An-Najah National University

Faculty of Engineering
Electrical Engineering Department

Induction Motor
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor

Introduction
 Induction motors (IM) most widely used
 IM (particularly squirrel-cage type) compared to
DC motors
 Rugged
 Lower maintenance
 More reliable
 Lower cost, weight, volume
 Higher efficiency
 Able to operate in dirty and explosive environments
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
• Stator is made from laminated iron
• 3 phase windings, 120° spatially apart
• Stator winding is carried in slots around the circumference of a cylindrical core.
• There is a separate winding for each phase of the supply and these are distributed
sinusoidally.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
• The stator windings for a two-pole three-phase machine can be described by the
figure.
• In practice there would be many turns making up each phase.
• The size of the circles representing the windings indicate that the number of turns
varies sinusiodally in space.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
• The windings also carry a sinusiodally varying current. The solid circles indicate
positive current, the circles with crosses - negative current.
• The windings for each phase are distributed by 120°. ie. Maximum red is 120° from
maximum blue and maximum yellow.
• This winding layout will be abbreviated as shown in the modified diagrams - either
as a single wire or as a coil
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
• if a three phase set of currents with equal magnitude and phase shifted by 120
degrees pass through a three set of coils with 120 degrees spaced it will produce a
rotating Magnetic field
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
• if a three phase set of currents with equal magnitude and phase shifted by 120
degrees pass through a three set of coils with 120 degrees spaced it will produce a
rotating Magnetic field
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Stator
If machine has P poles, the magnetic field will rotate at 120
ws= 2we/P mechanical radians per second. ns  f
P
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Rotor (wound)
• 3 phase windings, sinusoidally distributed, 120° spatially apart.
• Windings carried within slots in the periphery of a laminated iron cylinder.
• Slip rings connect windings to outside circuits if necessary.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Rotor (Cage)
• Laminated iron cylinder with slots carrying copper or aluminium bars.
• Bars are shorted together at each end to form a closed cage.
• To a reasonable approximation, a cage rotor acts like a wound rotor with the
slip rings connected together.
• Rotor is a close fit inside the stator with a small air-gap between the two.
• The iron in the rotor provides a good
path for the magnetic field set up by the
stator windings
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Rotor (Cage)
• The rotor consists of metal bars all connected by metal end rings.
• It can also be modelled as consisting of a 3 phase conductor system
rby as shown.
• All conductors react to having a moving
magnetic field going past.
• They will set up currents to counteract
the moving field, reducing:
a) the strength of the moving field, or
b) the speed at which it moves past.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Rotor (Cage)
• If the rotor is locked then the conductors of the rotor sees the stator
magnetic field (Bm) travels at synchronous speed.
• induces voltage at rotor
• induced voltage induces
current at rotor (Ir) since
the rotor is short circuited
• The rotor current will
setup a rotor magnetic
field
The sum of the magnetization
Curren(Im ) and the rotor
Current (Ir) is the stator
Current (Is)
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Rotor (Cage)
• An interaction happens between stator current and rotor current
causes the rotor to rotates at wm (mechanical speed)
• wsl = ws – wm
• The rotor now sees a
moving field going past
at a slip rotation speed
of
wsl = ws – wm
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor

•Relative speed between stator rotating field and rotor induces:

•emf in stator winding (known as back emf), E1
•emf in rotor winding, Er
•Frequency of rotor voltages and currents: f r  sf
•Torque produced due to interaction between induced rotor currents
and stator field
•Stator voltage equation: Vs  Rs Is  j2πf Lls I s  E1
•Rotor voltage equation:
sEr  Rr I r  js 2πf Llr I r

Er   r  I  j 2πf L I
R
 r
 s 
lr r
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
E1 and Er related by turns ratio aeff
Lls Is L’lr I’r
Rs
+ + +

Vs Lm E1 Er R’r/s
Im
– – –

Rotor parameters can be referred to the stator side :

