3/10/2019

Electrical Machines

The Induction Motor

The Induction Motor 1

The Induction Motor

• Induction machines are by far the most common type of
motor used in industrial, commercial or residential settings.
• Induction motors may consume up to 70% of all electrical
energy generated.
• There are two underlying reasons why induction motors
are the general purpose motor of choice:
• Induction motors are cheap
• Induction motors are robust

The Induction Motor 2

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The Induction Motor

• Characterised by
– No saliency
– Having a stator and a rotor winding,
– Both stator and rotor windings are poly-phase
– Stator winding is connected to an ac supply
– Rotor winding is short circuited

• Two forms of machine dependent on rotor

– Squirrel cage
• Rotor short circuited on the rotor itself
– Slip ring
• Rotor has electrical sliding connections linking the electrical
connections to the stationary stator (not the winding) The short
circuit, or adding in of extra resistance, to the rotor is then
made external to theThemachine
Induction Motor 3

3 Phase Stator Winding

• Stator is made from laminated iron

• 3 phase windings, 120° spatially apart
• Stator winding is carried in slots around the circumference
of a cylindrical bore.
• There is a separate winding for each phase of the supply
and these are distributed sinusoidally. 4

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Rotor Showing Single Bars Short Circuited by

‘End Rings’

• Laminated iron cylinder with slots carrying copper or aluminium

bars.
• Bars are shorted together at each end to form a closed cage.
• Rotor is a close fit inside the stator with a small air-gap between the
two.
• The iron in the rotor provides a good path for the magnetic field set
up by the stator windings. 5

Rotor Showing Single Bars Short

Circuited by ‘End Rings’

The Induction Motor 6

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Similar Squirrel Cage Rotor to Previous Slide Showing

Bars Just Below the Surface of the Rotor Laminations

The Induction Motor 7

Slip Ring Rotor,

Note Skewed Rotor as for Cage Machine

The Induction Motor 8

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Slip Rings from a 250 kW 8 Pole Machine

The Induction Motor 9

Principle of Operation
Stator B field
Rotates at e/P • Stator produces a
e/P rotating field at e/P
m Rotor R
Phase • Rotor is going
Winding round at m
axis
• Conductors on rotor
rotates at
m see a field moving
(electrical
frequency) at
• r/P = e/P - m
with r being the
electrical frequency
on the rotor

The Induction Motor 10

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Principle of Operation
Rotor R
Phase
• Rotor is short circuited
Winding so currents flow at a
axis frequency of r
rotates at • These currents produce a
m rotating field at r/P
relative to the rotor.
• Rotor is going round at
m
m • Currents on rotor
produce a field moving at
e/P r/P + m = e/P
r/P
• RESULT Synchronism
between Rotor I and
Rotor B rotates at r/P RELATIVE to Stator B
the rotor The Induction Motor 11

Operating Speed Range of Induction Motor

There is only one speed where the induction motor
does not develop a torque, synchronous speed
This is because the rotor conductors are not moving
RELATIVE to the stator field. Consequently the have
no voltage and current induced in them at this speed.
The torque always acts in a direction to move the
speed towards synchronous
Positive speed below synchronous speed is motoring
operation.
Positive speed above synchronous speed is a generator
Reverse rotation (negative speed) it acts as a brake

The Induction Motor 12

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Advantage of Induction Motor

• Advantages are
– Self Starting Motor
– No special Starting Equipment
– Speed Reversal ‘Plugging’ by reversing phase sequence
to stator (swapping over any two phase connections)
– Squirrel cage machine has no rotor electrical
connections
– Slip ring machine can use external resistance to
increase starting torque and decrease the starting
current (shorted out when full speed is reached)

The Induction Motor 13

Induction Motor Operation

• This motor is the only basic form where the
rotation of the magnetic field is not synchronous
with either the rotor or stator speed

• Only the stator winding is excited

• Thus both load current IQ and excitation current ID

flow in the stator.

• Consequently, independent control of B and I is

not at all easy
The Induction Motor 14

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Induction Motor Operation (1)

• The machine has some similarity to the
compensated dc machine in that
– Stator has an excitation current
– and a mirror image of the load current
– Rotor has the load current
– Armature reaction flux is neutralised

The Induction Motor 15

Steady State, Per Phase Equivalent Circuit

• The simple analysis
– Since the motor operates under balanced three phase
conditions we can consider, in steady state only one
phase for analysis purposes (multiply powers by 3).

– The rotor and stator look like two sets of coupled coils

– All parameters can be referred to the stator winding as

we have no external rotor power supply (rotor values
are marked with ‘ to indicate they are referred)

The Induction Motor 16

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Steady State, Per Phase Equivalent Circuit

• The circuit will consist of
– stator and rotor winding resistances, (Rs and Rr’)

– stator and rotor leakage reactance, (xs and xr’)

– Mutual, airgap or magnetising reactance, (Xm)

– and a speed emf induced in the stator by the rotor currents

(since this emf is produced by the rotor current it looks like
a rotor resistance when referred to the stator)

The Induction Motor 17

The Referred Speed emf

• To aid the definition, we define a normalised
difference between synchronous and actual speed
as slip (s)
• Where s = 1 – (actual speed)/(synchronous speed)
• The speed emf is
– induced in the stator by the referred rotor current.
– It appears as a resistance Rr’(1-s)/s
– It is zero at zero speed (s = 1)
– It gives infinite resistance at synchronous speed (s = 0)
– It is responsible for power output and torque

The Induction Motor 18

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Equivalent Model of IM

For the rotor side, the induced emf is affected by the slip (as the
rotor gains speed, slip reduces and less emf is induced).

