Electrical machine II

Introduction to course
Course contents: Marks
Unit 1. Three phase induction Motor - 27
Unit2. Single phase AC Motors - 14
Unit3. Three-phase Synchronous Generator -21
Unit4. Synchronous motor -18
Constructional details of three phase
induction motor
• Introduction
• Three phase induction motor is the most popular type of ac motor. It
is very commonly used for industrial drives. since, it is cheap , robust
,efficient and reliable. It has good speed regulation and high starting
torque. It requires little maintenance. It has a reasonable overload
capacity.
• Main parts of motor are:
1. Yoke
2. Stator
3. Rotor
Constructional details of three phase
induction motor
• Yoke:- yoke is the body part of any motor. It is structure and body of
motor. It is prepared by cast iron, for large machines, we used rolled
steel , silicon steel, which provides high permeability.
Constructional details of three phase
induction motor
• The function of yoke are:
1. It provide mechanically support to the poles.
2. It serves the purpose of outer most cover of the motor.
3. It provide a path of low reluctance for flux.
4. It forms a part of the magnetic circuits.
Constructional details of three phase
induction motor
• Stator: The stator is the stationary part. It is built up of high-grade
alloy steel laminations to reduce eddy current losses. The laminations
are slotted on the inner periphery and are insulated from each other.
The insulated stator conductors are placed in these slots. It has three
main parts.
1. outer frame
2. stator core
3. Stator winding
Constructional details of three phase
induction motor
• Outer frame: It is the outer body of the motor. Its main function is to
support the stator core and to protect the inner parts of the machine.
For small machines, the outer frame is casted, but for the large
machine, it is fabricated.
• Stator core: The stator core is built of high-grade silicon steel
stampings. Its main function is to carry the alternating magnetic field
which produces hysteresis and eddy current losses. The stampings are
fixed to the stator frame. Each stamping is insulated from the other
with a thin varnish layer. Slots are punched on the inner side of the
stampings.
Constructional details of three phase
induction motor
Constructional details of three phase
induction motor
• Stator windings:
• The stator winding is the set of wire coils that are mounted on the
stator and used to create a rotating magnetic field. The stator winding
is typically made up of multiple coils of insulated wire that are
arranged in a specific pattern to generate a magnetic field that
interacts with the rotor to produce mechanical motion. The wire used
in the stator winding of an induction motor is typically made of
copper or aluminium and is insulated to prevent short- circuits
between adjacent wires.
Constructional details of three phase
induction motor
Constructional details of three phase
induction motor
Constructional details of three phase
induction motor
• Rotor: A three phase induction motor essentially consists of two
parts: the stator and the rotor. The stator is the stationary part and
the rotor is the rotating part. The rotor is built up of laminations of
the same material as stator. The laminated core is mounted directly
on the shaft or a spider carried by the shaft. These laminations are
slotted on their outer periphery to receive the rotor conductors.
There are two types of induction motor rotors:
1. Squirrel-cage rotor or simply cage rotor.
2. Phase wound or wound rotor. Motors using this type of rotor are
also called slip-ring motors.
Constructional details of three phase
induction motor
• Cage rotor: It consists of a cylindrical laminated core with slots nearly
parallel to the shaft axis, or skewed. Each slots contains an
uninsulated bar conductor of copper. At each end of the rotor, the
rotor bar conductors are short circuited by heavy end rings of the
same material.
Constructional details of three phase
induction motor
• Image of cage rotor.
Constructional details of three phase
induction motor
• The skewing of cage rotor conductors offers the following
advantages:
1. More uniform torque is produced and the noise is reduced during
operation.
2. The locking tendency of the rotor is reduced. During locking, the
rotor and stator teeth attract each other due to magnetic action.
Constructional details of three phase
induction motor
• Wound rotor or slip ring rotor : The wound rotor consists of a slotted
armature. Insulated conductors are put in the slots. The rotor
windings are connected in star. The open end of the star circuit are
brought outside the rotor and connected to three insulated slip rings.
The slip rings are mounted on the shaft with brushes resting on them.
The purpose of slip rings and brushes is to provide a means of
connecting external resistors in the rotor circuit. The resistors enable
the variation of each rotor phase resistance to serve two purposes.
1. To increase the starting torque and decrease the starting current
from the supply.
2. To control the speed of the motor.
Constructional details of three phase
induction motor
• A slip sing induction motor is shown in figure below.
Constructional details of three phase
induction motor
• Image of slip ring rotor.
Constructional details of three phase
induction motor
• Comparison of cage and slip ring rotor.
Constructional details of three phase
induction motor
Review
Review
Review
Review
Review
Review
Review

