ECE330

Power Circuits and Electromechanics

Dr. Nam Nguyen-Quang

Fall 2016

http://www4.hcmut.edu.vn/~nqnam/lecture.php

Lecture 7 1

Induction machines - Introduction

The most widely used machine in the industry, mainly as a motor. Both stator
and rotor carry alternating currents. Excellent torque-speed characteristics can
be obtained with advanced power converters.

The lecture will focus on basic phenomena and equivalent circuits, deriving
from the energy point of view.

The stator is exactly the same as in a synchronous machine, with three-phase

winding, creating a rotating magnetic field at a synchronous speed s = pm,
where p is the number of pole pairs and m is the mechanical speed in rad/s.

The rotor also has a three-phase winding with the same number of poles as in
the stator, either by inducing from the magnetic field, or by artificial means. The
rotor is short-circuited by itself (squirrel cage rotor) or externally through slip
rings (wound rotor).
Lecture 7 2
Machine construction
Laminated iron cores with slots on both stator and rotor. The rotor has some
fan blades on both ends to circulate the air inside the machine. Mounted on the
non-driving end of the shaft is the ventilating fan.

Ventilating Stator
fan winding

Fan blade
on end ring Squirrel
cage rotor

Bearings Shaft

Lecture 7 3

Stator construction
Laminated iron core, with slots for a three-phase winding. Wedges are used to
hold coil sides inside slots. The three-phase winding will create a rotating field
when supplied by a three-phase current system.

Stator
slot
Wedge

Coil end
Stator
teeth

Lecture 7 4
Wound rotor construction
Laminated iron core, with slots for rotor bars. Rotor bars are arranged as a
three-phase winding. The three-phase winding is connected to external resistors
or separate power supplies through slip rings, to achieve a desired torque-speed
characteristic, depending on the load.

Rotor bar

Shaft

Fan blade

Slip ring
Lecture 7 5

Squirrel cage rotor construction

Laminated iron core, with slots for rotor bars. Rotor bars are short-circuited
through end rings. There are fan blades on each end ring to improve the cooling
inside the machine. Rotor bars in small rotors are skewed to reduce the noise and
improve the performance.

Rotor bar
Fan blade

End ring

Lecture 7 6
More picture of a real induction motor

Lecture 7 7

Concept of a rotating field

The stator coils are mechanically shifted 1200 in a three-phase winding. When
supplied by a three-phase current system, the three-phase winding will create a
rotating magnetic field with constant magnitude, assuming the magnetic core is
not saturated. Similarly, a two-phase winding with stator coils shifted by 900 will
also create a rotating field when supplied by a two-phase current system.

Lecture 7 8
Concept of a rotating field (cont.)

Lecture 7 9

Operation of induction motor

Three-phase currents are supplied to the stator winding, resulting in a rotating
field, which revolves at the synchronous speed. If the rotor speed is different from
the synchronous speed, there are currents induced in the rotor winding, with the
same number of poles as in the stator winding.

The induced current in the rotor winding will also create a rotating field,
interacting with the field created by the stator winding to produce torque.

Ideally, the produced torque (by induced currents) will speed up the rotor,
according to Lenzs law, until the rotor speed equals to synchronous speed, where
torque reduces to zero. In practice, due to mechanical power losses (windage,
friction, etc.) the rotor will never reach synchronous speed, but slip behind the
rotating field, resulting in enough torque to overcome the opposing torque (in no-
load or under-load condition).
Lecture 7 10
Operation of induction motor (cont.)
In a motor with p pole pairs, the mechanical speed m (in rad/s) satisfies

s r = p m
where s and r are stator and rotor frequencies in rad/s, respectively.

The magnitude of induced currents depends upon the speed difference

between the rotating stator field and the rotor. Speed difference is represented by
a dimensionless quantity called slip as
n s n s p m
s= =
ns s
This leads to
r = s p m = s s
Two special cases: s = 0 at synchronous speed, and s = 1 at standstill (starting)
condition.
Lecture 7 11

Analysis of a two-pole machine

Using energy methods, one can find that the torque is given by

T e = I ms I mr M sin ( + )
9
4
where Ims and Imr are the peak values of stator and rotor currents, respectively.

It would be more useful if the torque can be determined using electrical

parameters of the machine. This can be done with an equivalent circuit, which is
very similar to that of a transformer. In fact, the induction motor can be considered
as a general transformer with a rotating secondary.

Assuming the effective number of turns on the stator is a times the number of
turns on the rotor, all rotor quantities are referred to the stator side as

av ar = v ar' iar a = iar' a 2 Rr = Rr' a 2 Lr = L'r a 2 Lmr = L'mr

Lecture 7 12
Per-phase equivalent circuit
To connect stator and rotor circuits, both circuits must have the same voltage
level and frequency. If stator resistance is ignored, the per-phase equivalent circuit
with impedances referred to stator side is as shown below.