I r'
E1  aeff Er Ir 
aeff
Rr  aeff
2
Rr' Lr  aeff
2
L'r
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
Is Lls Llr Ir
Rs

+ +
Lm Rr/s Rs –stator winding resistance
Vs E1
Rr–referred rotor winding resistance
Im
– – Lls –stator leakage inductance
Llr –referred rotor leakage inductance
Is Lls Llr Ir Lm –mutual inductance
Rs
Ir –referred rotor current
+ Im +
Rr/s
Vs Lm E1

– –
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Airgap Converted
Power Mechanical
Power Pconv
Pag Power
2 Rr 2 1 s  Pout  TLm
Electrical Pag  3I r Pconv  3I r Rr  
Power s  s 
Pin 
3VT I L cos

Rotational losses Prot

Rotor (Friction and windage, core and Note:
Stator Copper stray losses)
Copper Loss (RCL) Pconv  1  s Pag
Loss (SCL) 2
PRCL  3I r Rr PRCL  sPag
PSCL  3I Rs
2
s
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Motor induced torque is related to converted power by:
Pconv
Te 
m (5)

Since Pconv  1  s Pag and r  1  s ,s hence

2
Pag3I r Rr
Te   (6)
s ss
Substituting for Irfrom the equivalent circuit:
2
3R Vs
Te  r
ss  
2
 (7)
   X ls  X lr  
R
 Rs  r
2

 s  
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
T- Characteristic
T- characteristic of IM during
generating, motoring and
braking
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•If the rotor and flux rotate at the same speed, wm= ws, giving the slip, wsl= 0.
Hence no currents induced, therefore Torque = 0
• If the rotor moves slower than the rotating field, currents are induced in the rotor
conductors and hence torque is produced. The animation shows an example of
rated torque.

• If rotor moves even slower, then more torque

may be produced.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•Induction motor equivalent circuit at rated conditions
• This model is only good for low values of slip i.e. when the torque is proportional to
the slip.
•The region from O->P is called the operating region for the motor.
•The rated operating point of the motor is usually about half way up the line (marked P
in the figure). Ir

+ Im
Rr/s
Vs Lm

2 2
Pag
3Vs s P Vs s
Te   Te  3
s Rr s 2 e Rr
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•Induction motor equivalent circuit at rated conditions
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•Induction motor equivalent circuit at rated conditions
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•the simple equivalent circuit is only valid for low slips when T proportional to s.
•In practice, the machine develops a maximum torque (pull out torque) at a slip of
two-three times rated.
•A more accurate model must incorporate:
•The resistance of the stator winding RS
•The stator and rotor leakage inductances
LS, LR

•The torque-slip expression will be

evaluated for regions where the simple
expression is not valid.
Generally this is when
i) the torque is greater than rated;
ii) the motor is in overload.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor Is Lls Llr Ir

Rs

Vs +
Ir  + Im
 Rr 
2
 Rr/s
 Rs    e ls  lr  
2 2
Vs Lm E1
 s  
– –

P Vs2 * Rr
Te  3 *
2  
2

  e ls  lr  
R
s * e *  Rs  r 2 2

 s  
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
Characteristic between piont O and P

2
P Vs s
Te  3
2 e Rr

Characteristic between P and S

P Vs2 * Rr
Te  3 *
2  
2

  e ls  lr  
R
s * e *  Rs  r 2 2

 s  
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Vs
•Current, IS, can also be plotted against slip. Ir 
It has been shown that  Rr 
2

