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Mesin Induksi (Asynchronous Machine) : Dr. Ir. Agus Purwadi, M.T
Mesin Induksi (Asynchronous Machine) : Dr. Ir. Agus Purwadi, M.T
KK Teknik Ketenagalistrikan
Sekolah Teknik Elektro dan Informatika-ITB
2020
.
Introduction
KK Teknik Ketenagalistrikan-STEI-ITB 2
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Construction
An induction motor has two main parts
- a stationary stator
• consisting of a steel frame that supports a hollow, cylindrical core
• core, constructed from stacked laminations (why?), having a number of evenly
spaced slots, providing the space for the stator winding
Stator of IM
KK Teknik Ketenagalistrikan-STEI-ITB 3
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Construction
- a revolving rotor
• composed of punched laminations, stacked to create a series of rotor slots, providing space for the
rotor winding
• one of two types of rotor windings
• conventional 3-phase windings made of insulated wire (wound-rotor) » similar to the winding on the
stator
• aluminum bus bars shorted together at the ends by two aluminum rings, forming a squirrel-cage
shaped circuit (squirrel-cage)
Two basic design types depending on the rotor design
- squirrel-cage: conducting bars laid into slots and shorted at both ends by shorting rings.
- wound-rotor: complete set of three-phase windings exactly as the stator. Usually Y-connected,
the ends of the three rotor wires are connected to 3 slip rings on the rotor shaft. In this way, the
rotor circuit is accessible.
KK Teknik Ketenagalistrikan-STEI-ITB 4
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Construction
KK Teknik Ketenagalistrikan-STEI-ITB 5
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Construction
Slip rings
Cutaway in a typical
wound-rotor IM.
Notice the brushes and
the slip rings
Brushes
KK Teknik Ketenagalistrikan-STEI-ITB 6
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Construction
KK Teknik Ketenagalistrikan-STEI-ITB 7
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Rotating Magnetic Field
Balanced three phase windings, i.e.
mechanically displaced 120 degrees form
each other, fed by balanced three phase
source
A rotating magnetic field with constant
magnitude is produced, rotating with a
speed
120 f e
nsync rpm
P
Where fe is the supply frequency and
P is the no. of poles and nsync is called the
synchronous speed in rpm (revolutions per
minute)
KK Teknik Ketenagalistrikan-STEI-ITB 8
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Synchronous speed
P 50 Hz 60 Hz
2 3000 3600
4 1500 1800
6 1000 1200
8 750 900
10 600 720
12 500 600
KK Teknik Ketenagalistrikan-STEI-ITB 9
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Rotating Magnetic Field
KK Teknik Ketenagalistrikan-STEI-ITB 10
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Rotating Magnetic Field
KK Teknik Ketenagalistrikan-STEI-ITB 11
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Rotating Magnetic Field
Bnet (t ) Ba (t ) Bb (t ) Bc (t )
BM sin(t ) xˆ
3
[0.5 BM sin(t 120)]xˆ [ BM sin(t 120)]yˆ
2
3
[0.5 BM sin(t 240)]xˆ [ BM sin(t 240)]yˆ
2
KK Teknik Ketenagalistrikan-STEI-ITB 12
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Rotating Magnetic Field
1 3 1 3
Bnet (t ) [ BM sin(t ) BM sin(t ) BM cos(t ) BM sin(t ) BM cos(t )]xˆ
4 4 4 4
3 3 3 3
[ BM sin(t ) BM cos(t ) BM sin(t ) BM cos(t )]yˆ
4 4 4 4
KK Teknik Ketenagalistrikan-STEI-ITB 13
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Rotating Magnetic Field
KK Teknik Ketenagalistrikan-STEI-ITB 14
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Principle of operation
This rotating magnetic field cuts the rotor windings and
produces an induced voltage in the rotor windings
B
Due to the fact that the rotor windings are short circuited, for rotating
Where ind is the induced torque and BR and BS are the magnetic
flux densities of the rotor and the stator respectively
