8.

Polyphase Induction Machines

Electromechanical Energy Conversion Systems

Outline

 Introduction to polyphase induction machines

 The equivalent circuit of induction machines

 Analysis of the equivalent circuit

 Torque and power by use of Thevenin’s theorem

 Determination of the equivalent circuit parameters

 Starting, speed control and braking methods of IMs

2

1
 8.1 Introduction to Polyphase
Induction Machines

2
 Two types of motor:

Squirrel-Cage Wound Rotor

5

3
•Induction machines are also named as asynchronous
machines.
•Rotor rotation is not synchronous with the magnetic
field set up by the armature windings.
•Analysis is similar to that of a transformer, since stator
and rotor windings are similar to primary and secondary
windings, but with rotation.
•Rotor construction is usually a squirrel-cage design.

General aspects:
• A induction machine can be used as either a
induction generator or a induction motor.
• Induction motors are popularly used in the
industry
• Main features: cheap and low maintenance
• Main disadvantages: speed control is not easy

4
How does an induction motor work?
1. Apply AC three-phase current to stator winding to produce
rotating magnetic field.
2. Rotating magnetic field induces voltages in rotor windings
resulting with rotor currents.
3. Then, rotor currents will create rotor magnetic field.
4. Constant speed stator magnetic field will drag rotor magnetic
field.
ns ns: Synchronous speed (the speed of
stator rotating field in rpm).
n n : Rotor speed (rpm)
120
ns  fs
p
9

The Concept of Rotor Slip

Slip speed is defined as the difference between

synchronous speed and rotor speed:
nslip  nsync  nm

Where nslip  slip speed of the machine

nsync  speed of the magnetic field
nm  rotor mechanical speed

nslip nsync  nm sync  m

slip  s   s
nsync nsync sync
10

5
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, notice that the slip is a
ratio and doesn’t have units.
nsync  nm sync  m
s  100% s  100%
nsync sync
The rotor mechanical speed can be defined as

nm  1  s  nsync m  1  s  sync
11

The electrical frequency on the rotor

The speed of rotor magnetic field with respect to rotor is
nr  ns  nm  s ns
The rotor electrical frequency is obtained as

P P
f re   ns  nm   sns  s f se
120 120
fre is called slip frequency.
 When the rotor is blocked (s=1), the frequency of the induced
voltage is equal to the supply frequency.
 When the rotor runs at synchronous speed (s = 0), the frequency
will be zero.

12

6
 Breakdown torque

Typical induction-motor torque-speed curve for constant-

voltage, constant-frequency operation
13

 At normal load, the slip is about 2 to 10%

 Rotor electrical frequency is low
 As the slip increases, the speed drops and the
torque increases
 Torque is nearly proportional to slip for loads up to
rated torque
 Maximum torque or breakdown torque is about
twice rated torque
 On startup, the speed is initially zero and the slip is 1
 The starting current is large.

14

7
 At start up nr = 0. Assuming ns = 1800 RPM determine the slip

ns  n r 1800  0 Slip is 1 at locked rotor

s s 1
ns 1800 (startup)

At full load torque motor spins at rated speed

Rated speed nr =1750 rpm: typical for 4 pole induction motor
ns  nr 1800  1750 Rated slips vary 0.02-0.05
s s  0.028
ns 1800 of ns.

Slip at No-load Rotor spins at nearly ns, so nr=1798 typical for unloaded 4
pole motor
ns  n r 1800  1798 Slip is near zero when
s s  0.001
ns 1800 there is no-load on the motor

15

Example:

A 208-V, I0-hp, four-pole, 60 Hz, Y-connected induction motor has

a full-load slip of 5 percent.

(a) What is the synchronous speed of this motor?

(b) What is the rotor speed of this motor at the rated load?
(c) What is the rotor frequency of this motor at the rated load?
(d) What is the shaft torque of this motor at the rated load?

16

8
17

18

9
Example:

A 3-phase, 460 V, I00 hp, four-pole, 60 Hz, induction motor delivers

rated output power at a slip of 0.05. Determine the

(a) Synchronous speed and motor speed.

(b) Speed of the rotating air gap field.
(c) Frequency of the rotor circuit.
(d) Slip rpm.
(e) Speed of the rotor field relative to the
(i) rotor structure
(ii) stator structure
(iii) stator rotating field

19

20

10
 8.2 The Equivalent Circuit of an
Induction Motor

21

Equivalent Circuit
An induction motor is called a singly excited machine (as opposed
to a doubly excited synchronous machine), since power is supplied
to only the stator circuit.

