Modeling and Analysis of Cage Induction Motors
under Rotor Misalignment and Air Gap Eccentricity
Homayoun Meshgin Kelk Alireza Eghbali
Electrical Engineering Department
Tafresh University of Technology
Tafresh, Iran
meshgin@taut.ac.ir
Abstract— Air gap asymmetry exists in all electric machines. This
asymmetry creates unbalanced magnetic forces that act both on
the rotor and the stator of the machine. Bearing damages and
excessive vibration and acoustic noise could be traced to these
forces. In this paper, modeling of squirrel cage induction motor
under different air gap asymmetries is presented. Transient and
steady state unbalanced magnetic forces at the two ends of the
rotor are studied. Using the magnetic equivalent circuit method
(MEC) for the modeling of induction motor, the most important
factors affecting dynamic behavior of induction motors are also
considered. Experimental results are provided to validate
theoretical findings.
Keywords: induction motor; rotor misalignment; air-gap
eccentricity, transient unbalanced magnetic force, magnetic
equivalent circuit.
I. INTRODUCTION
Although most of the previous works are focused on static,
dynamic, and mixed air gap eccentricities, the authors believe
that the rotor misalignment always occurs to some extent due to
the need to allow some tolerances in during the manufacturing
process of the machine. In addition, the existence of static or
dynamic air gap eccentricity together with the rotor
misalignment is more probable faults than individual faults in
induction motors. In the two types of air-gap eccentricities, i.e.,
the static and dynamic, the rotor axis is not exactly located on
the stator axis. In fact, the axis of rotation is the rotor axis in
the static air-gap eccentricity; yet, it is not in dynamic air-gap
eccentricity. Simultaneous static and dynamic air gap
eccentricities called mixed eccentricity and rotor misalignment
are also common air gap asymmetries in the motor structures.
These air-gap asymmetries produce unique signature patterns
in the stator current [1-6]. Furthermore, they create unbalanced
magnetic forces that act both on the stator and on the rotor of
motor that lead to mechanical vibration of the motor frame.
Previous works done by many researchers have mostly focused
on the analysis of air gap asymmetry and unbalanced magnetic
pulls by analytical models [7-10]. Nonlinear behavior of the
magnetic field, complex geometry of induction motor, and
combination of different air gap asymmetries lead to some
simplifications in the analytical models. Considering
simultaneous skew and slot effects, magnetic saturation, and
different air gap eccentricities, is really a difficult task. In this
paper, a dynamic model to study all types of air-gap
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Hamid A. Toliyat
Department of Electrical Engineering
Texas A&M University
College Station, Texas 77843-3128
toliyat@ee.tamu.edu
eccentricities and their combination is presented. The transient
and steady state unbalanced magnetic forces of induction motor
are studied. Analysis is based on the magnetic equivalent
circuit approach that considers most important factors affecting
the motor behavior. Experimental results are also provided to
support the analysis.
II. MODELING OF THE AIR GAP
A rotor misalignment fault is shown in Fig. 1. The air gap
length is a function of the rotor angle and the position along the
axial dimensions. Fig.1 (a) depicts a pure misalignment fault
and Fig.1 (b) illustrates a simultaneous static air gap
eccentricity and rotor misalignment faults. To formulate both
faults, we need to model the machine in a 3-dimensional space.
Figure 2 shows a part of an unskewed rotor having some
degree of misalignment fault. The rotor is divided into 4 layers.
Each layer has some radial displacement with respect to the
neighboring layers. Rotor bars are shown with solid black lines
and the rotor core and the rotor teeth are shown with white
color. The air gap length in different layers is dependent on the
axial position of the layers, but in each layer it is assumed to be
constant.
Stator
Roto
Stator
Roto
Figure 1. Side view of an induction motor. (top) Pure rotor misalignment
fault, (Bottom) Simultaneous static air gap eccentricity and rotor
misalignment fault.
Fig. 3(a) shows the cross sectional view of each layer of the
Fig. 2. A few stator and rotor teeth around the air gap of the
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machine are shown. At a time, each stator (rotor) tooth can Based on the geometric dimensions defined in Fig. 4(b), the
face a few rotor (stator) teeth. Fig. 3(b) shows the crossing air permeance of this flux tube can be calculated as:
gap flux from a stator tooth to a rotor tooth.
W
l ( x)dx
G= ∫ µ ( x) g ( x)
(1)
0

where, the g(x) dimension is parallel to flux line directions

and l(x) and x are dimensions perpendicular to the flux line
directions. µ is a constant and l(x)=L. Therefore,
Figure 2. A layered rotor.
W
Since the length of air gap between each two stator and dx
rotor teeth is much smaller than each tooth width, a trapezoidal
G = µ .L. ∫ g ( x) (2)
flux tube such as shown in Fig. 4(a) and (b) can be imagined 0
for each two stator and rotor teeth.
Based on Fig. 4, the function g(x) is obtained as:
Stator
tooth