KK Teknik Ketenagalistrikan-STEI-ITB 15
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Induction motor speed
KK Teknik Ketenagalistrikan-STEI-ITB 16
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Induction motor speed
So, the IM will always run at a speed lower than the synchronous
speed
The difference between the motor speed and the synchronous speed
is called the Slip
nslip nsync nm
Where nslip= slip speed
nsync= speed of the magnetic field
nm = mechanical shaft speed of the motor
KK Teknik Ketenagalistrikan-STEI-ITB 17
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The Slip
nsync nm
s
nsync
Where s is the slip
Notice that : if the rotor runs at synchronous speed
s=0
if the rotor is stationary
s=1
Slip may be expressed as a percentage by multiplying the above eq. by 100, notice
that the slip is a ratio and doesn’t have units
KK Teknik Ketenagalistrikan-STEI-ITB 18
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Induction Motors and Transformers
KK Teknik Ketenagalistrikan-STEI-ITB 19
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Frequency
fr s fe
When the rotor is blocked (s=1) , the frequency of the induced
voltage is equal to the supply frequency
On the other hand, if the rotor runs at synchronous speed (s = 0), the
frequency will be zero
KK Teknik Ketenagalistrikan-STEI-ITB 21
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Torque
While the input to the induction motor is electrical power, its output is
mechanical power and for that we should know some terms and
quantities related to mechanical power
Any mechanical load applied to the motor shaft will introduce a
Torque on the motor shaft. This torque is related to the motor output
power and the rotor speed
Pout 2 nm
load N .m and m rad / s
m 60
KK Teknik Ketenagalistrikan-STEI-ITB 22
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Horse power
hp 746 watts
KK Teknik Ketenagalistrikan-STEI-ITB 23
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Example
KK Teknik Ketenagalistrikan-STEI-ITB 24
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Solution
120 f e 120(60)
1. nsync 1800 rpm
P 4
2. nm (1 s) ns
(1 0.05) 1800 1710 rpm
3. f r sf e 0.05 60 3Hz
4. Pout Pout
m
load
nm
2
60
10 hp 746 watt / hp
41.7 N .m
1710 2 (1/ 60)
KK Teknik Ketenagalistrikan-STEI-ITB 25
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Equivalent Circuit
KK Teknik Ketenagalistrikan-STEI-ITB 26
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Equivalent Circuit
When the rotor is locked (or blocked), i.e. s =1, the largest voltage
and rotor frequency are induced in the rotor, Why?
On the other side, if the rotor rotates at synchronous speed, i.e. s =
0, the induced voltage and frequency in the rotor will be equal to
zero, Why?
ER sER 0
Where ER0 is the largest value of the rotor’s induced voltage obtained at
s =1(locked rotor)
KK Teknik Ketenagalistrikan-STEI-ITB 27
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Equivalent Circuit
Where ER is the induced voltage in the rotor and RR is the rotor resistance
KK Teknik Ketenagalistrikan-STEI-ITB 29
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Equivalent Circuit
KK Teknik Ketenagalistrikan-STEI-ITB 30
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Equivalent Circuit
KK Teknik Ketenagalistrikan-STEI-ITB 31
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Equivalent Circuit
KK Teknik Ketenagalistrikan-STEI-ITB 32
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Equivalent Circuit
Resistance
Actual rotor
equivalent to
resistance
mechanical load
KK Teknik Ketenagalistrikan-STEI-ITB 33
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Power losses in Induction machines
Copper losses
- Copper loss in the stator (PSCL) = I12R1
- Copper loss in the rotor (PRCL) = I22R2
Core loss (Pcore)
Mechanical power loss due to friction and windage
How this power flow in the motor?