 Rs    e ls  lr  
2 2

and IS ≈ IR for larger slips.  s  

•The figure shows the the current-speed curve superimposed on the torque-speed
curve. The torque-speed curve is annotated to show where multiples of Irat(=ISrated)
occur.
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
•In this diagram, the torque characteristics with the values of Is (Irat,2Irat,etc.) shown has been
plotted.
•That is, on the torque-speed curve, the point corresponding to rated current Irat(P) is shown,
along with 2Irat, 3Irat and 4Irat.
•Note if machine at standstill and suddenly connected to mains supply: Machine will develop
Tstart, which must be larger than the load torque for machine to accelerate.
•Initial startup current will be high.
The machine begins to accelerate at a rate:

where J is the moment of inertia of the

Machine
•As the machine/load speeds up, the stator
current will decrease.
At point P1, T=Tload and the drive will be in
•equilibrium.
But, note that in this example P1>P so that
the load is too large for the machine.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
•The mechanical power output Po = T*wm
•The electrical input power Pi is defined as

•Efficiency is the ratio Po/Pi.

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Variation the power factor with the load

No Load

Neglect Rs, Ls
Since wsl = 0, RRwr /wsl is infinity, the rotor is
"open circuit" and the machine appears inductive.
Is lags Vs by approximately 90°,
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Variation the power factor with the load
Full load

Neglect Rs, Ls

and the phasor diagram is as shown, where

IR = IS cosθ
Io = IS sin θ
Under rated conditions, cos θ = (cos θ)rated
(usually 0.85-0.9)
This will only be approximate because
Rsa nd L's were neglected.
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Parameters from data sheet
manufacturer's brochures or datasheets always give enough information for finding
approximate values of: RR, Lo, Ls, LR

Although approximate, they are good

enough for:
1-calculating steady-state value of Is,
cosθ, ƞ for a machine

• supplied from power source Vs, we

• driving a known load

2-designing controller for induction motor

drives
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet

Obtaining the approximate motor parameters is done in two stages –

a) Find Lo, RR
b) Find Ls, LR

RS can rarely be derived from manufacturer's data. To obtain this, apply a small dc
voltage across a phase and measure the current
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet

Finding Lo,RR

•to find Lo and RR for the sample manufacturer's

data earlier.
Neglect Rs, Ls, LR to get .

From cosθ = 0.8 compute sin θ = 0.6

Io=Issin θ =3.6A, IR=Iscos θ =4.8A
Vs=weLo,Io (we=100p)
Lo = 353mH
Vs=RsIR/s,
s=(1500-1460)/1500=0.0267
RR=sVs/IR =2.25 Ω
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet

Alternative way of finding RR

The Torque-Slip characteristic is as
Trated = Prated /wmrated
= 5500/(1460 x 2p/60)) = 36Nm
From the slope (T/s) of the red line, this gives:
36 = 3 x (4/2) 4002/(100p)/RR x 0.0267
Hence RR = 2.26 W
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
Finding L'R, L'S, LR, LS, s

•A knowledge of the starting current

(714%) when a stationary motor is
connected to the supply allows the
observations and assumptions Is Lls Llr Ir
Rs
shown to be made.
•At the instant of starting L'S + L'R can + Im +
be computed as shown. Rr/s
Lm
Vs E1

– –
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
Finding L'R, L'S, LR, LS, s
Is Lls Llr Ir
•The individual leakages are
difficult to obtain. +
•But a reasonable assumption
for understanding and control Vs
design is:
L'S = L'R. This gives L'S = L'R = –
14.8mH.
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet

Finding L'R, L'S, LR, LS, s

Is Lls Llr Ir

Vs

–
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Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is the rated torque?

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is the rated slip (ELECTRICAL)?

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is Lo ?
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is RR?
 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is the efficiency?

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor
Finding Parameters from data sheet
The manufacturer's data for a given motor is:
4 Pole, 50Hz, 22kW, 400V, Delta, 1470rpm, 44A, cos θ = 0.81, starting current 660%.

What is Ls and Lr?

 An-Najah National University
Faculty of Engineering
Electrical Engineering Department

Induction Motor

 NEMA = National Electrical

Manufacturers Association
 Classification based on T-
characteristics
 Class A & B – general
purpose
 Class C – higher Tstart (eg:
driving compressor pumps)
 Class D – provide high Tstart
and wide stable speed
range but low efficiency