Stator winding
 Review
What are the main parts of three phase induction motor?
Answer: stator and rotor.
What are the types of rotor?
Answer: slip ring rotor and squirrel cage rotor.
What are the main parts of stator?
Answer: outer frame, stator core and stator winding.
Which type of magnetic field is produced by stator winding?
Answer: rotating magnetic field.
Operation of three phase induction motor
Operation of three phase induction motor
Operation of three phase induction motor
Operation of three phase induction motor
Operation of three phase induction motor
Operation of three phase induction motor
𝑝𝑁𝑠
Since ω=2πf and f= , the resultant flux rotates with synchronous
120
speed .
Synchronous speed: in an induction motor ,the speed at which the
rotating magnetic field (RMF) is known as synchronous speed.

120𝑓
Synchronous speed , Ns =
𝑝
where, Ns= synchronous speed.
f= supply frequency.
p= number of stator pole.
Operation of three phase induction motor
The following conclusion are listed from above discussion.
1. Three phase currents of a balanced supply system produced a
resultant flux of constant magnitude in air gap of the motor. The
3
magnitude of the flux at every instant is ϕ𝑚.
2
2. The resultant flux is rotating in nature and its angular velocity is the
𝑝𝑁𝑠
same as that of supply currents. Since ω=2πf and f= ,the
120
resultant air gap flux rotates with synchronous speed.
3. The direction of rotation of resultant flux in the air gap depends
upon the phase sequence. The direction is the same as the phase
sequence of the supply.
Operation of three phase induction motor
Operation of three phase induction motor
Operating principle
When connect the primary winding ,or the stator to a 3 phase
AC source, it establishes rotating magnetic field which rotates
at the synchronous speed.
According to faraday’s law, an emf induced in any circuit is due
to the rate of change of magnetic flux linkage through the
circuit. As the rotor winding in an induction motor are either
closed through and external resistance or directly shorted end
ring ,and cut the stator rotating magnetic field, an emf is
induced in the rotor copper bar and due to this emf a current
flows through the rotor conductor.
Operation of three phase induction motor
we know that when a conductor carrying current is put in a magnetic
field a force is produced on it. Thus, a force is produced on the rotor
conductor. The direction of this force can be found by left-hand rule. It
is seen that the force acting on the conductor is in the same direction
as the direction of the rotating magnetic field.
Since the rotor conductor is in a slot on the circumference of the rotor,
this force acts in a tangential direction to the rotor and develops a
torque on the rotor. Similar torques are produced on all the rotor
conductors. Since the rotor is free to move, it starts rotating in the
same direction as the rotating magnetic field. Thus, a three-phase
induction motor is self-starting .since the operation of this motor
depends upon the induced voltage in its rotor conductors, it is called an
induction motor.
Operation of three phase induction motor
Operation of three phase induction motor

Reversing the direction of rotation

In case of three phase induction motor, they are self-started motor and
the motor direction would be the direction of rotating magnetic field.
For reversing the motor direction, we have to change the direction of
rotating magnetic field. This is implemented by changing the supply
phase sequence of the motor.
Operation of three phase induction motor
Speed and slip
An induction motor cannot run at synchronous speed. Let us consider
for a moment that is rotor is rotating at synchronous speed. Under this
condition, there would be no cutting of flux by the rotor conductors ,
and there would be no generated voltage, no current and no torque.
The rotor speed is therefore slightly less than the synchronous speed.
The difference between the synchronous speed and actual rotor speed
is called the slip speed.
Speed and slip

