01026316 Electrical Machines II

(Induction Motors)

Induction Motors

3.1 (Squirrel-Cage and Wound Rotors)

3.1

3.2 (Squirrel-cage rotor)
(Wound rotor)
(Slip rings) (Brush) 3.3

3.1

3.2

3.3

.. 2555

44

01026316 Electrical Machines II

(Induction Motors)

3.4

( a , b , c ) 3.4
ns




nr
nr ns


3.5
(
nr 0 ) ns
nr ns nr

(No-load)
( )


()

.. 2555

45

01026316 Electrical Machines II

(Induction Motors)

Tor

nr

ns

3.5

s

ns

(Slip)

n s nr
ns

nr

(3-1)
rpm
(3-2)

nr (1 s) ns

1 ()
0 1

(3-3)

fr s fe

(Starting) 1

fr

fe

3.2 (Induction Motor Equivalent Circuit)

3.2.1 (Per Phase Rotor Equivalent Circuit)
3-3

sX2

sE2

I2s

X2

R2

I2s

R2
s

E2

3.6 2

.. 2555

46

01026316 Electrical Machines II

(Induction Motors)

(3-4)

X 2s s X 2

X 2s

X2

leakage reactance
(3-5)

E 2s s E 2

E 2
3.6 3.6 )

E 2s

I 2s

(3-6)

s E2
R22

(s X 2 ) 2

I 2s
3-6
I 2s

R2

(3-7)

E2

R2 s 2 X 2 2

3.6 )
3.2.2 (Per Phase Stator Equivalent Circuit)
3.7 V1 , I1 , R1 X1
(Leakage reactance)
Rc X m (Core loss resistance)
(Magnetizing reactance) 3.6 3.7
3.8 E2 , I 2 , R2 X 2

I1

R1

I2

X1
I

V1

Xm

Rc

E2

3.7
I1

R1

X1

X2

I2

I
V1

Xm

E2

Rc

R2
s

3.8
.. 2555

47

01026316 Electrical Machines II

(Induction Motors)

3.3 (Power and Torque Characteristics)

(Core loss)
3.9 I 2 , R2 X 2
3.10
R2
(1 s)
R2
R2
s
s

I1

R1

X1

(3-8)
X2

I2

I
R2
s

Xm

V1

3.9

I1

R1

X1

X2

I2

R2

I
(1 s) R
2
s

Xm

V1

3.10
3-8 3.10

R2

(1 s)
R2
s

Input
Power
Pi
3V1I1cos1

Rotor
Output
Pe
(1-s)Pg
Ter

Rotor
Input
Pg
3I22R2/s

Stator
cu Loss
3I12R1

Rotor
cu Loss
3I22R2

Output
Power
Po
Tor

Rotational
and
Core Losses
Pr

3.11

.. 2555

48

01026316 Electrical Machines II

(Induction Motors)

3.11 (Input power - electrical power)

Pi 3 V1 I1 cos 1

(3-9)

(Stator copper loss)

Pcu,1 3 I12 R1

(3-10)

(Rotor input - power across air gap)

Pg 3 I 22

R2
s

(3-11)

(Rotor copper loss)

Pcu,2 3 I 22 R2 s Pg

(3-12)

(Rotor output - electromagnetic power)

1 s
Pe Pg Pcu,2 3 I 22 R2

(3-13)

Pe Pg s Pg (1 s) Pg

(3-14)

(Electromagnetic torque)
Te

Pe

Pg

(3-15)

(Output power - mechanical power)

Po Pe Pr

(3-16)

Pr (Rotational losses)
(Output torque)
To

Po

(3-17)

3.1 2 50 Hz
2918 rpm 15.7 kW 22.6 A
R1 0.2 / phase

Pcu,1 3 I12 R1 3 (22.6)2 0.2 306.5 W

Pg Pi Pcu,1 15700 306.5 15393.5 W

ns

2918 rpm

Pcu,2 s Pg 0.027315393.5 420 W

120 f e 120 50

3000 rpm
P
2

ns nr 3000 2918

0.0273
ns
3000

.. 2555

49

01026316 Electrical Machines II

(Induction Motors)