For the rotor current (1), than can be rewritten as (2):

The Induction Motor 19

Equivalent Model simplified

The equivalent circuit shown above has

removed the dependence on slip for
determining the secondary voltage and
frequency. Consequently the circuit can be
simplified by eliminating the ideal
transformer and referring the rotor's
resistance and reactance to the primary
(denoted by ′) The referred values are
calculated by multiplying them by k2,
where k is the effective stator/rotor turns
ratio 20

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Motor Current
As a simplification, Once the equivalent circuit parameters are known, it is easy to
calculate the motor current, by reducing the circuit to an equivalent impedance Zeq,
giving:
where

By inspecting the equivalent circuit, we can see that Zeq is of the form:

The Induction Motor 21

Motor Power
As a simplification, if we neglect the core losses (Rc and giving Is = I′2)
the power (Pin) delivered to the motor per phase is given by:
where

The power loss dissipated by the windings is given by:

The difference between the power supplied to the motor and losses in the
windings is the power (Pm) delivered to the connected load. This (per phase) is
given by:

Thus, for 3 phase

The Induction Motor 22

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Motor Torque
Knowing that power can be the motor torque (M) multiplied by the
angular velocity (ω), this can be rearranged and a formulae for torque (T)
derived:

where

which combined with the power equation gives

To simplify the analysis, we ignore the magnetising current and

iron losses (i.e. Rc=jXm=0). From the simplified equivalent circuit
the magnitude of the stator current Is is given by:

substituting into
the torque
equation gives:

The Induction Motor 23

Steady State, Per Phase Equivalent Circuit

Rs jxs jxr’ Rr’
Is Ir ’

Vs Rm jXm Rr’ (1-s)/s

Im

Air
Stator Rotor
• Where gap
– Is is the stator phase current, Ir’ is the referred rotor phase current, Im is
the magnetising current
– Vs is the stator phase voltage
– j is the square root of –1 and represents a 90 degree phase shift
The Induction Motor 24

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Slipping Clutch Analogy

Power in
Heat loss, Power
at e/P
given by
Torque T
(e/P - m)*T

Power out
at m The lower the slip

Torque T The greater the efficiency

The Induction Motor 25

Development of torque
• The power input to the slipping clutch is the
power crossing the air gap from the rotor to the
stator at synchronous speed

• This is 3 ir’2 Rr’/s

• Thus the actual torque T can be found by dividing

this power by synchronous speed following the
slipping clutch analogy

• Thus T = (3 ir’2 Rr’/s)(P/ e)

The Induction Motor 26

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Simple 4 kW Motor Model

4 kW
2 Pole
Motor
Rs = 1
xs = 4
xr = 4
Xm = 100
Rm = 1000
Star

The Induction Motor 28

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Simple 4 kW Motor Model

4 kW
2 Pole
Motor
Rs = 1
xs = 4
xr = 4
Xm = 100
Rm = 1000
Star

The Induction Motor 29

Simple 4 kW Motor Model

4 kW
2 Pole
Motor
Rs = 1
xs = 4
xr = 4
Xm = 100
Rm = 1000
Star

The Induction Motor 30

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Points to Note (1)

• The maximum torque is called the Pull Out
or Breakdown Torque

• At pull out speed the effective rotor

resistance is approximately equal to the
impedance (Rs2 + (xs + xr’)2)0.5

• Above pull out speed the effective rotor

resistance Rr’/s dominates the equivalent
circuit impedance.
The Induction Motor 31

Points to Note (2)

• Below pull out speed, the impedance of the
equivalent circuit is controlled by the stator
and rotor leakage reactance
• (except for small motors up to say 1.5kW where
stator resistance is larger than the leakage
reactances)

• The direct on line (DOL) starting current

can be limited using these reactances.

The Induction Motor 32

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Points to Note (3)

• Machines below 20kW may have DOL
starting currents up to 8 times full load

• Machines above 20kW may only have up to

6 times full load starting current

• VERRY DIFFERENT TO THE DC

MACINE. Our 35 kW example had 25
times full load DOL current
The Induction Motor 33

Summary (1)
• For high full load efficiency, Rr’ should be
low

• For a high starting torque relative to full

load then Rr’ should be high

• High rotor resistance reduces the starting

current

The Induction Motor 34

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Summary (1)
• A wound rotor machine with an external
starting resistance which can be reduced to
zero as the machine speeds up is ideal

• However, slip rings, brushes and rotor

starter all push up the cost and introduce
maintenance problems

• For a squirrel cage motor the design is a

compromise.
The Induction Motor 35

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