Stator g − g1
winding g ( x) = g1 + 2 x (3)
W

Air gap By substituting g(x) in (1) and defining m and n as,

g 2 − g1
Rotor m= , n = g1 (4)
Rotor tooth W

Stator tooth We obtain

W
µ .L  d (mx + n ) 
Air gap
Flux line
G=
m ∫  mx + n 
 (5)
0
Rotor tooth

and by integrating the above equation,

Figure 3. (Top) A cross section of an induction motor, (Bottom) Crossing air

gap flux from a stator tooth to a rotor tooth. µ .L
G= (ln(mx + n)) (6)
m

L Under air gap asymmetry, modeling of the permeance

function between a stator tooth and a rotor tooth needs special
g1 g2 attention.

W III. SIMULATION OF INDUCTION MACHINE

W Construction of system of algebraic equations is the most
important part of the proposed method in this paper. A three-
L dimensional unsaturated and a two-dimensional saturated
x
magnetic equivalent circuit method (MEC) [10], are used for
g1
0
g(x) g2 analysis.

dx
Based on the permeance function derived in (6), radial
magnetic force between the stator tooth i and the rotor tooth j
is calculated as:
Figure 4. A trapezoidal flux tube between each two stator and rotor teeth

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 dGij start up, due to high starting current the motor core saturates.
ij
f iump = (u i − u j ) 2 . (7) Therefore, unbalanced magnetic force in motor start up is
dr completely dependent on core saturation and slot leakage
permeance.
where ui and uj are the magnetic potentials of the stator tooth i
and the rotor tooth j, respectively. dGij/dr is derivative of the air
gap permeances Gij with respect to the radial coordinate r. IV. SIMULATION RESULTS
Using the three-dimensional model, a three-phase 3 hp
Because the radial magnetic force between each two stator induction motor was simulated. In this model under rotor
and rotor teeth is directly dependent on this derivative, precise misalignment fault, the radial force varies along the axial
modeling of the air gap permeance function is very important. dimension of rotor. Therefore, the radial force may differ at the
The resultant radial force is the vector summation of each two ends of the rotor bearing. The rotor was divided to 4
radial force acting on each tooth. This force can be expressed layers. One end of the rotor was adjusted at zero air gap
as sum of its components in the Cartesian coordinates. If x and eccentricity and the other end at 30% air gap eccentricity.
y are the horizontal and vertical axes, respectively, the Therefore, a simultaneous static eccentricity and rotor
components of radial force can be calculated as: misalignment was simulated.
The plots in Fig. 5 show the unbalanced magnetic force in a
ns nr Cartesian coordinates at the end of the rotor with 30% air gap
dGi, j  2π 
Frx = ∑∑ Fi2,j
dr
cos (i − 1) 
 ns 
(8) eccentricity. As will be seen later, these simulation results
i =1 j =1 differ from the experimental results shown in Fig. 10.

ns nr
dGi, j  2π 
Fry = ∑∑ Fi2,j dr
sin (i − 1) 
 ns 
(9)
i =1 j =1

Fi,j denotes the MMF drop on the permeance Gij. Hence, the
total radial force is

Fr = Frx2 + Fry2 (10)

that acts on the angle δ with respect to the x axis,

 Frx 
δ = tan −1   (11)
 Fry 
 

A. Three-dimensional modeling
In a three dimensional magnetic equivalent circuit method,
the rotor is divided into na layers in axial direction. To simulate
rotor misalignment, each layer of the rotor is assumed to have
some radial displacement with respect to the neighboring
layers. Therefore, some level of static air gap eccentricity is
considered for each layer of the rotor. Node potential equations
for this model are given in [9].
B. Two-dimensional modeling considering saturation
To consider simultaneous effect of saturation and slot
leakage permeance on the unbalanced magnetic forces we have
used a two dimensional magnetic equivalent circuit method.
Node potential equations for this model are given in [10].
Tooth saturation increase tooth reluctances. Therefore more
fluxes leak through the slot leakage permeances. Magnetic
potentials in stator and rotor teeth decrease that lead to lower
magnetic force between stator and rotor teeth. During the motor
Figure 5. Fig. 5 Transient and steady state unbalance magnetic forces
obtained from simulation, Top : in Y-axis direction, Middle: in X-axis
direction, Bottom: Resultant force.
The plot in Fig. 6 show the resultant unbalanced magnetic
force obtained from a simulation considering both tooth
saturation and slot leakage effects using a two-dimensional
modeling. This result has better agreement with the lower plot
in figure 10. It is concluded that saturation and slot leakage
permeance has significant effects on the unbalanced magnetic
forces acting on the rotor bearing. Therefore, it is necessary to
consider these effects in the modeling.
Simulation results show that the transient unbalanced
magnetic force is very dependent on the length of the air gap.
However, it has little effect at the steady state. During the
motor start up, due to high starting current the motor core