Lls is the stator leakage inductance and Llr is the rotor leakage inductance
referred to the stator side. Rr is the rotor resistance referred to the stator side.

js Lls j s L'lr

Ia Ir'
Va
3 Rr'
j s aM s
2

Lecture 7 13

Approximate equivalent circuit

The rotor resistance can be thought of a combination of Rr and Rr(1 s)/s. The
first component represents rotor copper loss, whilst the second one represents
total mechanical power developed by the motor.

A simplified version can be obtained by moving the magnetizing inductance aM

to the left, yielding the approximate equivalent circuit shown below.

j s Lls j s L'lr Rr'

Va Ia I r'
3 1 s
j s aM Rr'
2 s

Lecture 7 14
Power relationships
Core and stator losses can be accounted for by Rc and Ra in the approximate
equivalent circuit. Total input power satisfies

PT = 3Va I a cos( ) = 3I
Rr'
s
' 2
+ 3 I r Ra + 3
'2
r
Va2
Rc
( )
= Pag + Pscl + Pc
where Pag, Pscl, and Pc are power across the air gap, stator copper loss, and core
loss, respectively.

Im Ra '
jxls Rr' jxlr'
Va Ia I r
1 s
Rr'
s
Rc jX m

Lecture 7 15

Power relationships (cont.)

Pag includes rotor copper loss Pr and developed mechanical power Pm. It can be
easily seen that
1 s
Pm = 3I r'2 Rr' = Pag (1 s )
s
Also, rotor copper loss Pr can be expressed in terms of Pag as

Pr = 3I r' 2 Rr' = sPag

Taking all losses into account, the efficiency is

Pm PT (Pscl + Pc + Pr )
= =
PT PT
If rotational losses Prot are considered, the efficiency is given by

Pshaft PT (Pscl + Pc + Pr + Prot )

= =
PT PT
Lecture 7 16
Expression of torque
Using the approximate equivalent circuit, the rotor current referred to stator side
is given by

Va
I r' =
( ) (
Ra + Rr' s + j xls + xlr' )
Developed mechanical power is

1 s 3Va2 Rr' (1 s ) s
( )
Pm = 3 I ' 2
R '
=
r r
s ( 2
) (
Ra + Rr' s + xls + xlr' )
2

For a two-pole machine m = s(1 s), the torque is therefore given by

1 3Va2 Rr' s
T = e

s (Ra + Rr' s )2 + (xls + xlr' )2

Lecture 7 17

Example 7.2 and 7.3

Ex. 7.2: A three-phase, 866 V, wye-connected, 60 Hz, two-pole induction motor

has sLls = 0.5 , 3saM/2 = 50 , sLlr = 0.5 , and Rr = 0.1 . Find the torque
at s = 0.05 and the three-phase input complex power. Neglect Ra and Rc. Use
approximate as well as the exact equivalent circuit.

The error between the approximate and the exact equivalent circuit is about
1.8% in this particular example.

Ex. 7.3: Using the approximate equivalent circuit for Ex. 7.2, compute Ir, Pag,
Pm, Pr and the torque.

Lecture 7 18
Torque-speed characteristic
Torque expression has been derived as

1 3Va2 Rr' s
T = e

s (Ra + Rr' s )2 + (xls + xlr' )2

For constant applied voltage and frequency, at small values of s

3Va2 s
T
e
or Te s
s Rr'
At large values of s (around 1)

Torque (pu)
3Va2 Rr'
T
e

s (xls + xlr' )
2
s

1
or Te
s Slip
Lecture 7 19

Expression for maximum torque

From the torque-speed curve, there is a slip where the torque will reach its
peak. This slip can be found by setting dTe/ds = 0, leading to

Rr'
s
= Ra2 + xls + xlr' ( ) 2

Hence, the slip at which maximum torque occurs is

Rr'
s mT =
Ra2 + xls + xlr' ( )
2

The corresponding torque (when Ra = 0) is

3Va2
e
=
T max
2 s xls + xlr' ( )
This explains the use of wound rotor in varying torque-speed curve.
Lecture 7 20
Multi-pole induction machines
For a machine with p pole pairs, the analysis can be repeated with mechanical
angle substituted by p. The per-phase equivalent circuit remains the same.

Mechanical power is given by

s (1 s )
Pm = T e m = T e
p
The corresponding torque is

p 3Va2 Rr' s
T =
e

s (Ra + Rr' s )2 + (xls + xlr' )2

The slip for maximum torque remains the same, with the maximum torque is

3Va2
e
= p
T max
(
2 s xls + xlr' )
Lecture 7 21

Examples 7.5 and 7.6

Ex. 7.5: Given a 4-pole induction motor with parameters, find torque at a
specific speed, and maximum torque and corresponding slip. Ignore stator
resistance, core and stator copper losses.

Ex. 7.6: Given a 6-pole induction motor with parameters, find slip, actual speed,
frequency of rotor current, maximum and starting torques, using approximate and
exact equivalent circuits.

Lecture 7 22