Induction Machines

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 Induction Motors

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 cont,
• Three-phase induction motors are the most common
and frequently encountered machines in industry
80% of industry machines are induction
simple design, low-price, easy maintenance
wide range of power ratings: fractional horsepower
to 10 MW
run essentially as constant speed from zero to full
load
speed is power source frequency dependent
• not easy to have variable speed control
• requires a variable-frequency power-electronic
drive for optimal speed control
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 Construction
• An induction motor has two main parts
i. stator
• core, constructed from stacked laminations (why?),
having a number of evenly spaced slots, providing
the space for the stator winding

Stator of IM

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 cont…
ii. rotor
• A rotating part consists of a series rotor
slots, providing space for the rotor winding

Two types of rotor windings

squirrel-cage)-no windings and no slip
rings
(wound-rotor)-3 phase winding+ slip rings

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 Construction
Squirrel cage rotor

Wound rotor

Notice the
slip rings

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 Construction
Slip rings

Cutaway in a
typical wound-
rotor IM.
Notice the
brushes and the
slip rings

Brushes
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All principles and laws of transformer is valid
for induction machines

• Faradays low, E = VLB, induction princip.

• Lorenz law, F= BIL, effect opposes cause
• Ampere’s low

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 Speed of rotating magnetic field
For a 2-pole stator winding, the field makes one
revolution in one cycle of current. In a 4-pole stator
winding, it can be shown that the rotating field makes
one revolution in two cycles of current.
In general, for P poles, the rotating field makes one
revolution in P/2 cycles of current.

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 Induction motor speed
• At what speed will the IM run?
Can the IM run at the synchronous speed, why?
If so, the rotor will appear stationary to the rotating
magnetic field and the rotating magnetic field will not cut
the rotor.
So, no induced current will flow in the rotor and no rotor
magnetic flux will be produced so no torque is generated
and the rotor speed will fall below the synchronous speed
– When the speed falls, the rotating magnetic field will cut
the rotor windings and a torque is produced

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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

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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
under normal operating conditions, s= 0.01 ~ 0.05, which is very
small and the actual speed is very close to synchronous speed.

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 Slip and Rotor Speed
• Rotor Speed
– When the rotor move at rotor speed, nr (rps), the stator flux
will circulate the rotor conductor at a speed of (ns-nr) per
second. Hence, the frequency of the rotor is written as:
Note :
f r  ( ns  nr ) p At stator : n  120 f
s p
 sf ns p
f  .....(i )
• Where, s = slip 120
f = supply frequency At Rotor : ns  nr  120p f
( ns  nr ) p
 fr  .....(ii )
120
(ii )  (i ) : f r  s. f
•An IM is similar to a rotating transformer where the primary is similar to the
stator and the secondary would be a rotor. But unlike a transformer, the
secondary frequency may not be the same as in the primary.
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If the rotor is locked , the rotor would have the same
frequency as the stator (refer to transformer concept).

And rotor speed drops to zero, hence by default, slip is 1.

But
. as the rotor starts to rotate, the rotor frequency would
reduce, and when the rotor turns at synchronous speed, the
frequency on the rotor will be zero.

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In general, the greater the relative motion between
the rotor and the stator magnetic fields, the greater
the resulting rotor voltage and rotor frequency.

The largest relative motion occurs when the rotor is

stationary, called the locked-rotor or blocked-rotor
condition, so the largest voltage and rotor frequency
are induced in the rotor at that condition.

The smallest voltage and frequency occur when the

rotor moves at the same speed as the stator magnetic
field, resulting in no relative motion.
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 Example
A 208-V, 10hp, four pole, 60 Hz, Y-connected
induction motor has a full-load slip of 5%
1. What is the synchronous speed of this motor?
2. What is the rotor speed of this motor at rated
load?
3. What is the rotor frequency of this motor at
rated load?
4. What is the shaft torque of this motor at rated
load?