KK Teknik Ketenagalistrikan-STEI-ITB 34
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Power flow in Induction motor
KK Teknik Ketenagalistrikan-STEI-ITB 35
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Power relations
PRCL 3I 22 R2
Pconv PAG PRCL
Pconv
Pout Pconv ( Pf w Pstray ) ind
m
KK Teknik Ketenagalistrikan-STEI-ITB 36
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Power relations
PAG Pconv
1 1-s
PRCL
s
PAG : PRCL : Pconv
1 : s : 1-s
KK Teknik Ketenagalistrikan-STEI-ITB 37
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Example
KK Teknik Ketenagalistrikan-STEI-ITB 38
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Solution
Z tot Z stat Z f
0.641 j1.106 12.9431.1
11.72 j 7.79 14.0733.6
4600
V 3
I1 18.88 33.6 A
Z tot 14.0733.6
3. PF cos 33.6 0.833 lagging
4. Pin 3VL I L cos 3 460 18.88 0.833 12530 W
PSCL 3I12 R1 3(18.88) 2 0.641 685 W
PAG Pin PSCL 12530 685 11845 W
KK Teknik Ketenagalistrikan-STEI-ITB 40
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Solution
KK Teknik Ketenagalistrikan-STEI-ITB 42
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Torque, Power and Thevenin’s Theorem
jX M XM
VTH V | VTH || V |
R1 j ( X 1 X M ) R12 ( X 1 X M ) 2
RTH jX TH ( R1 jX 1 ) // jX M
KK Teknik Ketenagalistrikan-STEI-ITB 43
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Torque, Power and Thevenin’s Theorem
KK Teknik Ketenagalistrikan-STEI-ITB 44
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Torque, Power and Thevenin’s Theorem
VTH VTH
I2
ZT
2
R2
R
TH ( X TH X 2 ) 2
s
Then the power converted to mechanical (Pconv)
R2 (1 s )
Pconv 3I2
2
s
And the internal mechanical torque (Tconv)
2 R2
Pconv Pconv 3I
2
s PAG
ind
m (1 s )s s s
KK Teknik Ketenagalistrikan-STEI-ITB 45
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Torque, Power and Thevenin’s Theorem
2
3 VTH R2
ind s
s
2
R R2 ( X X )2
TH s TH 2
2 R2
3V
TH
1 s
ind
s R2
2
RTH ( X TH X 2 ) 2
s
KK Teknik Ketenagalistrikan-STEI-ITB 46
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Torque-speed characteristics
Design C
200%
TORQUE
Design A
Design B
100%
0 100%
SPEED
KK Teknik Ketenagalistrikan-STEI-ITB 48
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Insulation Class
KK Teknik Ketenagalistrikan-STEI-ITB 49
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Comments
KK Teknik Ketenagalistrikan-STEI-ITB 50
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Comments
4. The starting torque of the motor is slightly higher than its full-load
torque, so the motor will start carrying any load it can supply at full
load.
5. The torque of the motor for a given slip varies as the square of the
applied voltage.
6. If the rotor is driven faster than synchronous speed it will run as a
generator, converting mechanical power to electric power.
KK Teknik Ketenagalistrikan-STEI-ITB 51
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Complete Speed-torque
KK Teknik Ketenagalistrikan-STEI-ITB 52
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Maximum torque
R2
sTmax
2
RTH ( X TH X 2 ) 2
KK Teknik Ketenagalistrikan-STEI-ITB 53
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Maximum torque
1 2
3VTH
max
2s RTH 2
RTH ( X TH X 2 ) 2
KK Teknik Ketenagalistrikan-STEI-ITB 55
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Maximum torque
KK Teknik Ketenagalistrikan-STEI-ITB 57
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Solution
120 f e 120 50
1. nsync 3000 rpm
P 2
nsync nm 3000 2950
s 0.0167 or 1.67%
nsync 3000
2. no P
f W given
KK Teknik Ketenagalistrikan-STEI-ITB 58
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Solution
3. In the low-slip region, the torque-speed curve is linear and the induced
torque is direct proportional to slip. So, if the torque is doubled the new slip
will be 3.33% and the motor speed will be
KK Teknik Ketenagalistrikan-STEI-ITB 59
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Example
KK Teknik Ketenagalistrikan-STEI-ITB 60
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Solution
XM
VTH V
R12 ( X 1 X M ) 2
460
26.3
3 255.2 V
(0.641) (1.106 26.3)
2 2
2
XM
RTH R1
X
1 X M
2
26.3
(0.641) 0.590
1.106 26.3
X TH X 1 1.106
KK Teknik Ketenagalistrikan-STEI-ITB 61
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Solution
R2
1. sTmax 2
RTH ( X TH X 2 ) 2
0.332
0.198
(0.590) 2 (1.106 0.464) 2
KK Teknik Ketenagalistrikan-STEI-ITB 62
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Solution
1 3VTH2
max
2s R R 2 ( X X )2
TH TH TH 2
3 (255.2) 2
2
2 (1800 )[0.590 (0.590) 2 (1.106 0.464) 2 ]
60
229 N.m
KK Teknik Ketenagalistrikan-STEI-ITB 63
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Solution
2. The starting torque can be found from the torque eqn. by substituting s = 1
2 R2
3V TH
1 s
start ind
s 1
s R2
2
RTH ( X TH X 2 ) 2
s s 1
2
3VTH R2
s [ RTH R2 ( X TH X 2 ) 2 ]
2
3 (255.2) 2 (0.332)
2
1800 [(0.590 0.332) 2 (1.106 0.464) 2 ]
60
104 N.m
KK Teknik Ketenagalistrikan-STEI-ITB 64
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Solution
3. If the rotor resistance is doubled, then the slip at maximum torque doubles
too
R2
sTmax 0.396
RTH ( X TH X 2 )
2 2
KK Teknik Ketenagalistrikan-STEI-ITB 65
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Solution
KK Teknik Ketenagalistrikan-STEI-ITB 66
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Determination of Motor Parameters
KK Teknik Ketenagalistrikan-STEI-ITB 67
. Test
DC
KK Teknik Ketenagalistrikan-STEI-ITB 68
. Test
DC
- then
VDC
RDC
I DC
- If the stator is Y-connected, the per phase stator
resistance is
RDC
R1
2
- If the stator is delta-connected, the per phase stator
resistance is
3
R1 RDC
2
KK Teknik Ketenagalistrikan-STEI-ITB 69
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No-load test
KK Teknik Ketenagalistrikan-STEI-ITB 70
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No-load test
R2 (1 s ) R 2 (1 s )
R2 & X 2
s s
The equivalent circuit reduces to…
KK Teknik Ketenagalistrikan-STEI-ITB 71
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No-load test
KK Teknik Ketenagalistrikan-STEI-ITB 72
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No-load test
6. At the no-load conditions, the input power measured by meters must equal
the losses in the motor.