3.2 6 440 V 50 Hz 3 %
20 kW
) ) )
)

f r s f e 0.03 50 1.5 Hz

nr (1 s) ns (1 0.03)1000 970 rpm

Pe (1 s) Pg (1 0.03) 20000 19400 W

Te

Te

Pe

19400 60
191 N m
2 970

Pg

20000 60
191 N m
2 1000

r
s

s 1.0 0
Motor region 3.12 s 1.0
1.0

(Plugging) Breaking region
3.12
(Prime mover) s
Generator region 3.12

3.12
.. 2555

50

01026316 Electrical Machines II

(Induction Motors)

3.3 6 7.5 kW, 220 V, 50 Hz

403 W R1 0.294 , R2 0.144 ,
X1 0.503 , X 2 0.209 , X m 13.25 2 %
) ) ) )
I1

R1

X1

X2

Zf

V1

s 0.02

I2

I1

R2
jX 2
s

X1

Rf

Xf

I1

Zf

R2

Xm

R1

V1

jX m

Z f R f jX f 5.41 j3.11
Z total ( R1 R f ) j ( X1 X f ) 5.70 j3.61 6.7532.3

V1

I1

220

0 1270 V

3
V1
1270

18.8 32.3 A
Z total 6.7532.3

cos (32.3 ) 0.845 lagging

120 50
1000 rpm
6

ns

nr 0.981000 980 rpm r 102.6 rad/sec

Pg 3 I 22

Pe (1 s) Pg (0.98)5736 5621 W

Te

Po Pe Pr 5621 403 5218 W

To

Pcu,1 3 I12 R1 3 (18.8)2 0.294 312 W

Pcu,2 3 I 22 R2 s Pg Pg Pe 115 W

Pe

Po

R2
3 I12 R f 3 (18.8)2 5.41 5736 W
s

s 0.02

Pg

54.78 N m

50.86 N m

s 104.7 rad/sec

Pr 403 W

Pi Po totallosses 5218 312 115 403 6048 W

Pi 3 V1 I1 cos 32.3 6052 W

Po
5218
100
100 86.3 %
Pi
6048

.. 2555

51

01026316 Electrical Machines II

(Induction Motors)

3.3
0 1.0 3.13

3.13 3.3

3.4 (Three-Phase Induction Motor Tests)

3.3

( R1 )
(No-load) (Blocked-rotor)
3.4.1 (No-Load Test)


3.14 ) V, A W
Pnl Vnl I nl
Inl
V (line)
A (line)

Three-phase
Induction
Motor

W (3-phase)

R1

X1

nr

Inl
Xm

Vnl
No-load

3.14
.. 2555

52

01026316 Electrical Machines II

(Induction Motors)

(Friction and windage) I 2 R2 ()

I 2 R1 s
( ) 3.9 3.14 )
Pr
(3-18)

2
Pr Pnl 3 I nl
R1

Pfw

(3-19)

Pcore Pr Pfw

Core-loss resistance

Rc

3 Vnl2
Pcore

Rc

3.14 )
(3-20)

X nl X1 X m

X nl

( Qnl )
Qnl

S nl 3 Vnl I nl

X nl

(3-21)

2
S nl
Pnl2

X nl

Qnl
2
3 I nl

(3-22)

Vnl
I nl

Z nl

Rnl
X nl

Vnl
I nl

(3-23)

Pnl

(3-24)

2
3 I nl

(3-25)

2
2
Z nl
Rnl

3.4.2 (Blocked-Rotor Test)

( s 1 ) 3.15 )
nr = 0

V (line)
A (line)

R1

X1

X2

I2

Three-phase
Induction
Motor

W (3-phase)

