
I
I
I

' .5

f
I
I
I
I

t\.12Y:::

1.0
I
/

12:S..

fo(

0.5

270
12a
. 1270 .124501225

1300

.e05

00

. 1079

1048

.11~()
." 75

.",

. 1027

~9.1

.""- - -

i4.
.p90~

.....

.- -'iJ

--~------{!)

.-

-~
. M"kgm

;norY
0.5

1195

.13~ .12 70 ""'"

1345
"360 .....

1375

"'-t.1250

1300 . 1280 .mo~o

.13~S
. 1260

/
/

1100

_\20e"80 ~"30

I ~~~"'2\'1190
1 '260.123~ 205
/

.m. ~

1.0

1.5

2.0

.1485

Fig. 26. Measuring results torque-torque diagram ; T o = .15 Q.

92

2.5

 15. The Electrical TransDlission Shaft

At the measurements performed on an electrical transmission shaft according
to fig. 3, we determined the torques M1"(s") and M 2"(s") by the reaction on the
stator houses in question. We used two asynchronous slip ring motors, both
identical to the machine measured in conformity with section 14. The loads
we re effected by D.C.-machines in a WARD LEONARD circuitry. In this way
we could realize positive and negative torques at speeds from n = 1500 turns (
min down to n = - 1500 turns /min. In addition we could realize all positive
local damping coefficients 1" and 2" . Moreover, the set-up enabled us to
effect impact loads.
r-----------------------------------------------------------1l-- -~7~00~----------,

ro= .30Jl..

n,t /m

o
4SS

3~ 7

220

220
. S24
. 53 0

----,. . . . M"kgm
2.5
Fig. 27. Measuring results torque-torque diagram; ro

.30 Q.

93

Fig. 26 shows the steady state results ifro = .15 Q, fig. 27, ifro = .30Q and
fig. 28 if ro = .60 Q.

.15 Q, then we have from fig. 26 : C = 1 at n = 650 turns /min. , hence

1 at SC = (1500- 650) / 1500 = .567. Consequently, applying the definition eq. (3 .19), Sk = .567 and from (3.1 5) it follows (YeYo)'/' = .607, the result
ofsection 14 regardingys = .381 being used. From (14.14) we obtainyo = .365
because of the meaning of Yr refering to an induction motor and because of
Yo defined by eq. (2.43). Then, (YeYo)'/' = .607, Yo = .365, we obtain Y.= 1.01.
Further, from (3.16), we calculate e2 = Yo /Ye = .363 and , also from (3.16),
i.e. from e2 = 1/( 1 + 2ro /rr) ' it follows ro /rr = .875. We know ro = .15 Q,
1fro
C

ro =

. 6011

2.5

M2 , kgm

t
n , t/m

-----. M1 , kgm

-0.5

2.5

-0.5
........

Fig. 28. Measuring results torque-torque diagram ;

94

To

.60 fJ.

.207

th us rr

= .175 Q. Similar results can be obtained in the other cases, yielding

ro, Q
.15
.30
.60

n if C= 1

650 t /m
300 t /m
o t /m

.567
.800
1.000

Y.

(>2

r., Q

1.01
2.01
3.14

.363
.179
.116

.175
.133
.158

(15.1)

Striking an average, we accept rr = .155 Q. We see that the fictitious rotor

phase resistance equals .155 /.075 = 2.13 times the actual rotor phase resistance.
This result confirms the expectation with respect to the iron losses and the
friction losses absorbed in fictitious copper losses, rough1y doubling the va1ue
of the actua1 rotor phase resistance. With a view at figs. 26, 27, 28, we ob serve
that steady state operation is also possible if C > 1. Indeed, performing the
construction given in fig. 5 with C > 1, the dotted halves of the isochones of
fig. 6 will app1y for possib1e steady states; moreover, with C > 1, the direction
of taking a C has to be inverted.
We started the investigation as to the dynamical stability. Unfortunately, the
determination of the loca1 damping coefficient is a time-consuming work. Also,
the effective po1ar moment of inertia has to be determined. First, orientating
ourse1ves, we could realize the pulling-out phenomenon with ro = .30 Q as
well as with ro = .60 Q. Especially with ro = .60Q we a1so observed oscillating
motions of the rotor position difference ang1e a. However, failing the calibration of the loads regarding the loc al damping coefficients, it was impossible
to verify our theory of sections 11 and 12.

