Lecture 7 & 8

Rotor Circuit Model Equivalent Circuit of an Induction Motor Power and Torque in Induction Motors
Induction Motors
Instructor: Dr. S. Sashidhar
EE228 Electrical Machines

Lecture - 7
School of Electrical Sciences

Indian Institute of Technology Goa
Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Induction Motors 1 / 25
1 Rotor Circuit Model
2 Equivalent Circuit of an Induction Motor
3 Power and Torque in Induction Motors


• Voltage applied to the stator windings leads to the induced

voltage in the rotor windings of the machine.
• Greater the relative motion between the rotor and the stator
magnetic fields, greater the resulting rotor voltage and rotor
frequency.
• Magnitude and f of the in the rotor at any speed ∝ slip (s) of

the rotor.

• Magnitude of the induced voltage at any slip is
ER = s ER0 . (1)
• Frequency of the induced voltage at any slip is
fr = s f e . (2)
• The reactance of an inductance motor rotor depends on the

inductance of the rotor and the f of the voltage and current
in the rotor.

The rotor reactance is given by IR jXR = jsXR0
XR = ωr LR (3)
= 2 π fr LR . (4) ER = sER0 RR
Substitute Eq. (2) in (4)
XR = 2 π s fe LR (5)
图 1: The rotor circuit model of an
= s XR0 . (6) induction motor.
Where, XR0 is blocked-rotor rotor reactance.

IR jXR0
The rotor current flow can be
derived as
ER
IR = . (7) RR/s
RR + j X R ER0
ER
IR = . (8)
RR + j s XR0
ER0 图 2: The rotor circuit model with
IR = . (9)
RR /s + j XR0 all the frequency (slip) effects
concentrated in resistor RR .

• Rotor current approaches a steady-state value as the slip

becomes very large.
Imax
Rotor current
0 25 50 75 100 125
nm, percentage of synchronous speed
图 3: Rotor current as a function of rotor speed.


Final Equivalent Circuit of an Induction Motor

Equivalent Circuit of an Induction Motor
I1 jX1 I2 jXR
R1 IR
aeff
IM
VP RR
RC jXM E1 ER
图 4: Transformer model of an induction motor with rotor and stator

connected by an ideal transformer of turns ratio aeff .



Rotor part of the model is referred over to the stator side to get
final equivalent circuit
I1 jX1 I2 jX2
R1
IM
VΦ R2/s
RC jXM E1
图 5: The per-phase final equivalent circuit of an induction motor.

aeff - Effective turns ratio.

The transformed rotor voltage is
′
E1 = ER = aeff ER0 . (10)
The transformed rotor current is
IR
I2 = (11)
aeff

and the corresponding transformed rotor impedance is
2 RR
Z2 = aeff ( + j XR0 ) (12)
s
Now make the following definitions:
2
R2 = aeff RR . (13)
2
X2 = aeff XR0 . (14)


Seperating the Rotor Copper Losses and the Power Converted
in an Induction Motor’s Equivalent Circuit

Losses and Power-Flow Diagram
PAG Pconv
Air-gap Power Pout = τload ωm

τind ωm
Pin = √3VTILcos θ
Pstray
Pf & w (Stray
PRCL
(Friction and losses)
Pcore (Rotor
PSCL windage
(Core copper
losses)
(Stator losses) loss)
copper
loss)
图 6: The power-flow diagram of an induction motor.

Losses and Power-Flow Diagram
The input current to a phase of the motor shown in Fig.6. is found

by dividing the input voltage by the total equivalent impedance
Vϕ
I1 = . (15)
Zeq
Where,
1
Zeq = R1 + j X1 + . (16)
GC − j BM + 1
V2 /s + j X2
The stator copper losses in the three phases are given by
PSCL = 3 I12 R1 . (17)

The core losses are given by
Pcore = 3 E12 GC . (18)
so the air-gap power can be found as
PAG = Pin − PSCL − Pcore . (19)
Note: The only element in the equivalent circuit where the air-gap
power can be consumed is the resistor R2 /s.
R2
PAG = 3 I22 . (20)
s

The actual resistive losses in the rotor circuit are
PRCL = 3 IR2 RR . (21)
∵ power is unchanged when referred across an ideal transformer,

the rotor copper losses can be expressed as
PRCL = 3 I22 R2 . (22)
Remaining power converted from electrical to mechanical form is
Pconv = PAG − PRCL . (23)
R2
Pconv = 3 I22 − 3 I22 R2 . (24)
s
1−s
Pconv = I22 R2 ( ). (25)
s
Note1: Rotor copper losses are equal to the air-gap power times
the slip.
PRCL = s PAG . (26)
Note2: Lower the slip of the motor, the lower the rotor losses in
the machine.
Pconv = PAG − PRCL = PAG − s PAG . (27)
Pconv = (1 − s) PAG . (28)