Ibl

Vbl

Xm

R2

Blocked-rotor

3.15
.. 2555

53

01026316 Electrical Machines II

(Induction Motors)

V, A W Pbl Vbl , I bl
f bl

s 1 ( ) f rated
( ) ( )

IEEE 112 25 % (
25 hp ) X bl

Qbl

S bl 3 Vbl I bl

X bl

f
X bl rated
f bl

Qbl

2
3I bl

2
3 I bl

( R2 jX 2 ) jX m
R2 j ( X 2 X m )

Xm
R1 R2 2

2
R2 ( X m X 2 )

R2 X m

(3-28)

Pbl

s 1

Z bl ( R1 jX1 )

(3-27)

Rbl
Rbl

3.9

(3-26)

2
S bl
Pbl2

Xm
Z bl R1 R2
X2 Xm

X ( R 2 X 2 ( X m X 2 ))
j X 1 m 22

R2 ( X m X 2 ) 2

Xm
j X1 X 2

X X

Xm
X bl X 1 X 2
X2 Xm

X Xm
R2 ( Rbl R1 ) 2
Xm

Xm
Rbl R1 R2
X2 Xm

X nl X1 X m

(3-30)
(3-31)
(3-32)

Xm

X 2 ( X bl X 1 )

X
1
bl
m

(3-29)

(3-33)
(3-34)

(3-20)
X X1

X 2 ( X bl X 1 ) nl

X nl X bl

(3-35)

X 2 X nl X bl X 1
X 1 IEEE 112 X 1 X 2
3.1 (Class) X 1 X 2
.. 2555

54

01026316 Electrical Machines II

(Induction Motors)

3.1

X1

X2

IEEE Standard 112

Fraction of

Motor class
A
B
C
D
Wound rotor

Description
Normal starting torque, normal starting current
Normal starting torque, low starting current
High starting torque, low starting current
High starting torque, high slip
Performance varies with rotor resistance

X1 X 2

X1

X2

0.5
0.4
0.3
0.5
0.5

0.5
0.6
07
0.5
0.5

3.4 4 7.5 hp, 220 V, 19 A, 60 Hz

C (Class C)
60 Hz V 219 V , I 5.7 A
W 380 W
15 Hz
W 675 W
V 26.5 V , I 18.57 A
60 Hz
W 20.1 kW
V 212 V , I 83.3 A
( )
0.524
) ( )
)
) Te

R1

Pr

0.524
0.262 /phase ( )
2

(3-18)
)

- Vnl 219/

2
Pr Pnl 3 I nl
R1 380 (3 5.7 2 0.262) 354.5 W

(3-21)

Qnl

(3-22)

X nl

Z nl

3 126.4 V/phase ,

2
S nl
Pnl2

Qnl
2
3 I nl

X nl

(3 126.4 5.7)2 3802 2128 VAR

2128
3 5.7 2

Vnl
126.4

22.18
I nl
5.7
2
2
Z nl
Rnl

21.83

Rnl

Qbl

2
S bl
Pbl2

Pnl
3

2
I nl

380
3 5.7 2

3.9

(22.18)2 (3.9)2 21.83

- 15 Hz Vbl 26.5 /
(3-26)

I nl 5.7 A/phase

3 15.3 V/phase , I bl 18.57 A/phase

(3 15.318.57)2 6752 520 VAR

.. 2555

55

01026316 Electrical Machines II

(Induction Motors)
f
X bl rated
f bl

(3-27) 60 Hz

Z bl

Qbl 60 520

2.01
2 15
2
3 I bl 3 18.57

Vbl
15.3

0.824
I bl
18.57

X bl

2
2
Z bl
Rbl

Rbl

Pbnl
3

2
I bl

675
3 18.572

0.652

(0.824)2 (0.652)2 0.504

60 Hz

60
X bl 0.504 2.02
15

X1 0.3( X1 X 2 ) ,

(3-35)

