Lecture 4

EE3010: Electrical Devices and Machines

School of Electrical and Electronic Engineering

Associate Professor Lee Peng Hin

Tel: +65 6790 4474 | Email: ephlee@ntu.edu.sg
 Learning Objectives

By the end of this lecture, you should be able to:

 Describe the different extended operating regions of a typical torque-speed

characteristic curves of an induction motor.

 Calculate the maximum or pullout torque and the speed at this torque of an
induction motor, using the Thevenin equivalent circuit approach.

 Analyse the performance of an induction motor with varying rotor resistance and
how it affects the torque-speed characteristics.

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics

 It is possible to use the equivalent circuit of an induction motor and the power
flow diagram for the motor to derive a general expression for induced torque
(developed torque) as a function of speed.
I1 jX1 R1 I2 jX2
PAG
Tind 
 sync
V E1 R2
 R2  jXM
PAG  3I  2
𝑆

 s 
2

 1  2  R2 
 Tind   3I 2   The per phase equivalent circuit of an induction motor.
   s 
 sync 

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics

 We want to find an expression for the current I2.

 One approach is to find the Thevenin equivalent to the left of the points
marked “x” in the figure.

jX M
VTH  V jX1 R1
R1  jX 1  jX M

VTH  VTH
V jXM VTH
XM
VTH  V
R  ( X1  X M )
1
2 2

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics
jX1 R1
jX M ( R1  jX 1 )
ΖTH 
R1  jX 1  jX M
 RTH  jX TH jXM

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics

RTH jXTH jX2

VTH VTH
2  
 TH  ( R2 / s )  jX 2 ( RTH  R2 / s )  j ( X TH  X 2 )
VTH E1 R2
𝑆

VTH
 2  I2 
( RTH  R2 / s ) 2  ( X TH  X 2 ) 2 The resultant simplified equivalent
circuit of an induction motor.

 1  2  R2   1   R2  V 2

Tind   3I 2     3  TH

    s      s  ( R  R / s) 2  ( X  X ) 2
 sync   sync  TH 2 TH 2

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics Curve

500% Pullout torque

Induced torque, % of full load

400%

300% Starting
torque
nm  (1  s )nsync
200% m  (1  s )sync
Full-load torque
100%

0 nsync
Mechanical speed

A typical induction motor torque-speed characteristics curve.

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics Curve

Tind
Plugging (s  1) Tmax Pullout torque
400
Motoring (0  s  1)

Induced torque, % of full load

200
Motor region
Braking region
nm
nsync Mechanical speed 2nsync
-200
Generator
-400 region

-600
Generating (s  0)
-800

Induction motor torque-speed characteristics curve showing the

extended operating regions (braking and generator regions).

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics Curve

 Motoring region
• The motor rotates in same direction but slower than the rotating magnetic field.
• The induced torque is zero at synchronous speed.
• The starting torque is slightly higher than the full‐load torque.
• There is a maximum possible developed torque, called the pullout torque.

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics Curve

 Generating region
• If the rotor of the induction motor is driven faster than synchronous speed by
an external prime mover, the direction of the induced torque reverses and the
machine becomes a generator.
• Induction generators in wind turbines are operated in this manner. As the
torque applied to its shaft increases, the amount of power produced by the
induction generator increases.

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EE3010 Lecture 4
 Induction Motor Torque-speed Characteristics Curve

 Plugging region
• If the motor is turning backwards relative to the direction of the magnetic
fields, the induced torque in the machine will stop the machine very rapidly
and will try to rotate it in the other direction.
• This is done by reversing the phase sequence of the 3‐phase stator voltage
supply, simply by switching any two stator phases.
• The act of switching two phases in order to stop the motor very rapidly is
called plugging.

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EE3010 Lecture 4
 Maximum (Pullout) Torque in Induction Motor
RTH jXTH jX2

VTH E1 R2
𝑆

 Maximum possible torque occurs when air‐gap power is maximum.

PAG  R2 
 From Tind  and since PAG  3I   , then max Tind occurs
2

 sync 2
 s 
R2
when the power consumed by s is a maximum.

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EE3010 Lecture 4
 Maximum (Pullout) Torque in Induction Motor
R2
 From the maximum power transfer theorem,  RTH  jX TH  jX 2
s
R2
 The slip at pullout torque,  smax  2
RTH  ( X TH  X 2 ) 2

 Maximum or pullout torque

 1   R2  3 V 2

Tmax    TH
    s  R  R / s 2   X  X 2
 sync   max  TH 2 max TH 2

3VTH2

2sync  RTH  RTH
2
 ( X TH  X 2 ) 2 
 
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EE3010 Lecture 4
 Maximum (Pullout) Torque in Induction Motor

 The slip at maximum torque can be varied by changing the rotor resistance,
while the maximum torque is independent of the rotor resistance.
 The max torque is proportional to the square of the supply voltage and
inversely related to the size of the stator impedance and the rotor reactance.
 The torque‐speed characteristics of a wound-rotor induction motor is as shown.
For this type of motor, external resistance can be inserted to the rotor because
the rotor circuit is brought out through slip rings.
 As rotor resistance increases, the pullout speed decreases, but the max torque
remains constant.