Because an induction motor does not have an independent field

circuit, its model will not contain an internal voltage source such
as the internal generated voltage EA in a synchronous machine.

22

11
 Equivalent Circuit

The induction motor is similar to the transformer with the

exception that its secondary windings are free to rotate

23

 Stator equivalent circuit:

Vˆp  Iˆ1  R1  jX 1   Eˆ1

Vp: Stator line-to-neutral terminal voltage

E1: Counter emf (line-to-neutral) generated by the resultant air-gap flux
I1: Stator current
R1: Stator effective resistance
X1: Stator leakage reactance
24

12
  Rotor equivalent circuit:
ER0 : the induced rotor voltage at locked-rotor condition
XR0 : the rotor reactance at locked-rotor condition

25

The rotor current flow can be found as

The rotor equivalent impedance

26

13
Notice that at very low slips the resistive term RR/s >> XR0 ,
so the rotor resistance predominates and the rotor current varies
linearly with slip.

At high slips, XR0 is much larger than RR/s, and the rotor current
approaches a steady-state value as the slip becomes very large.

27

The transformed rotor voltage to the stator side

The rotor current

The rotor impedance

28

14
 Equivalent Circuit
Single-phase equivalent circuit for a polyphase induction motor.

29

Equivalent Circuit
Alternative form of equivalent circuit.

Electromechanical power is
equal to the power delivered
to this resistance

30

15
 8.3 Analysis of the Equivalent
Circuit

31

Power Flow and Losses of an Induction Motor

16
 Analysis of the equivalent circuit
Considering the equivalent circuit, the total power transferred
across the airgap is
R2
Pgap  q I 22
s
q: Number of phases

The rotor copper loss is Protor  q I 22 R2

The mechanical power developed by the motor is

R2 1 s
Pmech  Pgap  Protor  q I 22  q I 22 R2  q I 22 R2
s s
33

Comparing Pmech and Pgap

Pmech  1  s  Pgap

Protor  sPgap

Thus, of the total power delivered across the air gap to the rotor, the
fraction (1 – s) is converted to mechanical power and the fraction s
is dissipated as I2R loss in the rotor conductors.

From this it is evident that an induction motor operating at high slip

is an inefficient machine.

34

17
 Electromagnetic torque Tmech corresponding to Pmech is:

Pmech Pmech 1  s  Pgap Pgap qI 22  R2 s 

Tmech     
m 1  s s 1  s s s s
where synchronous mechanical speed is given by
2 4 f e
s  e 
poles poles
The mechanical output power and torque are obtained as
Pshaft
Pshaft  Pmech  Prot and Tshaft   Tmech  Trot
m
where Prot and Trot are the power and torque associated with the
friction, windage, and remaining rotational losses.
35

Core losses may be neglected or lumped with rotational

loss, simplifying the circuit

36

18
Example:

A 480-V, 60-Hz, 50-hp, three-phase induction motor is drawing

60 A at 0.85 PF lagging. The stator copper losses are 2 kW, and the
rotor copper losses are 700 W. The friction and windage losses are
600 W, the core losses are 1800 W, and the stray losses are negligible.
Find the following quantities:

(a) The air-gap power PAG

(b) The power converted Pconv
(c) The output power Pout
(d) The efficiency of the motor

37

Solution:

38

19
 39

Example:

40

20
Solution:

41

Example:

A three-phase, two-pole, 60-Hz induction motor is observed to

be operating at a speed of 3502 rpm with an input power of 15.7
kW and a terminal current of 22.6 A. The stator winding
resistance is 0.20 Ω/phase.

Calculate the I2R power dissipated in rotor.

42

21
Solution:

43

Example:

44

22
Solution:

45

46

23
47

48

24
Example:

49

Solution:

50

25
51

52

26
53

8.4 Torque and Power by Use of

Thevenin’s Theorem

54

27
 Torque and power by use of Thevenin’s theorem
Thevenin's theorem permits the replacement of any network of
linear circuit elements and complex voltage sources, such as
viewed from two terminals a and b (Fig. a), by a single complex
voltage source Veq in series with a single impedance Zeq (Fig. b).