Thus, the ‘slip speed’ express the speed of the rotor relative to the field.
If Ns =synchronous speed in r.p.m.
Nr = actual rotor speed in r.p.m
then, slip speed = Ns - Nr r.p.m.
The slip speed expressed as a fraction of the synchronous speed is called the
per-unit or fraction slip. The per-unit slip is usually called the slip. it is
denoted by s.
Ns− Nr
s= per unit (p.u)
Ns
Ns− Nr
Percentage slip= N *100
s
Equivalent circuit

Equivalent Circuit of an Induction Motor

The Equivalent Circuit of an Induction motor enables the performance
characteristics which are evaluated for steady-state conditions. An
induction motor is based on the principle of induction of voltages and
currents. The voltage and current are induced in the rotor circuit from
the stator circuit for the operation. The equivalent circuit of an
induction motor is similar to that of the transformer.
There are two circuit model
1. Stator circuit model
2. Rotor circuit model
Equivalent circuit
Stator Circuit Model
The stator circuit model of an induction motor consists of a stator
phase winding resistance R1, stator phase winding leakage reactance
X1 as shown in the circuit diagram below:
Equivalent circuit
The no-load current I0 is simulated by a pure inductive reactor X0 taking
the magnetizing component Iµ and a non-inductive resistor R0 carrying
the core loss current Iω. Thus,

The total magnetizing current I0 is considerably larger in the case of the

induction motor as compared to that of a transformer. This is because
of the higher reluctance caused by the air gap of the induction motor.
As we know that, in a transformer, the no-load current varies from 2 to
5% of the rated current.
Equivalent circuit
Rotor Circuit Model
When a three phase supply is applied to the stator windings, a voltage
is induced in the rotor windings of the machine. The greater will be the
relative motion of the rotor and the stator magnetic fields, the greater
will be the resulting rotor voltage. The largest relative motion occurs at
the standstill condition. This condition is also known as the locked rotor
or blocked rotor condition. If the induced rotor voltage at this condition
is E20 then the induced voltage at any slip is given by the equation
shown below:
Equivalent circuit
The rotor resistance is constant and is independent of the slip. The
reactance of the induction motor depends upon the inductance of the
rotor and the frequency of the voltage and current in the rotor.
If L2 is the inductance of the rotor, the rotor reactance is given by the
equation shown below:

But, as we know,

Where, f2 = rotor frequency

f1 = stator supply frequency
Equivalent circuit
Therefore,

Where X20 is the standstill reactance of the rotor.

Equivalent circuit

The rotor circuit is shown below:

Equivalent circuit
The rotor impedance is given by the equation below:

The rotor current per phase is given by the equation shown below:
Equivalent circuit
Now, dividing the equation (5) by slip s we get the following equation:

The R2 is a constant resistance and a variable leakage reactance sX20.

Similarly, the rotor circuit shown below has a constant leakage
reactance X20 and a variable resistance R2/s.
Torque of an induction motor
Torque of an induction motor
Torque of an induction motor
Torque Slip Characteristics of Induction Motor
Torque of induction motor :
Torque Slip Characteristics of Induction Motor
• To draw the torque slip characteristics of induction motor (three phase)
following points are considered:
• At synchronous speed (Ns); slip, s = 0 and torque, T = 0.
• When rotor speed is very near to synchronous speed i.e. when the slip is very low
the value of the term (sX2)2 is very small in comparison to R22 and is neglected.
Therefore, torque is given by the expression:
T = ksE22R2 / R22
In the above expression, all quantities are constant except slip s.
Therefore, T α s
Thus, at low values of slip, torque is approximately proportional to slip s and the
torque slip characteristics of induction motor is a straight line.
Torque Slip Characteristics of Induction Motor

In the stable region, the value of slip is small. Hence this region is also
called as the low slip region.
Torque Slip Characteristics of Induction Motor
• As the slip increases torque increases and attains its maximum value when s =
R2/X2. This maximum value of torque is also known as break down or pull out
torque.
• When a further increase in slip occurs due to increase in load beyond the point
maximum torque
i.e. when slip is high, the value of term (sX2)2 is very large in comparison to R22.
Therefore, R22 is neglected as compare to (sX2)2 and torque is given by the
expression:
T = ksE22R2 / (sX2)2
or T = kE22R2 / (sX22)

In the above expression, all quantities are constant except s.