95

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and Physics, 3 ( 1934) Nr. 2, 103- 194.
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10. G. KR ON : The Application of Tensors to the Analysis of Rotating Electrical Machinery,
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11. D. C. WHITE and H. H. WOODSON: Electromechanical Energy Conversion, M.I.T.,
Dep. of El. Eng. , Sept. 1957.
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12. R. H. PARK: Two-Reaction Theory of Synchronous Machines I , Tram. A.I.E.E. , 48
( 1929) 716- 727.
13. L. P. VERETENNIKOV and D. V. VISELOV: The Problem of Diverse Writing of Different
Equations ofthe Gorev-Park type in variables (J), Abstr. from Pap. Publ. in Elektrishestvo,
11 ( 1959) 8-12.
14. L. P. VERETENNIKOV: Classification of differential equations of the Gorev-Park typ e,
Abstr. from Pap. Publ. in Elektrishestvo, 11 ( 1959) 13-20
15. J . GILTAY: Over ferromagnetische toestanden, Tijdschr. v. h. N ed. Radiogenootschap,
15 ( 1950) 253- 274.
16. H. SEIDEL: Ein Verfahren zur Analyse der magnetischen Vorgeschichte einer ferromagnetischen Messprobe mit HiJfe des Preisach-Diagrammes, Z. angew. Physik, 12 ( 1960)
493- 501.
17. I. I. TRESHCHEV: Investigation of Variable-Speed A. C. Machines, Abstr. from Pap.
Publ. in Elektrishestvo, 2 ( 1957 ) 18- 34.
18. J. A. STRATTON: Electromagnetic Theory, Mc Graw-Hill Book Comp. Inc., N.Y. 1941 ,
pg. II (3), pg. 64 ( 1.20 etc.).
19. F. OLLENDORFF: Technische Elektrodynamik, Bd. I, Berechnung magnetischer Felder,
Springer Verlag, Wien, 1952, S. 62, S. 71 (1.l5c).
20. Ref. [18]: pg. 121.
21. R ef. [11]: Ch. 4, Section 4.2.2. "Mechanical Force Due to Magnetic Field Coupling".
22. R ef. [19]: S. 286 (IV I, 18).
23. R. A. FRAZER and W. DUNCAN: Elementary Matrices, Ch. 111, Cambridge, Univ. Press,
1950.
24. E. MADELUNG: Die Mathematischen Hilfsmittel des Physikers, Dover Publications, N.Y. ,
1943, S. 88-90.
25. R ef. [10]: pg. 25 (Assumptions).
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27. R ef. [11]: Ch. 6, pg. 21.

97

28.
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53.
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55.
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60.

98

Ref. [19]: S. 93 (Punkt h), S. 94 (bis I. 19).