(a) General linear network (b) its equivalent at terminals ab by

Thevenin’s theorem.
55

Torque and power by use of Thevenin’s theorem

 j Xm 
Vˆ1,eq  Vˆ1  
R
 1  j ( X 1  X )
m 

j X m ( R1  j X 1 )
Z1,eq 
R1  j ( X 1  X m )

56

28
 Torque and power by use of Thevenin’s theorem

Equivalent circuits with the core-loss resistance Rc neglected.

 j Xm  j X m ( R1  j X 1 )
Vˆ1,eq  Vˆ1   Z1,eq 
R
 1  j ( X 1  X )
m  R1  j ( X 1  X m )

Vˆ1,eq 1  qV12,eq ( R2 s ) 
Iˆ2  Tmech   2 2
Z1,eq  j X 2  R2 s s  ( R1,eq  ( R2 s ))  ( X1,eq  X 2 ) 
57

Torque and power by use of Thevenin’s theorem

Induction-machine torque-slip curve showing braking, motor, and
generator regions.

58

29
 Torque and power by use of Thevenin’s theorem
Torque, power, and current curves for a 7.5-kW motor

59

The maximum torque or breakdown torque is calculated from

dTmech
0
ds

R2
smax T 
2
R1,2eq   X 1,eq  X 2 
 
1  0.5 qV1,2eq 
Tmax 
s  R  R 2  X  X 2 
 1,eq 1, eq  1,eq 2  

60

30
 1  qV12,eq ( R2 s ) 
Tmech   2 2
s  ( R1,eq  ( R2 s ))  ( X1,eq  X 2 ) 

At low values of slip

2
R2 R2 1 qV1,eq
R1,eq   X1,eq  X 2 and  R1,eq Tmech  s
s s s R2

At larger values of slip

R2 1 qV12,eq R2
R1,eq   X1,eq  X 2 Tmech  2
s s ( X1,eq  X2 ) s

61

Example:

Determine
(a) the load component 12 of the stator current, the electromech.
torque Tmech, and the electromechanical power Pmech for a slip
s = 0.03;
(b) the maximum electromechanical torque and the corresponding
speed;
(c) the electromechanical starting torque Tstart and the
corresponding stator load current 12_start.

62

31
Solution:

63

64

32
 65

Example:
A two-pole, 50-Hz induction motor supplies 15 kW to a load at a
speed of 2950 rpm.

(a) What is the motor's slip?

(b) What is the induced torque in the motor in Nm under these
conditions?
(c) What will the operating speed of the motor be if its torque is
doubled?
(d) How much power will be supplied by the motor when the torque
is doubled?

66

33
Solution:

67

68

34
 Example:
A 460-V, 25-hp, 60-Hz, four-pole, V-connected wound-rotor
induction motor has the following impedances in ohms per phase
referred to the stator circuit:

(a) What is the maximum torque of this motor? At what speed and
slip does it occur?
(b) What is the starting torque of this motor?
(c) When the rotor resistance is doubled, what is the speed at which
the maximum torque now occurs? What is the new starting
torque of the motor?

69

Solution:

70

35
71

72

36
 8.5 Determination of the
Equivalent Circuit Parameters

73

Determination of the equivalent circuit paramters

 The DC Test: to obtain stator resistance, R1. An adjusted dc
voltage is applied between two terminals of the stator circuit
such that rated armature current flows.
VDC
R=
IDC

The circuit for a dc resistance test (y-connection).

74

37
 Determination of the equivalent circuit paramters

 The No-Load Test: to obtain the rotational losses and

information leading to magnetizing reactance. Motor operated
at rated voltage and no load.

s0

The no-load test circuit.

75

Determination of the equivalent circuit paramters

The resulting
equivalent circuit.

s0

76

38
The rotational power loss can be determined as follows

Pnl = PS_ copper + Pcore + PF&W + Pmisc = PS_ copper + Protational

2
PS_ copper = q I1,nl R1
2
Protational = Pnl - q I1,nl R1

The total rotational loss at rated voltage and frequency under load
usually is considered to be constant and equal to its no-load value.
The equivalent input reactance is approximately
Qn1 V1,nl
X n1 = X1 + X M  2 or Zeq  X n1   X1 + X M
q I1,nl I1,nl
The stator resistance is obtained from the dc test.
X1 is obtained from the locked-rotor test.
77

Note that the derivations presented here ignore the core-loss

and the associated core-loss resistance and assign all the no-load
losses to friction and windage.

The friction and windage losses can be separated from the core
losses as follows.

The motor is not energized, an external drive motor is used to

drive the rotor to the no-load speed and the rotational loss will
be equal to the required drive-motor output power.