7. The PRCL is negligible because I2 is extremely small because R2(1-s)/s is very
large.
8. The input power equals
KK Teknik Ketenagalistrikan-STEI-ITB 73
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No-load test
V
Z eq X1 X M
I1, nl
KK Teknik Ketenagalistrikan-STEI-ITB 74
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Blocked-Rotor Test
KK Teknik Ketenagalistrikan-STEI-ITB 75
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Blocked-Rotor Test
Pin
PF cos
3Vl I l
The magnitude of the total impedance
V
Z LR
I
KK Teknik Ketenagalistrikan-STEI-ITB 76
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Blocked-Rotor Test
Z LR RLR jX LR
'
Z LR cos j Z LR sin
RLR R1 R2
'
X LR X 1' X 2'
Where X’1 and X’2 are the stator and rotor reactances at the test frequency
respectively
R2 RLR R1
f rated
X LR '
X LR X1 X 2
f test
KK Teknik Ketenagalistrikan-STEI-ITB 77
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Blocked-Rotor Test
Rotor Design X1 X2
KK Teknik Ketenagalistrikan-STEI-ITB 78
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Example
The following test data were taken on a 7.5-hp, four-pole, 208-V, 60-Hz, design A, Y-connected
IM having a rated current of 28 A.
DC Test:
VDC = 13.6 V IDC = 28.0 A
No-load Test:
Vl = 208 V f = 60 Hz
I = 8.17 A Pin = 420 W
Locked-rotor Test:
Vl = 25 V f = 15 Hz
I = 27.9 A Pin = 920 W
KK Teknik Ketenagalistrikan-STEI-ITB 79
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Starting System
KK Teknik Ketenagalistrikan-STEI-ITB 80
Starting
. Langsung (direct starting)
3 Phase
source
O/L
Motor
Stop Start
O/Ls
M
Ma
KK Teknik Ketenagalistrikan-STEI-ITB 81
Starting
. Dengan Pengurangan Tegangan
3 Phase
source
3 Phase
source
S
S
Auto Transformer
S S S
80% 50% 50% 80%
65% 65% R R R
S1 S2 S3 S4 S5 S6
R3
R1 R2
O/L O/L
O/L O/L
Motor
Motor
Stop Start
Start Relay
TR O/Ls
S
R
Stop Start
Delay ON Start Relay
TR O/Ls
TR
S
S R
Running Relay
TR Delay ON
R TR
S
Running Relay
TR
menggunakan komparator R
KK Teknik Ketenagalistrikan-STEI-ITB 82
Starting
. Dengan Pengurangan Tegangan
3 Phase
source
M M M
S S S
O/L O/L
R R R
Motor
Stop Start
Cont. Relay
O/Ls
CR
CR Delay ON
TR Relai waktu
tunda
CR
M Kontaktor
utama
TR CR
Sambungan
S Segitiga
TR
Sambungan
R Delta
bintang/delta
KK Teknik Ketenagalistrikan-STEI-ITB 83
Starting
. Wound rotor (Rotor Belit)
KK Teknik Ketenagalistrikan-STEI-ITB 84
Terimakasih