Ref. [10]: pg. 27.
Ref. [11]: Ch. 3, Section 3.8.
A. DUSCHEK und A. HOCHRAINER: Grundzge der Tensorrechnung in analytischer Darstellung, I. Teil, Springer-Verlag, Wien, 1948, S. lil , 112.
Ref. [23]: Ch. 3.
AHMET AKHUNDAR: Behandlung der Ausgleichvorgnge in Drehstrom-Asynchronmotoren
mit Hilfe von Park-Transformation, Laplace-Transformation und Matrizenrechnung,
Arch. f. Elektr., 42 (1956) 223- 236.
Ref. [23]: Ch. 8, Sections 8.1 - 8.9.
Ref. [31]: S. 45.
I. G. MALKIN: Theorie der Stabilitt einer Bewegung, Oldenburg-Mnchen, (1959)
3, S. 17.
R. RDENBERG: Elektrische Schaltvorgnge ... , Verlag Julius Springer, Berlin 1933,
S. 74-83.
L. HANNAKAM: bergangsverhalten des Drehstroms-Schleifringlufers, Teil I. Ableitung
der Elektromechanischen Systemgleichungen, Regelungstechnik, Heft 11 , 7. Jahrg.,
S.393- 398.
Ref. [19]: S. 89.
R. RICHTER: Elektrische Maschinen IV, Die Inductionsmaschinen, 2. AuA., Verlag
Birkhuser, Basel/Stuttgart (1959), 343- 348.
Ref. [6]: S. 232- 240.
Ref. [40]: S. 350- 352.
Ref. [6]: S. 221 - 231.
F. A. W. VAN DEN BURG: Transients in Asynchronous Machines, "Deuximes Journes
Internationales de Calcul Analogique", Strasbourg, 1-6 Sept. 1958, 494-501.
F. A. W. VAN DEN BURG: Problems on an Electrical Transmission Shaft, De Ingenieur,
38 (1960), E 95- E 103.
M. KLOSZ: Drehmoment und Schlpfing des Drehstrommotors, Arch. f. El. , Bd. 5 (1916),
59-87 (Gleichungen 52 ).
Ref. [40]: S 38.
M. LIWSCHITZ: Die Elektrische Maschinen, Bd. 111, Verlag B.G. Tuebner, (1934),
S. 149- 157 "Das Kreisdiagramm der gewhnlichen Asynchronmaschine".
L. HANNAKAM: Die elektrische Arbeitswelle zum Antrieb von Portalkrnen, VDE Fachberichte 19. Bd. (1956) 1/ 100- 1/ 105.
Ref. [36]: S. 3-4.
Ref. [36] : S. 40-45.
L. E. Dickson - E. BODEWIG: Hhere Algebra, autorisierte Deutsche Ausgabe von L. E.
DICKSON. "Modern Algebraic Theories", Verlag B.G. Teubner, Leipzig-Berlin, 1929,
S. 219, "Die Aigemeine Gleichung fnften Grades".
G.J. ELIAS en B. D. H. TELLEGEN: Theorie der Wisselstromen, Deel 111, P. Noordhoff
N.V. , Groningen-Djakarta, 1952, 32- 33.
C. J. D. M. VERHAGEN : Rekenmachines in Delft, Uitgave v. d. "Commissie Rekenmachines" v. d. Tech. Hogeschool te Delft, 1960,29- 33.
Ref. [54], 54-55.
W . A. WENIKOW: Anwendung der hnlichkeitstheorie und der Theorie der Modelldarstellungen in der Elektrotechnik, GEI. 1945.
W. A. WENIKOW, L. A . SHUKOW: Ausgleichvorgnge in Elektrischen Systemen, VEB
Verlag Technik Berlin (1956), S. 80.
K. P. Kovcz und I. Rcz: Transiente Vorgnge in Wechselstrommaschinen, Bd. I,
Verl. d. Ung. Ak. d. Wissensch. , Budapest (1959), 395-416.
European Computation Center, Electronic Associates, Inc. , 43, Rue de la Science, Brussels,
Belgium.
S. YAMAMURA, M. Y ASUI: Transient Torque ofInduction Motors, J.I.E.E.J. , 30,493-497.

