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Synthesized Magnetic Flux Density in Three-Phase

Cage Induction Machines with
MATLAB & Simulink

W. M. Bischof1 , M. D. Hennen2 , R. M. Kennel3

1,2
Engineering eDrive, Robert Bosch GmbH Stuttgart, Germany
3
Institute for Electrical Drive Systems and Power Electronics, Technical University Munich, Germany
E-mail: Wolfgang.bischof@de.bosch.com

AbstractAn analytical model of an induction machine to  xy

d
calculate the radial magnetic ux density in the air-gap is
R
= RRixy
R (4)
dt
proposed. A transient model is required to get reliable results  M = LM (iS iR )
(5)
if inuences of inverter, sensor systems, control strategies and
fault cases are considered. This paper indicates the process to
compute the transient electromagnetic behavior of three-phase
cage induction machines using a MATLAB & Simulink model
and draws a comparison with nite element simulations.

I. I NTRODUCTION
The magnetic ux density in the air-gap of induction
machines is often specied with analytical steady-state equa-
tions and therefore steady-state results. With assistance of
MATLAB & Simulink, a model including transient effects of
inverter switching, sensors, control strategies and different fault Fig. 1: Equivalent circuit of IRTF-Model
scenarios are developed. The model is divided into calculation
of stator and rotor currents, stator and rotor magneto motive
force (mmf), the air-gap permeance with slotting, saturation,
eccentricity, as well as skew effects. The results are used to Stator magneto motive force
determine radial forces and additionally the electromagnetic
torque with its time harmonics. The paper will compare Stator and rotor currents are needed in order to calculate
and validate all results with electromagnetic nite element the stator and rotor mmf, as shown in [2] and [3]. In both
simulations (FEM). cases the amplitude and the phase angle of the currents are
needed. Equation (6) shows the stator mmf S (t, S ), which
is built with the three-phase stator currents and stator winding-
II. E QUATIONS AND M ODEL functions.
3
The model for radial magnetic ux density in the three- S (t, S ) = ISm (t)NSm (S ) (6)
phase cage induction machine has only four input parameters. m=1
Stator and rotor current vectors, rotor speed and rotor slip
frequency. All of these parameters are modeled with an ideal The winding-function per phase in (7) is calculated with a
rotating transformer (IRTF [1]) based on (1) - (5). Parameters stator conductor current icS , turn number zS and slot width bS
relating to stator, rotor or main reference system are labeled according to each stator slot marginal to the air-gap. Figure
with indices S, R or M. Leakage inductance additionally has 2 exemplies this procedure for one phase and turn number
sigma as index. Vectors in (3) and (4) with xy in superior zNS =2.
indices are in the reference system of rotor side (see Fig.  2
1). With assistance of this model, stator current iS moves i c S zS
NS (s ) = ds , with icS = 1A (7)
with stator frequency and rotor current ixy
R moves with slip 0 bS
frequency.
S
d
uS = RSiS + (1) Rotor magneto motive force
dt
 
S = M + LSiS (2) The rotor mmf R (t, S ), as shown in [3] and [4], is
 xy =
 xy LRixy (3) calculated with (8) analog to the stator mmf. On the rotor side,
R M R
the magnitude of the rotor current vector is split up into the
978-1-4799-8805-1/15/$31.00 
c 2015 IEEE current per rotor bar, with assistance of a sinusoidal function,


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considers parallel rotor cages for each spatial stator harmonics

with harmonic slips s in (13).


uS = (RS + jXS )iS + jXM, (iS + iR, ) (12)
=

s = 1 (1 s) (13)