Finally, if the friction and windage losses and the stray losses are
known, the output power can be found as
Pout = Pconv − PFW − Pmisc . (29)

The induced torque/ (developed torque) in the machine is given by

the equation
Pconv
τind = . (30)
ωm
Rotor angular speed is expressed as
ωm = (1 − s) ωsync (31)
Substitute Eq. (28) in (31).
(1 − s) PAG
τind = (32)
(1 − s) ωsync
PAG
τind = . (33)
ωsync

Seperating the Rotor Copper Losses and the Power Converted in an Induction Motor’s Equivalent Circuit

Seperating the Rotor Copper Losses and the Power Converted
in an Induction Motor’s Equivalent Circuit

I1 jX1 I2
R1 jX2 R2
(SCL) IM (RCL)
VΦ RC jXM E1 R2 (1-s)/s
(Core loss) (Pconv)
图 7: The per-phase equivalent circuit with rotor losses and Pcore

separated.
The power is consumed in the resistor is given as

R2
Rconv = − R2 . (34)
s
(1 − s)
Rconv = R2 . (35)
s
References
1 A. E. Fitzgerald, Charles Kingsley. Jr, Stephen D. Umans

“Electric Machinery," McGraw-Hill Higher Education, 6th
edition, 2003.
2 Stephen J. Chapman, “Electric Machinery Fundamentals,"

McGraw-Hill Higher Education, 4th edition, 2005.

Thanks!

Thevenin Equivalent Circuit of an Induction Motor Torque-Speed Characteristics of an Induction Motor
Induction Motors

Lecture - 8


1 Thevenin Equivalent Circuit of an Induction Motor
2 Torque-Speed Characteristics of an Induction Motor


Introduction
jX1 R1
Thevenin’s voltage by the voltage
divider rule for circuit in Fig.1.
ZM VΦ jXM VTH
VTH = Vϕ . (1)
ZM + Z1
j XM
VTH = Vϕ .
R1 + j X1 + j XM1 图 1: The Thevenin equivalent
(2) voltage of an induction motor input
circuit.

Simplified Thevenin Equivalent Circuit of an Induction Motor
jX1 R1
RTH jXTH jX2
jXM VTH VTH E1 R2 /s
图 2: The Thevenin equivalent 图 3: The resulting simplified equivalent

impedance of the input circuit. circuit of an induction motor.

Thevenin’s Impedance
∵ the magnetization reactance XM >> Xl and XM >> R1 , the

magnitude of the Thevenin’s voltage is approximately,
XM
VTH = Vϕ . (3)
X1 + XM
Thevenin’s impedance for circuit in Fig.2. is
Z1 ZM
ZTH = . (4)
Z1 + ZM
This impedance reduces to
j XM (R1 + j X1 )
ZTH = RTH + j XTH = . (5)
R1 + j X1 + j XM

Thevenin’s Current
Because XM >> X1 and XM + X1 >> R1 , the Thevenin’s

resistance and reactance are approximately,
X1
RTH = R1 ( )2 . (6)
X1 + XM
XTH = X1 . (7)
From the resulting equivalent circuit,
VTH
I2 = . (8)
ZTH + Z2
VTH
I2 = R2
. (9)
RTH + s + j XTH + j X2

Air-gap Power
The magnitude of the current is

VTH
|I2 | = R2 2
. (10)
(RTH + s ) + (XTH + X2 )2
The airgap power is

R2
PAG = 3 I22 . (11)
s
2 R2
3 VTH s
= R2 2
. (12)
(RTH + s ) + (XTH + X2 )2

Induced Torque in the Rotor
The rotor induced torque is

PAG
τind = . (13)
ωsync
2 R2
3 VTH s
τind = R2 2
. (14)
ωsync [(RTH + s ) + (XTH + X2 )2 ]


Typical Torque-Speed Characteristics of an Induction Motor
Induced torque % of full load
500 % Pull-out
torque
• Induced torque of the 400 %
motor is zero at
300 % Starting torque
synchronous speed.
200 %
Full-load
• Torque- speed curve torque
is nearly linear 100 %
between no load and

full load. 0 nsync
Mechanical speed
图 4: A typical induction motor

torque-speed characteristic curve.
Contd...
• In this range, RR >> XR , so IR , the rotor magnetic field and

the τind ↑ linearly with increasing slip (s).
• There is a maximum possible torque that cannot be exceeded.

This torque is called the pull-out torque or brakedown torque,
which is 2 to 3 times τfl of the motor.
• τst on the motor is slightly larger than its τfl so this motor will
start carrying any load that it can supply at full power.