61. Ref. [6]: S. 226.

62. H.JORDAN: Selbsterregte Pendelungen emer elektrischen Welle, Jahrb. der AEGForschung, Jg. 7 (1940) 91 - 111.
63. F. UNGRUH: Die Stabilitt elektrischer Ausgleichswellen bei Speisung mit Drehstrom,
Wechselstrom und Gleichstrom, Arch. f. El. , 45 (1960) 373-398.
64. N. KRYLOFF, N. BOGOLIUBOFF: Introduction to Non-Linear Mechanics, Princeton University Press (1949), 43.
65. N. MINORSKY: Introduction to Non-Linear M echanics, Basin Report, J. W. Edwards
(1947) Ann Arbor, 20- 21.
66. S. LEFSCHETZ: Lectures on Differential Equations, Princeton U niversity Press (1948)
185- 194.
67. J. F. BLOM: Overgangsverschijnselen van de asynchrone draaistroommachine, De Ingenieur 25 (1960), E 42- E 50.
68. W. GRBNER und N. HOFREITER: Integraltafel, 1. Teil, Unbestimmte Integrale, SpringerVerlag (1949), Formel 241, 13 k, S. 66.
69. F. OBERHETTINGER lmd W. MAGNUS : Anwendung der elliptischen Funktionen in Physik
und Technik, Springer-Verlag (1949), S. 8 (unten).
70. Ref. [36]: 44, 152- 160.
71. Ref. [68]: Formel241 , 13 I, S. 66.
72. C. BREITFELD: Analysis von Grundproblemen der theoretischen Wechelstromtechnik,
Verlag Fr. Vieweg & Sohn, Braunschweig (1927) 276- 292.
73. M;. CANAY: Vorgedruckte Ortskurven und einfache Darstellung der Theorie von Asynchronmaschinen, Bull. SEV, Bd 51 (1960) Nr. 25, 1293- 1299.
74. C. ZWIKKEIC Advanced Plane Geometry, North-Holland Publishing C?mpany, Amsterdam (1950) 68- 72.
75. Ref. [73]: S. 1297.

99

SAMENVATTING

Om het dynamische gedrag van elektrische machines te verklaren, wordt in

de literatuur veelal gebruik gemaakt van quasi stationaire methoden. Daarbij
wordt de uitdrukking voor het aan de rotor beschikbare stationaire moment als
bij benadering eveneens geldig beschouwd voor veranderende omwentelingssnelheden. Zulke methoden leiden SOms tot verkeerde resultaten en geven zeker
niet een juist inzicht in de zich voordoende processen. Wel zijn er methoden
ontwikkeld waarbij, onder bepaalde vereenvoudigde aannamen, het dynamische gedrag van elektrische machines geheel door een stelsel niet-lineaire
differentiaalvergelijkingen kan worden beschreven. De oplossing van zo'n
stelsel stuit echter, indien men daarvoor moderne rekenmachines niet kan inschakelen, bij het toepassen van een numerieke berekening op grote praktische
bezwaren, en geeft bovendien de vakman, zelfs indien moderne rekenmachines
worden gebruikt, slechts weinig verruimende inzichten.
In deze dissertatie wordt de afleiding van stelsels differentiaalvergelijkingen
die het dynamische gedrag van elektrische machines beschrijven, onder wat
ruimere voorwaarden opnieuw ter hand genomen. Bovendien wordt daarbij
het aantal parameters dat het karakter van de verschijnselen bepaalt, ten
opzichte van het gebruikelijke aantal aanzienlijk gereduceerd. De afgeleide
theorie wordt dan toegepast op de beschrijving van de inductiemotor, op die
van de aan de statorzijde en aan de rotorzijde gevoede asynchrone sleepringmotor en op die van een elektrische as, bestaande uit een systeem van twee
asynchrone sleepringmotoren waarvan de overeenkomstige rotorfazen via de
sleepringen op een gemeenschappelijk netwerk van weerstanden zijn aangesloten. Voor elk van deze toepassingen worden particuliere oplossingen van de
stelsels differentiaalvergelijkingen bepaald en worden voor de toepassing op de
inductiemotor zowel als voor die op de elektrische as, de stabiliteits-criteria
van die oplossingen volgens de methode van HURWITZ onderzocht.
Om tot verruimende inzichten te kunnen geraken, moeten echter de stelsels
vergelijkingen zo mogelijk . alleen de meest essentile karaktertrekken van het
dynamische gedrag van de beschouwde machines beschrijven. Teneinde daartoe verantwoorde benaderingsmethoden te kunnen invoeren zijn daarom de
met behulp van analogontechnieken verkregen oplossingen van het volledige
stelsel vergelijkingen, geldig voor de inductiemotor, onderzocht op hun afhankelijkheid van de ingevoerde parameters. Daaruit wordt een voor relatief
langzaam verlopende overgangsverschijnselen toepasbare benaderingsmethode
afgeleid . De zo verkregen methode is geen quasi stationaire methode, hetgeen
wordt toegelicht aan de hand van resultaten die worden verkregen bij de toepassing op het dynamische gedrag nabij de eindtoestand van de onbelast