With higher harmonics in rotor current, spatial distribution

of rotor mmf changes. Rotor current for each rotor bar k
can be calculated with (14). The resultant rotor mmf can be
accumulated, with (15), the considered rotor mmfs depending
Fig. 2: Stator winding-function for one phase on .
k 2p
IR, (t) = |iR, (t)|cos(s t k) (14)
QR

shown in (9). Parameter QR is the number of rotor bars, k the Q

R 1

considered rotor bar and s the fundamental slip. R (t, S ) = k
IR, (t)NRk (S ) (15)
Q
R 1
= k=0
k
R (t, S ) = IR (t)NRk (S ) (8)
k=0 Air-gap permeance

k 2p The air-gap permeance air can be calculated in assistance

IR (t) = |iR (t)|cos(st k) (9) of air-gap function gair , saturation coefcient ksat and vacuum
QR
permeability 0 , according to (16), as shown in [6]. Equation
(17) denes the air-gap function gair with gap as ideal air-gap
One rotor winding-function is calculated with (10) for two width, ratio of entering stator and rotor slotting, eS and eR , of
adjacent rotor bars, shown in g. 3. the magnetic ux density, as well as stator and rotor slotting
 function fS and fR (see [7]). In this case stator slotting shows
k 1 Q1R , for QR S QR a dependency of stator angle S and does not move, but rotor
NR (S ) = (10)
Q1R , rest of S slotting displaces with rotor speed.
0
air (t, S ) = (16)
ksat (t)gair (t, S )

gair (t, S ) = gap + eS fS (S ) + eR fR (t, S ) (17)

Fig. 3: Rotor winding-function for two adjacent rotor bars
To achieve (11), rotor mmf must move with same frequency
like stator mmf in the resultant air-gap magnetic ux density.
With this information, rotor mmf is shifted with electric rotor
frequency f rqelec and fundamental current in rotor bars moves
with slip frequency f rqR .
f rqS = f rqR + f rqelec (11)
With special attention on the spatial distribution of the
current in the rotor bars, a model which estimates higher orders
of rotor current harmonics [5] can be used. Equation (12)
Slotting effect
There are many ways to calculate the stator and rotor
slotting function with rectangular or sinusoidal characteristics.
Figure 4 exemplies (18) for a sinusoidal slotting function with
QS = 48 stator slots and setting displacement in height hshift
to zero. Displacement in height is needed to set teeth and slots
in right proportion.

1
sin(QS S ) hshift , for b2S S b2S
fS (S ) = 1hshift
0, rest of S
(18)
The ratio of entering stator and rotor slotting shows a strong
dependency on the slot opening width marginal to the air-
gap and can be calculated with a percentage of this width,
considered in (19). For closed slotting, ideally entering is
neglected with a percental ratio of zero.
eS , eR = 0...1bS , bR (19)


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Fig. 4: Sinusoidal slotting function for 48 stator slots Fig. 5: Ideal and calculated radial magnetic ux density

Saturation coefcient reduce the amplitude of fundamental harmonic and distorts the
Using analytical methods, saturation effects are divided saturation coefcient. Avoiding this distortion, magnetic ux
up into constant and higher order saturation parts. Regarding density marginal to one pole can be considered for constant
electrical machines operating in deep saturation (e.g. traction saturation part. After adaptation of constant saturation, higher
drives), the inuence of saturation on the magnetic ux density orders can be added to adjust the peak value. Figure 6 shows
has a signicant impact and hence can not be neglected. this procedure for k0 and k2 . Higher orders are neglected, but
Saturation parts are often calculated with a relationship of can be added advancing this method.
stator and rotor yoke mmf Vyoke , stator and rotor tooth mmf
Vtooth , as well as air-gap mmf Vair reclined to (20), shown in
[8].
Vair (t) + Vtooth (t) + Vyoke (t)
ksat (t) = (20)
Vair (t)

In the saturation model, the constant part is analogous to

saturation of the teeth, which reduces the permeance in general.
Saturation of the yokes add a third harmonic to the permeance
and weaken the radial magnetic ux density. Equation (21)
shows this circumstance for multiplication the air-gap per-
meance air directly. Higher saturation orders become even
numbers, because of composition with the mmfs [7].


ksat (t) = k0 + k2n sin(2nt + 2npS + 2n,sat ) (21) Fig. 6: Method for saturation calculation
n=1

