Electrical Machines and Drives II

Section 3.1 - Induction motor drives

3.1.1. Introduction
The AC induction motor is by far the most widely used motor in the industry. Traditionally, it
has been used in constant and slowly variable-speed (or adjustable-speed) drives applications
which do not cater for fast dynamic processes. Processes with fast dynamic response of medium
power range (a few hundred kW) have traditionally been driven by brushed DC motor drives. At
the low power end, brushless PM DC and AC motor drives have become attractive alternatives
to brushed DC motor drives. Due to recent developments of several new control technologies,
such as vector (indirect rotor flux oriented) and direct torque controls, induction machines are
now-a-days also applied in highly dynamic applications. The underlying reason for this is the
fact that the cage induction motor is much cheaper and more rugged than DC or the PM AC
motor. For these reasons, the adjustable-speed induction motor drive still is the main workhorse
in industry.

This section starts with induction motor drives which fall into the adjustable-speed drives
category. The control of these drives is based on the steady-state equivalent circuit of the
induction motor. It may be noted here that the dynamic performance (such as acceleration and
deceleration) of this motor can not be addressed by these steady-state representations.

5.1.2. Recap using the steady-state equivalent circuit

The underlying principle behind the operation of an induction motor is the concept of rotating
magnetic field produced by the three-phase AC currents in the space distributed stator windings.
In the steady-state, with sinusoidal supply at a fixed frequency f1, the speed of this rotating field
is given by

f1
N syn1  rev/sec (3.1.1)
p

2 f1 1
syn1   mechanical rad/sec (3.1.2)
p p

where f1 is the supply frequency and p is the number of pole pairs. For balanced three-phase
supply and distributed stator windings the air-gap field is distributed sinusoidally along the
periphery of the rotor and will cause sinusoidal voltages to be induced in the rotor windings
when the rotor rotates at a constant speed Nrot1. The consequent currents that flow in the rotor
circuit develop the torque that drives the rotor such that it tries to follow the revolving field. In
doing so it tends to minimise the voltages that are induced in it – a well known effect postulated
by Lenz.

If the magnetic flux linkage with a stationary winding is represented by   m cos 2 f1t , it
Nd 
induces a voltage e    2 f1 N sm sin 1t  where Ns is the number of turns of the
dt
winding, and f1 is the frequency of the flux linkage with the stationary winding. In terms of RMS
value, E  4.44N s f1m .

Induction motor Drive Kenneth (ECE,,MUK)

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In the case of the induction motor, the rotor follows the air-gap flux with a speed which is
slightly lower than the speed of the revolving field. The difference between the two speeds is the
slip speed. The effective rate of flux linkage of the rotor circuits is reduced due to the slip. This
slip is defined by

N syn1  N rot1 syn1  rot1

s  (3.1.3)
N syn1 syn1

where Nrot1 and rot1 are rotor speeds in mechanical rev/sec and rad/sec, respectively.

Just as the air-gap field speed rev/sec is expressed by N syn1  f1 / p , similarly, the rotor speed
may also be given by N rot1  f 2 / p rev/sec, where f2 is rotor speed in Hz. It can be easily
shown that

sf1  f1  f 2  f r (3.1.4)

It should be obvious that sf1 , not f2, is the frequency fr of the induced voltages and currents in
the rotor circuits. The magnitude of the voltage induced in the rotor is also dependent on slip s –
it being of zero amplitude and frequency when the rotor rotates exactly at synchronous speed
and of maximum amplitude and frequency (f1) when the rotor is at standstill. Thus

E2  sE2 s tan dstill (3.1.5)

3.1.3 The steady-state equivalent circuit

The rotor circuit per-phase in the steady-state (at constant frequency) can be represented as

I2 sX2 I2 X2 I2 R 2 X2

R2 R2 1 s
sE2 R2 E2 s E2
s

(a) (b) (c)

Figure 3.1.1. Rotor equivalent circuits

The rotor representation when combined with the stator gives the total per-phase equivalent
circuit of figure 3.1.2. Note that all rotor parameters have now been referred to the stator, taking
into account the turns ratio between the stator and rotor. Thus, R2'  a 2 R2 , X 2'  a 2 X 2s tan dstill ,
I2
E1  aE 2 s tan dstill  E 2' and I 2'  where ‘a’ is the stator-rotor turns ratio. The subscript
a
‘standstill’ has been dropped in the equivalent circuit of figure 3.1.2, and henceforth, for the sake of
brevity.

. Induction motor Drive

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I2
I 2'  R 2' X 2'
I1 R 1 X1 a A

Ic Im R2'  1  s 
V1 E1  aE2  E2'
Rc Xm s
A’

Figure 3.1.2. The exact per-phase equivalent circuit

The Rc/Xm branch of an induction motor representation can not be moved to the input terminals
of the circuits, as can be done for a transformer, without significant loss of accuracy. This is due
the air gap of the IM which causes much larger magnetising current than in a transformer. The
stator impedance voltage drop in an induction motor, as a result, is much larger than in a
transformer. The approximate equivalent circuit of figure 5.1.3 is however widely used. Note
that Rc appears to have been neglected, but this is not entirely true. The iron loss represented by
R' 1  s 
Rc is now included in the no-load loss which is the power developed in 2 when the
s
motor rotates with no-load slip snl.

I2
I 2' 
I1 R1 X1 a A R 2' X 2'

Im

V1 E 1  aE 2  E 2' R 2'  1  s 
Xm
s

A’

Figure 3.1.3. The approximate per-phase, steady-state equivalent circuit of an induction motor

5.1.4 Developed torque and T- characteristics

From the representations of figures 3.1.1-3, the following relationships in terms of motor
parameters referred to the stator and the rotor slip can be found.