Therefore, T α 1/s
Thus at higher values of slip torque is approximately inversely proportional to
slip, s.
Effect of Rotor Resistance on Torque Slip Characteristics
To see the effect of rotor resistance on torque slip characteristics of induction
motor, consider a slip ring induction motor in which additional resistance in the
rotor circuit can be introduced through slip rings. The rotor reactance at stand still
X2 remains constant. The maximum value of the torque developed by an induction
motor is independent of rotor resistance R2.
Effect of Rotor Resistance on Torque Slip Characteristics
Therefore, the effect of change in rotor resistance is the change in slip
at which this maximum torque takes place; greater the rotor resistance,
greater the value of slip at which the maximum torque occurs since
s = R2/X2
The torque slip characteristics of induction motor (three phase) are
shown in the figure for various values or rotor resistance R2 keeping
rotor reactance X2 constant. The maximum value of the torque can be
obtained even at the start by adding that much resistance in the rotor
circuit so that R2 becomes equal to X2.

When R2 = X2; s = R2/X2 = 1 i.e. at start torque will be maximum.

Starting methods of induction motor
• A three-phase Induction Motor is Self Starting. When the supply is
connected to the stator of a three-phase induction motor, a rotating
magnetic field is produced, and the rotor begins rotating and the induction
motor starts. At the time of starting, the motor slip is unity, and the
starting current is very large.
• Induction motors, when direct-switched, take five to seven times their full-
load current and develop only 1.5 to 2.5 times their full-load torque.
• This initial excessive current is objectionable because it will produce large
line-voltage drop that, in turn, will affect the operation of other electrical
equipment connected to the same lines.
• The purpose of a starter is not to just start the motor, but it performs the
two main functions. They are as follows:
1. To reduce the heavy starting current,
2. To provide overload and under-voltage protection.
There are three main methods of Starting of Cage Induction
Motor. They are as follows:
Direct on-line starter

fig: circuit diagram of DOL starter

DOL starter working :
1) When the start push button on the direct online motor starter is
pressed, the contactor coil gets energized and it latches contactor
pole due to electromagnetic action. 3 phase supply get applied to
the induction motor terminal and the motor start running

2) after that start push button gets released and the supply to
contactor coil continued through latching contact provided to the main
contractor of DOL starter.
3) ) At the time of stopping the motor we need to press the stop push
button on DOL starter circuit, this disconnect supply to the coil and
contactor coil gets de-energized, and it releases the contactor latched
pole, and the motor supply gets disconnected.
Under voltage protection
• when the voltage falls below a certain value, or in the event of failure of supply
during motor operation, the coil C is de-energized. The motor is then
disconnected from the supply.
Overload protection
• In case of an overload on the motor, one or all the overload coils(O.L.C.) are
energized. The normally closed contact D is open and the contactor coil C is de-
energized to disconnect the supply to motor.
• Fuses are provided in the circuit for short-circuit protection.
• Direct-on-line starter is a simple and cheap method.
EFFECT OF CHANGE IN SUPPLY VOLTAGE ON STARTING TORQUE
We have seen that:
at starting s = 1 so starting torque be;
𝐾(E1 )2R2
Tst= 2
R2 +X22
Since E1 is nearly equal to V1
𝐾V12R2
Tst= 2
R2 +X22
All are constant except V1 so,
Tst ∝ V12
That is starting torque is proportional to the square of the stator
applied voltage.
STAR-DELTA STARTER
• This method is used in the case of motors which are built to run normally with a
delta-connected stator winding.
• It consists of a two-way switch which connects the motor in star for starting and
then in delta for normal running. The usual connections are shown in the Figure.
• When star-connected, the applied voltage over each motor phase is reduced by a
factor of 1/√ 3 and hence the torque developed becomes 1/3 of that which would
have been developed if motor were directly connected in delta.
• The line current is reduced to 1/3. Hence, during starting period when motor is Y
-connected, it takes 1/3rd as much starting current and develops 1/3rd as much
torque as would have been developed were it directly connected in delta.