Results with this procedure can deviate from nite element

simulations and measurements. This is reected in the calcu-
lated magnetic ux density. In order to calculate the saturation
coefcient with a more appropriate method, other procedures
are needed. Using electric loading from nite element simu-
lations, the stator mmf is calculated. Assuming an ideal air-
gap width, hence neglecting slotting and saturation, the ideal
spatial distribution of magnetic ux density is estimated. This
ideal magnetic ux density is set in quotient to the spatial
magnetic ux density distribution simulated with FEM. In this
case air is used instead of copper in the rotor slots. These two
magnetic ux densities are shown in Figure 5 for |iS |=150A.
Stator current magnitude |iS | equates in this relationship to
d-axis current in the rotor eld oriented system.
With fast fourier transform (fft), ideal and simulated mag-
netic ux densities can be disassembled into their partitions.
To calculate saturation coefcients, magnitudes of the orders
can be compared directly. With this procedure, slotting effect
Magnetic ux density
With a view on the complete radial magnetic ux density
Br,air , the air-gap permeance air [7] including stator and rotor
slotting as well as saturation effects is multiplied with the sum
of the stator and rotor mmf, shown in (22).
Br,air (t, S ) = (S (t, S ) + R (t, S ))air (t, S ) (22)
Torque calculation
In addition, using the developed model, the torque tq can
be calculated using the spatial distribution of the rotor current
IC , spatial distribution of the radial magnetic ux density in
the air-gap Br,air , the length lFe of the conductors and radius r
of the air-gap. With this components torque can be estimated


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using Lorentz force FL (23). higher order resistance and inductance. In Simulink simulation,
 third harmonic rotor current, that results from saturation, is
tq(t) = r |lFe ||IC (t, S )||Br,air (t, S )| dS (23) not implemented. In this model, Saturation effects are only
0    included in permeance.
|FL (t,S )|

III. C OMPARISON AND VALIDATION

This section shows a comparison of the magnetic ux den-
sity and the electromagnetic torque calculated with MATLAB
& Simulink with results of FEM simulations and validates
its components. The analysis is performed in the time and
frequency domain and is conducted for three operating points,
illustrated in table I.

TABLE I: Operation points for validation

Operating point (OP) 1 2 3
Speed [r/min] 1000 6000 18000
Torque [Nm] 133 48 39
Slip frequency [Hz] 6.21 3 18
Fig. 8: Analysis of rotor mmfs (OP1)
Stator and rotor magneto motive force
The spatial distribution of stator and rotor currents are used
to determine the phase shifts of stator and rotor mmf. Figure 7
shows stator and rotor mmf built with stator and rotor electric Air-gap permeance
loading from nite element simulation and stator and rotor Figure 9 shows the air-gap permeance air with all its
mmf with rotor current harmonics from MATLAB & Simulink components for one time step in OP1. The cage induction
in OP1. machine has 48 stator slots and 36 stator slots.

Fig. 7: Spatial comparison of FEM and Simulink (OP1)

Fig. 9: Air-gap permeance (OP1)

A comparison of rotor mmfs with and without rotor current

harmonics higher orders and rotor mmf from nite element
simulation is taken in gure 8 for OP1. The presentation of
stator mmf composition in frequency domain is dispensed,
because of feeding with sinusoidal stator currents.
Thus, phase shift between stator and rotor mmfs of nite
element simulation and MATLAB & Simulink is nearly the
same. Analysis of rotor mmfs show properties on slotting
harmonics are very close to FEM. Orders of slotting harmonics
are 24kQS 1 for stator side and 18kQR 1 for rotor side
(kQS , kQR = 1, 2, . . .). Simulink rotor mmf with higher orders
of current harmonics also encounters most harmonics of nite
element simulation, except third order. Magnitudes of Simulink
deviate from nite element, what attributes to differences in
The maximum values differ clearly from ideal constant air-
gap permeance of 2.1 mH/m2 . Slotting and third harmonic
order, that is built by a second harmonic per pole, change air-
gap permeance additionally. Figure 10 illustrates a comparison
between presented method, [7] and [8].
Saturation constant in [8] is multiplied with the carter
factor and increases the coefcient in addition. Third order
saturation magnitude is shown in gure 11 and it is compared
to [7]. In both pictures, saturation coefcients, calculated
by the presented method, is located beneath other methods.
In saturation calculation, considering slotted permeance, the
carter factor can be avoided and is not needed in presented
method.