101

lopende inductiemotor. Ook wordt de methode toegepast voor het afleiden

van de benaderde bewegingsvergelijkingen voor een elektrische as. Pas na het
invoeren van enkele additionele benaderingen vindt men dan een niet-lineaire
differentiaalvergelijking van de tweede orde, die enkele typische eigenschappen van de elektrische as vermag te verklaren.
Tenslotte worden enkele meetresultaten vermeld, waaraan de bruikbaarheid
van de afgeleide theorien wordt getoetst. Daartoe wordt ook een methode ontworpen, waarop de waarden van de in de dissertatie gebruikte parameters op
snelle wijze uit zulke meetresultaten kunnen worden ontnomen. De gevonden
overeenstemming tussen de theoretische en de gemeten resultaten mag, voor
zover zij uit de verrichte metingen kon worden bepaald, zeer redelijk worden
genoemd.

102

CURRICULUM VITAE

Na het behalen van mijn einddiploma H.B.S. in 1931 aan de vierde H.B.S. te
's-Gravenhage, bezocht ik de Middelbare Technische School te Haarlem,
waarvan het einddiploma voor elektrotechniek in 1934 in mijn bezit kwam.
Gedurende het jaar 1934/ 1935 werd ik op de School voor Reserve Officieren
der Genie te Utrecht opgeleid tot officier van de verbindingsdienst. In 1935
liet ik mij inschrijven aan de Technische Hogeschool te Delft, behaalde in
mei 1937 het eerste deel van het candidaats-examen en aanvaardde in november 1937 een werkkring als reserve-officier bij de dienst van magazijnen en werkplaatsen der Genie te Utrecht; ik werd o.m. belast met het inkopen en keuren
van materiaal voor de verbindingsdienst. Uit deze werkkring werd ik op 1
juli 1940 door de bezetter ~nts1agen.
In november 1940, na een periode van drie jaar werkstudentschap mocht ik
het diploma van elektrotechnisch ingenieur in ontvangst nemen. Op dat tijdstip, en wel van oktober 1940 af, was ik reeds wer}<:zaam als ingenieur in algemene dienst bij de N.V. Algemene Signaal- en Telefoonbouw Onderneming.
In maart 1941 verwisselde ik van werkkring en tot februari 1948 verrichtte ik
- met een onderbreking van 1943/ 1945 - de taak van vooronderzoeker bij de
Octrooiraad te 's-Gravenhage, een taak die zich voornamelijk bewoog op het
gebied van de draaggolftelefonie. De jaren 1943J1945 bracht ik door in krijgsgevangenschap.
Gedurende de periode van februari 1948 tot tbruari 1955 was ik bij Prof. Dr.
C. J. GORTER werkzaam als wetenschappelijk ambtenaar op het Kamerlingh
Onnes Laboratorium van de Rijks Universiteit te Leiden, en had daar de
dagelijkse leiding van de afdeling voor elektronika. Tevens gaf ik van januari
1952 tot januari 1956 college aan natuurkundige candidaatsstudenten in de
elektrotechniek, in het bijzonder in de theorie ~n toepassing van elektronenbuizen, versterker- en oscillator-schakelingen, netwerk-analyse.
Op 1 februari 1955 volgde mijn aanstelling als wetenschappelijk hoofdambtenaar aan de Technische Hogeschool te Delft, en kreeg ik in de Afdeling
voor Elektrotechniek de praktische leiding van het onder Prof. Dr. Ir. J. P.
SCHOUTEN ressorterende laboratorium voor microgolftechniek. Na het verrichten van enkele praktische en theoretische onderzoekingen op dit vakgebied
werd mijn aandacht afgebogen naar dat van de niet-lineaire verschijnselen die
optreden bij niet-stationair draaiende elektrische machines. Uit de laatst genoemde onderzoekingen kwam deze dissertatie voort.
103