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 Equivalent Circuit of Induction
Machines
• Step1 Rotor winding is open
(The rotor will not rotate)

f f

• Note:
– the frequency of E2 is the same as that of E1 since the rotor
is at standstill. At standstill s=1.
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 Equivalent Circuit of Induction
Machines

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 Equivalent Circuit of Induction Machines
• Step2 Rotor winding is shorted
(Under normal operating conditions, the rotor winding is shorted. The slip is s)

f fr

• Note:
– the frequency of E2 is fr=sf because rotor is
rotating.
rotating

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The reactance of an induction motor rotor depends on
the inductance of the rotor and the frequency of the
voltage and current in the rotor.
With a rotor inductance of LR, the rotor reactance is:

X R   r LR  2 f r LR
Since f r  sf e ,
X R  s 2 f e LR  sX R 0

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 Equivalent Circuit of Induction
•
Machines
Step3 Eliminate f
2

Keep the rotor current same:

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 Equivalent Circuit of Induction Machines
• Step 4 Referred to the stator side

Note:
– X’2 and R’2 will be given or measured. In practice, we do
not have to calculate them from above equations.
– Always refer the rotor side parameters to stator side.
– Rc represents core loss, which is the core loss of stator
side.
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 Power flow in induction motor

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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.

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 Power Flow Diagram
3Vs I s cos  1hp  746W
Pin (Motor) Pdeveloped
Pin (Rotor) Pmechanical Pout, Po
Pair Gap Pconverted
Pin (Stator) (Pag) (Pm)
RR ' 1 s 
2 3 I R ' 2 RR '  
3I R '  s 
s

Pstator copper Pcore loss Protor copper Pwindage, friction, etc

loss, (Pscu) (Pc) loss (Prcu) (P -
2
2 V  3 I R ' 2 RR ' Given)
3I s Rs 3 RM 
 Rc 

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 Power relations
Pin  3 VL I L cos   3 V ph I ph cos 

PSCL  3 I R 2
1 1
R2 PRCL
PAG  Pin  ( PSCL  Pcore )  Pconv  PRCL  3I 2
2 
s s
PRCL  3I 22 R2

Pconv  PAG  PRCL R2 (1  s) PRCL (1  s )

 3I 2
2 
s s

Pout  Pconv  ( Pf  w  Pstray )

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Example
• A 460V, 25hp, 60Hz, 4 pole, Y-connected induction motor has the
following impedances in ohms per phase referred to the stator
circuit:
• R1 = 0.641 Ω R2 = 0.332 Ω
• X1 = 1.106 Ω X2 = 0.464 Ω Xm = 26.3 Ω
• The total rotational losses are 1100W and are assumed to be
constant. The core loss is lumped in with the rotational losses. For
a rotor slip of 2.2% at the rated voltage and rated frequency, find the
motor’s

speed
 stator current
 power factor
 Pconv and Pout
 τind and τload
 efficiency

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 THE TORQUE EQUATION

Consider the diagram below

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impedances have been replaced by Thevenin equivalent impedances.

Thevenin model into the circuit model results in the Thevenin equivalent circuit
model of an induction machine.

In the above circuit, the calculation of rotor current is greatly simplified

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The above expression for rotor current can be squared and substituted into the torque
equation

Considering the Thevenin circuit, and applying maximum power transfer theory,
maximum airgap power and maximum torque will occur when

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Re-arranging it is possible to obtain the slip for maxiumum torque

Substituting the pullout slip into the Thevenin torque equation

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 Speed Control
• There are 3 types of speed control of 3
phase induction machines
i. Varying rotor resistance
ii. Varying supply voltage
iii. Varying supply voltage and supply
frequency

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 Varying rotor resistance
• For wound rotor only
• Speed is decreasing
T
• Constant maximum
torque
R1< R2< R3
• The speed at which max R1
nr1< nr2< nr3
R2
torque occurs changes R3
T
• Disadvantages:
– large speed regulation
– Power loss in Rext – nr3 nr2 nr1 n ~n n
s NL

reduce the efficiency

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 Varying supply voltage
• Maximum torque changes T

• The speed which at max V1

V
torque occurs is constant (at V2
decreasin
g
V1> V2 >
max torque, XR=RR/s V
n3 > n >
r1 r2
V3
• Relatively simple method – nr3

uses power electronics

circuit for voltage controller T

• Suitable for fan type load

• Disadvantages :
– Large speed regulation nr3 nr2nr1
ns~nNL
n
since ~ ns

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Innductionmachines
machines 38 38
 Varying supply voltage and supply
frequency

• The best method since

supply voltage and supply T f
frequency is varied to keep decreasing

V/ constant
f

• Maintain speed regulation

• uses power electronics T

circuit for frequency and

voltage controller nr3 nr2 nr1 nNL1 n
nNL3 nNL2
• Constant maximum torque

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 Problem

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 Solution

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 Problem

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 Solution

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 Solution– Cont’d

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 Solution– Cont’d

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 Solution– Cont’d

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