X1 0.429 X 2

X X1
21.83 0.429 X 2
(2.02 0.429 X 2 )
X 2 ( X bl X 1 ) nl

21.83 2.02
X nl X bl

X 2 1.48, 163.1

X 2 1.48

X1 0.635

()

X m X nl X1 21.83 0.635 21.2

(3-33)

X Xm
R2 ( Rbl R1 ) 2
Xm
0.262

j 0.635

1.48 21.2
( 0.652 0.262)
0.447

21.2

j 1.48

0.447
s

j 21.2

- 60 Hz I bl 83.3 A/phase,

ns

s 1

2
Pg Pbl 3 I bl
R1 20100 (3 83.32 0.262) 14650W

120 60
1800 rpm ,
4

Tstart

Pg

Pbl 20100W

2 1800
188.5 rad/s
60

14650
77.7 N - m
188.5

3.9 3.16
(Approximated equivalent circuit)

I1
R1
X1 + X2 I2

I

R2
3.16
V1 Xm
Rc
s


3.16
.. 2555

56

01026316 Electrical Machines II

(Induction Motors)

3.5 4 7.5 kW, 400 V, 50 Hz

V 400 V , I 4.9 A Powerfactor 0.2 lagging

V 150 V , I 20.0 A Powerfactor 0.4 lagging

nl cos1 0.2 78.5

Vnl

400

230.9 V/phase

Pnl 3 Vline Iline cosnl 3 400 4.9 0.2 678.9 W

Vnl2
230.92

235.6
Pnl 3
226.3

Rc

Xm

Vnl
230.9

48.1
I nl sin nl
4.9 0.98

bl cos1 0.4 66.4

Vbl

150

86.6 V/phase

Pbl 3 150 20.0 0.4 2078.4 W

Z bl
Rbl

X bl

0.865

j 48.1

Vbl
86.6

4.33
I bl
20.0
Pbl
3I bl2

692.8
3 202

2
2
Z bl
Rbl

1.73

Vbl sin bl
3.97
I bl

j 3.97

Vbl0
I bl 66.4

4.3366.4 1.73 j3.97

Z bl Rbl jX bl

0.865
s

235.6

Z bl

R1 R2

Rbl 1.73

0.865
2
2

3.5 (Maximum Torque Calculation)

3.16
I2

V1
2

(3-36)

R1 2 ( X 1 X 2 ) 2
s

(3-11)
3.16 R2 s
R2 s R1 j ( X1 X 2 )
R2 s
.. 2555

57

01026316 Electrical Machines II

(Induction Motors)
R2

smax ,T

(3-37)

R12 ( X 1 X 2 ) 2

smax,T

(3-38)

R2

smax ,T

R12

( X1 X 2 ) 2

(3-36) (3-11) (3-15)

(3-38)

R2
R2


( )
R2
(
R2 s ) 3.17

3.17 -

R2

3.6 3.5
)
)
smax ,T

I 2, max, T

R2
R12

( X1 X 2 )

ns

s = 1.0

R2
0.865
3 36.52
16230 W
smax, T
0.213

Pg , max, T

I 2, start

Te, start

2 1500
157.1 rad/s
60

16230
103.3 N - m
157.1

230.9

53.3 A
2

0.865

0.865
3.972
1.0

Pg , start 3 I 22, start

36.5 A
2

0.865

0.865
3.972
0.213

120 50
1500 rpm ,
4

Te, max

0.213

0.8652 3.972

230.9

Pg , max, T 3 I 22, max, T

0.865

Pg , start

R2
0.865
3 53.32
7377.3 W
1.0
1.0

7377.3
47 N - m
157.1

.. 2555

58

01026316 Electrical Machines II

Pr

(Induction Motors)

3.16

(3-39)

Pi 3 V1 I 2 cos

V1

I 2
Po 3 V1 I 2 cos 3I 22 ( R1 R2 ) Pr

(3-40)