Working
• When switch S is in the START position, the stator windings are connected in the
star.
• When the motor picks up the speed, about 80 percent of its rated speed, the
switch S is immediately put into the RUN position. As a result, a stator winding
which was in star connection is changed into DELTA connection now.
Autotransformer Starter
• An Autotransformer Starter is suitable for both star and delta
connected motors. In this method, the starting current is limited by
using a three-phase autotransformer to reduce the initial stator
applied voltage. The figure below shows the motor with the
autotransformer starter:
• Working
A double-throw switch S is used to connect the autotransformer in the circuit
for starting. When the handle H of the switch S is in the START position, the
primary of the autotransformer is connected to the supply line, and the motor
is connected to the secondary of the autotransformer.

• Thus, the autotransformer is disconnected from the circuit, and the motor is
directly connected to the line and achieves its full rated voltage.

Over load and under voltage protection

• Over load relay and under voltage relay are provided for the protection from over
load and under voltage respectively.
Speed Control of Induction Motor
• The speed control of induction motor is done to modify the currents
in an induction motor to control speed. The expression for the speed
(N) of an induction motor is
N=Ns(1−s)
Hence, we can obtain control over the speed by varying its synchronous
speed (Ns) or changing its slip (s). The synchronous speed of the
induction motor depends on the supply frequency and the number of
stator poles. The torque of an induction motor while running is given
by
• T=[3×60/2πNs]×sE22R2/R22+(sX2)2
• Hence for a given torque and load, we can vary the rotor voltage and
rotor resistance to vary the slip for the speed control of induction
motor.
Speed Control Methods of Induction Motor
• From the stator side, we can obtain the speed control of induction
motor by using the following methods, namely.
• Voltage Control Method
• Frequency Control Method
• From the rotor side, the speed control of induction motor can be
achieved by the following methods.