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EE3010 Lecture 4
 Maximum (Pullout) Torque in Induction Motor
R1 < R2 < R3 < R4 < R5 < R6
800
R5 R4 R3 R2 R1
700

600 R6

Induced torque, N·m

500

400

300

200

100

0 250 500 750 1000 1250 1500 1750 2000

Mechanical speed. r/min
Effect of varying rotor resistance on torque‐speed
characteristics of a wound‐rotor induction motor.

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EE3010 Lecture 4
 Example 1

A 460 V, 60 Hz, 25‐hp, four‐pole induction motor is wye‐connected. The impedances

per phase referred to the stator circuit are:
R1  0.641, R2  0.332, X 1  1.106,

X 2  0.464, X M  26.3
a) What is the maximum torque of this motor?
At what speed and slip does it occur?
b) What is the starting torque of this motor?
c) When the rotor resistance is doubled, what is the speed at which the maximum
torque now occurs?
What is the new starting torque of the motor?
(Solutions )
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EE3010 Lecture 4
 Example 1 – Solutions

jX M
VTH  V  254.81.34V RTH jXTH jX2
R1  jX 1  jX M
R2
VTH E1
jX M ( R1  jX 1 )
ΖTH   0.59  j1.08 𝑆

R1  jX 1  jX M

 RTH  jX TH

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EE3010 Lecture 4
 Example 1 – Solutions

a) Slip at maximum torque,

R2 120 f s 120(60)
smax   0.2  nsync    1800 r/min
RTH  ( X TH  X 2 )
2 2 p 4

 nm  (1  smax ) nsync  1440 r/min

VTH
2   93.37  33.12 A
 RTH  R2 / smax   j ( X TH  X 2 )

 R2  PAG
PAG  3I 
2
  43415 W  Tmax   230.3 N.m
2
 smax  sync

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EE3010 Lecture 4
 Example 1 – Solutions

b) Starting torque, s = 1

VTH
2   141.69  57.82 A
RTH  R2 / s   j ( X TH  X 2 )

 R2  PAG
PAG  3I    19995.75 W  Tstart 
2
 106 N.m
 s 
2
sync

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EE3010 Lecture 4
 Example 1 – Solutions

c) If the rotor resistance is doubled, the slip at maximum torque is doubled too.

smax  0.4  nm  (1  smax ) nsync  1080 r/min

But Tmax  230.3 N.m. Same.

Similarly as in (b), the starting torque can be calculated as 170 N.m.

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EE3010 Lecture 4
 Summary

In this lecture, you have learnt:

 The analysis of an induction motor using the Thevenin equivalent circuit.

 A typical induction motor torque-speed characteristics curve and its extended

operating regions.

 The computations of the maximum torque developed and the speed of the motor
at this torque.

 The slip or speed at which maximum torque occurs can be controlled by varying
the rotor resistances and the value of the maximum torque is independent of the
rotor resistance.

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EE3010 Lecture 4
 References

No. Slide No. Image Reference

1 3 Reprinted from Electric Machinery Fundamentals, 5th ed.,
(p. 333), by S. J. Chapman, 2012, New York, NY: McGraw-
Hill. Copyright 2012 by The McGraw-Hill Companies, Inc.
Reprinted with permission.

2 4 Reprinted from Electric Machinery Fundamentals, 5th ed.,

(p. 334), by S. J. Chapman, 2012, New York, NY: McGraw-
Hill. Copyright 2012 by The McGraw-Hill Companies, Inc.
Reprinted with permission.

3 5 Reprinted from Electric Machinery Fundamentals, 5th ed.,

(p. 334), by S. J. Chapman, 2012, New York, NY: McGraw-
Hill. Copyright 2012 by The McGraw-Hill Companies, Inc.
Reprinted with permission.

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EE3010 Lecture 4
 References

No. Slide No. Image Reference

4 6, 12 and Reprinted from Electric Machinery Fundamentals, 5th ed.,
17 (p. 334), by S. J. Chapman, 2012, New York, NY: McGraw-
Hill. Copyright 2012 by The McGraw-Hill Companies, Inc.
Reprinted with permission.

5 7 Adapted from Electric Machinery Fundamentals, 5th ed., (p.

336), by S. J. Chapman, 2012, New York, NY: McGraw-Hill.
nm  (1  s )nsync
m  (1  s )sync Copyright 2012 by The McGraw-Hill Companies, Inc.
Adapted with permission.

6 8 Plugging (s  1)
Adapted from Electric Machinery Fundamentals, 5th ed., (p.
Motoring (0  s  1)
337), by S. J. Chapman, 2012, New York, NY: McGraw-Hill.
Copyright 2012 by The McGraw-Hill Companies, Inc.
Generating (s  0) Adapted with permission.

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EE3010 Lecture 4
 References

No. Slide No. Image Reference

7 15 Reprinted from Electric Machinery Fundamentals, 5th ed.,
(p. 340), by S. J. Chapman, 2012, New York, NY: McGraw-
Hill. Copyright 2012 by The McGraw-Hill Companies, Inc.
Reprinted with permission.

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EE3010 Lecture 4