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saturates. Core saturation corresponds to larger air gap length.
Therefore, the transient unbalanced magnetic force considering
saturation must be much lower than when saturation is not
considered.
On the other hand, under rotor misalignment fault, the
electromagnetic torque is higher with respect to the healthy
condition. Figure 7 shows the speed-time curve for a healthy
and a faulty motor. These plots are obtained from a three
dimensional modeling. It is seen that first overshoot in speed
curves in faulty case occurs sooner than healthy case.
the rotor was adjusted to have a 30% air gap eccentricity. This
situation presents simultaneous static and rotor misalignment
faults. Fig. 9 shows the output voltage of the AD620 amplifier
for this fault under no load start-up and Fig. 10 shows the
corresponding radial magnetic forces in x and y directions and
the resultant force.
Y axis

Motor
bearing
X axis
Motor
shaft

Strain gauge

Figure 6. Fig. 6 Transient and steady state unbalance magnetic forces

obtained from simulation (Resultant force) considering saturation and leakage
effects.

Figure 8. Method of measuring radial forces in the x and y directions.

Figure 7. Speed – time curve in start up from simulation for a healthy motor
and a faulty motor with 30% rotor misalignment.

V. EXPERIMENTAL SETUP
The experimental investigation was carried out to verify the
presented model and simulation results. Transient and steady
state unbalanced magnetic forces were analyzed. A three-phase
3 hp 4-pole motor was used for the experiments. Its air gap was
increased from 0.3 mm to 1 mm to prevent stator and rotor rub.
The stator was mounted on a test bed and the rotor bearings at
the two ends of the motor was separately mounted on four short
length of steel such as shown in Figure 8. The unbalanced
magnetic forces were measured by a set of four strain gauges
mounted on these steels. They are arranged 90 degrees apart
Figure 9. Output voltage of AD620 amplifier under a 30% rotor
around the shaft so that the radial unbalanced forces in a
misalignment at one end of the rotor.
Cartesian coordinates can be measured.
A precision bridge transducer such as the one shown in Fig. As was mentioned before, under rotor misalignment fault
8 is used to generate the output signals as a function of input the electromagnetic torque is higher with respect to the healthy
force to the steel. The output terminals of each strain gauge are condition. Fig. 11 shows the speed variations for an on line
fed to the inputs of AD620 amplifier. Then the output of starting of induction motor under healthy and 30% rotor
AD620 amplifier is fed to a digital oscilloscope to save the misalignment. First speed overshoots is at 21 msec for
data. misalignment fault whereas this is 23.9 msec for healthy
condition. This shows that the generated electromagnetic
Using the MATLAB program, the saved data are used to torque is higher in faulty case. But as the simulation results
calculate the transient and steady state unbalance magnetic show, this condition is not true for high level of rotor
forces. One end of the rotor was adjusted so that there was misalignment.
negligible air gap eccentricity at that end; and the other end of

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Figure 10. Transient and steady state unbalance magnetic forces using the
outputs of Fig. 8 in MATLAB program under no load condition , Top : Y-axis
direction , Middle: X-axis direction, Bottom: Resultant ,force.
Figure 11. Speed variations curves for an on line starting of induction motor
under healthy (Top) and 30% rotor misalignment (Bottom). The
electromagnetic torque for faulty case is higher with respect to the healthy
condition.
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VI. CONCLUSION
In this paper, a 3-dimensional unsaturated and a 2-
dimensional saturated modeling of cage induction motor under
air gap asymmetry and rotor misalignment were presented.
Transient and steady state unbalanced magnetic force at the
two ends of the rotor were studied. Teeth saturation and slot
leakage permeance affects considerably on dynamics of
unbalanced magnetic forces. Existence of rotor misalignment
affects on transient startup of the motor. It is shown that the
magnetic equivalent circuit approach is a suitable method to
study the motor behavior under rotor misalignment. The
theoretical findings verified by the experimental results.
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