• Rotor Resistance Control Method

• Cascading connection method
Voltage Control Method
• In this method of speed control of induction motor, the supply voltage is varied
using an autotransformer. Practically, we cannot increase the voltage levels
beyond the rated voltage as the insulation stress will increase and lead to
insulation failure.
• T=[3×60/2πNs]×sE22R2/R22+(sX2)2
• During running, the slip is tiny; hence (sX2)2 can be neglected
• ⇒T 𝛼 sE22
• And the E.M. F induced in the rotor (E2) is proportional to the stator voltage (V)
• ⇒T 𝛼 sV22
• The above equation makes it evident that torque will likewise drop if the supply
voltage is reduced. If the voltage reduces for a given load, the slip will increase
while reducing the speed to maintain the load torque constant. Voltage can be
reduced to a suitable value; the motor will become unstable if we reduce the
voltage below this value.
Frequency Control Method
• This method is also used very rarely. We have seen that the
synchronous speed of an induction motor is given by Ns = 120 f/P.
• Clearly, the synchronous speed (and hence the running speed) of an
induction motor can be changed by changing the supply frequency f.
• However, this method could only be used in cases where the
induction motor happens to be the only load on the generators, in
which case, the supply frequency could be controlled by controlling the
speed of the prime movers of the generators.
• But, here again the range over which the motor speed may be varied
is limited by the economical speeds of the prime movers.
• This method has been used to some extent on electrically driven
ships
Rotor Rheostat Control
• In this method, which is applicable to slip-ring motors alone, the motor speed is
reduced by introducing an external resistance in the rotor circuit.
• For this purpose, the rotor starter may be used. This method is, in fact, similar to
the armature rheostat control method of d.c. shunt motors.
It has been shown that near synchronous speed (i.e. for very small slip value),
T ∝ s/R2.
• It is obvious that for a given torque, slip can be increased i.e. speed can be
decreased by increasing the rotor resistance R2.
Because of the wastefulness of this method, it is used where speed changes are
needed for short periods only.
Cascade or Concatenation or Tandem Operation
• In this method, two motors are used and are ordinarily mounted on the same
shaft, so that both run at the same speed (or else they may be geared together).
• The stator winding of the main motor A is connected to the
mains in the usual way, while that of the auxiliary motor B is fed
from the rotor circuit of motor A.
1. Main motor A may be run separately from the supply. In that case, the
synchronous speed is
Nsa = 120 f / Pa , where Pa = Number of stator poles of motor A.
2. Auxiliary motor B may be run separately from the mains (with motor A being
disconnected). In
that case, synchronous speed is Nsb = 120 × f / Pb , where Pb = Number of stator
poles of motor
B.
3. The combination may be connected in cumulative cascade i.e. in such a way that
the phase
rotation of the stator fields of both motors is in the same direction.
• The synchronous speed of the cascaded set, in this case, is Nsc = 120 f/(Pa + Pb )
INDUCTION MOTOR OPERATING AS A GENERATOR
Inroduction
• When run faster than its synchronous speed, an induction motor runs as a
generator called a Induction generator.
• It converts the mechanical energy into electrical energy and this energy is
released by the stator. Fig. (a) shows an ordinary squirrel-cage motor which is
driven by a petrol engine and is connected to a 3-phase line.
• As soon as motor speed exceeds its synchronous speed, it starts
delivering active power P to the 3-
• phase line.
• However, for creating its own magnetic field, it absorbs reactive
power Q from the line to which it is connected. As seen, Q flows in
the opposite direction to P.
VOLTAGE BUILD UP IN AN INDUCTION GENERATOR
• Consider, an AC supply is connected to the stator terminals of an induction
machine. The rotating magnetic field produced in the stator pulls the rotor to run
behind it(in this phase, the machine is acting as a motor).
• If the rotor is made to rotate at a speed more than the synchronous speed, the slip
becomes negative. A rotor current is generated in the opposite direction, due to the
rotor conductors cutting stator magnetic field.
• This generated rotor current produces a rotating magnetic field in the rotor
that forces in the
• opposite way to the stator field.
• This causes a stator voltage which pushes current flowing out of the stator winding
against the applied voltage.
• Thus, the machine is now working as an induction generator or as it is usually
known an asynchronous generator.
• In case of induction generator, the residual magnetism in the magnetic circuit is
sufficient to induce a small ac voltage in the stator.
The voltage appearing across the three-phase capacitor bank gives rise to a
leading current drawn by the capacitor bank. This current is almost equal to the
lagging current supplied back to the generator.
• The flux set up by the current helps the initial residual flux causing an increase in the
total flux. As
• a result, the voltage is increased.
• This increase in voltage causes an increase in the exciting current and a further
increase in the terminal voltage.
• This increase in voltage continues till the point where the magnetization
characteristic of the
• machine and the voltage-current characteristic of the capacitor bank intersect each other.
• The graph below shows the magnetization curve and the V-IC Characteristic
Grid connected mode

• As soon as motor speed exceeds its synchronous speed, it starts

delivering active power P to the 3-phase line.

• However, for creating its own magnetic field, it absorbs reactive

power Q from the line to which it is connected. As seen, Q flows in
the opposite direction to P.
Isolated mode

• The reactive power required to the machine can also be supplied by a group of
capacitors connected across its terminals. This arrangement can be used to supply
a 3-phase load without using an external source.
• The frequency generated is slightly less than that corresponding to the speed of
rotation.
• The terminal voltage increases with capacitance. If capacitance is
insufficient, the generator voltage will not build up.
• Hence, capacitor bank must be large enough to supply the reactive power
normally drawn by the motor.