STELLINGEN
I
De door HANNAKAM afgeleide dimensieloze differentiaalvergelijkingen, die het
elektro-mechanische gedrag van een asynchrone sleepringmotor beschrijven,
bevatten 6 (zes) parameters; men kan dit aantal door geschikte parametercombinatie's tot 4 (vier) terugbrengen, waarvan er slechts 3 (drie) van essentieel belang ZIJn.
L. HANNAKAM: bergangsverhalten des Drehstromsschleifringlufers,
Teil I, Reg!. techn., Hft. 11 , 7. Jahrg. , 393- 398.

11
Voor het grafisch verwerken van de metingen van een belastingsproef aan
asynchrone machines, verdient het gebruik van het impedantiediagram de
voorkeur boven het OssANNA-diagram.
M. CANAY: Vorgedruckte Ortskurven und einfache Darstellung der
Theorie von Asynchronmachinen, Bull. SEV, Bd 51 (1960) Nr 25.,
1293- 1299.

111
De toepassing van galvanometers in elektronische schakelingen zou aanzienlijk bevorderd kunnen worden, door naast de tot nu toe gebruikelijke opgave
van de drie de betreffende galvanometer het meest kenmerkende grootheden
- zijnde de spanningsgevoeligheid, de stroomgevoeligheid en de tijdconstante een opgave te stellen van een groep van drie daarmede tezamen aequivalente
markante elektrische grootheden, en wel de zelfinductie, de capaciteit en de
parallel verlies weerstand die - geschakeld als parallelle resonantieketen - de
ingangsimpedantie van het elektromechanische meetsysteem vertegenwoordigen.
E. MEYER und C. MOERDER : Spiegelgalvanometer und Lichtzeiginstrumente, Akad. Verlagsges. Geest & Por tig K.-G., L eipzig, (1952 ), 45,5;
L. N. RIDENouR: Vacuum Tube Amplifiers, M .LT. Rad. Lab. Series 18,
Mc Graw-Hill Book C ., (1948), 11 - 16.

IV
De jongste ontwikkelingen van de versterker-transistortechniek, de fototransistortechniek en de draaispoel-galvanometertechniek, bieden grote mogelijkheden voor het realiseren van een nieuw type analogon (reken-)
machine; daartoe dient de toepassing van de genoemde technieken te worden
aangepast aan de te stellen opgave.

v
Voor het berekenen van schakelingen voor de drift-compensatie van elektronische gelijkspanningsversterkers, kan men met voordeel gebruik maken van
het begrip van de complexe steilheid van de anodestroom-gloeispanningskarakteristiek van de in de schakeling gebruikte elektronenbuizen.
M.I.T. Rad. Lab. Series, Vo!. 18, Vacuum Tube Amplifiers, Me GrawHili Book Comp., (1948), Seetion 11-12.

VI
Het bewijs, dat de rang van de incidentie-matrix, waarvan de elementen de
incidentie getallen van de gerichte takken en de knooppunten van een netwerk
weergeven, gelijk is aan het aantal (p) lineair onafhankelijke knooppuntsparen
van dat netwerk, en het bewijs, dat de determinant van elke pxp-deelmatrix
van de genoemde incidentie-matrix de absolute waarde 1 (n) bezit, kan men
op eenvoudige wijze leveren, door de indicering van de knooppunten en van
de takken van het netwerk op een doelmatige wijze te kiezen.
D. KNIG: Theorie der endliehen und unendliehen Graphen, Chelsea
Pub!. Comp. , New Vork, N.Y., (1950),9. kap., 8;
H. SEIFERT und W. THRELLFALL: Lehrbueh der Topologie, Chelsea
Publ. Comp., New Vork, N.Y., (1947), 21.