Contd...
• Torque on the motor for a given slip varies as the square of

Vapplied .
• If the rotor of the induction motor is driven faster than nsync

→ the direction of τind in the machine reverses and the
machine becomes a generator, converting Pmech to Pelec .

Extended Operating Ranges of Torque-Speed Characteristic of an

Induction Motor
Tm
Torque
Slip
Ts (Starting Torque) Speed
-ns 0 ns 2ns
(S > 1)
S=1 S=0 S<0
Braking Motoring Generating
Region Region Region
图 5: Induction motor torque-speed characteristic curve showing the

extended operating ranges (braking region and generator region).
Contd...
800 120
Power
Pconv
700 Torque 105
τind
600 90
Induced torque (N-m)
Power, kW
• Maximum possible torque 500 75
occurs when the air-gap 400 60
power is maximum. 300 45
200 30
100 15
• ∵ PAG = power consumed 0 250 500 750 1000 1250 1500 1750 2000
Mechanical speed, r/min

in the resistor R2 /s.
图 6: Induced torque and power
converted vs motor speed in rpm of
an induction motor.

• The maximum τind will occur when the power consumed by

that resistor is maximum.
• The equivalent source impedance in the circuit is
Zsource = RTH + j XTH + j X2 . (15)
• The maximum power transfer occurs when,

√
R2
= (RTH )2 + (XTH + X2 )2 . (16)
s

Slip at pull-out torque is

R2
smax = √ . (17)
2
RTH + (XTH + X2 )2
The resulting maximum or pull-out torque is

2
3 VTH
τmax = √ . (18)
2 ωsync [RTH + 2
RTH + (XTH + X2 )2 ]
Note: slip of the rotor at which τmax occurs ∝ RR , but the value
of τmax is independent of the value of RR .

800
R4 R3 R2 R1
R0
700
• It is possible to ↑ the R by
Induced Torque, N-m

600
inserting resistance into the 500
rotor circuit of a wound 400
rotor because the rotor 300 R1 = 2R0

Load
R2 = 3R0
circuit is brought out to the 200 R3 = 4R0
R4 = gR0
stator through slip rings. 100
250
• As the RR is increased, the
0 500 750 1000 1250 1500 1750 2000
Mechanical Speed, rpm
pull-out speed of the motor

↓s, but τmax remains 图 7: The effect of varying rotor
resistance on the torque-speed
constant.
characteristic of a wound-rotor
induction motor.

References

“Electric Machinery," McGraw-Hill Higher Education, 6th
edition, 2003.
2 Stephen J. Chapman, “Electric Machinery Fundamentals,"


Thanks!

Control of Motor Characteristics by Rotor Cage Design Induction Motor Design Classes
Induction Motors

Lecture - 9


1 Control of Motor Characteristics by Rotor Cage Design
2 Induction Motor Design Classes


Introduction
• X2 in an induction motor equivalent circuit represents the

referred form of rotor’s Xleakage .
• Recall that Xleakage is the reactance due to the rotor flux lines
that do not couple with the stator windings.
• In general, the farther away from the stator a rotor bar or part
of a bar > Xleakage , since a smaller percentage of the bar’s
flux will reach the stator.

• ∴ if the bars of a rotor cage is placed near the surface of the

rotor → ϕleak ↓ and X2 ↓.
• On the other hand, if the rotor bars are placed deeper into the
rotor surface → ϕleak ↑ and X2 ↑.

Deep-Bar and Double-Cage Rotor
How a variable rotor resistance can be produced?

Stator
图 1: Flux linkage in a deep-bar rotor [2].
• Left side figure, I flowing in the upper part of a deep rotor bar
which is tightly coupled to the stator → Lleakage ↓.
• Right side figure, I flowing deeper in the bar → Lleakage ↑.

Design of Double-Cage Rotor
• It consists of a large Rlow set

of bars buried deeply in the
rotor and a small Rhigh set
of bars at the rotor surface.
• It is similar to the deep-bar

rotor except that the
difference between slow and
shigh operation is even more
exaggerated.
图 2: Double-cage Rotor design [2].

• During starting conditions, only the small bar is effective and

R2 quite ↑ → large τst .
• Double-cage rotors are cheaper than wound-rotor designs with

best features:
1 τst ↑ and Ist ↓.

2 Good η at normal operating conditions at a lower cost.
3 No need of maintaining slip rings and brushes.

Top of bar
R L
• Rotor bars are ∥ electrically R

L1
→ the upper ones having L Slip Slip

ring R L2
↓ and the lower ones having ring
L↑. R L3
Bottom of bar
• At ↓ s, fr ↓ → X ll R.
图 3: Equivalent circuit of the rotor
bar as a function of depth.