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Fig. 10: Comparison of saturation constant k0
Fig. 11: Comparison of saturation magnitude third order k2
Magnetic ux density
The resultant magnetic ux density in the air-gap of
the three-phase cage induction machine is shown in spatial
distribution and beneath center of one stator tooth. Figures 12
- 14 illustrate a comparison of spatial distribution of calculated
magnetic ux density with FEM simulations and MATLAB &
Simulink for one time step and all three operating points in
the time domain.
Furthermore, the analysis in the frequency domain, con-
sidered in Figure 15 - 17, show that fundamental orders and
orders of slot harmonics of MATLAB & Simulink simulations
are very close to FEM. Magnitudes of other orders can deviate
from FEM results, but they are also in comparative dimensions.
With a special view on the radial force calculation beneath
one stator tooth, magnetic ux density is exemplary shown
and analyzed beneath center of a stator tooth. In gure 18,
magnetic ux density beneath one stator tooth is shown for
OP1 in time domain.
In order to analyze magnetic ux density beneath on stator
tooth, disassembling in frequency components is considered in
Figures 19 - 21.
The analysis beneath one stator tooth indicates the same perfor-
mance like the spatial distribution. Magnitude of fundamental
are very close to FEM. Other magnitudes of MATLAB &
Simulink results are in a comparable dimension to FEM.

Fig. 12: Spatial distribution of radial magnetic ux density
(OP1)
Fig. 13: Spatial distribution of radial magnetic ux density
(OP2)
Electromagnetic torque
In order to calculate the electromagnetic torque, the rotor
current distribution is needed. Figure 22 shows the rotor
current in OP1 for one time step. After calculating Lorentz
force and with that the resultant torque, simulation results
of MATLAB & Simulink can be compared with FEM. A
comparison in frequency domain is taken in gure 23 to get
an impression of torque components in OP1. The orders of
the MATLAB & Simulink torque according to FEM com-
pletely. Magnitudes deviate, but can be improved advancing
this model.
IV. C ONCLUSION
This paper introduces a method to analytically calculate the
magnetic ux density in the air-gap and the electromagnetic
torque of a three-phase cage induction machine, including
transient effects. The model is implemented in MATLAB
& Simulink. With assistance of this model, harmonics in
torque and magnetic ux density are simulated, analyzed and
validated using nite element method. Results in basic speed
and eld weakening are presented, using a new method to
calculate saturation coefcients. Results of the MATLAB &
Simulink model minor deviate from nite element simulations
for fundamental orders and slotting harmonics. Deviations of
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Fig. 14: Spatial distribution of radial magnetic ux density

(OP3)
Fig. 15: Analysis of spatial distribution (OP1)

remaining orders can be explained by three main effects. A

signicant inuence has an error in the phase shift between
stator and rotor mmf. In addition the rotor currents are strongly
inuenced by the harmonic parameters for resistances and
inductances of higher orders. Finally the model neglects other
harmonic effects, like the feedback of rotor current harmonics
on electromagnetic stator eld. These effects will be analyzed
in detail in future. However, the model forms the basis for
investigations of stator current harmonics and noise emissions
of induction machines through radial and tangential force
excitation.

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[3] G. Joksimovic, M. Djurovic, and J. Penman, Cage Rotor MMF: Winding Fig. 16: Analysis of spatial distribution (OP2)
Function Approach, in IEEE Power Engineering Review, 2001, pp. 64-
66, doi: 10.1109/MPER.2011.4311316.
[4] H. Henao et al., Analytical Approach of the Stator Current Frequency
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[5] A. Binder, Elektrische Maschinen und Antriebe. Berlin, Heidelberg, D:
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[6] K. C. Maliti, Modelling and Analysis of Magnetic Noise in Squirrel-
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Teubner, 1992.

Fig. 17: Analysis of spatial distribution (OP3)


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Fig. 18: Magnetic ux density beneath stator tooth (OP1) Fig. 21: Analysis of magnetic ux density beneath stator
tooth (OP3)

Fig. 19: Analysis of magnetic ux density beneath stator

tooth (OP1)
Fig. 22: Comparison of rotor mmf and rotor electric loading

Fig. 20: Analysis of magnetic ux density beneath stator

tooth (OP2) Fig. 23: Analysis of electromagnetic torque (OP1)