Po
3 V1 I 2 cos 3 I 22 ( R1 R2 ) Pr

Pi
3 V1 I 2 cos

(3-41)

(3-42)

3 I 22 ( R1 R2 ) Pr

3.6 (Effects of Rotor Resistance)

R2
- 3.17
R2
()

3.18
2
(Deep-bar rotor) (Double-squirrel-cage rotor) 3.18


.. 2555

59

01026316 Electrical Machines II

(Induction Motors)

( )


(Top bar) (Bottom bar)

-
NEMA 4
A, B, C D 3.19
A :

B :

C :
D :

3.19 -
NEMA
3.19
- A
2
(< 0.20) 5 8

- B
(
) (< 0.05)
A

.. 2555

60

01026316 Electrical Machines II

(Induction Motors)

- C
B
A B (Compressor)
(Conveyer) (Crusher)
- D



(Intermittent) (High
impact load) (Punch press) (Shear)
(Flywheel)

3.7 (Starting of Induction Motors)

Ims

R1

X1

X2

( s 1 ) 3.20

( )

2
(Direct) (Reduced-voltage)

I2

R2

Vl

3.20

3.20
I ms

V1

Zs

V1

R1 R2 X1 X 2 2
2

(3-43)

(3-13) (3-15)
I
Ts
ms
Tfl
I fl

sfl

(3-44)

Ts Tfl , I fl sfl
( I ds ) ( 5-8 )

( 10 )

1) (Stator-impedance starting)



.. 2555

61

01026316 Electrical Machines II

(Induction Motors)

2) (Autotransformer)

1 ( Vs )
x ( Vs xV1 ) ( I ms ) ( Ts ) x 2
80 %
( V1 )
(AC voltage controller) (Soft start)
3) - (Star-delta starting)

( I s ) 1 3
1 3

3.7 ( I ds ) 6
0.05 ( I s ) ( Ts )
(pu)
)
) ( I ms ) 2 p.u.
) ( I ms ) 2 p.u.
) -
)

I s I ds 6 pu

Ts 62 0.05 1.8 pu

I s 2 pu

Ts 22 0.05 0.2 pu

Vs x V1

I ms 2 pu ,

I s x I ms

I ms x I ds

I ms
2
1

I ds
6
3
1
2 0.67 pu
3
2

1
I s x 2 I ds 6 0.67 pu
3

Ts 22 0.05 0.2 pu

) -

Is

1
1
I ds 6 2 pu
3
3

Ts

1 2
6 0.05 0.6 pu
3

.. 2555

62

01026316 Electrical Machines II

(Induction Motors)

3.8 (Speed Control of Induction Motors)

(Slip)

nr (1 s) ns 2



1)
2:1
3.21 ) 4
3.21 ) 2
a
S

-a
N

a'

- a'

S Stator
Rotor

) 4
a

-a

a'

- a'

Stator
Rotor

) 2
3.21
2)
3.22

3.23


(3-45)

V1
4.44 N ph Ac Bm k m Bm
f
Potential Control
AC
Source

Controlled
Rectifier

Frequency Control

Filter

Inverter

Induction
Motor

3.22

.. 2555

63

01026316 Electrical Machines II

(Induction Motors)
f1 < f2 < f3 < fo
Load line

Torque

fo
f3
f1

Speed

f2

s1 s2

s3

so

3.23
3)



3.24

3.24
4)

R2
- 3.25
3.17

3.25


-

-
-

.. 2555

64

01026316 Electrical Machines II

(Induction Motors)

(Over current) (Short-circuit current) (Over voltage)
(Under voltage) (Circuit breaker CB) (Fuse)
(Overload relay)

3.9 (Single-Phase Induction Motors)

1.3.1
(Forward and backward field) (1-9)
(1-10)
3.26




2 4
5 H.P. (3.7 kW)


3.26 -
3.9.1 (Spilt-Phase Motor)
(Starting winding) (Main
winding) 90
3.27 )
(Low resistance) (High
reactance)

