Induction Motor

• Why induction motor (IM)?

- Robust; No brushes. No contacts on rotor
shaft
- High Power/Weight ratio compared to Dc
motor
- Lower Cost/Power
- Easy to manufacture
- Almost maintenance-free, except for
bearing and other mechanical parts

• Disadvantages
- Essentially a “fixed-speed” machine
- Speed is determined by the supply
frequency
- To vary its speed need a variable
frequency supply (which is not possible
with fixed TNB supply)

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 Variable-speed IM drives
• Motivation for variable-speed AC drives:
- Inverter configuration improved
- Fast switching, high power switches
- Sophisticated control strategy
- Microprocessor/DSP implementation

• Applications
- Conveyer line (belt) drives
- Roller table
- paper mills
-Traction, electric vehicles
- Elevators, pulleys
- Air-conditioning
- Any industrial process that requires variable-
speed operation
• The state-of-the-art in IM drives is such
that most of the DC drives will be replaced
with IM in future.
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 Torque production (1)
• Only “squirrel-cage” IM (SCIM) is
considered in this module

• Neglecting all harmonics, the stator

establishes a spatially distributed magnetic
flux density in the air-gap that rotate at a
synchronous speed, ω1 :
ωe
ω1=
p

where
ω e : supply frequency (in Hz)
p: pole pairs (p=1for 2 pole motor, p=2
for 4 pole motor etc)

• If the rotor is initially stationary, its

conductor is subjected to a sweeping
magnetic field, inducing rotor current at
synchronous speed

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 Torque production (2)

• If the rotor is rotating at synchronous

speed (i.e. equals to f1), then the rotor
experience no induction. No current is
induced in the rotor.
• At any other rotor speed, say wm, the
speed differential ω1-ω2 creates slip.
Per- unit slip is defined as:

ωms−ω m ωe
s= ; ω1 =
ωms p
where :
ω e : supply frequency
ω m : rotor frequency
p : pole pair
ωsm : Synchronous speed

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 Torque production (3)

• Slip frequency is defined as: ω2=ω1-ωm.

• When rotor is rotating at ωm., rotor current

at slip frequency will be induced.

• The interaction between rotor current and

air-gap flux produces torque.

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 Single-phase equivalent
circuit (SPEC)
R1 L1 1:nS
L2

V1 Rm Lm Vm
V2 = nSVm R2

STATOR SIDE ROTOR SIDE

R1 :Stator resistance
L1 : Stator leakage inductance
R2 : Rotor resistance
L2 :Rotor leakage inductance
Lm :Magnet inductance
V1:Supply voltage

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 SPEC, referred to stator
I1 R1 L1 I2 L2

V1 Rm Lm R2
S

• From previous diagram, SPEC is a dual

frequency circuit. On the stator is ω1 and
on the rotor ωm

• Difficult to do calculations.

• We can make the circuit a single frequency

type, by referring the quantities to the
stator

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 Rotor current
If E1 is the back EMF in the stator phase, then
the back EMF in an equivalent rotor phase with
the same effective turns ratio will be E 2 where :

E2 = sE1

At standstill, i.e when ω m = 0,

E2 = sE1 = 1E1 = E1

At synchronous speed, i.e when ωm= 1,

E2 = (0)E1 = 0

Hence the current in the rotor phase,

E2 sE1
I2 = =
R2 + jsX 2 R2 + jsX 2
E1
=
R2
+ jX 2
s
Note that the quantities are now referred to
the stator, but with the rotor resistance alteration

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 IM Performance calculation
using SPEC (1)
I1 R1 L1 I2 L2

V1 Rm Lm R2
S

Input Power : Pin = 3V1I1 cos ϕ

Note : V1 and I1 must be phase voltage and current

Stator copper loss : Pls = 3I12 R1

3 V12
Core loss : Plc =
Rm
3I 2 2 R2
Power across the air - gap : Pg =
s
= Pin − Pls − Plc
Rotor copper loss : Plr = 3I 2 2 R2

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Performance calculation (2)
Gross output power :
Po = Pg − Plr
3I 2 2 R2 2
2 3I 2 R2 (1− s)
= − 3I 2 = = Pg (1− s)
s s
Power at the shaft :
Psh = Po − PFW ; PFW : friction and windage loss.

Developed (electromagnetic) torque :

Po 3I 2 2 R2 (1− s)
Te = =
ωm sω m

Since
ω −ω
s = ms m ⇒ ω m = (1− s)ωms ,
ω1
3I 2 2 R2
∴ Te =
sωms
ω
But ωms= e ; ω e is the supply frequency.
p
Then,
3 pI 2 2 R2
⇒ Te =
sω e
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 Example calculation
• A single phase equivalent circuit of a 6-pole SCIM
that operates from a 220V line voltage at 60Hz is
given below. Calculate the stator current, output
power, torque and efficiency at a slip of 2.5%. The
fixed winding and friction losses is 350W. Neglect
the core loss.