VII
Het door TELLEGEN afgeleide theorema, dat in een netwerkconfiguratie met t
takken voor de takstromen i. en de takspanningen li., (1' = 1, 2, ... , t), de
I

betrekking I i.v.

0 geldt, kan men opvatten als een bijzondere toepassing

van de algemene topologische stelling, dat de rand van de rand van elk (k
simplex verdwijnt; (k :> 1).

+ 1)-

B. D. H. TELLEGEN : A General Network Theorem with Applieations,

Phil. Res. Rep. 7 (1952) 259- 269;
H. SEIFERT und W. THRELLFALL: Lehrbueh der Topologie, Chelsea
Pub!. Comp., New Vork, N.Y., (1947) 21, 71- 72.

VIII
Voor aanpassingstransformatoren, waarbij de overdracht van signalen van
lage frequenties wordt beperkt door de eigen zelfinductie en de overdracht van
signalen van hoge frequenties wordt beperkt door de spreidingszelfinductie
van de transformator, kan het optimale transmissie-rendement het bedrag
{l-exp [ -(nj~) (2ja)'/'J) nimmer overschrijden: In de gegeven uitdrukking
stelt daarbij ~ voor de relatieve bandbreedte van het bandfilter waarin de
transformator met zijn die frequentieband beperkende zelfinducties is opgenomen, en stelt a voor de spreidingscofficint van de transformator; voorts

wordt onder het transmissie-rendement verstaan de verhouding van de

werkelijk overgedragen energie tot de voor de overdracht maximaal beschikbare energie.
H.]. CARLIN and R. LAROSA: Proc. of the Symp. on Modern Network
Synthesis, April16, 17,18, (1952), 161- 178;
H. W. BODE: Network Analysis and Feedback Amplifier Design, D. Van
Nostrand Comp., N.Y., (1951 ), Ch. 13, 14 and pgs. 363-368.

IX
De transmissie-cofficient van de elektromagnetische TEocgolf, die in een
rechthoekige golfgeleider de opstelling passeert van twee of meer dichtbij
elkaar geplaatste capacitieve schermen, kan - hoe klein de spleetopeningen
in de schermen ook zijn - de absolute waarde 1 (n) aannemen; voor relatief
kleine spleetopeningen kan men het gehele elektromagnetische veld tussen de
schermen met vrij grote nauwkeurigheid uit de beschikbare gegevens berekenen.
H. BOSMA: Appl. sci. Res., B, 7, 131- 144;
F. A. W. V. D. BURG: Appl. sci. Res., B, 7, 153- 183.

X
~

De gevolgtrekking van GLOVER en SHERRILL dat het sprongpunt van dunne

laagjes van suprageleiders ten gevolge van een elektrische lading zou worden
verschoven, moet men - op grond van de door hen verstrekte gegevens omtrent schijnbaar bijkomstige experimentele omstandigheden - op zijn minst
voorbarig noemen.
GLOVER en SHERRILL: Phys. Rev. Ltr. 5 (1960) 248.

XI
Teneinde een voldoend aantal goede stafleden (wetenschappelijke medewerkers) blijvend aan het hoger onderwijs te binden, dient hun functie voldoende
perspectieven te bieden ten aanzien van zelfstandigheid, verantwoordelijkheid en salariring.
N. I. HALL: Proc. IRE (1957) 451- 454.

XII
De stellingen, die volgens art. 45 van het technische-hogeschoolstatuut door
. een promovendus ter verkrijging van de graad van doctor in de technische
wetenschap moeten worden geponeerd en volgens art. 49 van het technischehogeschoolstatuut naar behoren moeten worden verdedigd, dienen een nieuw
en creatief element te bevatten.
Stb. 594, (1958), Hoofdstuk V.