By neglecting the (low) voltage drop across the stator resistance

and leakage reactance, the core-loss resistance can be obtained as
2
qV1,nl
Rc =
Pcore
78

39
 Determination of the equivalent circuit paramters
 The Locked-Rotor (or Blocked-Rotor) Test: to obtain R2,
X1+X2, and XM (using the no-load test results). The voltage is
carefully increased from zero to a level at which the motor draws
the rated current. (at 25% or less of the rated frequency)

The locked-rotor test circuit.

79

Determination of the equivalent circuit paramters

Since the rotor-circuit impedance is relatively small (s = l), the applied
voltage is considerably lower than the rated voltage of the motor.
Thus, the excitation current is quite small and can be neglected.

Motor equivalent circuit

80

40
In normal operation, the stator frequency is the line frequency of
the power system (50 or 60 Hz).

At starting conditions, the rotor is also at line frequency.

However, at normal operating conditions, the slip of most motors is

only 2 to 4 percent, and the resulting rotor frequency is in the range
of 1 to 3 Hz.

This creates a problem in that the line frequency does not represent
the normal operating conditions of the rotor.

The incorrect rotor frequency can lead to misleading results in this

test.
A typical compromise is to use a frequency 25 percent or less of
the rated frequency.
81

• The locked-rotor reactance at test frequency, X’bl, is

obtained from
V
Zbl = 1,bl
I1,bl P
Rbl = bl2
Pbl q I1,bl
Cos  bl =
qV1,bl I1,bl Q
X bl  bl2
Zbl = Rbl + jX bl  Zbl  bl q I1,bl
• The locked-rotor reactance at rated frequency, Xbl, is
frated
X bl = X bl = X1 + X 2
fbl
• X1 and X2 are found from rule of thumb based on
rotor design.
Rbl = R1 + R2  R2 X nl = X1 + X m  X m
82

41
Empirical distribution of leakage reactances in induction motors.

Typical torque-speed curves for

different rotor designs

83

The more accurate determination of R2 by not ignoring Xm

84

42
 Example:

85

86

43
87

88

44
 89

Example:
The following test data apply to a 7.5-hp, three-phase, 220-V, 19 A,
60-Hz, four-pole induction motor with a double-squirrel-cage rotor
of design class C (high-starting-torque, low-starting current type):

90

45
a. Compute the no-load rotational loss and the equivalent-circuit
parameters applying to the normal running conditions. Assume the
same temperature as in test 3. Neglect any effects of core loss,
assuming that core loss can be lumped in with the rotational losses.

b. Compute the electromechanical starting torque from the input

measurements of test 4. Assume the same temperature as in test 3.
91

Solution:

92

46
93

94

47
95

8.6 Starting, Speed Control and

Braking Methods of IMs

96

48
 Starting of induction motors

1. Direct-On-line (DOL) starting (for less than 10 Kw motors)

2. Star–Delta starting (for large motors.)
3. Auto-transformer starting
4. Rotor resistance starting (used for wound rotor motors)
5. Soft starters

97

Speed control of induction motors

Control From Stator Side:

1. the supply frequency control
2. the supply voltage control
3. changing number of stator poles
4. V/F control
Control From Rotor Side: (wound rotor motors)
120
1. Rotor resistance control ns  fs
p
2. Slip energy recovery
1  n phV12,eq ( R2 s ) 
Tmech   2 2
s  ( R1,eq  ( R2 s ))  ( X 1,eq  X 2 ) 
98

49
 Varying rotor resistance

 For wound rotor only T

 Speed is decreasing
R1< R2< R3
nr1< nr2< nr3
 Constant maximum torque R1
R2
R3
 The speed at which max T
torque occurs changes
 Power loss in Rext reduce
the efficiency nr3 nr2 nr1 ns~nNL
n

99

Varying supply voltage

 Maximum torque changes

T
 The speed which at max V1
V decreasing
torque occurs is constant (at V2 V1 > V2 > V3
max torque, XR=RR/s V3
nr1> nr2 > nr3

 Relatively simple method uses

T
power electronics circuit for
voltage controller
 Suitable for fan type load nr3 nr2 nr1 n ~n n
s NL

100

50
 Varying supply voltage and frequency

T f decreasing
 The best method since supply
voltage and supply frequency is
varied to keep V/f constant
 Maintain speed regulation
T
 uses power electronics circuit for
frequency and voltage controller
n
 Constant maximum torque nr3 nr2
nNL3 nNL2
nr1 nNL1

101

Braking of induction motors

1. Regenerative braking
2. Plugging or reverse voltage braking
3. Dynamic braking
4. Mechanical braking

102

51
 Nameplate of induction motors

103

Thanks for your attention..

104

52