Power in the rotor circuit,

R2' 3sR2' E12

P2 = 3I 2' 2 = (3.1.6)
 
2
s R2' 2 + s1L'2

Developed output power,

Induction motor Drive

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 R2' 1  s 
Po  P2  3I 2'2 R2'  3I 2'2  1  s  P2 (3.1.7)
s

Slip power,

Psl  P2  Po  sP2  3I 2' 2 R2' (3.1.8)

Developed output torque,

Po 3I 2' 2 R2'  1  s  / s
Tdev  
rot1 2 N rot1 Nm (3.1.9)

3I 2' 2 R2'  1  s  / s

2 N rot1  1  s 

3I 2' 2 R2' / s 3I 2' 2 R2' / s P

   2 (3.1.10)
2 N syn1 syn1 syn1

From (3.1.2) and (3.1.4)

3 p I 2' 2 R21 3 pI 2' 2 R2'

Tdev   (3.1.11)
2 f1 s 2  f1  f 2 

For given motor parameters and input voltage V1, I 2' can be calculated using Thevenin’s
representation, as shown in figure 3.1.4, of the equivalent circuit of figure 3.1.3.

I1 RTh XTh A I 2' R2' X2'

R2' 1  s 
VTh
s
A’

Figure 3.1.4. The Thevenin equivalent circuit

Thus
(3.1.12)
VTh
I 2' 
2
 R2' 
 RTh 
s 
  X Th  X 2 
' 2

. Induction motor Drive Kenneth (ECE,,MUK)

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Nov 2021
 (3.1.13)
2 '
3p V R
Tdev   Th
 2
1  R2' 
2
s
 Th s    X Th  X 2 
' 2
R 
 

where 1  2 f1 ; f1 being the stator supply frequency.

(3.1.14)
X mV1
VTh 
 R12   X 1  X m  2 
 

jX m  R1  jX 1  (5.1.15)
ZTh   RTh  jX Th
R1  j  X 1  X m 

Note that for Xm >> (R1 and X1), RTh ≈ R1, XTh ≈ X1, and VTh ≈ V1.

T- characteristics of figure 3.1.3 for various input voltages can be obtained from equation
(3.1.13). These characteristics of an IM for V1 in the range from 0.5pu to 1pu are as shown in
figure 3.1.5. Note the operating modes of the motor in motoring, generating and plugging modes
of operation. In motoring mode, i.e, in quadrant 1 (Q1), the machine operates as a motor with
positive torque and speed, normally operating with a small positive slip (0.025 < s < 0.1). In the
regenerative mode in quadrant 2 (Q2), the machine speed is higher than the synchronous speed
1, and the developed torque is negative, hence the machine runs as a generator because T× is
now negative. In quadrant 4 (Q4), the machine operates in the braking mode. Its terminals are
interchanged, so that the synchronous speed becomes negative. The operating slip exceeds 1 and
Po becomes negative even though P2 remains positive (see equations 3.1.3, 3.1.6 & 3.1. 7). The
negative Po implies that this power must be supplied by the mechanical load to the rotor, thus
leading to some braking. It may be noted that the regenerative mode of operation gives more
efficient and effective braking than plugging.

Generating V1 = 0.5 pu
s<0
V1 = 0.7 pu
syn1 V1 = 1 pu
s=0
V1 = 1 pu
V1 = 0.7 pu
V1 = 0.5 pu Motoring
s=1
0 Torque, Nm
s>1
Plugging

syn1 s=2

Figure 3.1.5. T- characteristics with variable voltage and constant input frequency

Induction motor Drive Kenneth (ECE,,MUK)

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5.1.4.1 Operation with small slip.

From efficiency and motor heating considerations, it is not practical to operate induction
machines with a high slip. For small slip s,

R2' R2'
RTH   X Th  X 2 and
'
 RTh . (3.1.16)
s s

From (3.1.13),
(3.1.17)
2 '
3p V R
Tdev   Th
 2
1  R ' 2
s
 RTh  s    X Th  X 2 
2 ' 2

 

Thus, with small slip, the developed torque approximately given by

3 p VTh2
Tdev    s Nm (3.1.18)
1 R2'

Normally, the operating slip is small and in the range: 0.02  s  0.1 . Normally also, VTh  V1.

3.1.4.2 Operation with high slip.

Operation with high slip implies high rotor current (see Eq. 3.1.12). This also implies high rotor
I 22 R2 power loss, compared to the output power Po or the total rotor power P2 (see Eqns. 3.1.7
and 3.1.8). In other words, with high slip opera tion, efficiency of the motor falls and rotor
temperature rises due to high rotor power loss. Thus, high-slip operation should be avoided. Fan
and impeller type loads require low torque at low speed and thus may be suitable for high-slip
operation.

Note that when operation is with high slip, say at starting, equation 3.1.18 cannot be used for
calculating the developed torque. Equation 3.1.17 has to be used instead.

5.1.4.3 Condition for maximum developed torque.

The condition for the maximum mechanical (developed) torque can be found by differentiating
(5.1.17) and by equating dT / ds  0 . Alternatively, the condition for maximum developed
dev
torque should be same as the condition for maximum power transfer into the rotor. This
condition is found to be

R2' (3.1.19)
  RTh2   X Th  X 2'  
2

smT  

R2' (3.1.20)
 smT 
RTh2   X Th  X 2' 
2

From (3.1.13) or (3.1.17)

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 (3.1.21)
3p VTh2
Tmax   Nm
21 R  R 2  X  X ' 2
Th Th  Th 2 
Note that the maximum developed torque, Tmax, is independent of the rotor resistance R2' .

Induction motor Drive Kenneth (ECE,,MUK)

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Nov 2021