• Resulting large Across−sectional makes R2 quite small → good η

at ↓ s.
• At ↑ s (starting conditions), X ’s ≫ R’s.
• So Aeffective is ↓er and R2 is ↑er.


Induction Motor Design Classes
350
• It is possible to produce a 300 Class D
Percentage of full-load torque

Class A
large variety of τ − ω curves 250
by varying the rotor Class C
200
characteristics of induction Class B
motor. 150
100
• NEMA and IEC in Europe
50
have defined a series of
standard designs with 0 20 40 60 80 100
different τ − ω curves. Percentage of synchronous speed
图 4: Typical torque-speed curves for

different rotor designs.
Design Class A
• Normal τst , Ist and ↓ s.
• sfl of design A motors < 5 % (and < design B motor of

equivalent rating).
• τmax is 200 to 300 % of τfl and occurs at ↓ s.
• τst is at least τrated for larger motors and is 200 % or more of

τrated for smaller motors.

Design Class A
• Extremely high in-rush current on starting, which is typically

500 to 800 % of Irated .
• Typical applications for these motors are driving fans, blowers,

pumps, lathes and other machine tools.
• For sizes above 7.5 hp, voltage dip problem comes at starting,
(design class A applications are in the range of < 7.5 hp and
> 200 hp) which are replaced by design class B motors.

Design Class B
• Normal τst , ↓er Ist , and ↓ s.
• τst of class A motor = τst of class B motor with about 25 %

less I.
• τmax ≤ 200 % of τrated , but < class A design due to the
increased XR .
• srotor is still relatively low (< 5 %) at full load.
• Applications are similar to design A, but design B is preferred

because ↓er Ist .

Design Class C
• τst , ↓ Ist and ↓ s ( < 5 % at full load).
• τmax is slightly ↓ than class A motors, while τst up to 250 %

of τfl .
• More expensive than the previous design classes.
• High τst applications such as loaded pumps, compressors, and

conveyors.

Design Class D
• τst ↑ (> 275 % of τrated ) and Ist ↓ with ↑ sfl .
• Essentially ordinary class A induction motors with small rotor

bars and ↑er RR which shifts τpeak to a very ↓ speed.
• τmax can occur at zero speed (100 % s) and sfl is quite ↑.
• Used in applications requiring the acceleration of extremely

high-inertia type loads.
• In addition to these four, classes E and F which are called
soft-start induction motors.

References

“Electric Machinery” McGraw-Hill Higher Education, 6th
edition, 2003.
2 Stephen J. Chapman, “Electric Machinery Fundamentals”


Thanks!


Lecture 7 &amp; 8

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Rotor Circuit Model Equivalent Circuit of an Induction Motor Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar

EE228 Electrical Machines

School of Electrical Sciences

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

1 Rotor Circuit Model

2 Equivalent Circuit of an Induction Motor

3 Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

1 Rotor Circuit Model

2 Equivalent Circuit of an Induction Motor

3 Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

• Voltage applied to the stator windings leads to the induced

• Magnitude and f of the in the rotor at any speed ∝ slip (s) of

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

• Magnitude of the induced voltage at any slip is

• Frequency of the induced voltage at any slip is

• The reactance of an inductance motor rotor depends on the

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

The rotor reactance is given by IR jXR = jsXR0

Substitute Eq. (2) in (4)

Where, XR0 is blocked-rotor rotor reactance.

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

• Rotor current approaches a steady-state value as the slip

图 3: Rotor current as a function of rotor speed.

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

1 Rotor Circuit Model

2 Equivalent Circuit of an Induction Motor

3 Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Equivalent Circuit of an Induction Motor

图 4: Transformer model of an induction motor with rotor and stator

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Final Equivalent Circuit of an Induction Motor

1 Rotor Circuit Model

2 Equivalent Circuit of an Induction Motor

3 Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Final Equivalent Circuit of an Induction Motor

Final Equivalent Circuit of an Induction Motor

图 5: The per-phase ﬁnal equivalent circuit of an induction motor.

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Final Equivalent Circuit of an Induction Motor

aeﬀ - Eﬀective turns ratio.

The transformed rotor current is

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Final Equivalent Circuit of an Induction Motor

and the corresponding transformed rotor impedance is

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

1 Rotor Circuit Model

2 Equivalent Circuit of an Induction Motor

3 Power and Torque in Induction Motors

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Losses and Power-Flow Diagram

Air-gap Power Pout = τload ωm

图 6: The power-ﬂow diagram of an induction motor.

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Losses and Power-Flow Diagram

The input current to a phase of the motor shown in Fig.6. is found

The stator copper losses in the three phases are given by

PSCL = 3 I12 R1 . (17)

Instructor: Dr. S. Sashidhar EE228 Electrical Machines Lecture - 7

Lecture 7 & 8

Lecture 7 & 8