I1 R1 X1 I2 X2

0.2Ω 0.5Ω 0.2Ω

V1 Xm R2
20Ω 0.1Ω

V1 = 220V line-to line ÷ 3

220V
= = 127V
3
= 2.5% = 0.025

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 Calculation (solution)
X1 = 0 5Ω, X2 = 0 2Ω, Xm = 20Ω
R2
Zin = (R1 + jX1 ) + jXm // + jX2
s
01
+ j0 2
= 0 2 + j0 5 + j20 0 025 = 4 2∠ 20 o Ω
01
+ j0 2 + j20
0.025
V 220 3
I1 = 1 = = 30 0∠ − 20 o A
Zin 4 2∠ 20 o
Pin = 3V1I1 cosϕ = 3(220 3)( 30)(cos 20 o )
= 10,758W
Pls = 3I12 R1 = 3(30 2 )(0 2) = 540W
Power transferred to rotor (neglecting core loss)
Pg = Pin − Pls
=10 7, 58 − 540 = 10,216W
Gross power
Po = Pg (1− s) = 10,216(1− 0 025) = 9 9, 61 W
Power at the shaft
Psh = Po − PFW = 9 9, 61− 350 = 9,611W
Output power 9611
Efficiency = = = 89 3%
Input power 10758
Electromagnetic Torque
P Po 9611
Te = o = =
ω m (ω e1 p) (1− s) 2π (60 / 3) 1( − 0 025)
= 78 4N m 12
 Starting current
• For the previous example, Calculate the stating
current when motor is first switched on to rated
applied voltage.

Solution :
At standstill, s = 1
Zin = 0.2 + j0.5 + j20 0.1+ j0.2
0.1+ j0.2 + j20
= 0.76 Ω
V 220 3
I1 = 1 = = 167A
Zin 0 76

Note that the starting current is about 5 times than

full load current.
This is common for induction motors.Care should be
taken when starting induction motors.

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 Approximate SPEC

+
R1 L1 L2

LM R2
V1
s

Since Lm is large, the circuit above can be drawn

V1
I2 =
R2 2
R1 + +ω12 (L1 + L2 )2
s
Power at the rotor (per phase),
R
Po = I 2 2 2
s
Electromagnetic (developed) torque,
3Po 3R2V12
Te = =
ω1 R2 2
sωms R1 + +ωms2 (L1 + L2 )2
s

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 Single (fixed supply)
frequency characteristics (1)
For a give frequency ω1 , the torque (versus slip)
characteristics can be shown as below.
Note that :
ωms−ω m
s= ; at standsill s = 1, at sync speed, s = 0
ωms

TORQUE(+)
ωe ωe
ωe MOTORING
ωm ωm ωm
Tem
PLUGGING (max torque or GENERATING
pull-out torque)

Tes (starting torque) zero slip

ω(sync.speed)
e
0 unity slip SPEED
(standstill) rated slip

SLIP,s
TORQUE(-)

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 Single frequency
characteristics (2)

CURRENT TORQUE

operating point
EFFICIENCY (rated torque)

POWER
FACTOR
rated current

rated slip
SLIP
0
1.0
Standstill synchronous speed

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 Single (fixed) frequency
characteristic
• As slip is increased from zero
(synchronous), the torque rapidly reaches
the maximum. Then it decreases to
standstill when the slip is unity.

• At synchronous speed, torque is almost

zero.

• At standstill, torque is not too high, but the

current is very high. Thus the VA
requirement of the IM is several times than
the full load. Not economic to operate at
this condition.

• Only at “low slip”, the motor current is low

and efficiency and power factor are high.

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 Typical IM Drive System

−
IDC
+
VDC

− IM

Modulation Index,

IM

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 Variable speed characteristics
• For variable speed operation, the supply is
an inverter.

• The frequency of the fundamental AC

voltage will determine the speed of IM. To
vary the speed of IM, the inverter
fundamental frequency need to be
changed.

• The inverter output frequency must be kept

close to the required motor speed. This is
necessary as the IM operates under low
slip conditions.

• To maintain constant torque, the slip

frequency has to be maintained over the
range of supply frequencies.

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 Variable voltage, variable
frequency (VVVF) operation
• In order for maximum torque production,
motor flux should be maintained at its
rated value.
Φ = Φ m sin ω1t
But the back emf is :
dΦ
e1 = N = Nω1Φ m cosω1t
dt
In RMS,
1
E1 = Nω11Φ m = 4.44 f1 N1Φ m
2
E1
or = 4.44N1Φ m
f1
Therefore, in order to maintain the motor flux,
the (E1 f1 ) ratio has to be kept constant.
This is popularly known as the constant Volt/Hertz
operation

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 Constant Torque region
• Hence for VVVF operation, there is a need
to control the fundamental voltage of the
inverter if its frequency (and therefore the
frequency of the IM) need to be varied.

• To vary the fundamental component of the

inverter, the MODULATION INDEX can
be changed.

• The rated supply frequency is normally

used as the base speed

• At frequencies below the base speed, the

supply magnitude need to be reduced so as
to maintain a constant Volt/Hertz.

• The motor is operated at rated slip at all

supply frequencies. Hence a “constant
torque” region is obtained.

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 Variable speed operation

TORQUE(+)
f1 f f1 > f 2 > f 3 > f 4 > f 5
2
f3
f4
f5
rated torque

0
SPEED
rated slip
SLIP,s

TORQUE(+) rated torque

0 SLIP,s SPEED

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 Constant Power region

• Above base speed, the stator voltage

reaches the rated value and the motor
enters a constant power region.

• In this region, the air-gap flux decreases.

This is due to increase in frequency
while maintaining fixed voltage.

• However, the stator current is maintained

constant by increasing the slip. This is
equivalent to field weakening mode of a
separately excited DC motor.

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 Constant Power region

TORQUE(+)

rated torque

SLIP,s SPEED
Base speed
TORQUE(+)

"FIELD WEAKENING"
CONSTANT TORQUE
REGION

0 SLIP,s Base speed SPEED

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 VVVF Summary

CONSTANT TORQUE CONSTANT POWER

Electromagnetic torque,eT

Terminal (supply)
voltage, V1

slip frequency,fs

slip,s
0 Base speed SPEED

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