3.27 ) (Starting torque)
Tstart I m I s sin

(3-46)

I m I s I m I s
.. 2555

65

01026316 Electrical Machines II

(Induction Motors)

V
V

Main
Winding

Im

Is

Is
Rotor
Centrifugal
Switch

Im

Starting
Winding

)
3.27

3.9.2 (Capacitor-Start Motor)

(Capacitor) 3.28 )
90 3.28 ) ( 3-46)
Is
V

Main
Winding

Im

Capacitor

Is
Rotor

Centrifugal
Switch

Starting
Winding

I
Im

3.28
3.93 (Shaded-pole Motor)
( 50 W)
2 3.29 2
(Shading coil)

3.29
.. 2555

66

01026316 Electrical Machines II

(Induction Motors)

3.8 250 W, 120 V, 50 Hz

Zm 4.5 j3.7 Z s 9.5 j3.5

m tan1

3.7
39.6
4.5

3.5 X c
1.21
9.5

Xc

Xc

s 39.6 90 50.4

tan 1

3.5 X c
50.4
9.5

X c 15

1
212 F
2 50 15

3.1

480 V, 50 Hz, 4 0.025

) ) )
) 1500 rpm ) 1463 rpm ) 1.25 Hz

3.2

60 Hz 596 rpm 560 rpm

) ) ) 12 ) 6 %

3.3

1500 rpm
0.03
1495-1498 rpm, 1455 rpm

3.4

12 kW, 208 V, 50 A, 50 Hz, 2880 rpm, 2

) ) ) 0.04 ) 39.79 N-m

3.5

4 1470 rpm 0.02

8
750 rpm

3.6

3.5 kW, 220 V, 15 A, 50 Hz, 1430 rpm, 4

84.5 %
) ) )
) 23.37 N-m ) 642 W ) 0.7246 lagging power factor

3.7

50.1 N-m 380 V, 50 Hz, 2860

rpm, 0.75 lagging power factor, 2 80 %
38 A
.. 2555

67

01026316 Electrical Machines II

(Induction Motors)

3.8

20 hp, 440 V, 60 Hz, 2 6 %

220 W 200 W
) ) ) )
) 3384 rpm ) 14920 W ) 42.1 N-m ) 43.3 N-m

3.9

3.3
1.5 %
1182 rpm, 3932 W, 85.3%

3.10 15 hp, 208 V, 60 Hz, 4 , Y

500 W R1 0.21 , R 2 0.137 , X 1 0.442 , X 2 0.442 ,
) (line)
X m 13.2 0.05
) Pg ) ) )
) 40 A ) 11880 W ) 63 N-m ) 60.2 N-m ) 83.6 %
3.11 10 hp, 220 V, 60 Hz, 6 , Y
R1 0.3 , R 2 0.15 , X 1 0.5 , X 2 0.2 , X m 15
)
) I 2
) 175.8 N-m, 0.202, 958 rpm ) 81.8 N-m, 151.2 A
3.12
) Universal Motor ) Synchronous Reluctance Motor ) Hysteresis Motor

1.

Stephen J. Chapman, Electric Machinery Fundamentals, 4th McGraw-Hill Book Co., 2005.

2.

A. E. Fitzgerald, Charles Kingsley Jr., Stephen D. Umans, Electric Machinery,

McGraw-Hill Book Co., 2003.

3.

Jimmie J. Cathey, Electric Machines: Analysis and Design Applying MATLAB,

McGraw-Hill Higher Education, 2001.

4.

Bhag S. Guru, Electric Machinery and Transformers, Oxford University Press, 2001.

5.

Donald V. Richardson, Arthur J. Caisse Jr., Rotating Electric Machinery and Transformer Technology,
Prentice Hall, 1997.

6.

Mulukutla S. Sarma, Electric Machines, West Publishing Co., 1994.

.

.. 2555

68